Component assembly fixture

Abstract

Component mounting device (1) for mounting an electronic component (E1) on a printed circuit board (B1), comprising: a side-view camera (150) that captures an image of a side surface of a target body; a mounting head (50) having a nozzle shaft (100); and a drive device (30) that moves the mounting head (50) in a planar direction on a base (10), wherein the nozzle shaft (100) comprises the following: a main shaft body (110) which is movably mounted in a vertical direction with respect to the mounting head (50), and a suction nozzle (120) attached to a tip of the shaft main body (110) to suction and hold the electronic component (E1), and an identification mark (125) that identifies the suction nozzle (120), which is provided on a side surface of the suction nozzle (120), wherein the nozzle shaft (100) moves vertically with respect to the mounting head (50) between a first position, where an image of the electronic component (E1) held by the suction nozzle (120) can be captured by the side view camera (150), and a second position, where the image of the identification mark (125) attached to the side surface of the suction nozzle (120) can be captured by the side view camera (150).

Description

TECHNICAL FIELD

[0001] The technology disclosed in this patent relates to a component mounting apparatus. GENERAL STATE OF THE ART

[0002] Conventionally, a component mounting apparatus for mounting electronic components on a printed circuit board is known. The component mounting apparatus includes a mounting head having a nozzle shaft movable in a vertical direction. The nozzle shaft has a suction nozzle attached to its tip and has a structure for holding an electronic component by means of negative pressure.

[0003] In PTL 1 described below, an identification mark is printed on an upper surface of a flange part of the suction nozzle, and this is subjected to image recognition from above, thereby allowing the suction nozzle to be identified. STATE OF THE ART DOCUMENT

[0004] PTL 1: JP 2010- 92 955 A Problem to be solved by the invention

[0005] However, the identification mark printed on the upper surface of the flange part cannot be recognized unless the suction nozzle is in a state where it is removed from a shaft main body.

[0006] The technology disclosed in the patent specification was made in consideration of the problem described above and has an object of allowing recognition of information even when the suction nozzle remains assembled with the shaft main body.

[0007] JP 2016-76579 A describes improving the accuracy of component mounting, even when a suction part is replaced or the like, in a component mounting apparatus including the suction part for sucking a component. A component mounting apparatus includes: a plurality of suction parts, each of which has self-identification information for sucking and mounting a component on a substrate; a reading part for reading the parameter information of the self-suction part side obtained from the self-identification information; and a control part for performing position control on at least the suction parts.The control part includes a correction processing part that executes, for each of the plurality of suction parts, correction processing for correcting position control for a suction position of the component by the suction part and position control for a mounting position of the component on the substrate when mounting the component on the substrate, based on the suction part-side parameter information read by the reading part.

[0008] JP 2009–283572 A describes the provision of a holding device that can image multiple suction nozzles simultaneously and without loss of time from one side, and whose structure differs from those of conventional types. A reflector is arranged at a lower end portion of a rotation axis of an installation head. Light rays from near the respective suction pipes of the four suction nozzles are simultaneously reflected regularly at reflection planes. A light is incident on a lateral imaging device arranged in the direction of a head rotation axis. The four suction pipes are simultaneously imaged in a state where they are divided into units of planes, thereby facilitating image processing. The imaging device is arranged with the installation head in a Y-axis carriage.The image can be captured while the installation head is moving, avoiding any increase in the time required for component installation on a circuit board. By placing a shielding device between a light source and the suction nozzles and limiting the light incident on the reflection planes, the four suction tubes can be imaged in a state where they are divided.

[0009] JP 2007– 287 986 A describes the provision of a mounting head and a mounting device for electronic components, the construction and attachment of which is simplified.The electronic component mounting head is equipped with a plurality of attracting nozzles for attracting the electronic component by an end unit for mounting the same on a circuit board, a nozzle holder that can be pivoted about an axial line extending in the up-and-down direction and that can move a plurality of attracting nozzles in the up-and-down direction on a circumference concentric with the axial line, a reflector that can reflect light, an LED for radiating light toward the reflector, and a CCD camera for capturing the two-dimensional image of the electronic component attracted toward the end unit by light reflected from the reflector, while the electronic component mounting device is equipped with the electronic component mounting head.The reflector is arranged on the inside of the circumference concentrically to the axial line, while the LED and the CCD camera are arranged on the outside of the circumference concentrically to the axial line.

[0010] JP H10–163 690 A describes that nozzle types can be identified easily, reliably, and quickly by forming the sensor body of a nozzle from reference elements provided in the nozzle for the sensor start and sensor end, and nozzle identifiers provided between these sensor reference elements. While projecting a laser beam onto a nozzle, a mounting head is moved in the longitudinal axis direction to detect a sensor reference element. The nozzle is then moved in the longitudinal axis direction at a uniform pitch, whereby several nozzle identifiers are detected one after the other. Furthermore, as the nozzle is moved, a depressed groove of the nozzle identifier is detected as a code. In this way, by detecting the presence of the depressed grooves for the subsequent nozzle identifiers, one of the codes for each nozzle identifier is obtained. When a detecting reference element is then detected, an identification code is completed.The nozzle is assessed using its sensor body as an identification code to confirm the attachment of the desired nozzle.

[0011] DE 10 2011 083 987 B3 describes a holding device for components, which has (a) a connecting section in which a cavity is formed and which can be attached to a placement head, and (b) a tip section which is attached to the connecting section and which has a suction channel which is formed along a longitudinal axis of the holding device and which is connected to the cavity of the connecting section, so that when a negative pressure is applied in the cavity, a component can be sucked onto an end face of the tip section facing away from the connecting section. According to the invention, a marking is applied to an inner wall of the cavity of the connecting section, which marking is indicative of the type of holding device. Furthermore, an automatic placement machine with a camera and an evaluation unit is described, with which the described holding device can be identified with regard to its type.In addition, a corresponding method and a computer program for identifying the type of a holding device of the above-mentioned type are described.

[0012] JP 2006-351682 A describes the provision of an apparatus for assembling electronic parts and a method for arranging their nozzles for automatically recognizing the nozzle type in a nozzle holder and an individual nozzle before actual production, informing a user of the correctness of the recognition, and automatically determining a nozzle requiring nozzle teaching to inform the user that this nozzle teaching should be performed. The nozzle consists of an upper mounting part, a lower nozzle, and an intermediate inverted conical part. On the annular upper surface of the inverted conical part, an identification symbol is engraved with laser light as a QR code, which can be easily read by a substrate recognition camera. The identification symbol is composed of codes indicating the nozzle type and an individual nozzle.A CPU in a body-mounted device reads the QR code of a nozzle attached to the nozzle holder and uses the identification symbol to determine the nozzle's suitability and any changes to the nozzle. The CPU issues an alarm if an error occurs, and if a change occurs, the process automatically switches to nozzle learning processing. DISCLOSURE OF THE PRESENT INVENTION MEANS FOR SOLVING THE TASK

[0013] The component mounting apparatus disclosed in the patent is a component mounting apparatus that mounts an electronic component on a circuit board, comprising a side view camera that captures an image of a side surface of a target body, a mounting head having a nozzle shaft, and a driving device that moves the mounting head in a planar direction on a base, wherein the nozzle shaft includes a shaft main body movably supported in a vertical direction with respect to the mounting head, and a suction nozzle attached to a tip of the shaft main body for sucking and holding the electronic component, and an identification mark that identifies the suction nozzle is provided on a side surface of the suction nozzle.

