Suction nozzle, component transfer device, and suction nozzle posture control method

Abstract

The present invention comprises: an axial nozzle member that adsorbs an element at its front end; a holding member that holds the nozzle member in a manner that allows it to slide freely in a nozzle protrusion direction parallel to the axis of the nozzle member; a force-applying member that generates a force for causing the nozzle member to slide in the nozzle protrusion direction, thereby causing the front end of the nozzle member to protrude from the holding member; and a locking portion that locks the nozzle member that protrudes from the holding member due to the force, thereby positioning the front end of the nozzle member at a protrusion limit position. Furthermore, the locking portion locks the nozzle member at a first locking position and a second locking position that are asymmetric with respect to the axis, thereby applying a rotational torque to the nozzle member that protrudes in the nozzle protrusion direction due to the force, in a rotational direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis.

Description

Technical Field

[0001] The present invention relates to a posture control technology for a suction nozzle that sucks a component at the front end portion of a suction nozzle member. Background Art

[0002] In a component mounting device, for example, as described in Patent Document 1, a component transfer device is provided that uses a suction nozzle with a buffering function to transfer components. In this suction nozzle, an axial suction nozzle member that sucks the component at the front end is held so as to be able to move forward and backward in the axial direction relative to a holding member. In addition, a force-applying member such as a spring is provided in the holding member to apply force so that the front end of the suction nozzle member protrudes axially from the holding member, thereby imparting a buffering function to the suction nozzle. Therefore, axial deviations caused by various reasons such as axial positioning deviations, deviations in the external shape of the component itself, warping of the printed circuit board, and floating of the tape reel in the component supply unit are absorbed. As a result, it is possible to effectively suppress the application of physical stress to the electronic component or the printed circuit board on which the electronic component is mounted.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2006-114534 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned suction nozzle, when the suction nozzle component and the holding component are manufactured according to the design, the suction nozzle component will not shake relative to the holding component, and the posture of the suction nozzle component protruding from the holding component due to the force of the force-applying component, that is, the posture of the suction nozzle, is always kept constant. However, the dimensional error of the suction nozzle component and the holding component is inevitable, and it is difficult to suppress the above-mentioned shaking to zero. Therefore, sometimes the suction nozzle component is tilted relative to the holding component at an angle corresponding to the above-mentioned shaking, and the posture of the suction nozzle changes. Here, the tilt amount (angle) of the nozzle component can be measured in advance before the actuator is transferred. Therefore, if the tilt direction of the suction nozzle component is always a constant direction, as will be referred to later Figure 5 As described above, by taking into consideration the posture of the nozzle when the tip of the nozzle member protrudes from the holding member, components can be transferred with high accuracy.

[0008] However, in the conventional apparatus, there is no specific technique for controlling the posture of the suction nozzle. Therefore, in the conventional apparatus, the tilt direction of the suction nozzle member is not constant, which becomes one of the main factors for reducing the accuracy of component transfer.

[0009] The present invention is completed in view of the above-mentioned problems, and its purpose is to provide a suction nozzle and a suction nozzle posture control method that can control the posture of the suction nozzle when the front end of the suction nozzle component protrudes from the holding component, and a component transfer device that uses the suction nozzle to transfer components with high precision.

[0010] Technical solutions to problems

[0011] The first embodiment of the present invention is a suction nozzle, characterized in that it comprises: an axial suction nozzle component, which adsorbs an element at the front end portion; a holding component, which holds the suction nozzle component in a manner that allows it to slide freely in the suction nozzle protrusion direction parallel to the axis of the suction nozzle component; a force-applying component, which generates a force for causing the suction nozzle component to slide in the suction nozzle protrusion direction so that the front end portion of the suction nozzle component protrudes from the holding component; and a locking portion, which locks the suction nozzle component protruding from the holding component by the force and positions the front end portion of the suction nozzle component at the protrusion limit position, and the locking portion locks the suction nozzle component at a first locking position and a second locking position that are asymmetric with respect to the axis, thereby applying a rotational torque to the suction nozzle component that protrudes in the suction nozzle protrusion direction by the force in a rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis.

[0012] In addition, a second embodiment of the present invention is a component transferring device, characterized in that it comprises: the above-mentioned suction nozzle; and a suction head, which is configured to move freely while holding a holding member of the suction nozzle, and the component transferring device transfers the component to a second position different from the first position after using the suction nozzle to absorb the component located at the first position.

[0013] Moreover, the third mode of the present invention is a method for controlling the posture of a suction nozzle, wherein the suction nozzle comprises: an axial suction nozzle component that adsorbs an element at the front end portion; a holding component that holds the suction nozzle component in a manner that allows it to slide freely in the suction nozzle protrusion direction parallel to the axis of the suction nozzle component; a force-applying component that generates a force for causing the suction nozzle component to slide in the suction nozzle protrusion direction so that the front end portion of the suction nozzle component protrudes from the holding component; and a locking portion that locks the suction nozzle component that protrudes from the holding component by the force and positions the front end portion of the suction nozzle component at a protrusion limit position. The method for controlling the posture of the suction nozzle is characterized in that when the suction nozzle component protrudes from the holding component in the suction nozzle protrusion direction by the force, the suction nozzle component is locked at a first locking position and a second locking position that are asymmetric with respect to the axis of the suction nozzle component, thereby applying a rotational torque to the suction nozzle component in a rotational direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis to control the posture of the suction nozzle component.

[0014] In the invention thus constructed, the locking portion locks the nozzle member protruding from the retaining member by the acting force at two locations, the first locking position and the second locking position. As a result, the front end portion of the nozzle member is positioned at the protrusion limit position. At this time, since the first locking position and the second locking position are asymmetrical with respect to the axis of the nozzle member, a rotational torque is applied to the nozzle member protruding in the direction of the nozzle protrusion by the acting force in the rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis. As a result, in the event that the nozzle member shakes relative to the retaining member, the nozzle, when the front end portion of the nozzle member protrudes from the retaining member, adopts a posture that causes the nozzle member to tilt in the above-mentioned rotation direction.

[0015] Here, the nozzle member may also be configured to have a first engaging portion and a second engaging portion extending parallel to the direction in which the nozzle protrudes, and the locking portion supports the nozzle member so that it can slide freely in the direction in which the nozzle protrudes while engaging with the first and second engaging portions, thereby restricting rotation of the nozzle member about its axis. In other words, the locking portion, which has the function of controlling the nozzle's posture, may also function as a rotation-limiting member for the nozzle member. In this way, by providing the locking portion with two functions, a highly functional nozzle can be provided while suppressing the number of components.

[0016] In addition, the following structures can be used as the first engaging portion, the second engaging portion, and the locking portion. For example, a first long hole and a second long hole, each extending parallel to the protruding direction of the suction nozzle and provided on the side wall of a suction nozzle component having a hollow structure and a suction path connected to the front end, can be used as the first engaging portion and the second engaging portion, respectively. Furthermore, by arranging the first long hole, the second long hole, and the rotation limiting pin to one side in a direction perpendicular to the axis, the posture control of the suction nozzle and the rotation limitation of the suction nozzle component can be performed simultaneously (refer to the first embodiment described later).

