Component mounting device and component mounting method

Abstract

To provide a component mounting device and a component mounting method that are capable of appropriately performing simultaneous suction of a plurality of components by a plurality of suction nozzles.SOLUTION: A component mounting method for mounting a plurality of components on a substrate includes acquiring the tip positions of a plurality of suction nozzles provided in a mounting head, calculating a correction amount for a feeding amount of a plurality of tape feeders based the acquired tip positions of the plurality of suction nozzles, sending a feed command to a plurality of tape feeders based on the calculated correction amount for the feed amount (ST35), supplying components by the plurality of tape feeders at a feed amount based on the feed command (ST36), holding by the mounting head simultaneously the plurality of components supplied by the plurality of tape feeders with the plurality of suction nozzles (ST39), and mounting the plurality of components held by the mounting head onto the substrate.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] The present invention relates to a component mounting apparatus and a component mounting method for mounting a plurality of components on a board. [Background technology]

[0002] A component mounting device is known that uses a mounting head having multiple suction nozzles (component holders) to simultaneously pick up and hold multiple components supplied by multiple feeders (component supply units), and mounts the held components on a board (for example, Patent Document 1). Incidentally, the positions of the multiple suction nozzles and the positions of the multiple feeders are designed to enable simultaneous pickup, but if the position of the tip of the suction nozzle is significantly misaligned from the correct position, simultaneous pickup of components may fail. The component mounting device described in Patent Document 1 discloses that the suction nozzles are divided into groups of suction nozzles whose misalignment is similar and within a range in which simultaneous pickup is possible, and that the components are simultaneously picked up by group. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-151894 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional technologies including Patent Document 1 have a problem in that the efficiency of component mounting decreases because components are picked up simultaneously by group.In addition, as the size of components becomes smaller, the allowable range of deviation of the pickup nozzles that can pick up components simultaneously becomes narrower, so that the number of groups increases and simultaneous pickup may not be possible in reality.Therefore, there is room for further improvement in order to effectively achieve simultaneous pickup even when the size of components becomes smaller.

[0005] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a component mounting apparatus and a component mounting method that are capable of appropriately simultaneously picking up a plurality of components using a plurality of suction nozzles. [Means for solving the problem]

[0006] The component mounting device of the present invention includes a mounting head having a plurality of component holders, a plurality of component supply units which supply components by feeding the components, a tip position acquisition means which acquires tip positions of the plurality of component holders, and based on the acquired tip positions of the plurality of component holders, The tip positions of the plurality of component holders are aligned with the component supply positions of the plurality of component supply units. a feed correction amount calculation unit that calculates a correction amount of a feed amount of the plurality of component supply units; and a command sending unit that sends a feed command to the plurality of component supply units based on the calculated correction amount of the feed amount; a holding position acquisition means for acquiring holding positions of components held by the plurality of component holders; Equipped with the correction amount calculation unit further corrects the correction amount of the feed amount calculated so that the tip positions of the plurality of component holders coincide with the component supply positions of the plurality of component supply units by the holding positions of the components held by the plurality of component holders acquired by the holding position acquisition means, and the command sending unit sends a feed command to the plurality of component supply units based on the further corrected correction amount of the feed amount; The component supplying units feed components at feed amounts based on the feed command, and the mounting head simultaneously holds the components supplied by the component supplying units with the component holders.

[0007] The component mounting method of the present invention is a component mounting method for mounting a plurality of components on a board, the component mounting method comprising: a tip position acquisition step of acquiring tip positions of a plurality of component holders provided on a mounting head; and based on the acquired tip positions of the plurality of component holders, The tip positions of the plurality of component holders are aligned with the component supply positions of the plurality of component supply units. a feed correction amount calculation step of calculating a correction amount for a feed amount of a plurality of component supplying units which supply components by feeding the components; a command sending step of sending a feed command to the plurality of component supplying units based on the calculated correction amount for the feed amount; a component supplying step of the plurality of component supplying units feeding the components at a feed amount based on the feed command to supply the components; a simultaneous holding step of the mounting head simultaneously holding the plurality of components supplied by the plurality of component supplying units with the plurality of component holders; and a component mounting step of mounting the plurality of components held by the mounting head onto a board. a component holding position acquisition step of acquiring holding positions of the components held by the multiple component holders in the simultaneous holding step, wherein in the correction amount calculation step, the correction amount of the feed amount calculated so that the tip positions of the multiple component holders coincide with the component supply positions of the multiple component supply units is further corrected by the holding positions of the components held by the multiple component holders acquired in the component holding position acquisition step, and in the command sending step, a feed command is sent to the multiple component supply units based on the correction amount of the feed amount further corrected in the correction amount calculation step. . Effect of the Invention

[0008] According to the present invention, simultaneous pickup of a plurality of components by a plurality of suction nozzles can be appropriately performed. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view of a component mounting apparatus according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a perspective view of a mounting head provided in a component mounting apparatus according to an embodiment of the present invention; [Diagram 3] FIG. 1A is an explanatory diagram of the tip position of a suction nozzle attached to a mounting head of a component mounting device according to an embodiment of the present invention; FIG. 1B is an explanatory diagram of a component supply position of a tape feeder; [Figure 4] FIG. 2 is a block diagram showing the configuration of a control system of the component mounting apparatus according to the embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram showing an example of mounting data used in a component mounting device according to an embodiment of the present invention. [Figure 6] FIG. 2 is an explanatory diagram of a holding position of a component held by a suction nozzle provided in the component mounting device according to the embodiment of the present invention; [Figure 7] FIG. 1A is a diagram showing an example of feed correction amount data used in a component mounting device according to an embodiment of the present invention; FIG. [Figure 8] FIG. 13 is a diagram showing an initial state of feed position data used in the component mounting device according to the embodiment of the present invention. [Figure 9] FIG. 2 is an explanatory diagram of an initial state of a tape feeder provided in the component mounting device according to the embodiment of the present invention; [Figure 10] FIG. 13 is a diagram showing an example of feed position data used in a component mounting operation in the component mounting device according to the embodiment of the present invention. [Figure 11] FIG. 1 is an explanatory diagram showing an example of a feed position of a tape feeder included in a component mounting device according to an embodiment of the present invention during a component mounting operation. [Figure 12] FIG. 13 is a diagram showing an example of feed position data used in a component mounting operation in the component mounting device according to the embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing an example of feed position data used in a component mounting operation in the component mounting device according to the embodiment of the present invention. [Figure 14]FIG. 13 is a diagram showing an example of feed position data used in a component mounting operation in the component mounting device according to the embodiment of the present invention. [Figure 15] FIG. 1 is a flow diagram of a component mounting method according to an embodiment of the present invention. [Figure 16] FIG. 2 is a flow diagram of a component pick-up process in a component mounting method according to an embodiment of the present invention. [Figure 17] FIG. 2 is a flow diagram of a simultaneous pickup process in a component mounting method according to an embodiment of the present invention. [Figure 18] FIG. 2 is a flow diagram of an individual pickup process in the component mounting method according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present invention will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are examples for explanation and can be appropriately changed according to the specifications of the component mounting device, the mounting head, and the tape feeder. In the following, the same reference numerals are used for corresponding elements in all the drawings, and duplicated explanations will be omitted. In FIG. 1 and some parts described later, the X-axis (left and right direction in FIG. 1) in the board transport direction and the Y-axis (up and down direction in FIG. 1) perpendicular to the board transport direction are shown as two axes perpendicular to each other in the horizontal plane. In FIG. 2 and some parts described later, the Z-axis (up and down direction in FIG. 2) is shown as the height direction perpendicular to the horizontal plane. In FIG. 6 and some parts described later, the θ direction, which is the direction of rotation about the Z-axis as the rotation axis, is shown.

