Component mounting apparatus and nozzle replacement method

Abstract

To provide a component mounting apparatus and a method for replacing a nozzle thereof in which the nozzle can be replaced in a short time.SOLUTION: When the mounting head 14 is horizontally moved in a state where the nozzle changer 16 is located at the raised position by the elevating cylinder 37, it is determined whether or not it is necessary to lower the nozzle changer 16 (ST36). When it is determined that it is not necessary to lower the nozzle changer 16, the mounting head 14 is horizontally moved without lowering the nozzle changer 16 (ST37), and when it is determined that it is necessary to lower the nozzle changer 16, the nozzle changer 16 is lowered by the elevating cylinder 37 and the mounting head 14 is horizontally moved (ST38).SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a component mounting apparatus that mounts components on a substrate and a nozzle replacement method for the same. [Background technology]

[0002] The component mounting device is configured to pick up components supplied by a component supply unit and mount them on a board by moving a mounting head equipped with nozzles. The mounting head is equipped with multiple shaft members extending downward, and the nozzles are detachably attached to the lower ends of these shaft members. The nozzles must be replaced depending on the type of component to be mounted on the board, and for this reason, the component mounting device is equipped with a nozzle changer that holds replacement nozzles. The mounting head can replace nozzles by raising and lowering the shaft members from above the nozzle changer.

[0003] In component mounting devices, the mounting head may move so as to pass above the nozzle changer. In order to prevent the nozzle (or the component picked up by the nozzle) from coming into contact with the nozzle changer at that time, a known device is configured to raise and lower the entire nozzle changer using a cylinder or the like, and the nozzle changer is normally positioned in a lower position and is raised when changing the nozzle (see, for example, Patent Document 1 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3371666 Summary of the Invention [Problem to be solved by the invention]

[0005] When the nozzle changer is configured to be able to move up and down freely as described above, if the mounting head is moved horizontally while the nozzle changer is raised during nozzle replacement, interference may occur between the mounting head and the nozzle changer. For this reason, the nozzle changer is lowered before moving the mounting head during nozzle replacement. However, if the nozzle changer is raised and lowered each time the nozzle of the shaft member is replaced, the time required for nozzle replacement increases when multiple nozzles are replaced sequentially, reducing the productivity of the component mounting device.

[0006] Therefore, an object of the present disclosure is to provide a component mounting device and a nozzle replacement method that can perform nozzle replacement work in a short time. [Means for solving the problem]

[0007] The component mounting device of the present disclosure is a component mounting device having a nozzle changer that holds a nozzle, and a mounting head that attaches the nozzle held by the nozzle changer to the lower end of a shaft member and uses the nozzle to suck up a component and mount it on a board, and is equipped with: a lifting means that raises and lowers the nozzle changer between a lowered position and an raised position; a judgment unit that judges whether or not it is necessary to lower the nozzle changer when moving the mounting head horizontally while the nozzle changer is positioned at the raised position by the lifting means; and an operation control unit that moves the mounting head horizontally without lowering the nozzle changer if it is determined by the judgment unit that it is not necessary to lower the nozzle changer, and lowers the nozzle changer by the lifting means and moves the mounting head horizontally if it is determined by the judgment unit that it is necessary to lower the nozzle changer,

[0008] The nozzle replacement method disclosed herein is a nozzle replacement method for a component mounting device that includes a nozzle changer that holds a nozzle, a mounting head that attaches the nozzle held by the nozzle changer to the lower end of a shaft member and uses the nozzle to suck up a component and mount it on a board, and a lifting means that raises and lowers the nozzle changer between a lowered position and an raised position, and includes: a determination step of determining whether or not it is necessary to lower the nozzle changer when moving the mounting head horizontally with the nozzle changer positioned at the raised position by the lifting means; and a horizontal movement step of moving the mounting head horizontally without lowering the nozzle changer if it is determined in the determination step that it is not necessary to lower the nozzle changer, and lowering the nozzle changer by the lifting means and moving the mounting head horizontally if it is determined in the determination step that it is necessary to lower the nozzle changer, and [Effects of the Invention]