[0017] In addition, by replacing the above-mentioned biased configuration with the following arrangement of the first long hole, the second long hole, and the rotation limiting pin, it is possible to simultaneously control the posture of the suction nozzle and limit the rotation of the nozzle member. That is, it is also possible to configure the first long hole and the second long hole to be arranged relative to each other across the axis, and when the front end portion of the suction nozzle member protrudes from the retaining member in the direction of the suction nozzle protrusion, in the anti-protrusion direction opposite to the suction nozzle protrusion direction, the first long hole and the first locking portion of the rotation limiting pin are engaged to form a first locking position, and the second long hole and the second locking portion of the rotation limiting pin are engaged to form a second locking position different from each other (see the second embodiment described later). Alternatively, it is also possible to install the rotation limiting pin so that the axis is inclined relative to the imaginary line connecting the position of the inner end surface of the first long hole in the anti-protrusion direction with the position of the inner end surface of the second long hole (see the third embodiment described later). Alternatively, it is also possible to configure the position of the inner end surface of the first long hole in the anti-protrusion direction to be the same as the position of the inner end surface of the second long hole, while the outer diameter of the first locking portion is different from the outer diameter of the second locking portion (see the fourth embodiment described later).

[0018] Moreover, by constructing the various parts of the suction nozzle as follows instead of adopting the above-mentioned biased configuration, it is possible to simultaneously control the posture of the suction nozzle and limit the rotation of the suction nozzle member. That is, it can also be constructed so that the two engaging portions are a first groove and a second groove extending parallel to the axis and arranged on the side wall of the suction nozzle member, the locking portion has a first rotation limiting member and a second rotation limiting member, the first rotation limiting member is mounted on the holding member in a manner that can engage with the first groove while moving relative to the suction nozzle member in the direction in which the suction nozzle protrudes, the second rotation limiting member is mounted on the holding member in a manner that can engage with the second groove while moving relative to the suction nozzle member in the direction in which the suction nozzle protrudes, the first groove and the second groove are arranged opposite to each other across the axis, and when the front end portion of the suction nozzle member protrudes from the holding member in the direction in which the suction nozzle protrudes, in the counter-protrusion direction opposite to the direction in which the suction nozzle protrudes, a first locking position formed by the engagement of the first groove with the first rotation limiting member and a second locking position formed by the engagement of the second groove with the second rotation limiting member are different from each other (refer to the fifth embodiment described later). Alternatively, the first rotation limiting member and the second rotation limiting member may be arranged at the same position in the nozzle protruding direction, and the position of the inner end surface of the first groove and the position of the inner end surface of the second groove may be made different from each other in the anti-protruding direction (refer to the sixth embodiment described later). Alternatively, the first rotation limiting member and the second rotation limiting member may be arranged so that an imaginary line connecting the first rotation limiting member and the second rotation limiting member intersects. Alternatively, the position of the inner end surface of the first groove and the position of the inner end surface of the second groove may be made the same in the anti-protruding direction, and the outer diameter of the first rotation limiting member may be made different from the outer diameter of the second rotation limiting member (refer to the seventh embodiment described later).

[0019] Effects of the Invention

[0020] As mentioned above, the posture of the suction nozzle when the front end portion of the suction nozzle member protrudes from the holding member can be controlled. In addition, by using this suction nozzle that can carry out posture control, component transfer can be carried out with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a partial plan view schematically showing a component mounting apparatus equipped with a first embodiment of the suction nozzle according to the present invention.

[0022] Figure 2 It is a figure which shows the external structure of a suction nozzle.

[0023] Figure 3 yes Figure 2 A cross-sectional view of the nozzle is shown.

[0024] Figure 4 Yes Figure 2 A perspective view of the cross-sectional structure of the suction nozzle shown.

[0025] Figure 5 It is a schematic representation of the equipment Figure 2 A diagram showing the component transfer operation performed by the mounting head of the suction nozzle shown.

[0026] Figure 6 It is a perspective view showing a cross-sectional structure of a suction nozzle in a second embodiment of the present invention.

[0027] Figure 7 It is a perspective view showing a cross-sectional structure of a suction nozzle in a third embodiment of the present invention.

[0028] Figure 8 It is a perspective view showing a cross-sectional structure of a suction nozzle in a fourth embodiment of the present invention.

[0029] Figure 9 It is a perspective view showing a cross-sectional structure of a suction nozzle in a fifth embodiment of the present invention. DETAILED DESCRIPTION

[0030] Figure 1 1 is a partial top view schematically showing a component mounting device equipped with a first embodiment of the suction nozzle according to the present invention. Figure 2 The diagrams show the external structure of the suction nozzle. This component mounting device 1 functions as a so-called component transfer device, which, after suctioning a component at a component supply position using a suction nozzle, transfers the component to a loading position on the substrate surface. In these and the following figures, an XYZ rectangular coordinate system consisting of a Z direction parallel to the vertical direction and X and Y directions parallel to the horizontal direction is shown as appropriate.

[0031] The component mounting device 1 includes a pair of conveyors 12, 12 provided on a base 11. The component mounting device 1 uses a head unit 3 to carry the components from the upstream side of the conveyor 12 in the X direction (substrate conveying direction) to the working position ( Figure 1 The component P is installed on the substrate 2 (the position of the substrate 2), and the substrate 2 on which the component is installed is moved out from the working position to the downstream side in the X direction by the conveyor 12.

[0032] The component mounting device 1 includes an XY drive mechanism 4 that independently drives each of the two head units 3 in the X and Y directions. The XY drive mechanism 4 includes a pair of X-beams 41, 41, each extending parallel to the X direction and supporting the head units 3 so that they can move in the X direction. Each X-beam 41 is mounted with a ball screw 42 extending parallel to the X direction and an X-motor 43 that rotationally drives the ball screw 42. In this example, the X-motor 43 is a servo motor. Furthermore, the head unit 3 is mounted on the nut of the ball screw 42. Furthermore, the XY drive mechanism 4 includes a pair of Y-beams 44, 44, each extending parallel to the Y direction. One end of each X-beam 41 is supported by one Y-beam 44 so that it can move in the Y direction, and the other end of each X-beam 41 is supported by the other Y-beam 44 so that it can move in the Y direction. Each Y-beam 44 is mounted with a Y-motor 45 that drives the X-beams 41, 41 in the Y direction. In this example, each Y motor 45 is a linear motor having movers 451, 451 attached to the ends of the X-beams 41, 41, and a stator 452 extending parallel to the Y direction. The magnetic force acting between the movers 451 and the stator 452 drives the X-beam 41 and the movers 451 in the Y direction. This XY drive mechanism 4 enables the head unit 3 to be moved in the XY directions via the X motors 43 and Y motors 45.