[0011] First, the configuration of component mounting device 1 will be described with reference to Fig. 1 and Fig. 2. In Fig. 1, component mounting device 1 has a function of performing a component mounting operation in which components supplied from a component supply unit are mounted on a board. A board transport conveyor 3 is arranged along the X-axis in the center of base 2. Board transport conveyor 3 transports board B transported from upstream to the mounting operation position, positions it, and holds it. In addition, board transport conveyor 3 transports board B downstream after the component mounting operation has been completed.

[0012] Feeder bases 4 are arranged on both sides (front and rear directions along the Y axis) of the board transport conveyor 3. Multiple tape feeders 5 are attached along the X axis in slots (not shown) formed in each feeder base 4. The tape feeders 5 pitch-feed a component tape, on which pockets for storing components are formed at predetermined intervals, in a direction (tape feed direction) from the outside of the feeder base 4 toward the board transport conveyor 3, to supply components to a component supply position from which the components are picked up by a mounting head, which will be described below.

[0013] That is, the tape feeder 5 attached to the front feeder base 4 pitch-feeds the component tape in the positive direction of the Y axis (direction from the front to the rear). Meanwhile, the tape feeder 5 attached to the rear feeder base 4 pitch-feeds the component tape in the negative direction of the Y axis (direction from the rear to the front). In this way, multiple tape feeders 5 are attached to the feeder base 4. The tape feeder 5 is a component supplying unit that supplies components to a component supply position by feeding components.

[0014] In Fig. 1, a Y-axis beam 6 equipped with a linear drive mechanism is arranged along the Y-axis at both ends of the X-axis on the upper surface of the base 2. An X-axis beam 7 equipped with a linear drive mechanism is connected to the Y-axis beam 6 so as to be movable along the Y-axis. The X-axis beam 7 is arranged along the X-axis. A mounting head 8 is attached to the X-axis beam 7 so as to be movable along the X-axis.

[0015] In FIG. 2, the mounting head 8 is equipped with multiple (eight here) component mounting units 9. The component mounting units 9 raise and lower a shaft 10 protruding from below in the up and down directions of the Z axis, and also rotate it in the θ direction around the Z axis as the axis of rotation. A suction nozzle N is attached to the lower end of each shaft 10. The suction nozzle N sucks and holds the top surface of the component with its tip Na. In this way, the mounting head 8 is equipped with multiple (eight here) suction nozzles N. The suction nozzle N is a component holder that holds the component.

[0016] 1, the Y-axis beam 6 and the X-axis beam 7 constitute a head moving mechanism 11 that moves the mounting head 8 along the X-axis and the Y-axis. The head moving mechanism 11 and the mounting head 8 repeatedly perform a mounting turn in which the suction nozzle N picks up and removes a component from the tape feeder 5 arranged on the feeder base 4, and mounts the component at the mounting position on the board B positioned on the board transport conveyor 3.

[0017] In FIG. 1, a component camera 12 is disposed between the feeder base 4 and the board transport conveyor 3. When the suction nozzle N that has picked up a component from the tape feeder 5 moves above the component camera 12, the component camera 12 captures an image of the component held by the suction nozzle N to capture an image of the holding posture of the component. From the image capture result, the holding position of the component and the like can be recognized. The component camera 12 also captures an image of the tip Na of the suction nozzle N that is not holding a component. From the image capture result, the position (tip position) of the tip Na of the suction nozzle N on the mounting head 8 can be recognized. A head camera 13 that moves integrally with the mounting head 8 is attached to the mounting head 8. The head camera 13 may be attached to the mounting head 8 via a plate.

[0018] As the placement head 8 moves, the head camera 13 moves above the board B positioned on the board transport conveyor 3 and captures an image of a board mark (not shown) provided on the board B. From the image capture result, the stopping position of the board B is recognized. The head camera 13 also moves above the tape feeder 5 and captures an image near the component supply position. From the image capture result, the component supply position of the tape feeder 5 is recognized. When the placement head 8 places components on the board B, the placement position is corrected taking into account the image capture result of the component D by the component camera 12 and the image capture result of the board position by the head camera 13.

[0019] Next, with reference to FIG. 3(a), the tip position Q of the suction nozzle N attached to the mounting head 8 will be described. FIG. 3(a) is a schematic plan view of the mounting head 8 as seen from above. The mounting head 8 has four component mounting units 9 aligned along the X axis in two rows along the Y axis. Here, the suction nozzles N attached to the shafts 10 of the four component mounting units 9 in the front row (the side opposite to the head camera 13) of the mounting head 8 are referred to as suction nozzles N1 to N4 from the left. Also, the suction nozzles N attached to the shafts 10 of the four component mounting units 9 in the back row (the side where the head camera 13 is attached) of the mounting head 8 are referred to as suction nozzles N5 to N8 from the left. Also, the center positions of the tips Na of the suction nozzles N1 to N8 are defined as tip positions Q1 to Q8.

[0020] The tip positions Q1 to Q8 of the suction nozzles N1 to N8 are defined in an orthogonal coordinate system, with the center 13c of the head camera 13 attached to the mounting head 8 as the origin and represented by the Xa axis along the X axis and the Ya axis along the Y axis of the component mounting device 1. Hereinafter, the orthogonal coordinate system represented by the orthogonal Xa axis and Ya axis, with the center 13c of the head camera 13 as the origin, is referred to as the "head coordinate system." Also, the orthogonal coordinate system represented by the orthogonal X axis and Y axis, with the reference position (not shown) set on the base 2 of the component mounting device 1 as the origin, is referred to as the "base coordinate system." The tip positions Q1 to Q8 of the suction nozzles N1 to N8 attached to the mounting head 8 of the component mounting device 1 are controlled by the position of the center 13c of the head camera 13 in the base coordinate system and the tip positions Q1 to Q8 of the suction nozzles N1 to N8 in the head coordinate system.

[0021] 3(a), the tip positions Q1 to Q8 of the suction nozzles N1 to N8 in the head coordinate system may deviate from the predetermined design positions due to the mounting condition of the shaft 10 with respect to the component mounting section 9, distortion of the shaft 10, distortion of the suction nozzles N1 to N8, etc. In the component mounting work described later, the positional deviation of the tip positions Q1 to Q8 of the suction nozzles N1 to N8 from the design positions is taken into consideration.