[0009] According to the present disclosure, the nozzle replacement work can be completed in a short time. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of a main portion of a component mounting device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a front view of a mounting head provided in the component mounting device according to the embodiment. [Figure 3] 1 is a perspective view showing a nozzle changer provided in a component mounting device according to an embodiment, together with a nozzle. FIG. [Figure 4] 3A and 3B are plan views of a nozzle changer provided in the component mounting device according to the embodiment. [Figure 5] FIG. 2 is a block diagram showing a control system of the component mounting device according to the embodiment. [Figure 6] 4 is a flowchart of a main routine showing the flow of a nozzle replacement operation executed by the component mounting device according to the embodiment. [Figure 7] 10 is a flowchart of a subroutine showing the flow of a nozzle removal operation in a nozzle replacement operation executed by the component mounting device in the embodiment. [Figure 8] 10 is a flowchart of a subroutine showing the flow of a nozzle mounting operation in a nozzle replacement operation executed by the component mounting device in the embodiment. [Figure 9] 10A and 10B are diagrams illustrating the operation of a nozzle removal work performed by the component mounting device in the embodiment. [Figure 10] 10A and 10B are diagrams illustrating the operation of a nozzle removal work performed by the component mounting device in the embodiment. [Figure 11] 10A to 10C are diagrams illustrating the operation of a nozzle removal work performed by the component mounting device according to the embodiment. [Figure 12] 10A and 10B are diagrams illustrating the operation of removing a nozzle performed by a component mounting device according to an embodiment. [Figure 13] 10A to 10C are diagrams illustrating the operation of a nozzle removal work performed by the component mounting device according to the embodiment. [Figure 14] 10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 15] 10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 16] 10A to 10C are diagrams illustrating the operation of a nozzle mounting job performed by the component mounting device according to the embodiment. [Figure 17] 10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 18] 10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 19] 10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 20]10A and 10B are diagrams illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment. [Figure 21] 10A to 10C are diagrams illustrating the operation of a nozzle mounting job performed by the component mounting device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. A component mounting device 10 shown in FIG. 1 is a device that mounts components BH on a board KB carried in from an upstream device (not shown) and carries it out to a downstream device. For convenience of explanation in this embodiment, the direction in which the board KB is transported by the component mounting device 10 is defined as the X direction (the left-right direction as seen from the operator OP), and the up-down direction is defined as the Z direction. Furthermore, the direction in a horizontal plane perpendicular to the X direction is defined as the Y direction (the front-rear direction as seen from the operator OP).

[0012] 1, component mounting device 10 includes base 11, substrate transport unit 12, multiple part feeders 13, mounting head 14, head movement mechanism 15, nozzle changer 16, and control device 17. Base 11 has a table shape, and substrate transport unit 12 is provided extending in the X direction at the center of base 11. Substrate transport unit 12 is made up of a pair of conveyor mechanisms arranged parallel to each other in the Y direction, and receives substrate KB sent from an upstream device, transports it in the X direction (arrow A shown in FIG. 1), and positions it at a predetermined working position.

[0013] 1, multiple part feeders 13 are arranged side by side in the X direction at the Y direction end of base 11. Part feeders 13 function as part supply units, and continuously supply parts BH to part removal positions 13T set at the end on the board transport unit 12 side. Part feeders 13 are, for example, tape feeders.

[0014] 1 and 2, the mounting head 14 is equipped with a plurality of shaft members 21 extending downward. A nozzle 22 for component suction is detachably attached to the lower end of each shaft member 21. In this embodiment, the mounting head 14 is equipped with a total of eight shaft members 21 arranged in a matrix, four in the X direction and two in the Y direction, but this is just one example, and it is sufficient to have at least two shaft members 21. The mounting head 14 is equipped with a shaft member lifting unit 23 that lifts and lowers each of the plurality of shaft members 21 individually.

[0015] 2 and 3, the nozzle 22 comprises a base 22a, a pipe 22b, and a flange 22c. The base 22a is located at the top of the nozzle 22 and is made up of a cylindrical portion having an inserted portion 22v that opens upward. The lower end of the shaft member 21 provided on the mounting head 14 is inserted into the inserted portion 22v (FIG. 2). The pipe 22b is made up of a hollow cylindrical portion extending downward from the base 22a. The flange 22c is made up of a flat portion extending along the XY plane from the boundary between the base 22a and the pipe 22b. A passage 22T (FIG. 2) in the pipe 22b is connected to the inserted portion 22v of the base 22a.

[0016] The head moving mechanism 15 is made up of, for example, an XY stage, and is provided on the base 11. The head moving mechanism 15 moves the mounting head 14 in the XY plane (horizontal plane).

[0017] 1, nozzle changer 16 is provided at a position between substrate transport unit 12 and parts feeder 13 on base 11. Nozzle changer 16 holds a plurality of replacement nozzles 22 (FIG. 3).

[0018] 3, the nozzle changer 16 has a nozzle holding part 31 in the form of a rectangular block extending along the XY plane, a changer base 32 in the form of a rectangular block also extending along the XY plane, and four legs 33 extending along the Z direction. The changer base 32 is disposed below the nozzle holding part 31, and the four legs 33 connect the nozzle holding part 31 and the changer base 32 at their four corners.

[0019] 3 and 4(a) and (b), the nozzle holding portion 31 is provided with a plurality of nozzle insertion holes 34 arranged in a matrix in the X and Y directions (eight in the X direction and two in the Y direction in this embodiment). Each nozzle insertion hole 34 penetrates the nozzle holding portion 31 in the thickness direction (Z direction). The inner diameter of the nozzle insertion hole 34 is slightly larger than the outer diameter of the pipe portion 22b of the nozzle 22.