[0033] The component supply section 5 is provided on each of the two sides of the pair of conveyors 12, 12 in the Y direction. In the component supply section 5, a plurality of tape feeders 51 (hereinafter referred to as "feeders 51") arranged in the X direction are installed in a detachable manner. Each feeder 51 feeds a tape (a tape) containing small pieces of components P (chip components) such as integrated circuits, transistors, and capacitors at predetermined intervals. Figure 5 The component P in the belt is intermittently fed in the Y direction (as shown in the figure 52), thereby supplying the component P in the belt to the component supply position.

[0034] The head unit 3 has a plurality of mounting heads 31 arranged parallel to the X direction. Each mounting head 31 has a long strip shape extending in the Z direction (vertical direction). A suction nozzle 32A ( Figure 2). The suction nozzle 32A has a holding suction nozzle 33 that is detachably mounted on the lower end of the mounting head 31, and an axial suction nozzle 34 that is mounted in an axial manner relative to the holding suction nozzle 33 so as to be engageable and detachable. In the suction nozzle 32A, the axial suction nozzle 34 suitable for the component P is selectively mounted on the holding suction nozzle 33, thereby being able to adsorb and hold the component P. Therefore, the head unit 3 moves above the feeder 51, and uses the suction nozzle 32A to adsorb and hold the component P supplied by the feeder 51. Next, the head unit 3 moves above the substrate 2 at the working position and releases the adsorption of the component P, thereby mounting the component P on the substrate 2. In addition, the detailed structure and operation of the suction nozzle 32A will be described in detail later.

[0035] A substrate recognition camera (not shown) is mounted on the head unit 3 to capture the reference marks attached to the substrate 2 from above. Therefore, the positional offset of the substrate 2 can be identified based on the image of the substrate 2 captured by the substrate recognition camera. Furthermore, in this embodiment, the substrate recognition camera can capture not only the substrate 2 but also the nozzle storage unit 7 from above. Furthermore, based on the image of the nozzle storage unit 7 captured by the substrate recognition camera, it is possible to obtain storage device side configuration information related to the configuration of the nozzle and / or the nozzle storage unit.

[0036] In addition, a component recognition camera 6 and a nozzle storage unit 7 are arranged between the component supply unit 5 and the conveyor 12. The component recognition camera 6 photographs the component P adsorbed by the nozzle 32A in the component supply unit 5, and provides image information for obtaining component information and position offset information. The component photography is performed by the head unit 3 passing above the component recognition camera 6 during the movement from the component supply unit 5 to the substrate 2. By analyzing the image obtained in this way, the position offset and rotation angle of the adsorbed component P on the XY plane can be calculated. In addition, in this embodiment, the component recognition camera 6 can also photograph the lower surface of the head unit 3 from the vertical below in addition to the component P.

[0037] The nozzle storage unit 7 includes a nozzle stocker that stores a plurality of nozzles 32A. When a nozzle 32A corresponding to a component P is instructed to be mounted, the head unit 3 moves above the nozzle stocker, and the mounting head 31 is raised and lowered in the vertical direction Z to enter the nozzle stocker. This allows the nozzle 32A to be replaced.

[0038] Figure 3 yes Figure 2 The cross-sectional view of the nozzle shown in the figure shows a cross-sectional view observed from the (+Y) direction in the left column of the figure, and a cross-sectional view observed from the (-Y) direction in the right column of the figure. Figure 4 Yes Figure 2 The cross-sectional structure of the nozzle is shown in FIG. Figure 5It is a schematic representation of the equipment Figure 2 The figure shows the component transfer action performed by the mounting head of the suction nozzle, (a) and (b) in the figure represent the component picking action at the component supply position, and (c) represents the component mounting action on the substrate.

[0039] The mounting head 31 includes a head body (not shown) that is driven to move up and down and rotate relative to the head unit 3. A negative pressure passage is formed inside the head body to supply negative pressure for component suction to the suction nozzle 32A configured as described below.

[0040] The suction nozzle 32A includes a retaining nozzle 33, a shaft nozzle 34, a compression coil spring 35, a rotation limiting pin 36, and an O-ring 37, which are parts that are detachably mounted relative to the head body. The retaining nozzle 33 has a cylindrical structure in which a mounting hole 331 for accommodating the lower end of the head body and a retaining hole 332 for retaining the shaft nozzle 34 are continuous in the vertical direction Z.

[0041] The axial suction nozzle 34 has an axial structure, and more specifically, has a substantially cylindrical hollow structure having a suction path 341 extending in the vertical direction Z. The axial suction nozzle 34 is inserted into the holding hole 332 of the holding suction nozzle 33 and is slidable relative to the holding suction nozzle 33 in a direction D parallel to the axis AX of the axial suction nozzle 34 .

[0042] In addition, in order to add a buffering function to the suction nozzle 32A, a compression coil spring 35 is provided as an example of a "force applying member" of the present invention. That is, the holding suction nozzle 33 has upper and lower flange portions 334, 335 on the outer periphery. In addition, the shaft suction nozzle 34 has a flange portion 342 on the outer periphery. Moreover, the compression coil spring 35 is externally inserted into the holding suction nozzle 33 and the shaft suction nozzle 34 in a manner interposed between the flange portions 334, 342 that are opposite to each other in the vertical direction Z. Therefore, the shaft suction nozzle 34 is urged in a direction away from the holding suction nozzle 33 (the lower side in the figure) by the elastic force of the compression coil spring 35. As shown Figures 2 to 5 As shown, except when the mounting head 31 receives the component P from the feeder 51 and when the component P is mounted on the substrate 2, the axial nozzle 34 protrudes from the holding nozzle 33 in the nozzle protrusion direction D1. On the other hand, when receiving the component and mounting the component, the mounting head 31 descends vertically downward, that is, in the (-Z) direction, with the front end (lower end) of the axial nozzle 34 in contact with the upper surface of the component P. At the same time, the axial nozzle 34 retreats relative to the holding nozzle 33 in the reverse protrusion direction D2 opposite to the nozzle protrusion direction D1 while overcoming the elastic force of the compression coil spring 35. In this way, the impact load of the axial nozzle 34 on the component P is absorbed by the compression coil spring 35 due to the elastic displacement of the axial nozzle 34 relative to the holding nozzle 33.

[0043] As described above, the nozzle 32A is provided with a rotation limiting structure, which allows the axis nozzle 34 to slide relative to the holding nozzle 33, and on the other hand, the rotation relative to the holding nozzle 33 (rotation around the axis AX) is limited by the rotation limiting pin 36. More specifically, with respect to the side wall of the axis nozzle 34 processed into a roughly cylindrical shape, a first long hole 343 and a second long hole 344 are provided parallel to the nozzle protruding direction D1. These long holes 343 and 344 are biased to be provided on the (-X) direction side of the orthogonal direction X that is orthogonal to the axis AX of the axis nozzle 34. Moreover, as Figures 3 to 5 As shown, the ends of the long holes 343 and 344 on the side opposite to the protruding direction D2 reach the same height position as the annular groove portion 336 formed between the flange portions 334 and 335.