[0022] Here, a line that passes through the centers of gravity G1 (Xa1, Ya1) of the tip positions Q1 to Q4 of the front row suction nozzles N1 to N4 and is parallel to the Xa axis is referred to as the front row nozzle center of gravity line L1. Also, a line that passes through the centers of gravity G2 (Xa2, Ya2) of the tip positions Q5 to Q8 of the rear row suction nozzles N5 to N8 and is parallel to the Xa axis is referred to as the rear row nozzle center of gravity line L2. In the component mounting operation described below, control is performed using the positions of the front row nozzle center of gravity line L1 and the rear row nozzle center of gravity line L2.

[0023] Next, referring to FIG. 3(b), the component supply position R of the tape feeder 5 mounted on the feeder base 4 will be described. FIG. 3(b) is a schematic plan view of the vicinity of component supply positions R1 to R4 of the four tape feeders 5(1) to 5(4) from the left among the 15 tape feeders 5 mounted on the front feeder base 4, as seen from above. The components D stored in the pocket P of the component tape that has been pitch-fed inside the tape feeder 5 are exposed at the opening 5a formed on the upper surface of the tape feeder 5 so that they can be picked up by the suction nozzle N. In this example, the position of the center of the pocket P located at the opening 5a is defined as the component supply position R. Note that the component supply position R may also be defined as the position of the center of the components D stored in the pocket P located at the opening 5a.

[0024] The component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) mounted on the feeder base 4 are defined in the base coordinate system. The component supply positions R1 to R15 may deviate from the predetermined design positions due to factors such as the machining accuracy of the slots formed in the feeder base 4, the way the tape feeders 5(1) to 5(15) are mounted in the slots, deviations in the stopping positions of the motors that pitch-feed the component tapes in the tape feeders 5(1) to 5(15), and tape feed accuracy. In the component mounting work described below, the deviations in the component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) from the design positions are taken into consideration.

[0025] In Fig. 3(b), a line that passes through the center of gravity in the Y-axis direction of component supply positions R1 to R15 of tape feeders 5(1) to 5(15) at the time when the component supply positions R1 to R15 are recognized and is parallel to the X-axis is referred to as a pocket center of gravity line L3. In the component mounting operation described later, control is performed using the position of the pocket center of gravity line L3.

[0026] Next, the configuration of a control system for component mounting device 1 will be described with reference to Fig. 4. In particular, the description will focus on control related to simultaneous suction, in which multiple suction nozzles N of mounting head 8 simultaneously pick up and remove components D supplied by multiple tape feeders 5. Component mounting device 1 includes a control device 20, a board transport conveyor 3, multiple tape feeders 5, mounting head 8, a head moving mechanism 11, a component camera 12, and a head camera 13. Mounting head 8 includes multiple component mounting units 9.

[0027] The control device 20 includes a control memory unit 21, a mounting control unit 22, a tip position recognition processing unit 23, a holding position recognition processing unit 24, a supply position recognition processing unit 25, a center of gravity line position calculation unit 26, a feed correction amount calculation unit 27, a feed amount calculation unit 28, and a command sending unit 29. The control memory unit 21 is a storage device, and stores mounting data 30, component data 31, tip position data 32, holding position data 33, supply position data 34, center of gravity line position data 35, feed correction amount data 36, ​​feed position data 37, etc. In the mounting data 30, various information such as the component name of component D to be mounted on board B and the coordinates of the mounting position on board B is stored for each type of mounting board.

[0028] An example of placement data 30 will now be described with reference to Fig. 5. The placement data 30 includes placement number 50, turn number 51, component name 52, placement position 53, nozzle position 54, simultaneous flag 55, and feeder position 56. Placement number 50 is information that identifies a placement position on board B, and in this example, numbers are assigned starting from 1 in the order of placement on board B. Component name 52 is the component name of component D to be placed at the position of placement number 50. Placement position 53 represents the placement position and placement angle of component D on board B, and includes placement position 53x in the X-axis direction, placement position 53y in the Y-axis direction, and placement position 53θ in the θ direction on board B.

[0029] Turn number 51 is information that specifies the order of mounting turns in a component mounting operation. Components D with the same turn number 51 are removed from tape feeder 5 in the same mounting turn. Nozzle position 54 is information that specifies suction nozzles N1 to N8 that pick up components D. Nozzle position 54 of "1" represents suction nozzle N1. Simultaneous flag 55 is information that specifies whether components D are removed by simultaneous pickup ("1") or by individual pickup ("-") when removed from tape feeder 5. Feeder position 56 is information that specifies the position of tape feeder 5 mounted on feeder base 4.

[0030] 5, it is stipulated that components D with placement numbers 50 of "1" through "8" are to be picked up from tape feeder 5 in the placement turn with turn number 51 of "1" and placed at placement position 53 on board B at a placement angle of placement position 53θ. At that time, it is stipulated that the front row suction nozzles N1 through N4 simultaneously pick up components D from tape feeders 5(7) through 5(10) by simultaneous pickup. In addition, it is stipulated that the rear row suction nozzles N5 through N8 each pick up components D from tape feeders 5(1), 5(3), 5(5), and 5(7) by individual pickup.

[0031] Similarly, components D with placement numbers 50 of "9" through "16" are specified to be picked up from tape feeder 5 in placement turn with turn number 51 of "2." At that time, suction nozzles N1 through N4 in the front row are specified to pick up components D from tape feeders 5(4) through 5(7) by simultaneous pickup. Also, suction nozzles N5 through N8 in the back row are specified to pick up components D from tape feeders 5(7) through 5(10) by simultaneous pickup.

[0032] 4, component data 31 stores, for each name of component D supplied from tape feeder 5, the size of component D, the width of the component tape supplying component D, the pitch of pocket P, etc. Based on the mounting data 30, component data 31, tip position data 32, holding position data 33, and center of gravity line position data 35, mounting control unit 22 performs a component mounting operation by raising and lowering suction nozzle N (component holder) mounted on component mounting unit 9 of mounting head 8 to pick up component D supplied by tape feeder 5 (component supply unit) and mount it at the mounting position on board B.

[0033] 4, the tip position recognition processor 23 controls the component mounting unit 9, head moving mechanism 11, and component camera 12 of the mounting head 8 to detect tip positions Q1 to Q8 of the suction nozzles N1 to N8 in the head coordinate system. Specifically, the tip position recognition processor 23 moves the mounting head 8 not holding the component D above the component camera 12, captures an image of the tip Na of the suction nozzles N1 to N8, and performs image recognition on the captured image to detect the tip positions Q1 to Q8. At that time, the tip position recognition processor 23 detects the tip positions Q1 to Q8 of the suction nozzles N1 to N8 in a state where the component mounting unit 9 is controlled to rotate the suction nozzles N1 to N8 in the θ direction by rotation angles of "0°", "90°", "180°", and "270°".

[0034] The detected tip positions Q1 to Q8 are stored in the control storage unit 21 as tip position data 32. That is, the tip positions Q1 to Q8 at four rotation angles (0°, 90°, 180°, 270°) of the suction nozzles N1 to N8 are stored in the tip position data 32. In this manner, the tip position recognition processing unit 23, the component mounting unit 9 of the mounting head 8, the head moving mechanism 11, and the component camera 12 constitute tip position acquisition means 38 that acquires the tip positions Q1 to Q8 of the multiple suction nozzles N1 to N8 (component holders).