[0020] 3 and 4(a) and (b), a rectangular shutter 35 along the XY plane is provided above the nozzle holding part 31. The shutter 35 is made of a plate-like member and has a plurality of nozzle passing holes 35T arranged in the same arrangement as the nozzle insertion holes 34 provided in the nozzle holding part 31. The nozzle passing holes 35T have an inner diameter larger than that of the flange portion 22c of the nozzle 22, and adjacent nozzle passing holes 35T in the X direction are connected by a groove portion 35z extending in the X direction. The dimension of the groove portion 35z in the width direction (Y direction) is larger than the outer diameter of the base portion 22a of the nozzle 22 and smaller than the outer diameter of the flange portion 22c.

[0021] 3 and 4(a) and (b), elongated slide grooves 35a extending in the X direction are provided at multiple locations on the shutter 35. A guide screw 35s threaded into the upper surface of the nozzle holding part 31 is inserted into each of these slide grooves 35a. Therefore, the shutter 35 can slide in the X direction by moving the slide grooves 35a relative to the guide screws 35s.

[0022] The shutter 35 can be positioned at either the non-restriction position or the restriction position by sliding it in the X direction relative to the nozzle holding portion 31. The non-restriction position is a position of the shutter 35 where the center of the nozzle passing hole 35T and the center of the nozzle insertion hole 34 coincide in a plan view (FIG. 4(a)). The restriction position is a position of the shutter where the center of the nozzle passing hole 35T and the center of the nozzle insertion hole 34 do not coincide in a plan view (the nozzle passing hole 35T is located between two adjacent nozzle insertion holes 34) (FIG. 4(b)).

[0023] When the shutter 35 is in the non-restricting position (FIG. 4(a)), if the nozzle 22 inserted in the nozzle insertion hole 34 is pulled upward, the flange portion 22c of the nozzle 22 passes through the nozzle passing hole 35T without interfering with the shutter 35, and the nozzle 22 can be pulled out of the nozzle changer 16. On the other hand, when the shutter 35 is in the restricting position (FIG. 4(b)), if the nozzle 22 inserted in the nozzle insertion hole 34 is pulled upward, the flange portion 22c interferes with the shutter 35, and the nozzle 22 cannot be pulled out of the nozzle changer 16.

[0024] 3 and 4(a) and (b), a shutter drive cylinder 36 is provided on one of a pair of side surfaces of the nozzle holder 31 that are arranged opposite each other in the Y direction. The shutter drive cylinder 36 is arranged along the direction in which a piston rod (shutter drive rod 36R) extends (X direction), and the end of the shutter drive rod 36R is connected to a connecting piece 35H that is provided on the shutter 35 and protrudes outward. Therefore, by operating the shutter drive cylinder 36 so that the shutter drive rod 36R moves back and forth in the X direction, the shutter 35 can be positioned between the non-restricted position and the restricted position, thereby switching the position of the shutter 35.

[0025] 3, a lifting cylinder 37 serving as a lifting means is provided between the nozzle changer 16 and the base 11. The lifting cylinder 37 is provided on the base 11 with the tip of the piston rod (lifting rod 37R) facing upward. The nozzle changer 16 has its base (changer base 32) attached to the tip (upper end) of the lifting rod 37R.

[0026] The lifting cylinder 37 raises and lowers the nozzle changer 16 by moving the lifting rod 37R back and forth in the Z direction. This allows the nozzle changer 16 to be switched between a lowered position, which is a standard height position, and an elevated position, which is a position elevated from the lowered position. When the mounting head 14 performs a nozzle replacement operation, the nozzle changer 16 is positioned at the elevated position by the lifting cylinder 37 (details will be described later).

[0027] Here, the "nozzle replacement work" refers to a series of operations in which a nozzle 22 attached to a shaft member 21 of the mounting head 14 is removed and another nozzle 22 is attached to the shaft member 21, and is made up of a nozzle removal work in which the nozzle 22 is removed from the shaft member 21, and a nozzle attachment work in which a new replacement nozzle 22 is attached to the shaft member 21. Note that the nozzle changer 16 is also positioned in the raised position when only one of the nozzle removal work and the nozzle attachment work is being performed during the nozzle replacement work.

[0028] 5, the control device 17 provided in the component mounting device 10 includes an operation control unit 41 and a determination unit 42. The operation control unit 41 controls the transport and positioning operation of the board KB by the board transport unit 12, the supply operation of the components BH by each part feeder 13, the lifting and lowering operation of each shaft member 21 by the shaft member lifting unit 23 provided in the mounting head 14, and the movement operation of the mounting head 14 by the head moving mechanism 15.

[0029] The operation control unit 41 controls the operation of the shutter drive cylinder 36 to switch the shutter 35 of the nozzle changer 16 between a non-restricting position and a restricting position. The operation control unit 41 also controls the operation of the lift cylinder 37 to switch the position of the nozzle changer 16 between a lowered position and an elevated position. The determination unit 42 makes various determinations during the nozzle replacement work by the mounting head 14.