[0044] In the groove portion 336, a through hole (not shown) is provided at a position opposite to the long holes 343 and 344. Furthermore, a round rod-shaped rotation limiting pin 36 is inserted from one through hole, passes through the first long hole 343, the suction path 341 and the second long hole 344, and reaches the other through hole. In this way, the rotation limiting pin 36 is mounted on the holding nozzle 33 in a state in which it is arranged in a (-X) direction relative to the axis AX of the shaft nozzle 34. Therefore, in a state in which the rotation limiting pin 36 is engaged with the inner wall surface of the long holes 343 and 344, the shaft nozzle 34 slides relative to the holding nozzle 33. That is, in a state in which the rotation is restricted by the rotation limiting pin 36, the front end portion 34a of the shaft nozzle 34 protrudes from the holding nozzle 33 by elastic force. Moreover, the protrusion is stopped by being engaged with the rotation limiting pin 36 on the inner end surface of the long holes 343 and 344 on the side opposite to the protrusion direction D2. That is, the rotation restricting pin 36 positions the front end portion 34a of the shaft nozzle 34 at the limit position of protrusion from the holding nozzle 33 (ie, the protrusion limit position), and corresponds to an example of the "locking portion" of the present invention.

[0045] Furthermore, in conjunction with the through hole being provided in the groove portion 336, an O-ring 37 is attached to the groove portion 336. This suppresses the inflow of air into the suction path 341, thereby preventing a decrease in the suction performance of the suction nozzle 32A.

[0046] Next, refer to Figure 5The component adsorption action, component conveying action and component installation action performed by the suction nozzle 32A constructed as described above are explained. As shown in (a) of the figure, the belt 52 containing the component P is supplied to the component supply position P1 by the feeder 51. In order to pick up the component P, the mounting head 31 moves so that the suction nozzle 32A is located above the component supply position P1. At this time, the front end 34a of the shaft suction nozzle 34 protrudes from the holding suction nozzle 33 by the elastic force. Here, when the holding suction nozzle 33 and the shaft suction nozzle 34 have the designed dimensions, the shaft suction nozzle 34 does not shake relative to the holding suction nozzle 33, and the nozzle protrusion direction D1 is vertically downward, that is, parallel to the (-Z) direction. In contrast, when the above-mentioned shaking occurs, the nozzle protrusion direction D1 tilts relative to the vertical direction Z, and the posture of the suction nozzle 32A changes. In the existing device, as described above, there is no structure for controlling the posture of the suction nozzle 32A, and the tilting direction is random.

[0047] In contrast, in the first embodiment, the rotation limiting structure for limiting the rotation of the axial suction nozzle 34 relative to the holding nozzle 33 (rotation around the axis) is constructed as described above. That is, the rotation limiting pin 36 engages with the long holes 343 and 344 on the (-X) direction side relative to the axis AX, while supporting the axial suction nozzle 34 in a manner that allows it to slide freely in the nozzle protrusion direction D1, thereby limiting the rotation of the axial suction nozzle 34 around the axis AX. Moreover, when the front end portion 34a of the axial suction nozzle 34 is positioned to the protrusion limit position, the rotation limiting pin 36 locks the inner end surface of the long holes 343 and 344 on the side of the counter-protrusion direction D2, and the locking position (first locking position LP1) of the long hole 343 and the locking position (second locking position LP2) of the long hole 344 are both biased toward the (-X) direction side relative to the axis AX. As a result, as Figure 5 As shown in (a) of the drawing, the nozzle protrusion direction D1 is inclined counterclockwise on the paper, and a rotational torque M represented by the dotted line in the figure is applied to the axial nozzle 34 subjected to the elastic force of the nozzle protrusion direction D1, and the end 346 on the (+X) direction side of the front end face 345 of the axial nozzle 34 is located at a lower position than the end 347 on the (-X) direction side. Therefore, in order to pick up the component P, as shown by the solid arrow in (a) of the drawing, when the mounting head 31 descends in the (-Z) direction, the end 346 of the axial nozzle 34 first abuts against the component P. Then, as the mounting head 31 further descends, the entire front end face 345 of the axial nozzle 34 abuts against the upper surface of the component P, thereby firmly adsorbing the component P.

[0048] When the component adsorption action is completed, the mounting head 31 rises in the (+Z) direction, but as it rises, the front end 34a of the axial suction nozzle 34 protrudes relative to the holding suction nozzle 33 in the nozzle protrusion direction D1 due to the elastic force. Moreover, when the component P adsorbed by the suction nozzle 32A moves upward from the belt 52, as shown in (b) of the figure, the nozzle protrusion direction D1 is tilted counterclockwise on the paper surface, just as before the component adsorption action. Therefore, the adsorbed component P is also tilted in the same manner and is transported to the top of the substrate 2 in this state (component transport action).

[0049] When the component P is positioned above the component mounting position P2 on the surface of the substrate 2, the component conveying action stops and the component mounting action is switched to. At this time, the posture of the component P always corresponds to the posture of the suction nozzle 32A during the component adsorption action. For example, Figure 5 As shown in (b) and (c), at the time point when the suction nozzle 32A is moved in the horizontal direction and transported to the top of the component mounting position P2 after the component is adsorbed, the nozzle protrusion direction D1 is tilted counterclockwise on the paper, and the end P(+X) on the (+X) direction side below the component P of the suction nozzle 32A is located at a lower position than the end P(-X) on the (-X) direction side. In addition, as needed, the mounting head 31 is sometimes rotated before performing component installation, but the component P adsorbed and held by the rotated suction nozzle 32A is tilted in a direction corresponding to the posture during the component adsorption action. Subsequently, when the mounting head 31 descends to mount the component P on the substrate 2, for example, as Figure 5 As shown in (c), the end portion P(+X) of the component P is initially placed at the component mounting position P2. Then, as the mounting head 31 further descends, the entire component P, held by the suction nozzle 32A, is placed on the surface of the substrate 2. Subsequently, the suction holding of the suction nozzle 32A is released, completing the mounting of the component P.

[0050] As described above, in the first embodiment, the axial suction nozzle 34 causes the front end portion 34a to protrude relative to the holding suction nozzle 33 in the nozzle protrusion direction D1 by the elastic force of the compression coil spring 35. Moreover, the first locking position LP1 and the second locking position LP2 are set asymmetrically with respect to the axis AX. Therefore, the inclination direction of the nozzle protrusion direction D1 relative to the (-Z) direction is uniquely determined by the relative relationship between the first locking position LP1 and the second locking position LP2 with respect to the axis AX. That is, the suction nozzle 32A always takes a posture that tilts the axial suction nozzle 34 in the above-mentioned rotation direction when the front end portion 34a of the axial suction nozzle 34 protrudes from the holding suction nozzle 33. Therefore, by pre-calculating the offset amount during loading corresponding to the tilt of the component posture during component adsorption caused by shaking, the component P can be transferred from the component supply position P1 to the component mounting position P2 with high precision without being affected by the individual differences of the suction nozzle 32A.