[0014] In the present structure, the identification mark is provided on the side surface of the suction nozzle. Therefore, even when the suction nozzle remains attached to the shaft main body, an image of the identification mark can be captured by the side view camera.

[0015] As one embodiment of the component mounting device disclosed in the patent, the side-view camera is mounted on the mounting head and captures an image of the identification mark of the suction nozzle. With this structure, the image of the identification mark can be captured by the side-view camera during movement of the mounting head.

[0016] The nozzle shaft moves vertically with respect to the mounting head between a first position where an image of the electronic component held by the suction nozzle can be captured by the side-view camera, and a second position where the image of the identification mark attached to the side surface of the suction nozzle can be captured by the side-view camera. With this structure, images of both the electronic component and the identification mark can be captured by a side-view camera by adjusting the vertical position of the nozzle shaft.

[0017] As one embodiment of the component mounting device disclosed in the patent, the mounting head is a rotary mounting head including a rotary body having a plurality of nozzle shafts mounted in a circumferential direction and a support member that rotatably supports the rotary body. The side view camera is attached to the support member. With this structure, the position of each nozzle shaft in the circumferential direction with respect to the side view camera can be adjusted by rotating the rotary body.

[0018] As one embodiment of the component mounting device disclosed in the patent, the identification mark is a two-dimensional code. With this structure, a relatively large amount of information can be written. Advantageous effect of the invention

[0019] According to the technology disclosed in the patent, information can be recognized even if the suction nozzle remains assembled with the shaft main body. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a plan view of a component mounting apparatus applied to a first embodiment. Fig. 2 is a perspective view of a head unit. Fig. 3 is a partially enlarged perspective view of the head unit. Fig. 4 is a perspective view showing the structure of a rotating body. Fig. 5 is a diagram in which part B of Fig. 4 is enlarged. Fig. 6 is a cross-sectional view of main parts of the head unit. Fig. 7 is a diagram showing a part (lower half) of Fig. 6 is enlarged. Fig. 8 is an enlarged view of a suction nozzle. Fig. 9 is a block diagram showing an electrical structure of the component mounting apparatus. Fig. 10 is a view of the head unit viewed from a direction A of Fig. 2. Fig. 11 is a perspective view of a camera unit. Fig. 12 is a view of a light path of the camera unit. Fig. 13 is a diagram showing an image pickup operation of an electronic component. Fig. 14 is a diagram showing an image pickup operation of the electronic component. Fig. 15 is a diagram showing an image pickup operation of a two-dimensional code. Fig. 16 is a table providing a summary of the position of a shaft main body, an illumination, and a turn-on matrix for each image pickup target body. Fig. Figure 17 is a flowchart showing a process flow in which a type of suction nozzle is tested. Fig. 18 is a diagram showing contents stored in a storage unit. Fig. 19 is a diagram showing contents stored in a management device. Fig. 20 is a plan view of a component mounting apparatus applied to a second embodiment. Fig. 21 is a diagram showing an image pickup operation of a two-dimensional code. Fig. 22 is a diagram showing another mode of the suction nozzle. Fig. Fig. 23 is a diagram showing a positional relationship between a two-dimensional code and a camera unit. BEST MODE FOR CARRYING OUT THE INVENTION<Erste Ausführungsform> 1. Overall structure of the component assembly device

[0020] Fig. 1 is a plan view of a component mounting apparatus 1. The component mounting apparatus 1 includes a base 10, a carrier conveyor 20 for supporting a printed circuit board B1, a head unit 50, a drive device 30 that moves the head unit 50 in a planar direction (XY axis direction), component feed units 40, and so on. Note that the head unit 50 is an example of a "mounting head" of the present invention.

[0021] The base 10 forms a rectangular shape in a planar view, with an upper surface being flattened. Furthermore, a securing device (omitted in the drawing) is provided below the carrier conveyor 20 on the base 10, which secures the printed circuit board B1 when an electronic component E1 is placed on the printed circuit board B1. In the following description, it is assumed that a carrying direction of the printed circuit board B1 (lateral direction of Fig. 1) is an X-axis direction, a direction of a short side (vertical direction of Fig. 1) the base 10 is a Y-axis direction, and the vertical direction is a Z-axis direction.

[0022] The carrier conveyor 20 is arranged at a substantially central position of the base 10 in the Y-axis direction and carries the printed circuit board B1 along the X-axis direction. The carrier conveyor 20 includes paired conveyor belts 22 for driving in the X-direction as the carrying direction in a circulating manner. The printed circuit board B1 is conveyed from one side (right side, which is Fig. 1) of the carrying direction along the conveyor belts 22 to a working position (position indicated by a two-dot chain line in Fig. 1) is carried on the base 10. Then, after the circuit board stops in the working position and the work of placing the electronic component E1 is carried out, the circuit board is conveyed along the conveyor belts 22 to the other side (left side, which is in Fig. 1 is shown).

[0023] The component feeding units 40 are arranged at two locations located in the X-axis direction on both sides of the carrier conveyor 20 (both upper and lower sides of Fig. 1), that is, four locations in total. A plurality of feeders 42 are mounted on these component feed units 40 to be laterally aligned. Each feeder 42 includes a drum around which a component feed tape is wound, which has a plurality of electronic components E1 housed thereon, and a motorized transfer device that pulls the component feed tape from the drum, feeding the electronic components E1 one by one.

[0024] The drive device 30 is configured from a pair of support frames 32 and a head drive mechanism. The pair of support frames 32 are positioned on both sides of the base 10 in the X-axis direction and extend in the Y-axis direction. The support frames 32 are provided with an X-axis servo mechanism and a Y-axis servo mechanism, which constitute the head drive mechanism. The head unit 50 can move in the X-axis and Y-axis directions in a movable surface on the base 10 by means of the X-axis and Y-axis servo mechanisms.

[0025] The Y-axis servo mechanism includes paired Y-axis guide rails 33Y, a head support 36, a Y-axis ball screw 34Y, and a Y-axis servo motor 35Y. The head support 36 is slidably supported in the Y-axis direction by the paired Y-axis guide rails 33Y. A ball nut (omitted from the drawing) is fixed to the head support 36, which is screwed onto the Y-axis ball screw 34Y.

[0026] When the Y-axis servo motor 35Y is driven, the ball nut moves back and forth along the Y-axis ball screw 34Y, and consequently, the headrest 36 and the head unit 50 described below move in the Y-axis direction along the Y-axis guide rails 33Y.

[0027] The X-axis servo mechanism includes an X-axis guide rail (not shown in the drawing) fixed to the headrest 36, an X-axis ball screw 34X, and an X-axis servo motor 35X. The head unit 50 is mounted on the X-axis guide rail for movement along its axial direction. A ball nut (omitted from the drawing) is attached to the head unit 50 and is screwed onto the X-axis ball screw 34X.