[0030] When the component mounting device 10 configured as described above performs a component mounting operation to mount components BH on a board KB, the control device 17 first controls the operation control unit 41 to operate the board transport unit 12, which receives and transports the board KB sent from an upstream device. The control device then positions the board KB at a predetermined work position. After positioning the board KB at the work position, the control device 17 operates the part feeder 13 to supply components BH to the component take-out position 13T, while operating the head moving mechanism 15 to cause the mounting head 14 to repeatedly perform component transfer operations. The component transfer operation consists of moving above the part feeder 13, picking up components BH supplied by the part feeder 13 to the component take-out position 13T by the part feeder 13 from above the part feeder 13 with the nozzle 22, moving above the board KB while holding the picked-up components BH, and mounting the picked-up components BH on the board KB.

[0031] As described above, in the component mounting device 10 of this embodiment, the mounting head 14 is configured to pick up components BH using the nozzles 22 and mount them on the board KB. After the component mounting device 10 mounts the components BH to be mounted on the board KB by repeatedly performing the component transfer operation using the mounting head 14, it operates the board transport unit 12 to transport the board KB downstream. This completes the component mounting operation for one board KB.

[0032] Next, we will explain the procedure for replacing the nozzle 22 in the component mounting device 10. Figure 6 is a flowchart of the main routine showing the flow of the nozzle replacement work, and Figures 7 and 8 are flowcharts of subroutines in the nozzle replacement work.

[0033] 6, in the operation of replacing the nozzle 22, the control device 17 first operates the head moving mechanism 15 via the operation control unit 41 to position the mounting head 14 above the nozzle changer 16 (step ST1). After the control device 17 has positioned the mounting head 14 above the nozzle changer 16, it operates the lifting cylinder 37 to raise the nozzle changer 16 (step ST2), and once the nozzle changer 16 is in the raised position, it operates the shutter drive cylinder 36 to switch the shutter 35 to the non-restricted position (step ST3; Fig. 4(b) → Fig. 4(a)).

[0034] Once the shutter 35 has been switched to the non-restricted position, the operation control unit 41 executes the operation of removing the nozzle 22 (step ST4). The operation of removing the nozzle 22 begins with aligning the nozzle 22 to be removed (step ST21), as shown in the subroutine flowchart of FIG. 7. This alignment involves positioning the nozzle 22 to be removed above the nozzle insertion hole 34 into which the nozzle 22 is to be inserted for removal (hereinafter referred to as the "nozzle insertion hole 34 to be inserted") (see the nozzle 22 and nozzle insertion hole 34 on the left side shown in FIG. 9(a)). The shaft members 21 of the mounting head 14 shown in FIGS. 9(a), (b) and subsequent figures illustrate some (two adjacent in the X direction) of the eight shaft members 21 of the mounting head 14.

[0035] Once the alignment of the nozzle 22 is complete, the operation control unit 41 actuates the shaft member lifting / lowering unit 23 to lower the shaft member 21 (step ST22, arrow B shown in FIG. 9(b)). As a result, the tube portion 22b of the nozzle 22 is inserted into the nozzle insertion hole 34 from above (FIG. 9(b)). Once the tube portion 22b has been inserted into the nozzle insertion hole 34, the operation control unit 41 actuates the shutter drive cylinder 36 to switch the shutter 35 of the nozzle changer 16 to the restricted position (step ST23, FIG. 4(a) → FIG. 4(b)). Then, once the shutter 35 has switched to the restricted position, the operation control unit 41 actuates the shaft member lifting / lowering unit 23 to raise the shaft member 21 (step ST24, arrow C shown in FIG. 10(a)).

[0036] When the shaft member 21 rises, it tries to pull up the nozzle 22 together, but if the shutter 35 is in the restricting position, the flange 22c of the nozzle 22 comes into contact with the shutter 35, restricting the upward movement of the nozzle 22. As a result, the nozzle 22 is pulled out of the shaft member 21 and remains inside the nozzle changer 16, and only the shaft member 21 rises (FIG. 10(a)).

[0037] Once the nozzle 22 has been pulled out from the shaft member 21, the operation control unit 41 actuates the shutter drive cylinder 36 to switch the shutter 35 from the restricted position to the non-restricted position (step ST25; Fig. 4(b) → Fig. 4(a)). This prepares the nozzle 22 for removal.

[0038] When the shutter 35 is switched to the non-restricting position, the control device 17 determines in the determination unit 42 whether or not there are other nozzles 22 to be removed (step ST26). If it is determined that there are other nozzles 22 to be removed, it then determines whether or not to move the mounting head 14 in the horizontal direction (step ST27).

[0039] Here, the decision as to whether to move the mounting head 14 horizontally is made based on whether the nozzle 22 to be removed next is located directly above the nozzle insertion hole 34 into which it is to be inserted. In other words, if the nozzle 22 to be removed next is not located directly above the nozzle insertion hole 34 into which it is to be inserted, it is necessary to align the nozzle 22, and so it is decided that the mounting head 14 should be moved horizontally. On the other hand, if the nozzle 22 to be removed next is located directly above the nozzle insertion hole 34 into which it is to be inserted, it is not necessary to realign the nozzle 22, and so it is decided that the mounting head 14 should not be moved horizontally.

