Component mounting device and nozzle mounting method therefor

Abstract

According to the present invention, after a nozzle carried by a nozzle changer which is positioned in a raised position by a raising and lowering cylinder is installed on the lower end of a shaft and pulled out upward from the nozzle changer (ST32, ST33), before moving a mounting head in the horizontal direction, it is determined whether there is a need to lower the nozzle changer (ST39). Then, if it was determined that there is not a need to lower the nozzle changer, the mounting head is moved in the horizontal direction without lowering the nozzle changer (ST38), and if it was determined that there is a need to lower the nozzle changer, the mounting head is moved in the horizontal direction (ST41) after lowering the nozzle changer via the raising and lowering cylinder (ST40).

Description

[Technical Field]

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

[0002] A component mounting device is equipped with a mounting head with a nozzle attached to the lower end of a shaft, and the nozzle picks up and mounts the component on the board. Component mounting devices usually have a nozzle changer on which a replacement nozzle is placed, and the nozzle can be removed from the shaft or a replacement nozzle can be attached to the shaft by lowering and then raising the shaft from above the nozzle changer.

[0003] In component mounting devices, the mounting head is sometimes moved so that it passes above the nozzle changer. To prevent the nozzle (or the component picked up by the nozzle) from coming into contact with the nozzle changer, the nozzle changer is positioned relatively low relative to the mounting head. For this reason, the shaft of the mounting head is configured to be able to descend with a stroke that exceeds the practical stroke required for mounting components on a board, taking into account the need for nozzle replacement. This has led to an increase in the size and weight of the mounting head. To address this issue, Patent Document 1 below discloses a technology in which the nozzle changer is configured to be able to be raised and lowered by a cylinder, and when replacing the nozzle, the cylinder is used to raise the nozzle changer and bring it closer to the mounting head, thereby limiting the downward stroke of the shaft during nozzle replacement to a practically small downward stroke. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent No. 3371666 Summary of the Invention

[0005] However, in the component mounting device described in Patent Document 1, the height of the nozzle changer during nozzle replacement is higher than before, so the distance between the nozzle and the nozzle changer when the nozzle is attached to the lower end of the shaft and pulled out above the nozzle changer is smaller than before.This poses a problem in the nozzle mounting operation, in which a nozzle placed on the nozzle changer is mounted on a shaft, where the mounting head is moved horizontally to mount the nozzle on the next shaft, as there is a risk that the already mounted nozzle may come into contact with the nozzle changer.

[0006] An object of the present disclosure is to provide a component mounting device and a nozzle mounting method in a component mounting device that can prevent a nozzle mounted on a shaft from interfering with a nozzle changer during nozzle mounting work.

[0007] a shaft lifting unit provided on the mounting head that attaches the nozzle placed on the nozzle changer, when the nozzle changer is positioned at the raised position, to the lower end of the shaft and pulls the nozzle out above the nozzle changer; a determination unit that determines whether or not it is necessary to lower the nozzle changer after the nozzle has been pulled out from the nozzle changer by the shaft lifting unit and before moving the mounting head in a horizontal direction; and an operation control unit that moves the mounting head in a horizontal direction without lowering the nozzle changer if the determination unit determines that it is not necessary to lower the nozzle changer, and that moves the mounting head in a horizontal direction if the determination unit determines that it is necessary to lower the nozzle changer, and

[0008] a mounting head that mounts a component onto a substrate using the nozzle by suction using the nozzle; and a lifting unit that raises and lowers the nozzle changer between a lowered position and an elevated position. The method includes a nozzle removal step of removing the nozzle from the nozzle changer, which is positioned at the elevated position by the lifting unit, and attaching the nozzle to the lower end of the shaft and removing the nozzle from the nozzle changer; a determination step of determining whether or not it is necessary to lower the nozzle changer after removing the nozzle from the nozzle changer in the nozzle removal step and before moving the mounting head in the horizontal direction; 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 if it is determined in the determination step that it is necessary to lower the nozzle changer, lowering the nozzle changer using the lifting unit and then moving the mounting head in the horizontal direction.