[0051] In addition, in the first embodiment, long holes 343 and 344 extending parallel to the nozzle protrusion direction D1 are provided on the side wall of the shaft nozzle 34. Moreover, while engaging with these long holes 343 and 344, the rotation limiting pin 36 supports the shaft nozzle 34 in a manner that allows it to slide freely in the nozzle protrusion direction D1, thereby limiting the rotation of the shaft nozzle 34 around the axis AX. In this way, the rotation limiting pin 36 has both the posture control function of the nozzle 32A and the rotation limiting function of the shaft nozzle 34. As a result, a high-function nozzle 32A can be obtained with a smaller number of components.

[0052] As described above, in the first embodiment, the shaft suction nozzle 34 and the retaining suction nozzle 33 correspond to examples of the "suction nozzle member" and "retaining member" of the present invention, respectively. Furthermore, the long hole 343 corresponds to an example of the "first engaging portion" and "first long hole" of the present invention, and the long hole 344 corresponds to an example of the "second engaging portion" and "second long hole" of the present invention. Furthermore, the elastic force of the compression coil spring 35 corresponds to an example of the "acting force" of the present invention. Furthermore, the mounting head 31 corresponds to an example of the "suction head" of the present invention.

[0053] Figure 6 This is a perspective view showing the cross-sectional structure of a suction nozzle according to a second embodiment of the present invention. This second embodiment differs significantly from the first embodiment in the structure of the elongated holes 343 and 344 and the rotation-restricting pin 36. The remaining structure is essentially the same as the first embodiment. The following description focuses on the differences, with identical structures designated by the same reference numerals and their description omitted.

[0054] In the suction nozzle 32B according to the second embodiment, as shown in FIG. Figure 6 As shown, in the Y direction, the long holes 343 and 344 are arranged opposite each other across the axis AX. The lengths H1 and H2 of these long holes 343 and 344 in the direction D satisfy the inequality (H1 < H2). Furthermore, the long holes 343 and 344 are arranged on the side wall of the shaft suction nozzle 34 so that the position of the inner end surface of the long hole 344 in the anti-protrusion direction D2 (hereinafter referred to as the "first inner end surface position") is lower than the position of the inner end surface of the long hole 343 in the anti-protrusion direction D2 (hereinafter referred to as the "second inner end surface position").

[0055] In addition, two through-holes are provided in the groove portion 336. These two through-holes are arranged to face each other across the axis AX in the Y direction. Furthermore, a round rod-shaped rotation limiting pin 36 is inserted from one through-hole, passes through the first long hole 343, the suction path 341, and the second long hole 344, and reaches the other through-hole. Therefore, the outer diameters of the two ends of the rotation limiting pin 36 are the same. On the other hand, in the anti-protrusion direction D2, the first inner end surface position is lower than the second inner end surface position. Therefore, the locking position of the rotation limiting pin 36 on the shaft suction nozzle 34 is different in the Y direction. More specifically, when the shaft suction nozzle 34 is caused to protrude relative to the nozzle protrusion direction D1 relative to the holding nozzle 33 by the elastic force of the compression coil spring 35, as shown in the figure, the locking portion of the rotation limiting pin 36 on the (-Y) direction side engages with the first inner end surface position to form a first locking position LP1. At this first locking position LP1, the movement of the shaft suction nozzle 34 on the (-Y) direction side is restricted. Shortly thereafter, the locking portion of the rotation limiting pin 36 on the (+Y) direction side engages with the second inner end surface position, forming a second locking position LP2. At this second locking position LP2, the movement of the shaft nozzle 34 in the (+Y) direction is restricted. As a result, the front end portion 34a of the shaft nozzle 34 is positioned at the protrusion limit position.

[0056] As described above, in the second embodiment, the first locking position LP1 and the second locking position LP2 are asymmetric with respect to the axis AX. More specifically, in the direction D, the second locking position LP2 is located at a position that is a predetermined distance (= H2-H1) closer to the counter-protrusion direction D2 than the first locking position LP1. Therefore, similarly to the first embodiment, when the axial nozzle 34 shakes relative to the holding nozzle 33, a rotational torque M is applied in the rotation direction that is uniquely determined by the relative relationship between the first locking position LP1 and the second locking position LP2 with respect to the axis AX. Therefore, when the front end portion 34a of the axial nozzle 34 protrudes from the holding nozzle 33, the nozzle 32B always takes a posture that tilts the axial nozzle 34 in the above-mentioned rotation direction. As a result, the same functional effect as that of the first embodiment can be obtained.

[0057] In the second embodiment, the locking portion on the (-Y) direction side of the rotation restricting pin 36 corresponds to an example of the "first locking portion" of the present invention, and the locking portion on the (+Y) direction side corresponds to an example of the "second locking portion" of the present invention.

[0058] Figure 7 This is a perspective view showing the cross-sectional structure of a suction nozzle according to a third embodiment of the present invention. This third embodiment differs significantly from the second embodiment in the structure of the elongated holes 343 and 344 and the rotation-restricting pin 36. The remaining structure is essentially the same as the second embodiment. The following description focuses on the differences, with identical structures designated by the same reference numerals and their description omitted.

[0059] In the suction nozzle 32C according to the third embodiment, as shown in FIG. Figure 7 As shown, in the Y direction, the elongated holes 343 and 344 are disposed opposite each other across the axis AX. These elongated holes 343 and 344 have the same length H in the direction D and are disposed at the same height in the direction D. Therefore, the first inner end surface position and the second inner end surface position are also located at the same height in the direction D.

[0060] In addition, the present invention is the same as the second embodiment in that two through holes are provided for the groove portion 336 and the round rod-shaped rotation limiting pin 36 is inserted through the through holes, but is greatly different in the following aspects. That is, the through hole on the (-Y) direction side in the direction Z is arranged at a position lower than the through hole on the (+Y) direction side. Therefore, the round rod-shaped rotation limiting pin 36 is inserted from one through hole and passes through the first long hole 343, the suction path 341 and the second long hole 344 to reach the other through hole. Therefore, the rotation limiting pin 36 is installed on the holding nozzle 33 in a manner such that its axis is inclined relative to the imaginary line VL (a line parallel to the Y direction in the third embodiment) connecting the first inner end surface position and the second inner end surface position. Therefore, although the outer diameters of the two ends of the rotation limiting pin 36 are the same, the locking portion on the (-Y) direction side of the rotation limiting pin 36 in the direction Z is located at a position lower than the locking portion on the (+Y) direction side. In the third embodiment, when the front end portion 34a of the axial suction nozzle 34 protrudes relative to the nozzle protrusion direction D1 relative to the holding suction nozzle 33 by the elastic force of the compression coil spring 35, as shown in the figure, the locking portion on the (+Y) direction side of the rotation limiting pin 36 engages with the second inner end surface position to form a second locking position LP2. At the second locking position LP2, the movement of the axial suction nozzle 34 on the (+Y) direction side is restricted. A little later, the locking portion on the (-Y) direction side of the rotation limiting pin 36 engages with the first inner end surface position to form a first locking position LP1. At the first locking position LP1, the movement of the axial suction nozzle 34 on the (-Y) direction side is restricted. As a result, the front end portion 34a of the axial suction nozzle 34 is positioned at the protrusion limit position.