[0040] If the nozzle 22 to be removed next is located directly above the nozzle insertion hole 34 that is the insertion target, and the determination unit 42 determines in step ST27 that the mounting head 14 should not be moved horizontally, the operation control unit 41 returns to step ST22, lowers the shaft member 21 (arrow D shown in FIG. 10(b)), and inserts the tube portion 22b of the nozzle 22 into the nozzle insertion hole 34 (FIG. 10(b)). Then, the process proceeds from step ST23 to step ST24, and the nozzle 22 is pulled out of the nozzle changer 16 (arrow E shown in FIG. 11).

[0041] On the other hand, if the nozzle 22 to be removed next is not positioned above the nozzle insertion hole 34 to be inserted and the judgment unit 42 determines in step ST27 that the mounting head 14 should be moved horizontally, the operation control unit 41 moves the mounting head 14 horizontally (arrow F shown in Figure 12(a)) and aligns the nozzle 22 with the nozzle insertion hole 34 (step ST28; see the nozzle 22 and nozzle insertion hole 34 on the right side shown in Figure 12(a)).

[0042] After completing the alignment of the nozzle 22, the operation control unit 41 lowers the shaft member 21 (step ST22, arrow G shown in FIG. 12(b)) and inserts the tube portion 22b of the nozzle 22 into the nozzle insertion hole 34 of the nozzle holding unit 31 (FIG. 12(b)). Then, the operation control unit 41 proceeds to step ST23 and then step ST24, and pulls out the nozzle 22 from the nozzle changer 16 (arrow H shown in FIG. 13).

[0043] By repeating this series of steps (step ST21 → step ST22 → ... step ST28), when all of the nozzles 22 to be removed have been removed from the shaft members 21 of the mounting head 14, the determination unit 42 determines in step ST26 immediately after the last nozzle 22 has been removed that there are no shaft members 21 from which the nozzles 22 should be removed. Then, when the determination unit 42 determines in step ST26 that there are no shaft members 21 from which the nozzles 22 should be removed, the operation control unit 41 exits the subroutine of step ST4 and returns to the main routine (FIG. 6).

[0044] When the operation control unit 41 exits the subroutine of step ST4 and returns to the main routine, it then performs the work of attaching the nozzle 22 (nozzle attaching step of step ST5).

[0045] FIG. 8 is a flowchart of a subroutine showing the flow of the nozzle mounting operation in step ST5. In the nozzle 22 mounting operation, first, the shaft member 21 to which the nozzle 22 is to be mounted is aligned (step ST31). This alignment of the shaft member 21 is performed by positioning the shaft member 21 to which the nozzle 22 is to be mounted above the nozzle 22 to be mounted (see the nozzle 22 and shaft member 21 on the left side shown in FIG. 14(a)). After the alignment of the shaft member 21 with respect to the nozzle 22 is complete, the operation control unit 41 lowers the shaft member 21 (step ST32; arrow J shown in FIG. 14(b)). Then, the lower end of the shaft member 21 is inserted from above into the insertion portion 22v of the nozzle 22 to be mounted, thereby mounting the nozzle 22 to the shaft member 21 (FIG. 14(b)).

[0046] After attaching the nozzle 22 to the shaft member 21, the operation control unit 41 raises the shaft member 21 (step ST33, arrow K shown in FIG. 15(a)). As a result, the nozzle 22 is pulled upward from the nozzle changer 16 while still attached to the lower end of the shaft member 21 (FIG. 15(a)).

[0047] As described above, in this embodiment, shaft member lifting / lowering unit 23 is configured to attach nozzle 22, which is held by nozzle changer 16 positioned in the raised position by lift cylinder 37, to the lower end of shaft member 21, and then pull it out above nozzle changer 16 (more specifically, shaft member 21 is lowered from above nozzle changer 16 to attach nozzle 22 to the lower end of shaft member 21, and then shaft member 21 is raised to pull out nozzle 22 above nozzle changer 16) (steps ST32 and ST33). Steps ST32 and ST33 in this embodiment constitute a nozzle pulling out process in which nozzle 22, which is held by nozzle changer 16 positioned in the raised position by lift cylinder 37, is attached to the lower end of shaft member 21 and then pulled out above nozzle changer 16.

[0048] When the nozzle 22 is pulled out of the nozzle changer 16 by raising the shaft member 21, the determination unit 42 determines whether there is another shaft member 21 to which the nozzle 22 should be attached (step ST34). If it is determined that there is no other shaft member 21 to which the nozzle 22 should be attached, the subroutine of step ST5 is terminated and the process returns to the main routine (FIG. 6). On the other hand, if it is determined in step ST34 that there is another shaft member 21 to which the nozzle 22 should be attached, it then determines whether to move the mounting head 14 in the horizontal direction (step ST35).