[0035] 4, the holding position recognition processor 24 controls the head moving mechanism 11 and the component camera 12 to detect the holding positions of the components D held by the suction nozzles N1 to N8 in the head coordinate system. Specifically, the holding position recognition processor 24 moves the mounting head 8 holding the components D by the suction nozzles N1 to N8 above the component camera 12, captures images of the components D held by the suction nozzles N1 to N8, and detects the holding positions of the components D by performing image recognition on the captured images. The detected holding positions of the components D are stored in the control storage unit 21 as holding position data 33. In this way, the holding position recognition processor 24, the head moving mechanism 11, and the component camera 12 constitute a holding position acquisition means 39 that acquires the holding positions of the components D held by the multiple suction nozzles N1 to N8 (component holders).

[0036] Here, an example of the holding position (Xd, Yd, θd) of the component D acquired by the holding position acquisition means 39 will be described with reference to Fig. 6. The captured image 60 shown in Fig. 6 is obtained by moving the mounting head 8 so that the design position of the center Nc of the suction nozzle N in the mounting head 8 is located at the center 60c of the captured image 60, and capturing an image of the component D held by the suction nozzle N by the component camera 12. That is, the center 60c of the captured image 60 is the design position of the center Nc of the suction nozzle N. The holding position recognition processing unit 24 performs recognition processing on the captured image 60 to extract the holding position Xd in the X-axis direction and the holding position Yd in the Y-axis direction of the center Dc of the component D with the center 60c of the captured image 60 as the origin. The holding position recognition processing unit 24 also extracts the holding position θd, which is the amount of rotation of the component D in the θ direction.

[0037] Furthermore, the holding position recognition processor 24 calculates the center position (Xn, Yn) of the suction nozzle N in the captured image 60 from the tip position Q of the suction nozzle N included in the tip position data 32. In the component mounting operation, the tape feeder 5 and the head moving mechanism 11 are controlled so that the center Nc of the suction nozzle N coincides with the center Dc of the component D, but the center position (Xn, Yn) of the suction nozzle N and the center position (Xd, Yd) of the component D may be misaligned due to factors such as the tape feed accuracy of the tape feeder 5 and the movement of the component D within the pocket P. Fig. 6 shows an example in which the suction nozzle N and the component D are misaligned.

[0038] 6, the holding position recognition processing unit 24 calculates the positional deviation ΔX (Xn-Xd) in the X-axis direction and the positional deviation ΔY (Yn-Yd) in the Y-axis direction of the held component D relative to the suction nozzle N from the center position (Xn, Yn) of the suction nozzle N and the center position (Xd, Yd) of the component D in the captured image 60. The extracted holding position (Xd, Yd, θd) of the component D and the calculated positional deviation (ΔX, ΔY) of the component D are stored in the control storage unit 21 as holding position data 33. In the component mounting work, the position of the suction nozzle N that mounts the component D on the board B is corrected based on the holding position (Xd, Yd, θd) of the component D. In the component mounting work, the component supply position R of the component D supplied by the tape feeder 5 is corrected based on the positional deviation (ΔX, ΔY) of the component D.

[0039] In Fig. 4, the supply position recognition processing unit 25 controls the head moving mechanism 11 and the head camera 13 to detect component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) in the base coordinate system. Specifically, the supply position recognition processing unit 25 moves the head camera 13 to above the openings 5a of the tape feeders 5(1) to 5(15) arranged on the feeder base 4, captures images of the upper surfaces of the tape feeders 5(1) to 5(15), and performs image recognition on the captured images to detect the component supply positions R1 to R15. The supply position recognition processing unit 25 detects the component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) arranged on the front and rear feeder bases 4, respectively.

[0040] The detected component supply positions R1 to R15 are stored in the control storage unit 21 as supply position data 34. In this manner, the supply position recognition processing unit 25, the head moving mechanism 11, and the head camera 13 constitute a supply position acquisition means 40 that acquires the component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) arranged on the feeder base 4.

[0041] 4, the center of gravity line position calculation unit 26 calculates the position (Ya1) of the front row nozzle center of gravity line L1 based on the tip positions Q1-Q4 of the front row suction nozzles N1-N4 of the mounting head 8, which are included in the tip position data 32 (see FIG. 3(a)). In addition, the center of gravity line position calculation unit 26 calculates the position (Ya2) of the rear row nozzle center of gravity line L2 based on the tip positions Q5-Q8 of the rear row suction nozzles N5-N8 of the mounting head 8, which are included in the tip position data 32 (see FIG. 3(a)).

[0042] Furthermore, center of gravity line position calculation unit 26 calculates the position of pocket center of gravity line L3 based on component supply positions R1 to R15 of tape feeders 5(1) to 5(15) mounted on the front and rear feeder bases 4, which are included in supply position data 34 (see FIG. 3(b)). The calculated position (Ya1) of front row nozzle center of gravity line L1, position (Ya2) of rear row nozzle center of gravity line L2, position of front pocket center of gravity line L3, and position of front pocket center of gravity line L3 are stored in control memory unit 21 as center of gravity line position data 35.

[0043] 4, feed correction amount calculation unit 27 calculates feed correction amounts S1 to S8 (feed amount correction amounts) of multiple tape feeders 5(1) to 5(15) (component supply units) arranged on feeder base 4, based on tip positions Q1 to Q8 of multiple suction nozzles N1 to N8 (component holders) acquired by tip position acquisition means 38 included in tip position data 32. The feed correction amounts S1 to S8 are correction amounts to be added to the spacing between pockets P (pitch feed amount) in order to correct a deviation in the position of the tips Na of suction nozzles N1 to N8 when the component tape is pitch-fed in tape feeders 5(1) to 5(15) from which a component D has been taken out of pocket P to move the next component D to component supply positions R1 to R15.

[0044] The feed correction amount calculation unit 27 calculates the feed correction amounts S1 to S4 of the front row suction nozzles N1 to N4 based on the position (Ya1) of the front row nozzle gravity center line L1 included in the gravity center line position data 35 and the tip positions Q1 to Q4 included in the tip position data 32. Specifically, the feed correction amount calculation unit 27 calculates the deviation amounts of the tip positions Q1 to Q4 in the Ya axis direction from the position (Ya1) of the front row nozzle gravity center line L1 in the head coordinate system as the feed correction amounts S1 to S4. Similarly, the feed correction amount calculation unit 27 calculates the feed correction amounts S5 to S8 of the rear row suction nozzles N5 to N8 based on the position (Ya2) of the rear row nozzle gravity center line L2 and the tip positions Q5 to Q8. The calculated feed correction amounts S1 to S8 are stored in the control storage unit 21 as feed correction amount data 36.

[0045] Here, with reference to Fig. 7(a), the feed correction amount data 36 will be described. The feed correction amount data 36 stores feed correction amounts 57 (feed correction amounts) corresponding to the nozzle positions 54 of the suction nozzles N1 to N8 of the mounting head 8. Fig. 7(b) shows a schematic example of the feed correction amounts S6, S7 of the suction nozzles N6, N7 in the rear row of the mounting head 8.