[0028] When the X-axis servo motor 35X is driven, the ball nut moves back and forth along the X-axis ball screw 34X, and consequently, the head unit 50 fixed to the ball nut moves in the X-axis direction along the X-axis guide rail on the headrest 36. (Head unit structure)

[0029] The head unit 50 serves a function of sucking the electronic component E1, which is fed from the feed device 42, for mounting on the circuit board B1. As shown in Fig. 2 to Fig. As shown in Figure 4, the head unit 50 includes a unit main body 60, a bottom plate 52, an outer ring member 58, and covers 53 and 54. The bottom plate 52 forms a vertically elongated shape. The outer ring member 58 has an annular shape and is fixed to the bottom plate 52. The bottom plate 52 and the outer ring member 58 serve a function of supporting the unit main body 60 and correspond to a "support member" of the present invention.

[0030] The unit main body 60 is a rotatable body comprising a shaft unit 62 forming a shaft shape along the Z-axis direction, a rotary body 64, eighteen nozzle shafts 100, and an N-axis drive device 45, as shown in Fig. 2 to 4 and Fig. 6 shown.

[0031] As in Fig. 6, the shaft unit 62 has a dual structure including an outer shaft unit 62B and an inner shaft unit 62A positioned inside the outer shaft unit 62B. The inner shaft unit 62A is rotatably supported about the axis line of the shaft unit 62A with respect to the base plate 52.

[0032] The rotating body 64 forms a substantially columnar shape having a larger diameter than the shaft unit 62. The rotating body 64 is fixed to a lower part of the inner shaft unit 62A. The rotating body 64 is positioned on an inner peripheral side of the outer ring member 58 and is supported in a state in which it is rotated relative to the outer ring member 58. To show the rotating body 64, the outer ring member 58 is Fig. 4 omitted.

[0033] Eighteen through holes 65 are formed in the rotating body 64 at equal intervals in a circumferential direction. A nozzle shaft 100, described below, is attached to each through hole 65 so that it penetrates this hole.

[0034] At positions near an upper part of the shaft unit 62, an N-axis driven gear 62N and an R-axis driven gear 62R are vertically mounted (see Fig. 4). The N-axis driven gear 62N is coupled to the inner shaft unit 62A, and the R-axis driven gear 62R is coupled to the outer shaft unit 62B.

[0035] The N-axis drive device 45 includes an N-axis servomotor 35N and an N-axis drive gear (not shown in the drawing) provided on an output shaft of the N-axis servomotor 35N. The N-axis drive gear meshes with the N-axis driven gear 62N. Thus, when the N-axis servomotor 35N is driven, the motive force of the motor 35N is transmitted to the inner shaft unit 62A via the N-axis drive gear and the N-axis driven gear 62N. Thus, the structure is such that the rotary body 64 rotates together with the inner shaft unit 62A, and the eighteen nozzle shafts 100 supported by the rotary body 64 rotate integrally with the rotary body 64.

[0036] The outer shaft unit 62B has bearings at both ends in the axial direction in which the inner shaft unit 62A and the rotating body 64 are supported, and can rotate relatively with respect to the inner shaft unit 62A and the rotating body 64.

[0037] The nozzle shafts 100 each comprise a shaft main body 110 and a suction nozzle 120, as shown in Fig. 7. The shaft main body 110 has a shaft shape along the Z-axis direction and is fixed to the through hole 65 formed in the rotary body 64 by means of a cylindrical shaft holder 57.

[0038] The suction nozzle 120 is detachably attached to a lower end of the shaft main body 110, which projects downward from the rotary body 64.

[0039] A negative or positive pressure is applied to the suction nozzle 120. Each of the suction nozzles 120 sucks and holds the electronic component E1 at its tip using negative pressure, and releases the electronic component E1 held at its tip using positive pressure.

[0040] A coil spring 130 is attached to an upper outer peripheral surface of the shaft main body 110. The coil spring 130 serves a function of urging the shaft main body 110 upward.

[0041] The suction nozzle 120 has a cylindrical coupling unit 123 to be detachably coupled to a lower end of the shaft main body 110, as shown in Fig. 8. On a peripheral side surface of the coupling unit 123, two-dimensional codes 125 (a generic name of 125A and 125B) are provided as identification marks 125. Specifically, two two-dimensional codes 125A and 125B are laser-printed. These two-dimensional codes 125A and 125B are, for example, QR codes (registered trademarks) or data matrices in which identification information for identifying each suction nozzle 120 and information regarding the type of the suction nozzle 120 are encoded and written. The type refers to the size of the nozzle opening and the shape of the nozzle opening.

[0042] Next, an R-axis driving device 70 for rotating and driving each nozzle shaft 100 about its axis line L will be described.

[0043] The R-axis drive device 70 is mounted on a substantially central part in the Z-axis direction of the head unit 50, as shown in Fig. 2 and Fig. 3, and includes an R-axis servo motor 35R, an R-axis drive gear 72R provided on an output shaft of the R-axis servo motor 35R and meshing with the R-axis driven gear 62R, and a common gear 55.

[0044] The common gear 55 is provided at a lower part of the outer shaft unit 62B, as shown in Fig. 5 and Fig. 7. The common gear 55 is meshed with a gear 57R of each shaft holder 57. When the R-axis servo motor 35R is driven, the moving force of the motor 35R is transmitted to the outer shaft unit 62B and the common gear 55 via the R-axis drive gear 72R and the R-axis driven gear 62R, thereby rotating the outer shaft unit 62B and the common gear 55.

[0045] When the common gear 55 rotates, the engagement with the gear 57R causes each shaft holder 57 to rotate. Since each shaft holder 57 and each shaft main body 110 are coupled to the rotation of the common gear 55 by means of a ball-and-socket coupling, the eighteen nozzle shafts 100 rotate in unison around the axis line L in the same direction at the same angle.

[0046] The head unit 50 includes two Z-axis drive devices 80 for causing each nozzle shaft 100 to move up and down in the Z-axis direction (vertical direction) with respect to the rotary body 64.

[0047] The Z-axis drive devices 80 are mounted symmetrically above the nozzle shaft 100 on both the left and right sides (both sides in the X-axis direction) of the head unit 50 via the shaft unit 62 of the rotary body 64, as shown in Fig. 6, and cause the nozzle shafts 100 of the eighteen nozzle shafts 100 located on both the left and right sides (both sides in the X-axis direction) of Fig. 6 are positioned to move up and down in the Z-axis direction rather than the vertical direction.

[0048] The Z-axis drive device 80 includes a Z-axis linear motor 35Z and a Z-axis movable unit 84. The Z-axis linear motor 35Z includes a stator (coil) and a movable unit (magnet) movable in the Z-axis direction. The Z-axis movable unit 84 is fixed to the movable unit and moves in the Z-axis direction (vertical direction) by driving the Z-axis linear motor 35Z.

[0049] At a lower end of the Z-axis movable unit 84, a guide cam 86 is fixed as shown in Fig. 6. When driving the Z-axis linear motor 35Z causes the Z-axis movable unit 84 to move down from the home position shown in Fig. 6, the guide cam 86 makes contact with an upper end of the shaft main body 110, and the entire nozzle shaft 100 descends against the elastic force of the coil spring 130.