[0049] Here, the determination of whether to move the mounting head 14 horizontally is made based on whether the shaft member 21 onto which the nozzle 22 is to be mounted next is located above the nozzle 22 to which the shaft member 21 is to be mounted. If the shaft member 21 onto which the nozzle 22 is to be mounted next is located above the nozzle 22 to which the nozzle 22 is to be mounted (see the nozzle 22 and shaft member 21 on the right side in FIG. 15(a)), the determination unit 42 determines in step ST35 that it is not necessary to move the mounting head 14 horizontally. Then, returning to step ST32, the operation control unit 41 lowers the shaft member 21 onto which the nozzle 22 is to be mounted next (arrow L shown in FIG. 15(b)), thereby mounting the nozzle 22 onto the shaft member 21 (FIG. 15(b)). Once the nozzle 22 has been mounted onto the shaft member 21, the operation control unit 41 raises the shaft member 21 (step ST33, arrow M shown in FIG. 16) and pulls out the nozzle 22 from the nozzle changer 16.

[0050] On the other hand, if the determination unit 42 determines in step ST35 that the mounting head 14 should be moved in the horizontal direction, it then determines whether or not it is necessary to lower the nozzle changer 16 (step ST36). This determination is made based on whether or not the horizontal movement distance KR of the mounting head 14 required to attach the nozzle 22 to the next shaft member 21 (see the right-hand shaft member 21 shown in FIG. 17(a)) exceeds a predetermined reference distance. Specifically, if the horizontal movement distance KR of the mounting head 14 required to attach the nozzle 22 to the next shaft member 21 does not exceed the reference distance, it determines that it is not necessary to lower the nozzle changer 16, and if the movement distance KR exceeds the reference distance, it determines that it is necessary to lower the nozzle changer 16.

[0051] In this way, step ST36 in the subroutine of FIG. 8 is a judgment step that determines whether or not it is necessary to lower the nozzle changer 16 after the nozzle 22 has been pulled out from the nozzle changer 16 in the nozzle pulling-out process of steps ST32 and ST33, and before the mounting head 14 is moved horizontally.

[0052] Here, the "reference distance" is an arbitrary small distance, for example, a distance equivalent to the diameter of the pipe portion 22b of the nozzle 22. The reason why it is determined that there is no need to lower the nozzle changer 16 when the movement distance KR when moving the mounting head 14 in the horizontal direction does not exceed a predetermined reference distance is that if the movement distance KR of the mounting head 14 is small, there is no risk of interference between the nozzle 22 and the nozzle changer 16, even if the distance between the lower end of the nozzle 22 pulled out above the nozzle changer 16 while attached to the shaft member 21 and the upper surface of the nozzle changer 16 (more specifically, the upper surface of the shutter 35) is close.

[0053] In step ST36, if the determination unit 42 determines that it is not necessary to lower the nozzle changer 16 (if it determines that the movement distance KR of the mounting head 14 does not exceed the reference distance), the mounting head 14 is moved horizontally without lowering the nozzle changer 16 to the lowered position (step ST37, arrow T shown in FIG. 17(b)), and the shaft member 21 is aligned (FIG. 17(b)). Then, in step ST32, the shaft member 21 is lowered (arrow U shown in FIG. 18(a)). Once the nozzle 22 has been attached to the shaft member 21 (FIG. 18(a)), the shaft member 21 is raised (step ST33, arrow V shown in FIG. 18(b)). The nozzle 22 is then removed from the nozzle changer 16.

[0054] On the other hand, as shown in FIG. 19(a), if the movement distance KR of the mounting head 14 is large and the judgment unit 42 judges in step ST36 that it is necessary to lower the nozzle changer 16 (if it judges that the movement distance KR of the mounting head 14 exceeds the reference distance), then in order to reliably avoid interference between the nozzle 22 (the nozzle 22 most recently pulled out of the nozzle changer 16) and the nozzle changer 16 by moving the mounting head 14, the mounting head 14 is moved horizontally (arrow X shown in FIG. 19(b)) while the nozzle changer 16 is being lowered or after the lowering is completed (arrow W1 shown in FIG. 19(b)), thereby aligning the shaft member 21 (step ST38).

[0055] After completing the alignment of the shaft member 21, the operation control unit 41 raises the nozzle changer 16 (step ST39, arrow W2 shown in FIG. 20(a)) and returns to step ST32. Then, the operation control unit 41 lowers the shaft member 21 (arrow Y shown in FIG. 20(b)) and attaches the nozzle 22 to the shaft member 21 (FIG. 20(b)), and then raises the shaft member 21 (step ST33, arrow Z shown in FIG. 21) to pull out the nozzle 22 from the nozzle changer 16.

[0056] Here, the shaft member 21 is moved horizontally while the nozzle changer 16 is being lowered (or after the lowering is complete) (step ST38), and the nozzle changer 16 is raised after the alignment of the shaft member 21 with the nozzle 22 is complete (step ST39). However, if there is no risk of interference between the nozzle 22 and the nozzle changer 16 even if the nozzle changer 16 is started to be raised after the nozzle changer 16 has started to be lowered and before the alignment of the shaft member 21 is complete, then this may be done (after the nozzle changer 16 has started to be lowered and before the alignment of the shaft member 21 is complete), then this may be done.