[0009] According to the present disclosure, it is possible to prevent the nozzle attached to the shaft from interfering with the nozzle changer during the nozzle attachment work. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view of a main part 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 of the present disclosure. [Figure 3] FIG. 3 is a perspective view showing a nozzle changer provided in the component mounting device according to the embodiment of the present disclosure together with a nozzle. [Figure 4A] FIG. 4A is a plan view of a nozzle changer included in the component mounting device according to the embodiment of the present disclosure. [Figure 4B] FIG. 4B is a plan view of a nozzle changer included in the component mounting device according to the embodiment of the present disclosure. [Figure 5] FIG. 5 is a side view showing a nozzle changer provided in the component mounting device according to the embodiment of the present disclosure together with a board camera. [Figure 6] FIG. 6 is a block diagram showing a control system of the component mounting device according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing a state in which components are being mounted on a board by a mounting head included in the component mounting device according to the embodiment of the present disclosure. [Figure 8] FIG. 8 is a flowchart of a main routine showing the flow of a nozzle replacement operation executed by a component mounting device according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a flowchart of a subroutine showing the flow of a nozzle removing operation in a nozzle replacing operation executed by a component mounting device according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart of a subroutine showing the flow of a nozzle mounting operation in a nozzle replacement operation executed by a component mounting device according to an embodiment of the present disclosure. [Figure 11A] FIG. 11A is a diagram illustrating the operation of a nozzle removing task performed by the component mounting device according to the embodiment of the present disclosure. [Figure 11B] FIG. 11B is a diagram illustrating the operation of the nozzle removing work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 12A] FIG. 12A is a diagram illustrating the operation of a nozzle removing task performed by the component mounting device according to the embodiment of the present disclosure. [Figure 12B] FIG. 12B is a diagram illustrating the operation of the nozzle removing work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 13A] FIG. 13A is a diagram illustrating the operation of a nozzle removing task performed by the component mounting device according to the embodiment of the present disclosure. [Figure 13B] FIG. 13B is a diagram illustrating the operation of the nozzle removing work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 14A] FIG. 14A is a diagram illustrating the operation of a nozzle removing task performed by the component mounting device according to the embodiment of the present disclosure. [Figure 14B] FIG. 14B is a diagram illustrating the operation of the nozzle removing work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 15A] FIG. 15A is a diagram illustrating the operation of a nozzle removing task performed by the component mounting device according to the embodiment of the present disclosure. [Figure 15B] FIG. 15B is a diagram illustrating the operation of the nozzle removing work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 16A] FIG. 16A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 16B] FIG. 16B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 17A] FIG. 17A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 17B] FIG. 17B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 18] FIG. 18 is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 19A] FIG. 19A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 19B] FIG. 19B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 20A]FIG. 20A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 20B] FIG. 20B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 21] FIG. 21 is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 22A] FIG. 22A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 22B] FIG. 22B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 23A] FIG. 23A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 23B] FIG. 23B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 24A] FIG. 24A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 24B] FIG. 24B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 25A] FIG. 25A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 25B] FIG. 25B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. [Figure 26A] FIG. 26A is a diagram illustrating the operation of a nozzle mounting job performed by a component mounting device according to an embodiment of the present disclosure. [Figure 26B] FIG. 26B is a diagram illustrating the operation of the nozzle mounting work performed by the component mounting device according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a perspective view of a main part of a component mounting apparatus 1 according to an embodiment of the present disclosure. The component mounting apparatus 1 shown in Fig. 1 is an apparatus that mounts components BH on a board KB carried in from an upstream apparatus (not shown) (e.g., a solder printer or other component mounting apparatus) and carries it out to a downstream apparatus (e.g., another component mounting apparatus, an inspection machine, a reflow oven, etc.). For convenience of explanation in this embodiment, the direction in which the board KB is transported by the component mounting apparatus 1 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 1 includes base 11, board transport unit 12, multiple part feeders 13, mounting head 14, head movement mechanism 15, board camera 16, component camera 17, nozzle changer 18, and control device 19. Base 11 has a table shape overall, and board transport unit 12 is provided extending in the X direction at the center of base 11. Board transport unit 12 is made up of a pair of conveyor mechanisms arranged parallel to each other in the Y direction, and receives board 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 supply ports 13K provided at the end on the side of board transport unit 12. Part feeders 13 are, for example, tape feeders.

[0014] 1 and 2, the mounting head 14 has a plurality of shafts 21 extending downward, and a nozzle 22 for component suction is detachably attached to the lower end of each shaft 21. In this embodiment, the mounting head 14 has a total of eight shafts 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 shafts 21. In Fig. 2, the mounting head 14 has a shaft elevating unit 23 that raises and lowers each of the plurality of shafts 21 individually.