[0061] As described above, in the third embodiment, the first locking position LP1 and the second locking position LP2 are also asymmetric with respect to the axis AX. More specifically, in direction D, the second locking position LP2 is located at a position closer to the first locking position LP1 than the first locking position LP1 by an amount that the rotation limiting pin 36 is tilted from the imaginary line VL in the opposite protrusion direction D2. Therefore, similarly to the second embodiment, when the shaft nozzle 34 shakes relative to the holding nozzle 33, a rotational torque M is applied in the rotation direction uniquely determined by the relative relationship between the first locking position LP1 and the second locking position LP2 with respect to the axis AX. Therefore, when the front end portion 34a of the shaft nozzle 34 protrudes from the holding nozzle 33, the nozzle 32C always takes a posture that tilts the shaft nozzle 34 in the above-mentioned rotation direction. As a result, the same effects as those of the first and second embodiments can be obtained.

[0062] Figure 8 This is a perspective view showing the cross-sectional structure of a suction nozzle according to a fourth embodiment of the present invention. This fourth embodiment differs significantly from the second embodiment in the structure of the elongated holes 343 and 344 and the rotation-restricting pin 36. The remaining structure is essentially the same as the second embodiment. The following description focuses on the differences, with identical structures designated by the same reference numerals and their description omitted.

[0063] In the suction nozzle 32D according to the fourth embodiment, Figure 8 As shown, in the Y direction, the elongated holes 343 and 344 are disposed opposite each other across the axis AX. These elongated holes 343 and 344 have the same length H in the direction D and are disposed at the same height in the direction D. Therefore, the first inner end surface position and the second inner end surface position are also located at the same height in the direction D.

[0064] While the groove 336 is provided with two through-holes, through which the rotation restricting pin 36 is inserted, the second embodiment differs significantly in the following respects. Specifically, the inner diameter of the through-hole on the (-Y) side in the Z direction is larger than the inner diameter of the through-hole on the (+Y) side, allowing for insertion of the rotation restricting pin 36, which is a stepped, round rod-shaped device with a corresponding outer diameter. Specifically, the small outer diameter retaining portion on the (+Y) side of the rotation restricting pin 36 is inserted through the large-diameter through-hole on the (-Y) side, passing through the first slot 343, the suction path 341, and the second slot 344 to reach the small-diameter through-hole on the (+Y) side. When the rotation restricting pin 36 is inserted in this manner, as shown in the figure, the large outer diameter retaining portion on the (-Y) side of the rotation restricting pin 36 is located in the first slot 343, and the small outer diameter retaining portion on the (+Y) side of the rotation restricting pin 36 is located in the second slot 344.

[0065] In the fourth embodiment, when the front end portion 34a of the axial suction nozzle 34 protrudes relative to the nozzle protrusion direction D1 relative to the holding suction nozzle 33 by the elastic force of the compression coil spring 35, as shown in the figure, the locking portion on the (-Y) direction side of the rotation limiting pin 36 engages with the first inner end surface position to form a first locking position LP1. At the first locking position LP1, the movement of the axial suction nozzle 34 on the (-Y) direction side is restricted. A little later, the locking portion on the (+Y) direction side of the rotation limiting pin 36 engages with the second inner end surface position to form a second locking position LP2. At the second locking position LP2, the movement of the axial suction nozzle 34 on the (+Y) direction side is restricted. As a result, the front end portion 34a of the axial suction nozzle 34 is positioned at the protrusion limit position.

[0066] As described above, in the fourth embodiment, the first locking position LP1 and the second locking position LP2 are also asymmetric with respect to the axis AX. More specifically, in direction D, the second locking position LP2 is located at a position that is half the difference in outer diameter between the small outer diameter locking portion and the large outer diameter locking portion in the anti-protrusion direction D2 relative to the first locking position LP1. Therefore, similarly to the second embodiment, when the shaft nozzle 34 shakes relative to the holding nozzle 33, a rotational torque M is applied in the rotation direction that is uniquely determined by the relative relationship between the first locking position LP1 and the second locking position LP2 with respect to the axis AX. Therefore, when the front end portion 34a of the shaft nozzle 34 protrudes from the holding nozzle 33, the nozzle 32D always takes a posture that tilts the shaft nozzle 34 in the above-mentioned rotation direction. As a result, the same effects as those of the first and second embodiments can be obtained.

[0067] In addition, the present invention is not limited to the above-mentioned embodiment, and various changes can be made to the above-mentioned embodiment as long as they do not deviate from the main purpose. For example, in the above-mentioned first to fourth embodiments, in order to limit the rotation of the shaft suction nozzle 34, the present invention is applied to the suction nozzles 32A to 32D that are combined with two long holes 343, 344 and a rotation limiting pin 36. The structure for rotation limitation is not limited to this. For example, there is a suction nozzle having a structure that combines a locking groove and a pin as described in Japanese Patent Gazette No. 2008-300598. For the suction nozzle having this structure, the technical matters included in the above-mentioned second to fourth embodiments can be applied. Hereinafter, with reference to Figure 9 A fifth embodiment will be described in which the engagement groove and the pin are combined to restrict the rotation of the shaft nozzle 34 and control the nozzle's posture.

[0068] Figure 9This is a perspective view showing the cross-sectional structure of the suction nozzle in the fifth embodiment of the present invention. The fifth embodiment differs greatly from the second embodiment in that: instead of the long holes 343 and 344, a first groove 348 and a second groove 349 are respectively provided on the outer side surface of the shaft suction nozzle 34; two through holes 334a and 334b are provided in the X direction for the flange portion 334; and round rod-shaped rotation limiting pins 36a and 36b extending in the X direction are respectively inserted into the through holes 334a and 334b. The other structures are basically the same as those in the second embodiment. In the following, the description focuses on the differences, and the same numbers are given to the same structures and the description is omitted.

[0069] In the suction nozzle 32E according to the fifth embodiment, Figure 9 As shown, the first groove 348 and the second groove 349 are opposed to each other across the axis AX in the Y direction and extend in the nozzle protrusion direction D1 by lengths H1 and H2 (>H1), respectively, in the direction D. Furthermore, the first groove 348 and the second groove 349 are arranged on the side wall of the shaft nozzle 34 so that the position of the inner end surface of the groove 348 in the counter-protrusion direction D2 (hereinafter referred to as the "third inner end surface position") is lower than the position of the inner end surface of the groove 349 in the counter-protrusion direction D2 (hereinafter referred to as the "fourth inner end surface position").