[0046] The feed correction amount calculation unit 27 calculates the amount of deviation of the tip position Q6 in the Ya axis direction from the position (Ya2) of the rear row nozzle gravity center line L2 as the feed correction amount S6. Similarly, the feed correction amount calculation unit 27 calculates the amount of deviation of the tip position Q7 in the Ya axis direction from the position (Ya2) of the rear row nozzle gravity center line L2 as the feed correction amount S7. In this way, the feed correction amount calculation unit 27 calculates the feed correction amount (feed correction amount S1 to S8) based on the amount of deviation of the tip positions Q1 to Q8 of each component holder from the positions of the gravity center lines (front row nozzle gravity center line L1, rear row nozzle gravity center line L2) of the tip positions Q1 to Q8 of the multiple component holders (suction nozzles N1 to N8).

[0047] 4, feed position data 37 stores current component supply positions R1 to R15 (centers of pockets P) of multiple tape feeders 5(1) to 5(15) (component supply units) arranged on feeder base 4. Command sending unit 29 sends feed commands to multiple tape feeders 5(1) to 5(15) arranged on feeder base 4 to instruct the feed amount for pitch-feeding the component tape. Feed position data 37 is updated when tape feeders 5(1) to (15) pitch-feed components D based on the feed commands sent from command sending unit 29.

[0048] 4, feed amount calculation unit 28 calculates the feed amount by which tape feeders 5(1)-5(15) arranged on the front and rear feeder bases 4 pitch-feed the component tape to supply the next component D, based on mounting data 30, component data 31, holding position data 33, feed correction amount data 36, ​​and feed position data 37. Specifically, feed amount calculation unit 28 calculates the feed amount for returning tape feeders 5(1)-5(15) to their initial states, based on supply position data 34 newly acquired by supply position acquisition means 40, immediately after power-on or after a changeover operation for replacing tape feeders 5 arranged on feeder bases 4 in order to change the board type of the mounted board produced by component mounting device 1.

[0049] 8 and 9, the feed amount calculated by feed amount calculation unit 28 for setting tape feeders 5(1) to 5(15) to their initial state will be described. FIG. 8 shows feed position data 37 in which tape feeders 5(1) to 5(15) feed the component tape based on a feed command sent from command sending unit 29 to set the tape feeder 5(1) to its initial state. In addition to feeder position 56 and component name 52, feed position data 37 includes pitch feed amount 58 and feed position 59. Pitch feed amount 58 is the distance between pockets P of the component tape set in tape feeders 5(1) to 5(15). Feed position 59 is the current component supply position R1 to R15. The initial state is a state in which feed position 59 is "0" for all feeder positions 56.

[0050] FIG. 9 is a schematic diagram showing tape feeders 5(1)-5(15) in an initial state. FIG. 9 shows a state (initial state) after tape feeders 5(1)-5(15) feed component tapes based on a feed command from the state before the initial state shown in FIG. 3(b) is reached. In other words, the initial state is a state in which component supply positions R1-R15 of tape feeders 5(1)-5(15) are aligned with pocket center-of-gravity line L3. Moreover, feed position data 37 shown in FIG. 8 specifies the position of pocket center-of-gravity line L3 as the origin ("0") of feed position 59.

[0051] The feed amount calculation unit 28 calculates the feed amount so that the component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) are aligned with the pocket center of gravity line L3. In the examples of Fig. 3(b) and Fig. 9, for the tape feeders 5(1) and 5(3) whose component supply positions R1, R3 were located behind the pocket center of gravity line L3 before they were initialized, the feed amount calculation unit 28 calculates a positive feed amount so as to advance the component tape. Also, for the tape feeders 5(2) and 5(4) whose component supply positions R2, R4 were located ahead of the pocket center of gravity line L3 before they were initialized, the feed amount calculation unit 28 calculates a negative feed amount so as to move the component tape back.

[0052] Next, the feed amounts of tape feeders 5(1)-5(15) calculated by feed amount calculation unit 28 in a component mounting operation will be described with reference to Figs. 10, 12-14. Figs. 10, 12-14 show feed amounts 61 for feeder positions 56 in addition to feed position data 37 after tape feeders 5(1)-5(15) pitch-feed the component tape based on the feed amounts calculated by feed amount calculation unit 28 based on mounting data 30 shown in Fig. 5. Hereinafter, it is assumed that feed position data 37 includes feed amounts 61 for each feeder position 56. In other words, control memory unit 21 is a memory unit that stores feed amounts 61 (feed position data 37) based on sent feed commands.

[0053] The feed amount calculation unit 28 calculates the feed amount 61 for each of the tape feeders 5(1)-(15) arranged on the front and rear feeder bases 4. In calculating the feed amount 61, the feed amount calculation unit 28 takes into consideration that the pitch feed directions of the front and rear tape feeders 5(1)-(15) are opposite to each other. The following describes an example of the tape feeders 5(1)-(15) arranged on the front feeder base 4, whose pitch feed direction is the positive direction of the Y axis.

[0054] Fig. 10 shows feed position data 37 after pitch feeding based on feed amount 61 calculated by feed amount calculation unit 28 so as to feed components D with mounting numbers 50 "1" to "4" (hereinafter simply referred to as "mounting numbers 1 to 4") in mounting data 30 shown in Fig. 5 to tape feeders 5(7) to (10) in an initial state. Fig. 11 shows a schematic diagram of the states of component supply positions R7 to R10 of tape feeders 5(7) to (10) corresponding to feed position data 37 shown in Fig. 10.

[0055] In a mounting turn with turn number 51 "1" (hereinafter simply referred to as "turn 1"), components D are simultaneously picked up by the suction nozzles N1 to N4 in the front row of the mounting head 8 from tape feeders 5(7) to 5(10) at feeder positions 56 "7" to "10" (hereinafter simply referred to as "feeder positions 7 to 10"), respectively.

[0056] 10, feed amount calculation unit 28 calculates a feed amount 61 based on feed correction amounts S1 to S4 of suction nozzles N1 to N4 stored in feed correction amount data 36 so that component supply positions R7 to R10 of tape feeders 5(7) to 5(10) at feeder positions 7 to 10 have feed correction amounts S1 to S4. For example, feed amount calculation unit 28 calculates feed amount 61 of tape feeder 5(7) at feeder position 7 to be "S1," which is the same as feed correction amount S1 of suction nozzle N1.

[0057] In the case of simultaneous pickup, during component mounting work, the placement control unit 22 moves the placement head 8 to position it so that the front row nozzle center of gravity line L1 of the placement head 8 coincides with the pocket center of gravity line L3 of the tape feeders 5(1)-(15). As a result, the tip positions Q1-Q4 of the suction nozzles N1-N4 in the base coordinate system coincide with the component supply positions R7-R10 of the tape feeders 5(7)-5(10) at feeder positions 7-10 (see FIG. 11). Next, the placement control unit 22 simultaneously lowers the suction nozzles N1-N4 to simultaneously pick up the component D. As a result, it is expected that the center Nc of the suction nozzles N1-N4 coincides with the center Dc of the held component D.