[0050] When the Z-axis movable unit 84 is caused to rise from the state where the guide cam 86 is in contact with the upper end of the shaft main body 110, the elastic yielding force of the coil spring 130 causes the entire nozzle shaft 100 to move upward.

[0051] In the state where the Z-axis movable unit 84 is at an original position shown in Fig. 6, the guide cam 86 is positioned above the shaft main body 110 and away from the shaft main body 110. Thus, the individual nozzle shafts 110 and the guide cam 86 do not interfere with each other when the rotating body 64 is rotated.

[0052] With this structure, it is possible to carry out the process of taking out the electronic component E1 fed from the feeder 42 by means of the head unit 50 for mounting on the circuit board B1 by operating the X-axis servo motor 35X, the Y-axis servo motor 35Y, the N-axis servo motor 35N, the R-axis servo motor 35R, and the Z-axis linear motor 35Z at a predetermined timing.

[0053] That is, when the electronic component E1 is removed from the feeder 42, the X-axis servo motor 35X and the Y-axis servo motor 35Y are driven to move the head unit 50 above the feeder. When the head unit moves above the feeder, the Z-axis linear motor 35Z is driven to cause the first nozzle shaft 100 at an up / down operation position to descend from an up-down end position S1, as shown in Fig. 6. The up / down operation position is a position at which up / down operation can be performed by the Z-axis driving device 80, and is a left or right position of Fig. 6.

[0054] Then, at the time when the suction nozzle 120 provided at the tip of the nozzle shaft 100 descends to the level of the upper surface of the electronic component E1 fed from the feeder 42, a negative pressure can be supplied, thereby allowing the electronic component E1 to be removed from the feeder 42. Then, after the component is removed, the Z-axis linear motor 35Z is driven to cause the first nozzle shaft 100 to ascend to the ascending end position S1 shown in Fig. 6 is shown.

[0055] Next, the N-axis servo motor 35N is driven to rotate the rotary body 64 to cause the second nozzle shaft 100 to move to the up / down operation position. Thereafter, as in the first step, the Z-axis linear motor 35Z is driven to cause the second nozzle shaft 100 to descend from the up-end position S1 shown in Fig. 6. Then, at the time when the suction nozzle 120 descends to the level of the upper surface of the electronic component E1 fed from the feeder 42, a negative pressure is applied, thereby allowing the electronic component E1 to be removed from the feeder 42 (suction process).

[0056] This operation is performed for each of the eighteen nozzle shafts 100, allowing eighteen electronic components E1 to be removed from each feeder 42 by a head unit 50.

[0057] Next, when the extracted electronic component E1 is mounted on the circuit board B1, the X-axis servo motor 35X and the Y-axis servo motor 35Y are driven to move the head unit 50 from above the feeder onto the circuit board B1. Furthermore, during the movement of the head unit 50, an image of the electronic component E1 is captured by a camera unit 150 (described below).

[0058] Then, when the head unit moves above the circuit board, the Z-axis linear motor 35Z is driven to cause the first nozzle shaft 100 at the up / down operation position to move down from a move-up end position S1, as shown in Fig. 6. In addition, during shutdown, the R-axis servo motor 35R is driven as required to rotate the nozzle shaft 100 around the axis line L to correct the inclination of the electronic component E1.

[0059] Then, at the time when the electronic component E1 held by the suction nozzle 120 descends to the level of the circuit board B1, a negative pressure is switched to a positive pressure, thereby allowing the electronic component E1 to be mounted on the circuit board B1. Then, after the electronic component E1 is mounted, the Z-axis linear motor 35Z is driven to cause the first nozzle shaft 110 to ascend to the ascending end position S1 shown in Fig. 6 is shown.

[0060] Next, the N-axis servo motor 35N is driven to rotate the rotary body 64 to cause the second nozzle shaft 100 to move to the up / down operation position. After that, as in the first, the Z-axis linear motor 35Z is driven to cause the second nozzle shaft 100 to move down from the up-end position S1, which is in Fig. 6. Then, at the time when the electronic component E1 held on the suction nozzle 120 descends to the level of the circuit board B1, a negative pressure is switched to a positive pressure, thereby allowing the electronic component E1 to be mounted on the circuit board B1 (mounting process).

[0061] This operation is performed for each of the eighteen shaft main bodies 110, thereby allowing the eighteen electronic components to be taken out from each feeder 42 to be mounted on the circuit board B1.

[0062] In the above, the example in which only one of the two Z-axis drive devices 80 is used, and the electronic components E1 are mounted one by one on the circuit board B1, is described. Furthermore, both of the two Z-axis drive devices 80 can be used to simultaneously move two shaft main bodies 110 up and down to simultaneously mount two electronic components E1 on the circuit board B1. The two Z-axis drive devices 80 can also be used alternately.

[0063] Next, the electrical structure of the component mounting apparatus 1 will be described with reference to Fig. 9. The main body of the component mounting apparatus 1 is controlled in its entirety by a controller 200 in a centralized manner. The controller 200 includes a calculation control unit 211 configured by a central processing unit (CPU), etc. Connected to the calculation control unit 211 are a motor control unit 212, a storage unit 213, an image processing unit 214, an input / output unit 215, a feeder communication unit 216, an external communication unit 217, a display unit 218, and an operation unit 219.

[0064] The motor control unit 212 controls an X-axis servo motor 35X, a Y-axis servo motor 35Y, an N-axis servo motor 35N, an R-axis servo motor 35R, and a Z-axis linear motor 35Z according to a program for mounting electronic components. The motor control unit 212 also drives the carrier conveyor 20 according to the mounting program.

[0065] The storage unit 213 is configured with a read-only memory (ROM), a random access memory (RAM), and so on. The storage unit 213 stores the program for assembling the electronic component E1 and various data required for assembling the electronic component E1.

[0066] At the image processing unit 214, images output from the camera unit 150 are each captured, and the captured images are analyzed.

[0067] A cover switch 230 is connected to the input / output unit 215. The cover switch 230 is a switch for detecting the opening / closing of a safety cover.

[0068] The feeder communication unit 216 is attached to each of the feeders 42 attached to the component feeding unit 40 and controls each feeder 42 in a centralized manner.

[0069] The external communication unit 217 is connected to a management device 250 that manages a production line for producing the printed circuit board B1, and the controller 200 can communicate with the management device 250 via the external communication unit 217.

[0070] The display unit 218 is configured as a liquid crystal display device or the like having a display screen, and causes the state of the component mounter 1, etc., to be displayed on the display screen. The operation unit 219 is a keyboard, etc., and can input various settings, conditions, etc., to the component mounter 1. 2. Structure of the camera unit

[0071] As in Fig. As shown in Figure 2, the head unit 50 includes the camera unit 150. The camera unit 150 is a side-view camera that captures an image of an image-capturing target body from a horizontal direction and is fixed to the outer ring member 58, which rotatably supports the rotating body 64.

[0072] Fig. 10 is a perspective view when Fig. 2 is viewed from a direction A, and Fig. 11 is a perspective view of the camera unit. Fig. 12 is a view of a light path of the camera unit.

[0073] The camera unit 150 includes a camera main body 153, a light guide unit 160 and light sources 180a and 180b, as shown in Fig. 11 and Fig. 12 shown.