[0057] The above steps ST37 and ST38 are horizontal movement steps in which, if it is determined in the judgment step of step ST36 that there is no need to lower the nozzle changer 16, only the mounting head 14 is moved horizontally without lowering the nozzle changer 16, and, if it is determined that there is a need to lower the nozzle changer 16, the nozzle changer 16 is lowered by the lifting cylinder 37 and the mounting head 14 is moved horizontally.

[0058] As described above, the procedure for replacing the nozzle 22 (nozzle replacing method) in the component mounting device 10 of this embodiment is such that, when the nozzle changer 16 is positioned in the raised position by the lifting cylinder 37, which is the lifting means, and the mounting head 14 is moved horizontally, it is determined whether or not it is necessary to lower the nozzle changer 16 (step ST36). If it is determined that it is not necessary to lower the nozzle changer 16, the mounting head 14 is moved horizontally without lowering the nozzle changer 16 (step ST37, arrow T shown in FIG. 17(b)). If it is determined that it is necessary to lower the nozzle changer 16, the nozzle changer 16 is lowered by the lifting cylinder 37 (arrow W1 shown in FIG. 19(b)), and the mounting head 14 is moved horizontally (arrow X shown in FIG. 19(b); step ST38).

[0059] In this way, in the component mounting device 10 of this embodiment, when it is necessary to lower the nozzle changer 16 during the nozzle 22 replacement operation (the mounting operation therein), the mounting head 14 is moved horizontally while the nozzle changer 16 is being lowered (or after the lowering is completed), so that when the mounting head 14 is moved horizontally during the nozzle 22 replacement operation, it is possible to prevent the lower end of the nozzle 22 from interfering with the nozzle changer 16.

[0060] 8, by repeating the process from step ST31 to step ST39, when all of the nozzles 22 to be attached have been attached, the determination unit 42 determines in step ST34 immediately after the last nozzle 22 has been attached that there are no other shaft members 21 to which nozzles 22 should be attached. Then, when the determination unit 42 determines in step ST34 that there are no other shaft members 21 to which nozzles 22 should be attached, the operation control unit 41 ends the subroutine of step ST5 and returns to the main routine (FIG. 6).

[0061] When the nozzle mounting operation is completed and the process returns to the main routine, the operation control unit 41 switches the shutter 35 of the nozzle changer 16 to the restricted position (step ST6; Fig. 4(a) → Fig. 4(b)). Then, the operation control unit 41 operates the lift cylinder 37 to lower the nozzle changer 16 from the raised position to the lowered position (step ST7), and then moves the mounting head 14 from above the nozzle changer 16 (step ST8). This completes the nozzle 22 replacement operation.

[0062] The embodiments described above are merely a part of the contents listed in the following items, and therefore the technology shown in this disclosure is not limited to the above-described embodiments.

[0063] (Item 1) a component mounting device (component mounting device 10) having a nozzle changer (nozzle changer 16) that holds a nozzle (nozzle 22), and a mounting head (mounting head 14) that attaches the nozzle held by the nozzle changer to the lower end of a shaft member (shaft member 21) and uses the nozzle to suck up a component (component BH) and mount it on a substrate (substrate KB); the component mounting device also comprising: an elevation means (elevation cylinder 37) that raises and lowers the nozzle changer between a lowered position and an elevated position; a judgment unit (judgment unit 42) that judges whether or not it is necessary to lower the nozzle changer when moving the mounting head horizontally while the nozzle changer is positioned at the elevated position by the elevation means; and an operation control unit (operation control unit 41) that moves the mounting head horizontally without lowering the nozzle changer when it is judged by the judgment unit that it is not necessary to lower the nozzle changer, and lowers the nozzle changer by the elevation means and moves the mounting head horizontally when it is judged by the judgment unit that it is necessary to lower the nozzle changer,

[0064] The component mounting device of item 1 is configured to raise and lower the nozzle changer using a lifting device. With the nozzle changer in the raised position, the lifting device determines whether the nozzle changer needs to be lowered when moving the mounting head horizontally. If it determines that the nozzle changer does not need to be lowered, the mounting head is moved horizontally without lowering the nozzle changer. However, if it determines that the nozzle changer needs to be lowered, the nozzle changer is lowered and the mounting head is moved horizontally. This shortens the shaft member's lowering stroke by positioning the nozzle changer in the raised position, while preventing interference between the nozzle attached to the shaft member and the nozzle changer when the mounting head is moved horizontally above the nozzle changer during nozzle mounting, thereby improving the operational reliability of the mounting head. Furthermore, lowering the nozzle changer and then moving the mounting head horizontally shortens the operation time compared to lowering the nozzle changer and then moving the mounting head horizontally, thereby improving productivity.