[0058] In this manner, command sending unit 29 sends out feed commands to multiple component supply units (tape feeders 5(7)-5(10)) based on the feed amount 61 based on the feed command and the feed amount correction amount (feed correction amount S1-S4). Then, the multiple component supply units feed components D at the feed amount 61 based on the feed command, and mounting head 8 simultaneously holds the multiple components D supplied by the multiple component supply units with the multiple component holders (suction nozzles N1-N4).

[0059] Fig. 12 shows feed position data 37 after pitch feeding from the state of Fig. 10 to a state where components D of placement numbers 5 to 8 in placement data 30 are supplied. That is, in turn 1, tape feeding is performed so that suction nozzles N5 to N8 in the rear row of placement head 8 individually pick up components D from tape feeders 5(1), 5(3), 5(5), and 5(7) at feeder positions 1, 3, 5, and 7. In the case of individual pickup, feed amount calculation unit 28 calculates feed amount 61 so that component supply positions R1, R3, R5, and R7 of tape feeders 5(1), 5(3), 5(5), and 5(7) are positioned on pocket center of gravity line L3, that is, so that feed position 59 becomes "0".

[0060] 12, because feed positions 59 for feeder positions 1, 3, and 5 are at "0" in the state of FIG. 10, feed amount calculation unit 28 calculates feed amount 61 as "0." That is, command sending unit 29 does not send feed commands to tape feeders 5(1), 5(3), and 5(5). Because feed position 59 for feeder position 7 is at "S1" in the state of FIG. 10, feed amount calculation unit 28 calculates feed amount 61 as "T07-S1." That is, feed amount 61 is calculated by returning the amount of "S1," which is the previous position, from the feed amount for feeding the component tape by the pitch (T07) between pockets P, to "0."

[0061] In the case of individual pickup, in a component mounting operation, the placement control unit 22 moves the placement head 8 to position the center Nc of the suction nozzle N5 of the placement head 8 so that it coincides with the pocket center of gravity line L3 of the tape feeder 5(1) at the feeder position 1. As a result, the tip position Q5 of the suction nozzle N5 in the base coordinate system coincides with the component supply position R1 of the tape feeder 5(1) at the feeder position 1. Next, the placement control unit 22 lowers the suction nozzle N5 to individually pick up the component D. As a result, it is expected that the center Nc of the suction nozzle N5 will coincide with the center Dc of the held component D. Thereafter, the placement control unit 22 repeats the same control to individually pick up the component D with the suction nozzles N6 to N8.

[0062] When components D are held by all of the suction nozzles N1 to N8 of the mounting head 8 in turn 1, the holding position acquisition means 39 acquires the holding positions (Xd, Yd, θd) of the components D held by the suction nozzles N1 to N8. The placement control unit 22 corrects the positions of the suction nozzles N1 to N8 based on the acquired holding positions (Xd, Yd, θd) and places the components D at the placement positions 53 on the board B. Furthermore, when the placement control unit 22 rotates the component D from the state in which the holding position acquisition means 39 acquired the holding positions (Xd, Yd, θd) to place the component D on the board B, the placement control unit 22 corrects the positions of the suction nozzles N1 to N8 based on the tip positions Q1 to Q8 of the suction nozzles N1 to N8 for each rotation angle stored in the tip position data 32, and places the component D on the board B.

[0063] Fig. 13 shows feed position data 37 after pitch feeding from the state in Fig. 12 to a state where components D with placement numbers 9 to 12 in placement data 30 are supplied. That is, in turn 2, suction nozzles N1 to N4 in the front row of placement head 8 are tape fed so as to simultaneously pick up components D from tape feeders 5(4) to 5(7) at feeder positions 4 to 7. The example in Fig. 13 differs from the simultaneous pickup example shown in Fig. 10 in that feed position 59 is calculated taking into account not only feed correction amounts S1 to S4 of suction nozzles N1 to N4 but also the positional deviation (ΔX, ΔY) of component D included in holding position data 33 acquired in turn 1.

[0064] 13, the feed positions 59 of the feeder positions 4 to 7 are corrected by the positional deviations ΔY1 to ΔY4 in the Y-axis direction of the components D held by the suction nozzles N1 to N4 at turn 1 from the feed correction amounts S1 to S4 of the suction nozzles N1 to N4. The feed amount calculation unit 28 calculates the feed amount 61 so that the feed positions 59 of the feeder positions 4 to 7 in FIG. 12 become the feed positions 59 of the feeder positions 4 to 7 in FIG. 13. For example, at the feeder position 7, the feed amount calculation unit 28 calculates the feed amount 61 by adding "S4-ΔY4" to the pitch feed amount 58 (T07). The command sending unit 29 sends a feed command so that the calculated feed amount 61 is sent.

[0065] In this way, the holding position acquisition means 39 acquires the holding positions (Xd, Yd, θd) of the component D held by the multiple component holders (suction nozzles N1-N4) at turn 1, and the command sending unit 29 sends feed commands to the multiple component supply units (tape feeders 5(4)-5(7)) based on the positional deviations ΔY1-ΔY4 in the Y-axis direction calculated from the feed amount correction amounts (feed correction amounts S1-S4) and the acquired holding positions (Xd, Yd, θd). This is expected to enable the component D to be held with high precision so that its center Dc coincides with the center Nc of the suction nozzles N1-N4.

[0066] Fig. 14 shows feed position data 37 after pitch feeding from the state in Fig. 13 to a state where components D with placement numbers 13 to 16 in placement data 30 are to be supplied. That is, at turn 2, tape feeding is performed so that suction nozzles N5 to N8 in the rear row of placement head 8 simultaneously pick up components D from tape feeders 5(7) to 5(10) at feeder positions 7 to 10.

[0067] 13, feed positions 59 of feeder positions 7-10 are corrected by the positional deviations ΔY5-ΔY8 in the Y-axis direction of components D held by suction nozzles N5-N8 in turn 1 from the feed correction amounts S5-S8 of suction nozzles N5-N8. For example, at feeder position 7, feed amount calculation unit 28 calculates feed amount 61 by adding "S5-ΔY5" to pitch feed amount 58 (T07) to return the previous position by "S4-ΔY4".

[0068] When the feed amount calculation unit 28 calculates the feed amount 61, it is not necessary to calculate the correction amount based on the positional deviations ΔY1 to ΔY8 in the Y-axis direction acquired in the previous turn for each turn. For example, when the positional deviations ΔY1 to ΔY8 in the Y-axis direction for five turns are accumulated, the correction may be performed using the average value from the next turn. Also, the correction may be performed using a moving average of the positional deviations ΔY1 to ΔY8 in the Y-axis direction for the past five turns.

[0069] Also, the amount of correction due to positional deviations ΔY1 to ΔY8 in the Y-axis direction may be calculated for each tape feeder 5(1) to 5(15). Furthermore, when positional deviations ΔY1 to ΔY8 in the Y-axis direction are acquired for five mounting boards, an average value may be calculated for each mounting number 50 and used as the correction value. This is expected to eliminate the effects of tape feed accuracy errors and sudden deviations, and to improve the accuracy of simultaneous pickup by the combination of tape feeders 5(1) to 5(15) and suction nozzles N1 to N8.