[0074] The camera main body 153 includes a lens 155 and an imaging unit 157, and is attached to an upper part (upper part of a center frame) of the light guide unit 160 with the lens 155 facing downward.

[0075] The light guide unit 160 guides light to the camera main body 153 and has a center frame 163 and paired side frames 165A and 165B.

[0076] The center frame 163 is mounted on the rear side of the rotating body 64 of Fig. 10 and has a triangular central prism 171 mounted therein.

[0077] The paired side frames 165a and 165b are positioned on both sides of the rotary body 64 in the X direction, and the inside is connected to the center frame 163.

[0078] A first side prism 173a and a second side prism 175a are mounted inside the side frame 165a. A first side prism 173b and a second side prism 175b are mounted inside the side frame 165b.

[0079] On inner surfaces (surfaces opposite the rotating body) of the paired side frames 165a and 165b, incident light windows 166a and 166b are provided, respectively.

[0080] Light sources 180a and 180b are mounted on both sides of the incident light windows 166a and 166b in the Y direction. Light sources 180a and 180b are each configured with three-color LEDs and selectively emit light of any color from red, blue, and green.

[0081] The light path of the image pickup light from the camera unit 150 is as in Fig. 12. An image pickup light La incident from the incident light window 166a is sequentially reflected by the first side prism 173a, the second side prism 175a, and a center prism 171 to enter the imaging unit 157 of the camera main body 153.

[0082] In addition, the structure is such that an image pickup light Lb incident from the incident light window 166b is sequentially reflected by the first side prism 173b, the second side prism 175b, and the center prism 171 to enter the imaging unit 157 of the camera main body 153.

[0083] As in Fig. As shown in Figure 10, a diffusion plate 190 is mounted in the center of a lower portion of the rotating body 64. The diffusion plate 190 has a cylindrical shape and is positioned inside the peripherally mounted suction nozzles 120.

[0084] In the present embodiment, by using the camera unit 150 described above, images can be captured of both the electronic component E1 sucked onto each of the suction nozzles 120 and the two-dimensional codes 125A and 125B provided on the side surface of the suction nozzle 120. A method for capturing images of two image-capturing target bodies will be described below. [Method of image acquisition of the electronic component E1]

[0085] An image of the electronic component E1 is captured using transmitted light. For a specific description, for example, when an image of the electronic component E1 held at the suction nozzle 120b located at the right end of Fig. 13, the left light sources 180a, which are positioned in Fig. 13 are switched on.

[0086] When the light sources 180a are switched on, the light is scattered by the diffusion plate 190. The scattered light then partially passes through the electronic component E1, which is held on the suction nozzle 120b. The transmitted light passing through the electronic component enters the incident light window 166b of the side frame 165b, which is located on the right side of Fig. 13 is positioned.

[0087] The incident light is then reflected by the first side prism 173b, the second side prism 175b, and the center prism 171 to enter the imaging unit 157 of the camera main body 153. Thus, the transmitted light image of the electronic component E1 can be captured.

[0088] When an image of the electronic component E1 held on the suction nozzle 120a located at the left end of Fig. 14, the right light sources 180b, which are positioned in Fig. 14 are switched on. When the light sources 180b are switched on, light scattered by the diffusion plate 190 partially passes through the electronic component E1 held on the suction nozzle 120a. The transmitted light passing through the electronic component enters the incident light window 166a of the side frame 165a, which is located on the left side of Fig. 14, and the light is reflected by the first side prism 173a, the second side prism 175a, and the center prism 171 to enter the imaging unit 157 of the camera main body 153. Thus, the transmitted light image of the electronic component E1 can be captured.

[0089] Furthermore, each of the incident light windows 166a and 166b is provided with a color filter (omitted from the drawing). From this, images of the electronic component E1 sucked and held by the left and right suction nozzles 120 can be simultaneously captured by selecting a specific color as a light emission color from each of the light sources 180a and 180b.

[0090] For example, if the color filter of the incident light window 166a of the side frame 165a positioned on the left side as shown in Fig. 13, transmits a “red color” and the color filter of the incident light window 166b of the side frame 165b positioned on the right side, as shown in Fig. 13, transmits a “green color”, the light sources 180b on the side of the side frame 165b emit light in “red color” and the light sources 180a on the side of the side frame 165a emit light in “green color” (see Fig. 16).

[0091] “H”, as in Fig. 13 indicates a range of each of the incident light windows 166a and 166b in the Z-axis direction. The position of each of the incident light windows 166a and 166b in the Z-axis direction corresponds to the tip of the suction nozzle 120 when the nozzle shaft 100 is at the ascending end position S1 shown in Fig. 6. The relationship is such that the incident light windows 166a and 166b and the tip of the suction nozzle 120 overlap in the Z-axis direction at the ascent end position S1.

[0092] Thus, in the state where the nozzle shaft 100 is at the ascending end position S1, an image of the electronic component E1 sucked and held by the suction nozzle 120 can be captured. Fig. 13 and Fig. 14 show the height of the suction nozzle when the nozzle shaft 100 is at the raising end position S1.

[0093] In this way, image capture of the electronic component E1 can be performed in the state where the nozzle shaft 100 is stopped at the ascent end position S1. For image capture, it is not necessary to adjust the position of each of the nozzle shafts 100 in the Z-axis direction. Thus, by driving the N-axis servo motor 35N to rotate the rotary body 64, images of each electronic component E1 can be sequentially captured, which is sucked and held by the eighteen suction nozzles 120.

[0094] In the present embodiment, image capturing of the electronic component E1 is performed by the camera unit 150 during a time range in which the head unit 50 is moved from above the feeder to above the circuit board, and the suction state of the electronic component E1 with respect to each suction nozzle 120 is detected from the image captured by the camera unit 150. [Method of capturing images of two-dimensional code]

[0095] An image of the two-dimensional code 125 is captured using reflected light. For specific description, when capturing an image of the two-dimensional code 125 of the nozzle shaft 100, first, the Z-axis linear motor 35Z is driven to cause the nozzle shaft 100 to move from the ascending end position S1 to a reading position S2 where an image of the two-dimensional code 125 can be captured.

[0096] Fig. 6 shows that the left nozzle shaft 100 is in a state where it stops at the lift-up end position S1, and the right nozzle shaft 100 is in a state where it stops at the reading position S2. The lift-up end position S1 corresponds to a "first position" of the present invention, and the reading position S2 corresponds to a "second position" of the present invention.

[0097] As in Fig. 15, at the reading position S2, the relationship is such that the two-dimensional code 125 substantially overlaps the area H of the incident light windows 166a and 166b in the Z-axis direction, and the two-dimensional code 125 is positioned at the front of the incident light windows 166a and 166b. For example, when an image of the two-dimensional code 125 of the suction nozzle 120a attached to the tip of the nozzle shaft 100 located at the left end of Fig. 15, the left light sources 180a, which are positioned in Fig. 15 are switched on.

[0098] When the light sources 180a are switched on, this light is reflected on the surface of the two-dimensional code 125. The light reflected on the surface of the two-dimensional code 125 then partially enters the incident light window 166a of the side frame 165a, which is located on the left side of Fig. 15 is positioned.