[0070] like Figure 9 As shown, the first groove 348 partially intersects with the through hole 334a. Therefore, when the rotation limiting pin 36a is inserted into the first groove 348 and installed on the holding suction nozzle 33, a portion of the side surface of the rotation limiting pin 36a enters toward the first groove 348. On the other hand, the second groove 349 partially intersects with the through hole 334b. Therefore, when the rotation limiting pin 36b is inserted into the second groove 349 and installed on the holding suction nozzle 33, a portion of the side surface of the rotation limiting pin 36b enters toward the second groove 349. Therefore, when the front end portion 34a of the shaft suction nozzle 34 protrudes relative to the holding suction nozzle 33 in the nozzle protrusion direction D1 by the elastic force of the compression coil spring 35, as shown in the figure, the side surface of the rotation limiting pin 36a engages with the third inner end surface position to form a first locking position LP1. At this first locking position LP1, the movement of the shaft suction nozzle 34 in the (-Y) direction side is restricted. Slightly later, the side surface of the rotation limiting pin 36b engages with the fourth inner end surface position to form the second locking position LP2. At this second locking position LP2, the movement of the shaft suction nozzle 34 in the (+Y) direction is restricted. As a result, the front end 34a of the shaft suction nozzle 34 is positioned at the protrusion limit position.

[0071] As described above, in the fifth embodiment, the first locking position LP1 and the second locking position LP2 are also asymmetric with respect to the axis AX. More specifically, in the direction D, the second locking position LP2 is located at a position that is a predetermined distance (= H2-H1) closer to the counter-protrusion direction D2 than the first locking position LP1. Therefore, similarly to the second embodiment, when the shaft nozzle 34 shakes relative to the holding nozzle 33, a rotational torque M is applied in the rotation direction that is uniquely determined by the relative relationship between the first locking position LP1 and the second locking position LP2 with respect to the axis AX. Therefore, when the front end portion 34a of the shaft nozzle 34 protrudes from the holding nozzle 33, the nozzle 32E always takes a posture that tilts the shaft nozzle 34 in the above-mentioned rotation direction. As a result, the same functional effect as that of the second embodiment can be obtained.

[0072] As described above, in the fifth embodiment, the rotation restricting pins 36a and 36b correspond to examples of the "first rotation restricting member" and the "second rotation restricting member" of the present invention, respectively, and function as the "locking portion" of the present invention.

[0073] Instead of positioning the third inner end surface position lower than the fourth inner end surface position in direction D, the structure can be similar to that of the third or fourth embodiment. Specifically, the grooves 348 and 349 can be arranged so that the third and fourth inner end surface positions are at the same height in direction D, and the through-hole 334a can be positioned lower than the through-hole 334b in the vertical direction Z. With this structure, the second locking position LP2 is positioned farther from the first locking position LP1 in direction D by the height difference between the third and fourth inner end surface positions in the anti-protrusion direction D2, thereby achieving the same operational effects as those of the third embodiment (sixth embodiment).

[0074] Alternatively, the grooves 348 and 349 may be provided so that the third inner end surface position and the fourth inner end surface position are at the same height in the direction D, and the outer diameter of the rotation restricting pin 36a may be larger than the outer diameter of the rotation restricting pin 36b. With this configuration, the second locking position LP2 is located closer to the first locking position LP1 in the direction D by the difference in the outer diameters of the rotation restricting pins 36a and 36b in the counter-protrusion direction D2, thereby achieving the same operational effects as those of the fourth embodiment (seventh embodiment).

[0075] Moreover, in the above-mentioned fifth to seventh embodiments, rotation limiting pins 36a and 36b are used as the "first rotation limiting member" and "second rotation limiting member" of the present invention, but the shapes of the first rotation limiting member and the second rotation limiting member are not limited to round rod shapes, and can also be other shapes, such as a spherical shape.

[0076] Moreover, in the above embodiment, the present invention is applied to the component mounting device 1 that functions as a component transfer device, but the application object of the present invention is not limited to this, and the present invention can also be applied to other component transfer devices (such as IC processors, component testers, etc.).

[0077] Industrial applicability

[0078] The present invention is applicable to a suction nozzle that picks up components at the tip of a nozzle member, all component transfer devices that transfer components using the suction nozzle, and all posture control technologies for the suction nozzle.

[0079] Description of labels

[0080] 1…Component mounting device (component transfer device)

[0081] 2...Substrate

[0082] 31…Installation head (suction head)

[0083] 32A~32E…Nozzle

[0084] 33…Holding nozzle (holding member)

[0085] 34...Axis nozzle (nozzle component)

[0086] 34a ... front end portion (of the nozzle member)

[0087] 35…Compression coil spring (force applying member)

[0088] 36…Rotation limiting pin (locking part)

[0089] 36a ...rotation restricting pin (first rotation restricting member, locking portion)

[0090] 36b ...rotation restricting pin (second rotation restricting member, locking portion)

[0091] 341…Suction path

[0092] 343…First long hole (first engagement portion)

[0093] 344…Second long hole (second engaging portion)

[0094] 348…First groove (first engagement portion)

[0095] 349…Second groove (first engagement portion)

[0096] AX…axis

[0097] D1…Nozzle protrusion direction

[0098] D2…anti-protrusion direction

[0099] LP1…First locking position

[0100] LP2…Second locking position

[0101] M…rotational torque

[0102] P...Component

[0103] P1…Component supply position (first position)

[0104] P2…Component installation position (second position)

[0105] VL…imaginary line

[0106] X…Orthogonal direction

[0107] Z…vertical direction

Claims

1. A nozzle, characterized in that: have: A shaft-shaped nozzle member that sucks the component at the front end; a holding member for holding the nozzle member in a manner that allows the nozzle to slide freely in a nozzle protrusion direction parallel to the axis of the nozzle member; a biasing member for generating a force for sliding the nozzle member in the nozzle protruding direction so that the front end portion of the nozzle member protrudes from the holding member; and a locking portion for locking the nozzle member protruding from the holding member by the biasing force to position the front end portion of the nozzle member at a protrusion limit position, The locking portion locks the suction nozzle component at a first locking position and a second locking position that are asymmetric with respect to the axis, thereby applying a rotational torque to the suction nozzle component that protrudes in the protruding direction of the suction nozzle due to the force in a rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis.

2. The nozzle according to claim 1, wherein The nozzle member has a first engaging portion and a second engaging portion extending parallel to a protruding direction of the nozzle. The locking portion supports the nozzle member slidably in the nozzle protruding direction while engaging with the first engaging portion and the second engaging portion, thereby restricting the nozzle member from rotating about the axis.

3. The nozzle according to claim 2, wherein: The nozzle member has a hollow structure in which a suction path connected to the front end portion is provided. The first engaging portion and the second engaging portion are respectively a first long hole and a second long hole extending parallel to the protruding direction of the nozzle on the side wall of the nozzle member. The locking portion is a rotation restricting pin that penetrates the first long hole, the suction path, and the second long hole and is attached to the holding member. The first long hole, the second long hole, and the rotation restricting pin are arranged offset to one side in a direction perpendicular to the axis.