[0070] Next, a component mounting method in which the component mounting device 1 mounts a plurality of components D on the board B will be described with reference to the flows in Fig. 15 to Fig. 18. In Fig. 15, first, the tip position acquisition means 38 acquires tip positions Q1 to Q8 of the plurality of suction nozzles N1 to N8 (component holders) equipped on the mounting head 8 (ST1: tip position acquisition step). Next, the supply position acquisition means 40 acquires component supply positions R1 to R15 of the tape feeders 5(1) to 5(15) (component supply sections) arranged on the feeder base 4 (ST2: supply position acquisition step).

[0071] Next, the gravity center line position calculation unit 26 calculates the position (Ya1) of the front row nozzle gravity center line L1 from the tip positions Q1-Q4, the position (Ya2) of the rear row nozzle gravity center line L2 from the tip positions Q5-Q6, and the position of the pocket gravity center line L3 from the component supply positions R1-R15 (ST3: gravity center line position calculation step). Next, the feed correction amount calculation unit 27 calculates the feed correction amounts S1-S8 (feed correction amounts) of the multiple tape feeders 5(1)-5(15) based on the acquired tip positions Q1-Q8 of the multiple suction nozzles N1-N8 (ST4: feed correction amount calculation step).

[0072] In FIG. 15, next, feed amount calculation unit 28 calculates feed amount 61 for setting tape feeders 5(1)-5(15) to their initial state, and command sending unit 29 sends a feed command to tape feeders 5(1)-5(15). Having received the feed command, tape feeders 5(1)-5(15) feed the component tape by feed amount 61 (ST5: initialization step). This results in the initial state in which component supply positions R1-R15 of tape feeders 5(1)-5(15) are aligned with pocket center of gravity line L3 (see FIG. 9). The initialization step (ST5) is executed before starting component mounting work, such as after a changeover work or immediately after power-on.

[0073] Next, the component mounting operation is started. That is, the board B to be worked on is carried in and positioned at the mounting operation position by the board transport conveyor 3 (ST6: board carrying step). Next, the feed amount calculation unit 28 acquires data for one turn from the mounting data 30 (ST7: data acquisition step). Next, the suction nozzles N1-N8 of the mounting head 8 pick up the components D from the tape feeders 5(1)-5(15) (ST8: component pick-up step). Next, the holding position acquisition means 39 acquires the holding positions (Xd, Yd, θd) of the components D held by the multiple suction nozzles N1-N8 (ST9: component holding position acquisition step).

[0074] In FIG. 15, the placement control unit 22 then causes the placement head 8 to place a plurality of components D held by the suction nozzles N1 to N8 at the placement positions 53 on the board B (ST10: component placement process). At this time, the placement control unit 22 corrects the positions of the suction nozzles N1 to N8, which place the components D on the board B, relative to the board B, based on the tip position data 32 and the holding position data 33. If there is a next placement turn (Yes in ST11), the data acquisition process (ST7) through the component placement process (ST10) are repeated. When all placement turns are completed (No in ST11), the board B that has been worked on is carried out downstream by the board transport conveyor 3 (ST12: board removal process). As long as the board B to be worked on remains (Yes in ST13), the process returns to the board carry-in process (ST6) and the component placement work is repeated.

[0075] Next, the component pick-up process (ST8) will be described in detail with reference to FIG. 16. First, if the placement data 30 specifies that the front row suction nozzles N1 to N4 are to be used in that placement turn (Yes in ST21), it is determined whether or not there is a simultaneous pickup flag (ST22). That is, it is determined whether or not the simultaneous pickup flag 55 in the placement data 30 is "1". If there is a simultaneous pickup flag (Yes in ST22), the component D is held by the front row suction nozzles N1 to N4 through simultaneous pickup (ST23: front row simultaneous pickup process). If there is no simultaneous pickup flag (No in ST22), the component D is held by the front row suction nozzles N1 to N4 through individual pickup (ST24: front row individual pickup process).

[0076] If it is specified that the front row suction nozzles N1 to N4 are not to be used (No in ST21), or when the front row simultaneous pickup process (ST23) or the front row individual pickup process (ST24) is completed, it is then determined whether it is specified that the rear row suction nozzles N5 to N8 are to be used in that mounting turn (ST25). If it is specified that the rear row suction nozzles N5 to N8 are to be used (Yes in ST25), it is determined whether the simultaneous pickup flag is set (ST26). If the simultaneous pickup flag is set (Yes in ST26), the rear row suction nozzles N5 to N8 simultaneously pick up and hold the component D (ST27: rear row simultaneous pickup process).

[0077] If there is no simultaneous pickup flag (No in ST26), the component D is held by the rear row pickup nozzles N5 to N8 through individual pickup (ST28: rear row individual pickup process). If it is specified that the rear row pickup nozzles N5 to N8 are not to be used (No in ST25), or when the rear row simultaneous pickup process (ST27) or the rear row individual pickup process (ST28) ends, the component pickup process (ST8) ends.

[0078] Next, the front row simultaneous suction step (ST23) and the rear row simultaneous suction step (ST27) will be described with reference to FIG. 17. The front row simultaneous suction step (ST23) and the rear row simultaneous suction step (ST27) are different in that the suction nozzles N1 to N8 that simultaneously pick up the objects are the front row suction nozzles N1 to N4 and the rear row suction nozzles N5 to N8. Here, the front row simultaneous suction step (ST23) will be described as an example. In the simultaneous suction step, first, the feed amount calculation unit 28 reads out the feed correction amounts S1 to S4 from the feed correction amount data 36 (ST31), reads out the feed position 59 from the feed position data 37 (ST32), reads out the positional deviations ΔY1 to ΔY4 in the Y-axis direction from the holding position data 33 (ST33), and calculates the feed amount 61 (ST34).

[0079] Next, the command sending unit 29 sends a feed command to the target tape feeders 5(1)-5(15) based on the calculated feed amount 61 (ST35: simultaneous command sending step). The tape feeders 5(1)-(15) that have received the feed command feed the components D at the feed amount 61 based on the feed command, and supply the components D to the component supply positions R1-R15 (ST36: simultaneous component supply step). Next, the placement control unit 22 moves and positions the placement head 8 so that the position (Ya1) of the front row nozzle center of gravity line L1 coincides with the position of the pocket center of gravity line L3 (ST37).

[0080] 17, when tape feeding in the target tape feeders 5(1)-5(15) is completed (Yes in ST38), the mounting control unit 22 simultaneously lowers the suction nozzles N1-N4 to simultaneously pick up components D from the tape feeders 5(1)-5(15) (ST39: simultaneous holding step). That is, the mounting head 8 simultaneously holds the multiple components D supplied by the multiple tape feeders 5(1)-5(15) with the multiple suction nozzles N1-N4 (ST39). Next, the feed position 59 in the feed position data 37 is updated (stored) with the feed amount 61 based on the sent feed command (ST40: simultaneous feed amount storage step).