[0099] The incident light is reflected by the first side prism 173a, the second side prism 175a, and the center prism 171 to enter the imaging unit 157 of the camera main body 153. Thus, the image of the two-dimensional code 125 of the suction nozzle 120 attached to the tip of the nozzle shaft 100 located at the left end of Fig. 15 is positioned.

[0100] When an image of the two-dimensional code 125 of the suction nozzle 120b attached to the tip of the nozzle shaft 100 located at the right end of Fig. 15, the right light sources 180b, which are positioned in Fig. 15 are switched on. When the light sources 180b are switched on, this light is reflected at the surface of the two-dimensional code 125. The light reflected at the surface of the two-dimensional code 125 then partially enters the incident light window 166b of the side frame 165b, which is located on the right side of Fig. 15 is positioned.

[0101] The incident light is reflected by the first side prism 173b, the second side prism 175b and the center prism 171 to enter the imaging unit 157 of the camera main body 153. Thus, the image of the two-dimensional code 125 of the shaft main body 110, which is located at the right end of Fig. 15 is positioned.

[0102] As in Fig. As shown in Fig. 8, in the present embodiment, the two-dimensional codes 125a and 125b are provided on the side surface of the suction nozzle 120 in the circumferential direction. When images of the two two-dimensional codes 125a and 125b cannot be simultaneously captured at once, the R-axis servo motor 35R may be driven to adjust the position of the shaft main body 119 in a rotational direction to capture an image of each of the two-dimensional codes 125a and 125b individually by means of the camera unit 150.

[0103] As described above, each of the incident light windows 166a and 166b is provided with a color filter (omitted from the drawing). From this, images of the two-dimensional codes 125 on the left and right suction nozzles 120a and 120b can be simultaneously captured by selecting a specific color as a light emission color from each of the light sources 180a and 180b.

[0104] For example, if the color filter of the incident light window 166a of the side frame 165a positioned on the left side as shown in Fig. 15, transmits a “red color” and the color filter of the incident light window 166b of the side frame 165b positioned on the right side, as shown in Fig. 15, transmits a “green color”, the light sources 180a on the side of the side frame 165a emit light in “red color” and the light sources 180b on the side of the side frame 165b emit light in “green color” (see Fig. 16).

[0105] As described above, in order to capture images of the two-dimensional code 125 by means of the camera unit 150, it is necessary to cause the nozzle shaft 100 to move down from the ascending end position S1 to the reading position S2 shown in Fig. 6. Thus, a maximum of the two-dimensional code 125 can be read from each of only two suction nozzles 120 in one image acquisition, and it is necessary to perform image acquisition nine times to read the two-dimensional code 125 from all eighteen shaft main bodies 110 mounted on the rotary body 64. That is, each time image acquisition is performed, it is necessary to drive the N-axis servo motor 35N to rotate the rotary body 64 by 20 degrees, thereby performing image acquisition by moving the next nozzle shaft 100 to the up / down operation position where up / down operation can be performed.

[0106] As described above, information about the identification and type of the suction nozzle 120 is written in the two-dimensional code 125. Thus, in the present embodiment, at the time when there is an opportunity to perform nozzle replacement, for example, the time when the safety cover (omitted in the drawing) is opened, the information of the two-dimensional code 125 is read to check the type of the suction nozzle 120.

[0107] The safety cover is a cover sized to cover a working surface of the head unit 50. During operation of the component mounter 1, for example, during production of the printed circuit board B1, this safety cover is closed to prevent a worker's hand from entering the working surface of the head unit 50.

[0108] The safety cover can be opened when the operation of the component mounting apparatus 1 is stopped. When the safety cover is opened, the working surface of the head unit 50 becomes accessible, allowing maintenance of the head unit 50, etc. In the present embodiment, the cover switch 230 is provided, which detects opening / closing of the safety cover. Based on the output from the cover switch 230, the controller 200 can detect opening / closing of the safety cover.

[0109] The following is a flow of a testing process in which the type of suction nozzle 120 is tested, with reference to Fig. 17. When the process starts, the calculation control unit 211 of the controller 200 monitors the output of the cover switch 230 to detect whether the safety cover is open or closed (S10).

[0110] Specifically, it detects whether the safety cover is open, since the safety cover is normally closed.

[0111] When opening / closing (closing→opening) of the safety cover is detected, the calculation control unit 211 then executes a process of reading the two-dimensional code 125 of the suction nozzle 120 attached to the tip of each of the eighteen nozzle shafts 100 by means of the camera unit 150 (S20).

[0112] While reading of the two-dimensional code 125 can also be performed immediately after the safety cover is opened, the rotary body 64 must be rotated, and thus it is preferable to perform the reading process after the safety cover is closed.

[0113] When reading of the two-dimensional code 125 is completed, the calculation control unit 211 of the controller 200 then identifies the identification and type of the suction nozzle 120 attached to the tip of each nozzle shaft 100 from the read two-dimensional code 125. On the other hand, regarding the eighteen nozzle shafts 100 attached to the rotary body 64, the storage unit 213 has stored therein data on the type of each of the suction nozzles 120 for use in producing a printed circuit board.

[0114] The calculation control unit 211 then compares the data on the identified type with the data on the correct type of the suction nozzle 120 stored in the storage unit 213 to check whether the type of the suction nozzle 120 attached to the respective nozzle shaft 100 is incorrect. A type check is performed individually for all eighteen nozzle shafts 100.

[0115] If the type of the suction nozzle 120 is not incorrect for all eighteen nozzle shafts 100, the calculation control unit 211 of the controller 200 determines that each type is normal and allows suction and mounting of the electronic component E1 by means of the head unit 50 under the condition that the safety cover is closed (S40).

[0116] Thus, the process of sucking and mounting the electronic component E1 is subsequently carried out using the suction nozzle 120 of the correct type. As described above, the process of sucking and mounting the electronic component E1 is carried out by causing the nozzle shaft 100 to descend from an original position S1. Regarding the relationship with the reading position S2, in the state of descending further than the reading position S2, the electronic component E1 is removed from the feeder 42, and the removed electronic component E1 is mounted on the circuit board B1.

[0117] In the process of sucking and mounting the electronic component E1, a correction process is performed based on the identification information of the suction nozzle 120. That is, since the suction nozzles 120 have individual differences, the tip position is different even among nozzles of the same type. In the present embodiment, for each suction nozzle 120, an error amount of the tip position is measured in advance to calculate a correction value K in the Z-axis direction. Then, the calculated correction value K is stored in the storage unit 213 in association with the identification information of the suction nozzle 120 (see Fig. 18).

[0118] In the process of sucking and mounting the electronic component E1, the calculation control unit 211 of the controller 200 corrects the descent amount of each nozzle shaft 100 (descent amount with respect to the ascent end position S1) based on the correction value K. This allows a reduction of an error of the tip position of the suction nozzle 120 in the Z-axis direction when sucking and mounting the electronic component E1, thereby allowing a precise process of sucking and mounting the electronic component E1.