[0065] (Item 2) The component mounting device of item 2 is the component mounting device described in item 1, in which the determination unit determines that there is no need to lower the nozzle changer if the movement distance when moving the mounting head in the horizontal direction does not exceed a predetermined reference distance, and determines that there is a need to lower the nozzle changer if the movement distance exceeds the reference distance. This clarifies a specific example of the operation of the determination unit.

[0066] (Item 3) A nozzle replacement method of item 3 is a nozzle replacement method for a component mounting device including a nozzle changer that holds a nozzle, a mounting head that attaches the nozzle held by the nozzle changer to the lower end of a shaft member and uses the nozzle to pick up and mount a component on a board, and an elevating means for raising and lowering the nozzle changer between a lowered position and an elevated position, the method including: a determination step of determining whether or not it is necessary to lower the nozzle changer when moving the mounting head in a horizontal direction with the nozzle changer positioned at the elevated position by the elevating means; and a horizontal movement step of moving the mounting head in the horizontal direction without lowering the nozzle changer if it is determined in the determination step that it is not necessary to lower the nozzle changer, and lowering the nozzle changer by the elevating means and moving the mounting head in the horizontal direction if it is determined in the determination step that it is necessary to lower the nozzle changer. The nozzle replacement method of item 3 can achieve the same effects as the component mounting device of item 1.

[0067] (Item 4) In the nozzle replacement method of item 4, the above-mentioned determination step is performed after a nozzle removal step in which the nozzle held by the nozzle changer positioned in the raised position is removed upward from the nozzle changer while attached to the lower end of the shaft member. This shows an example of the timing for performing the determination step.

[0068] Furthermore, the technology disclosed in the present disclosure is not limited to the above and can be modified in various ways. For example, the number and arrangement of the shaft members 21 provided in the mounting head 14 and the number and arrangement of the nozzle insertion holes 34 provided in the nozzle changer 16 are not limited to those described in the embodiment. Furthermore, the lifting means for lifting the nozzle changer 16 is not limited to a cylinder (lifting cylinder 37) and may be configured using a motor.

[0069] Furthermore, in the above-described embodiment, when the nozzle changer 16 is positioned in the raised position and the mounting head 14 is moved horizontally, the determination of whether or not it is necessary to lower the nozzle changer 16 is made based on whether or not the movement distance KR when moving the mounting head 14 horizontally exceeds a reference distance, but the determination may also be made using other criteria. [Industrial Applicability]

[0070] To provide a component mounting device and a nozzle replacement method capable of performing nozzle replacement work in a short time. [Explanation of symbols]

[0071] 10. Parts mounting equipment 14 Mounting head 16 Nozzle Changer 21 Shaft member 22 nozzles 23 Shaft member lifting section 37 Lifting cylinder (lifting means) 41 Operation control section 42 Judgment Department KR travel distance BH parts KB board

Claims

1. A component mounting device having a nozzle changer that holds a nozzle, and a mounting head that attaches the nozzle held by the nozzle changer to a lower end of a shaft member, and sucks a component using the nozzle to mount it on a substrate, a lifting means for lifting the nozzle changer between a lowered position and an elevated position; a determination unit that determines whether or not it is necessary to lower the nozzle changer when moving the mounting head in a horizontal direction with the nozzle changer positioned at the raised position by the lifting means; an operation control unit that, when the determination unit determines that it is not necessary to lower the nozzle changer, moves the mounting head in a horizontal direction without lowering the nozzle changer, and, when the determination unit determines that it is necessary to lower the nozzle changer, lowers the nozzle changer by the lifting means and moves the mounting head in a horizontal direction; A component mounting device comprising:

2. 2. The component mounting device according to claim 1, wherein the determination unit determines that there is no need to lower the nozzle changer if the distance traveled when moving the mounting head horizontally does not exceed a predetermined reference distance, and determines that there is a need to lower the nozzle changer if the distance traveled exceeds the reference distance.

3. A nozzle replacement method for a component mounting device including: a nozzle changer that holds a nozzle; a mounting head that attaches the nozzle held by the nozzle changer to a lower end of a shaft member and uses the nozzle to pick up a component and mount it on a board; and an elevating means that elevates the nozzle changer between a lowered position and an elevated position, a determining step of determining whether or not it is necessary to lower the nozzle changer when moving the mounting head in a horizontal direction with the nozzle changer positioned at the raised position by the lifting means; a horizontal movement step of moving the mounting head in a horizontal direction without lowering the nozzle changer when it is determined in the determination step that it is not necessary to lower the nozzle changer, and lowering the nozzle changer by the lifting means and moving the mounting head in a horizontal direction when it is determined in the determination step that it is necessary to lower the nozzle changer; A nozzle replacement method comprising:

4. 4. The nozzle replacing method according to claim 3, wherein the determination step is performed after a nozzle removal step is performed in which the nozzle held by the nozzle changer positioned at the raised position is attached to the lower end of the shaft member and removed upward from the nozzle changer.

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