[0081] Next, the front row individual suction step (ST24) and the rear row individual suction step (ST28) will be described with reference to Fig. 18. The front row individual suction step (ST24) and the rear row individual suction step (ST28) are different in that the suction nozzles N1 to N8 that individually pick up the nozzles are the front row suction nozzles N1 to N4 or the rear row suction nozzles N5 to N8. Here, the front row individual suction step (ST24) will be described as an example. In the individual suction step, first, the feed amount calculation unit 28 reads the tip positions Q1 to Q4 of the suction nozzles N1 to N4 from the tip position data 32 (ST41), reads the feed position 59 from the feed position data 37 (ST42), reads the positional deviations ΔY1 to ΔY4 in the Y-axis direction from the holding position data 33 (ST43), and calculates the feed amount 61 (ST44).

[0082] Next, the command sending unit 29 sends a feed command to the target tape feeders 5(1)-5(15) based on the calculated feed amount 61 (ST45: individual command sending step). The tape feeders 5(1)-(15) that have received the feed command feed the components D by the feed amount 61 based on the feed command, and supply the components D to the component supply positions R1-R15 (ST46: individual component supply step). Next, the placement control unit 22 moves and positions the placement head 8 so that the tip position Q1 of the suction nozzle N1 coincides with the position of the pocket center of gravity line L3 (ST47).

[0083] 18, when tape feeding in the target tape feeder 5(1)-5(15) is completed (Yes in ST48), the mounting control unit 22 lowers the suction nozzles N1-N4 to individually pick up the component D from the tape feeder 5(1)-5(15) (ST49: individual holding step). If there are suction nozzles N2-N4 that will individually pick up the component D next (Yes in ST50), the process returns to the individual command sending step (ST45) and the supply and individual pickup of the component D is performed (ST45-ST49). When all of the suction nozzles N1-N4 have individually picked up the component D (No in ST50), the feed position 59 in the feed position data 37 is updated (stored) with the feed amount 61 based on the sent feed command (ST51: individual feed amount storage step).

[0084] In the component pickup step (ST8) in the next mounting turn, the feed amount 61 is calculated based on the feed position data 37 updated in the simultaneous feed amount storage step (ST40) or the individual feed amount storage step (ST51). That is, in the simultaneous command sending step (ST35) or the individual command sending step (ST45), a feed command is sent to the multiple tape feeders 5(1)-5(15) based on the feed amount 61 (feed position 59) based on the feed correction amounts S1-S8 and the stored feed command.

[0085] As described above, the component mounting device 1 of this embodiment comprises a mounting head 8 equipped with a plurality of component holders (suction nozzles N1 to N8), a plurality of component supply units (tape feeders 5(1) to 5(15)) that supply components D, a tip position acquisition means 38 that acquires tip positions Q1 to Q8 of the plurality of component holders, a feed correction amount calculation unit 27 that calculates feed amount correction amounts (feed correction amounts S1 to S8) of the plurality of component supply units based on the acquired tip positions Q1 to Q8 of the plurality of component holders, and a command sending unit 29 that sends feed commands to the plurality of component supply units based on the calculated feed amount correction amounts.

[0086] The multiple component supply units then feed the components D at feed amounts 61 based on the feed commands, and the mounting head 8 simultaneously holds the multiple components D supplied by the multiple component supply units with the multiple component holders. This allows the multiple suction nozzles N1 to N8 to properly pick up the multiple components D simultaneously. [Industrial Applicability]

[0087] INDUSTRIAL APPLICABILITY The component mounting apparatus and method of the present invention have the effect of being able to appropriately pick up a plurality of components simultaneously using a plurality of suction nozzles, and are useful in the field of mounting components on a board. [Explanation of symbols]

[0088] 1 Component placement device 5, 5(1)~5(4), 5(7)~5(10) Tape feeder (parts supply section) 8 Placement head 38 Tip position acquisition means 39 Holding position acquisition means D parts L1 Front row nozzle center of gravity line (center of gravity line) L2 Rear row nozzle center of gravity line (center of gravity line) N, N1 to N8 suction nozzles (component holders) Q1~Q8 Tip position S1~S4, S6, S7 Feed correction amount (feed amount correction amount) Xd Holding position in the X-axis direction Yd Y-axis direction holding position

Claims

1. A mounting head having a plurality of component holders; A plurality of part supply units supplying parts by sending the parts; a tip position acquiring means for acquiring tip positions of the plurality of component holders; a feed correction amount calculation unit that calculates a correction amount of a feed amount of the plurality of component supply units based on the acquired tip positions of the plurality of component holders so that the tip positions of the plurality of component holders coincide with the component supply positions of the plurality of component supply units; a command sending unit that sends a feed command to the plurality of component supply units based on the calculated correction amount of the feed amount; a holding position acquisition means for acquiring holding positions of components held by the plurality of component holders, the correction amount calculation unit further corrects the feed amount correction amount calculated so that the tip positions of the plurality of component holders coincide with the component supply positions of the plurality of component supply units, using the holding positions of the components held by the plurality of component holders acquired by the holding position acquisition means; The command sending unit further sends a feed command to the plurality of component supply units based on the corrected feed amount, the plurality of component supply units feed components at feed amounts based on the feed command, The mounting head simultaneously holds the components supplied by the component supply units with the component holders.

2. 2. The component mounting device according to claim 1, wherein the feed correction amount calculation unit calculates a correction amount for the feed amount based on a deviation amount of the tip position of each of the component holders from a position of a center of gravity line of the tip positions of the plurality of component holders.

3. A storage unit that stores a feed amount based on the sent feed command is further provided, 3. The component mounting device according to claim 1, wherein the command sending unit sends a feed command to the plurality of component supply units based on the correction amount of the feed amount and the feed amount based on the stored feed command.

4. A component mounting method for mounting a plurality of components on a substrate, comprising the steps of: a tip position acquiring step of acquiring tip positions of a plurality of component holders provided on the mounting head; a feed correction amount calculation step of calculating a correction amount of a feed amount of a plurality of component supplying units which supply components by feeding components so that the tip positions of the plurality of component holders coincide with the component supplying positions of the plurality of component supplying units, based on the acquired tip positions of the plurality of component holders; a command issuing step of issuing a feed command to the plurality of component supply units based on the calculated correction amount of the feed amount; a part supplying step in which the plurality of part supplying units supply the parts by feeding the parts at a feed amount based on the feed command; a simultaneous holding step in which the mounting head simultaneously holds the plurality of components supplied by the plurality of component supply units with the plurality of component holders; a component mounting step of mounting the components held by the mounting head onto a board; a component holding position acquisition step of acquiring holding positions of the components held by the multiple component holders in the simultaneous holding step, in the correction amount calculation step, the correction amounts of the feed amounts calculated so that the tip positions of the plurality of component holders coincide with the component supply positions of the plurality of component supply units are further corrected by the holding positions of the components held by the plurality of component holders acquired in the component holding position acquisition step, In the command issuing step, a feed command is issued to the plurality of component supply units based on the feed amount correction amount further corrected in the correction amount calculation step.

5. The method further includes a feed amount storage step of storing a feed amount based on the sent feed command, 5. The component mounting method according to claim 4, wherein in said command issuing step, a feed command is issued to said plurality of component supply units based on the feed amount based on said feed command and the correction amount of said feed amount.

Images