[0119] On the other hand, an abnormality is determined if the type of the suction nozzle 120 of even one of all eighteen nozzle shafts 100 is incorrect. The calculation control unit 211 of the controller 200 causes an error display on the display unit 218 and prohibits mounting of the electronic component E1 by means of the head unit 50 (S50).

[0120] This allows a reduction in the use of the suction nozzle 120 of an incorrect type for mounting the electronic component E1. The testing process, which is Fig. 17 is executed each time the safety cover is opened / closed. Thus, the type of the suction nozzle 120 can be checked each time the safety cover is opened / closed.

[0121] As in Fig. 19, the management device 250 has, for each suction nozzle 120, the identification information, information about the type of the suction nozzle 120, and information about the last maintenance time stored therein in association with each other.

[0122] Thus, the controller 200 can detect the last maintenance time for each suction nozzle 120 by accessing the management device 250.

[0123] As the maintenance time approaches, the controller 200 initiates a display to prompt maintenance of the suction nozzle 120 on the display unit 218. Specifically, the number of the nozzle shaft 100 to which the suction nozzle 120 is attached as a maintenance target and the due date for the suction nozzle 120 to undergo maintenance are displayed.

[0124] This allows maintenance of the suction nozzle 120 at an optimal time and prevents the suction nozzle 120 from being used continuously without maintenance. This allows, for example, a reduction in the risk of clogging of the suction nozzles 120, which causes the suction of an electronic component to fail. 3. Description of the effects

[0125] In the present structure, the two-dimensional code 125 is provided on the side surface of the suction nozzle 120. Thus, even when the suction nozzle 120 remains attached to the shaft main body 110, the two-dimensional code 125 can be read using the side view camera (specifically, the camera unit 150). Thus, the process of image capturing and reading the identification of the suction nozzle 120 can be performed within a short time, compared to the case where mark recognition cannot be performed unless the suction nozzle 120 is removed from the shaft main body 110, for example, the case where an identification mark 125 is printed on the upper surface of the flange part of the suction nozzle 120.

[0126] In the present structure, the camera unit 150 is mounted on the head unit 50. Thus, an image of the two-dimensional code 125 can be captured even while the head unit 50 is moving. Furthermore, the camera unit 150 can capture images of both the electronic component E1 and the two-dimensional code 125 by adjusting the position of the nozzle shaft 100 in the Z-axis direction. Thus, the number of cameras can be reduced compared to the structure in which images are captured by separate cameras.

[0127] The head unit 50 is a so-called rotary head, and the camera unit 150 is fixed to the outer ring member 58, which rotatably supports the rotary body 64. With this structure, the rotation of the rotary body 64 can adjust the position of each nozzle shaft 100 in the circumferential direction with respect to the camera unit 150. Thus, it is not necessary to move the side of the camera unit 150 to read an image of the two-dimensional code 125 from each suction nozzle 120. <Zweite Ausführungsform>

[0128] In a component mounting apparatus 2 of a second embodiment, a nozzle replacement device 300 is added to the component mounting apparatus 1 of the first embodiment. For specific description, the nozzle replacement device 300 is attached to the base 10 of the component mounting apparatus 2, as shown in Fig. 20. The nozzle replacement device 300 is mounted in a movable surface of the head unit 50 and includes a main body having a plurality of housing units 310 and a shutter (omitted from the drawing). A new suction nozzle 120 is housed in each housing unit 310. At the time of nozzle replacement, first, the head unit 50 is moved above the nozzle replacement device 300, and the nozzle shaft 100 to which the suction nozzle 120 to be removed is attached is positioned above an empty housing unit 310. Then, the nozzle shaft 100 is caused to descend from the original position S1 to a predetermined height. Thus, approximately one half of the lower side of the suction nozzle 120 is in a state of being housed in the housing unit 310.Thereafter, after the shutter is operated to lock it so that the suction nozzle 120 is prevented from falling out of the accommodation unit 310, the downwardly moving nozzle shaft 100 is moved upward, thereby allowing the suction nozzle 120 to be removed from the shaft main body 110 of the nozzle shaft 100.

[0129] On the other hand, when a new suction nozzle 120 is attached, the head unit 50 is first moved above the nozzle replacement device 300, and the shaft main body 110 of the nozzle shaft 100 is positioned above the accommodation unit 31 that accommodates the suction nozzle 120 as an assembly target body. Then, the shaft main body 110 is caused to descend from the original position S1. When it is caused to descend to a height as shown in Fig. As shown in Fig. 21, the tip of the shaft fits into the suction nozzle 120 housed in the housing unit 310, and the suction nozzle 120 is fixed to the tip of the shaft main body 110. Then, when the nozzle shaft 100 is moved upward, the suction nozzle 120 can be removed from the housing unit 310.

[0130] As in Fig. As shown in Fig. 21, the two-dimensional code 125 is positioned on the front surface of the camera unit 150 (specifically, the front surface of the light-receiving window 166a of the side frame 165a) in the state where the suction nozzle 120 is housed in the housing unit 310. Thus, from the state where the shaft main body 110 fits into the suction nozzle 120, the lights 180a are turned on, thereby allowing image pickup of the two-dimensional code 125 of the suction nozzle 120 newly attached to the shaft main body 110.

[0131] In this way, in the second embodiment, the relationship is such that the shaft main body 110 fits into the suction nozzle 120 housed in the housing unit 310 at the reading position S2. Thus, image capture of the two-dimensional code 125 can be performed at the position where the shaft main body 110 fits into the suction nozzle to be replaced, and an image of the two-dimensional code 125 of the suction nozzle 120 can be captured at the time of nozzle replacement. From the above, image capture of the two-dimensional code 125 of each suction nozzle 120 can be performed for each replacement. At the time a replacement is completed, the types and identifications of all the suction nozzles that have been replaced can be acquired.That is, the two-dimensional code 125 can be known immediately after nozzle replacement, and the type and identification of the suction nozzle 120 can be known before the suction nozzle 120 is used after replacement. Since image acquisition is performed during an operation in which the suction nozzle 120 is caused to move up and down for nozzle replacement, there is an advantage in that image acquisition of the two-dimensional code 125 does not need to be performed again in addition to the nozzle replacement.

[0132] However, after the safety cover is opened as described in the first embodiment, it is preferable to capture an image of the two-dimensional code 125 of the suction nozzle 120 to detect the type and identification of the suction nozzle 120. Furthermore, an image of the two-dimensional code 125 may be captured when the suction nozzle 120 is caused to descend from the original position S1 to suck the first electronic component E1 after the safety cover is opened and then closed. This allows data on the detected identification and type to be used for component mounting. Image capture of the two-dimensional code 125 may be performed at any time, not only when the first component is sucked after the safety cover is opened or closed, but also when the suction nozzle 120 is caused to ascend or descend to suck or mount the electronic component E1.

[0133] In the above description, as in Fig. 21, the example in which an image of the two-dimensional code 125 is captured by the camera unit 150 at the position where the shaft main body 110 fits into the suction nozzle 120 to be replaced has been described. Apart from that, an image of the two-dimensional code 125 may be captured by the camera unit 150 while moving upward after fitting, with the two-dimensional code 125 of the suction nozzle 120 set to be positioned at the front of the camera unit 150 (specifically, at the front of the light-receiving windows 166a and 166b) when the shaft main body 110 fits into the suction nozzle 120 and is then caused to ascend to a certain extent. <Andere Ausführungsform>

[0134] The technology disclosed in the patent specification is not limited to the embodiments described above based on the drawings, and for example, the following embodiments are included in the technical scope.