4. The nozzle according to claim 2, wherein: The nozzle member has a hollow structure in which a suction path connected to the front end portion is provided. The first engaging portion and the second engaging portion are respectively a first long hole and a second long hole extending parallel to the protruding direction of the nozzle on the side wall of the nozzle member. The locking portion is a rotation restricting pin that penetrates the first long hole, the suction path, and the second long hole and is attached to the holding member. The first long hole and the second long hole are arranged opposite to each other across the axis. When the front end portion of the suction nozzle member protrudes from the retaining member toward the suction nozzle protrusion direction, in the reverse protrusion direction opposite to the suction nozzle protrusion direction, the first locking position formed by the first long hole and the first locking part of the rotation limiting pin being engaged with each other, and the second locking position formed by the second long hole and the second locking part of the rotation limiting pin being engaged with each other are different.

5. The nozzle according to claim 4, wherein The rotation restricting pin is extended in a direction perpendicular to the axis and is processed so that the outer diameter of the first locking portion is the same as the outer diameter of the second locking portion. The position of the inner end surface of the first long hole and the position of the inner end surface of the second long hole in the reverse protrusion direction are different.

6. The nozzle according to claim 4, wherein The axis of the rotation restricting pin is inclined with respect to an imaginary line connecting the position of the inner end surface of the first long hole and the position of the inner end surface of the second long hole in the anti-protruding direction.

7. The nozzle according to claim 4, wherein: The position of the inner end surface of the first long hole and the position of the inner end surface of the second long hole in the anti-protrusion direction are the same. The outer diameter of the first locking portion is different from the outer diameter of the second locking portion.

8. The nozzle according to claim 2, wherein: The first engaging portion and the second engaging portion are a first groove and a second groove respectively extending parallel to the axis and provided on the side wall of the nozzle member. The locking portion includes a first rotation limiting member and a second rotation limiting member, the first rotation limiting member is installed on the holding member in a manner that can engage with the first groove and move relative to the suction nozzle member in the direction of the suction nozzle protrusion, and the second rotation limiting member is installed on the holding member in a manner that can engage with the second groove and move relative to the suction nozzle member in the direction of the suction nozzle protrusion. The first groove and the second groove are arranged opposite to each other across the axis. When the front end portion of the suction nozzle member protrudes from the retaining member toward the suction nozzle protrusion direction, in the counter-protrusion direction opposite to the suction nozzle protrusion direction, the first locking position formed by the first groove engaging with the first rotation limiting member and the second locking position formed by the second groove engaging with the second rotation limiting member are different from each other.

9. The nozzle according to claim 8, wherein The first rotation restricting member and the second rotation restricting member are arranged at the same position in the nozzle protruding direction. A position of an inner end surface of the first groove and a position of an inner end surface of the second groove in the anti-protrusion direction are different from each other.

10. The nozzle according to claim 8, wherein The first rotation restricting member and the second rotation restricting member are arranged so that an imaginary line connecting the first rotation restricting member and the second rotation restricting member intersects.

11. The nozzle according to claim 8, wherein The position of the inner end surface of the first groove and the position of the inner end surface of the second groove in the anti-protrusion direction are the same. The outer diameter of the first rotation restricting member is different from the outer diameter of the second rotation restricting member.

12. A component transfer device, characterized in that: have: The nozzle according to any one of claims 1 to 11; and The suction head is configured to be movable while holding the holding member of the suction nozzle. The component transfer device transfers the component to a second position different from the first position after sucking the component at the first position by the suction nozzle.

13. A method for controlling the posture of a suction nozzle, wherein the suction nozzle comprises: an axial suction nozzle component having an adsorption element at its front end portion; a holding component that holds the suction nozzle component in a manner that allows it to slide freely in a protruding direction of the suction nozzle parallel to the axis of the suction nozzle component; a force-applying component that generates a force for causing the suction nozzle component to slide in the protruding direction of the suction nozzle so that the front end portion of the suction nozzle component protrudes from the holding component; and a locking portion that locks the suction nozzle component protruding from the holding component by the force to position the front end portion of the suction nozzle component at a protruding limit position, wherein the method for controlling the posture of the suction nozzle is characterized in that When the suction nozzle component is caused to protrude from the retaining component toward the suction nozzle protruding direction by the acting force, the suction nozzle component is locked with the suction nozzle component at a first locking position and a second locking position that are asymmetric with respect to the axis of the suction nozzle component, thereby applying a rotational torque to the suction nozzle component in a rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis to control the posture of the suction nozzle component.

14. A suction nozzle, characterized in that: have: A shaft-shaped nozzle member that sucks the component at the front end; a holding member for holding the nozzle member in a manner that allows the nozzle to slide freely in a nozzle protrusion direction parallel to the axis of the nozzle member; a biasing member disposed between the nozzle member and the holding member and configured to generate a biasing force in the nozzle protruding direction for sliding the nozzle member in the nozzle protruding direction so that the front end portion of the nozzle member protrudes from the holding member; and a locking portion for locking the nozzle member protruding from the holding member by the biasing force to position the front end portion of the nozzle member at a protrusion limit position, The nozzle member has a hollow structure in which a suction path connected to the front end portion is provided. The locking portion has a rotation limiting pin, which is inserted from a direction orthogonal to the axis, passes through the suction path and is installed on the retaining member. The rotation limiting pin is used to lock the suction nozzle member at a first locking position and a second locking position that are asymmetric with respect to the axis, thereby applying a rotational torque to the suction nozzle member that protrudes in the protruding direction of the suction nozzle by the force in a rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis.

15. A method for controlling the posture of a suction nozzle, the suction nozzle comprising: an axial suction nozzle member for sucking a component at a front end thereof; and a holding member for holding the suction nozzle member in a manner such that the suction nozzle member can slide freely in a direction in which the suction nozzle protrudes and is parallel to an axis of the suction nozzle member. a biasing member disposed between the nozzle member and the holding member and configured to generate a biasing force in the nozzle protruding direction for sliding the nozzle member in the nozzle protruding direction so that the front end portion of the nozzle member protrudes from the holding member; and a locking portion for locking the nozzle member protruding from the holding member by the force and positioning the front end portion of the nozzle member at a protruding limit position, wherein the nozzle posture control method is characterized in that: The nozzle member has a hollow structure in which a suction path connected to the front end portion is provided. The locking portion includes a rotation restricting pin that is inserted from a direction perpendicular to the axis, penetrates the suction path, and is attached to the holding member. When the suction nozzle component is caused to protrude from the retaining component toward the suction nozzle protruding direction by the acting force, the rotation limiting pin is locked with the suction nozzle component at the first locking position and the second locking position which are asymmetric with respect to the axis of the suction nozzle component, thereby applying a rotational torque to the suction nozzle component in the rotation direction uniquely determined by the relative relationship between the first locking position and the second locking position with respect to the axis to control the posture of the suction nozzle component.

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