[0135] (1) While the rotary head unit 50 is exemplified in the above-described embodiments, an in-line head unit having a plurality of nozzle shafts 100 mounted linearly may be used.

[0136] (2) In the above-described embodiments, the example is described in which an image of the two-dimensional code 125 of the suction nozzle 120 is captured by the camera unit 150 mounted on the head unit 50. The two-dimensional code 125 of the suction nozzle 120 may be any one that is read by a side-view camera. For example, the side-view camera may be fixed to a stay provided on the base 10, and an image of the two-dimensional code 125 may be captured by this camera. The side-view camera is a camera that has a field of view from a viewpoint in a horizontal direction and captures an image of a side surface of a target body.

[0137] (3) In the embodiments described above, the two-dimensional code 125 was exemplified as an identification mark 125 of the suction nozzle 120. The identification mark 125 is not necessarily limited to the two-dimensional code 125 and may be a character, a graphic, or the like. Any identification mark 125 that can identify either a single suction nozzle or a type of suction nozzle 120 may be used.

[0138] (4) In the above-described embodiments, the example in which two two-dimensional codes 125a and 125b are printed on the side surface of the suction nozzle 120 so as to be aligned with the circumferential direction was described. The number of two-dimensional codes 125 is not limited to two and may be three or more. The number may also be one.

[0139] (5) In the above-described embodiments, the example in which two two-dimensional codes 125a and 125b are printed on the side surface of the suction nozzle 120 so that they are aligned with the circumferential direction was described. The alignment of the two-dimensional codes 125 is not limited to the circumferential direction. For example, as shown in Fig. 22, the structure may be such that two-dimensional codes 125c and 125d are printed so as to be aligned with the Z-axis direction.

[0140] When the two two-dimensional codes 125c and 125d are printed so as to be aligned with the Z-axis direction, the position of the nozzle shaft 100 in the Z-axis direction can be adjusted for each of the two-dimensional codes 125c and 125d for image pickup.

[0141] (6) In the above-described embodiments, when the opening / closing of the safety cover is detected, the two-dimensional code 125 is read to check the type of the suction nozzle. For example, the two-dimensional code 125 can be read to check the type of the suction nozzle when the component mounting apparatus 1 performs an emergency stop.

[0142] (7) In the above-described embodiments, the example was described in which the individual identity of the suction nozzle 120 is identified and the descent amount of the nozzle shaft 100 is corrected according to fluctuations in the tip position of each individual nozzle. Furthermore, each individual suction nozzle 120 can be identified, and the mounting position of the electronic component can be corrected according to fluctuations in the eccentricity of the nozzle opening of each individual nozzle.

[0143] The shape of a tip portion 121 of the suction nozzle 120 is generally rectangular so that it resembles the shape of the component. When the normal component (rectangular electronic component) E1 is sucked, as shown in Fig. 23, the suction angle position of the suction nozzle 120 is defined to match the orientation of the component. In the embodiments described above, the example was described in which the two-dimensional code 125 is mounted in a position shifted upward from the tip of the suction nozzle 120. When the normal component is sucked by the suction nozzle 120, the two-dimensional code 125 may be mounted at a rotational position where an image thereof cannot be captured by the camera unit 150 (position in the circumferential direction with the axis line L taken as a center). For example, as shown in Fig. 23, the two-dimensional code on a rear surface side (center side of the rotating body 64 and upper side of Fig. 23) of the suction nozzle 120. In this case, the nozzle shaft 100 is rotated about the axis line L to transfer the two-dimensional code 125 positioned on the rear surface to a front surface (lower side of Fig. 23) of the side frame 165a of the camera unit 150, image capture is performed by the camera unit 150. In this way, the two-dimensional code 125 is aligned with the rear surface at the time of suction or mounting of the electronic component, thereby making it difficult for contaminants such as foreign matter to adhere to the front surface of the two-dimensional code 125.

[0144] At the time of nozzle replacement, the suction nozzle 120 is housed in the housing unit 310 of the nozzle replacement device 300, so that the two-dimensional code 125 is positioned at the front of the camera unit 150, thereby making it possible to save the trouble of rotating the nozzle shaft 100 at the time of image pickup and allowing efficient image pickup of the two-dimensional code 125. Furthermore, when performing image processing on a tip image of the suction nozzle 120, if a recognition process is difficult to perform with the presence of the two-dimensional code 125, the two-dimensional code 125 can be attached to a position on the suction nozzle 120 where an image thereof can be captured simultaneously with a tip image.The same applies to the case where the location of the two-dimensional code 125 is restricted, and the two-dimensional code 125 can be affixed to a non-restrictive position.

[0145] While the embodiments have been described in detail above, these are merely examples and are not intended to limit the scope of the claims. The technology described in the scope of the claims includes technology obtained by variously modifying and altering the specific examples described above. EXPLANATION OF REFERENCE SYMBOLS 1 component assembly device 10 Base 30 drive device 50 Head unit (an example of the “mounting head” of the present invention) 52 Base plate (an example of the “supporting element” of the present invention) 58 Outer ring element (an example of the “support element” of the present invention) 64 rotating bodies 100 nozzle shaft 110 Shaft main body 120 suction nozzle 125 Identification mark (two-dimensional code) 150 Camera unit (an example of the “side view camera” of the present invention) 200 Control or regulation B1 circuit board E1 Electronic component

Claims

[1] A component mounting device (1) that mounts an electronic component (E1) on a printed circuit board (B1), comprising: a side view camera (150) that captures an image of a side surface of a target body; a mounting head (50) having a nozzle shaft (100); and a drive device (30) that moves the mounting head (50) in a planar direction on a base (10), wherein the nozzle shaft (100) comprises: a shaft main body (110) which is movably mounted in a vertical direction with respect to the mounting head (50), and a suction nozzle (120) attached to a tip of the shaft main body (110) for sucking and holding the electronic component (E1), and an identification mark (125) identifying the suction nozzle (120) provided on a side surface of the suction nozzle (120), wherein the nozzle shaft (100) moves vertically with respect to the mounting head (50) between a first position at which an image of the electronic component (E1) held by the suction nozzle (120) can be captured by the side view camera (150) and a second position at which the image of the identification mark (125) attached to the side surface of the suction nozzle (120) can be captured by the side view camera (150). [2] The component mounting apparatus (1) according to claim 1, wherein the side view camera (150) is mounted on the mounting head (50) and captures an image of the identification mark (125) of the suction nozzle (120). [3] A component mounting device (1) according to any one of claims 1 or 2, wherein the mounting head (50) is a rotary mounting head comprising: a rotary body (64) having a plurality of nozzle shafts (100) mounted in a circumferential direction, and a support element (52;58) which rotatably supports the rotating body (64), and the side view camera (150) is attached to the support element (52;58). [4] A component mounting apparatus (1) according to any one of claims 1 to 3, wherein the identification mark (125) is a two-dimensional code.

Images