[0015] FIG. 2 is a front view of the mounting head 14 provided in the component mounting device 1. FIG. 3 is a perspective view showing the nozzle changer 18 provided in the component mounting device 1 together with the nozzle 22. In FIGS. 2 and 3, the nozzle 22 includes a base 22a, a tube 22b, and a flange 22c. The base 22a is located at the top of the nozzle 22 and consists of a cylindrical portion having a shaft insertion portion 22v that opens upward. The lower end of the shaft 21 provided in the mounting head 14 is inserted into the shaft insertion portion 22v (FIG. 2). The tube 22b consists of a hollow cylindrical portion extending downward from the base 22a. The flange 22c consists of a flat portion extending along the XY plane from the boundary between the base 22a and the tube 22b. A passage 22T (FIG. 2) in the tube 22b is connected to the shaft insertion portion 22v of the base 22a.

[0016] The orientation of nozzle 22 relative to shaft 21 is specified. A nozzle mark 22M is provided on the upper surface of flange 22c of nozzle 22 as an identification code indicating the type of nozzle 22 (FIGS. 2 and 3). When nozzle 22 is attached to shaft 21, the orientation of nozzle mark 22M relative to shaft 21 must be properly oriented.

[0017] 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).

[0018] In Fig. 1, a board camera 16 is provided on the mounting head 14 (see also Fig. 2). The imaging field of the board camera 16 faces downward, and moves together with the mounting head 14 in the XY plane above the base 11. While positioned above the board KB that has been positioned at the work position by the board transport unit 12, the board camera 16 captures images from above of each of two board recognition marks (board marks Mk; Fig. 1) provided at diagonal positions on the top surface of the board KB.

[0019] 1, component camera 17 is provided in an area between board transport unit 12 and component feeder 13 on base 11. Component camera 17 has an imaging field of view facing upward, and captures an image of component BH from below as it passes above while being held by mounting head 14 (by suction to nozzle 22).

[0020] 1, nozzle changer 18 is provided at a position next to component camera 17 on base 11. A plurality of replacement nozzles 22 are placed on nozzle changer 18 (FIG. 3).

[0021] 3, the nozzle changer 18 has a nozzle mounting portion 31 in the shape of a rectangular block extending along the XY plane, a changer base 32 in the shape 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 mounting portion 31, and the four legs 33 connect the nozzle mounting portion 31 and the changer base 32 at their four corners.

[0022] 4A and 4B are plan views of the nozzle changer 18. In FIGS. 3, 4A, and 4B, the nozzle mounting 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 mounting 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 tube portion 22b of the nozzle 22.

[0023] 3, 4A, and 4B, a rectangular shutter 35 along the XY plane is provided above the nozzle mounting portion 31. The shutter 35 is made of a plate-shaped 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 mounting portion 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.

[0024] 3, 4A, and 4B, 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 mounting portion 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.

[0025] 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 mounting 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. 4A). 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. 4B).

[0026] When the shutter 35 is in the non-restricting position, if the nozzle 22 inserted in the nozzle insertion hole 34 is pulled upward, the flange 22c of the nozzle 22 passes through the nozzle passing hole 35T without interfering with the shutter 35, and the nozzle 22 can be removed above the shutter 35. On the other hand, when the shutter 35 is in the restricting position, if the nozzle 22 inserted in the nozzle insertion hole 34 is pulled upward, the flange 22c interferes with the shutter 35, and the nozzle 22 cannot be removed above the shutter 35.

[0027] The nozzle 22 can be inserted into the nozzle insertion hole 34 and pulled out upward while inserted into the nozzle insertion hole 34 with the shutter 35 positioned in the non-restricting position (FIG. 4A). Furthermore, by moving the shutter 35 from the non-restricting position to the restricting position while the nozzle 22 is inserted into the nozzle insertion hole 34 (FIG. 4A → FIG. 4B), the nozzle 22 inserted into the nozzle insertion hole 34 can be prevented from slipping out upward.

[0028] 3, 4A, and 4B, a shutter drive cylinder 36 is provided on one of a pair of side surfaces arranged opposite each other in the Y direction of the nozzle mounting portion 31. The shutter drive cylinder 36 is arranged so that a piston rod (shutter drive rod 36R) extends along the 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.

[0029] When nozzle 22 is properly inserted into nozzle insertion hole 34 and flange 22c is facing the correct direction, nozzle mark 22M of that nozzle 22 is located within groove 35z of shutter 35. Therefore, nozzle mark 22M can be seen from above nozzle changer 18 whether shutter 35 is in the non-restricted position or the restricted position (FIGS. 4A and 4B).

[0030] 3, a lift cylinder 37 serving as a lift unit is provided between the nozzle changer 18 and the base 11. The lift cylinder 37 is provided on the base 11 with the tip of the piston rod (lift rod 37R) facing upward. The nozzle changer 18 has its base (changer base 32) attached to the tip (upper end) of the lift rod 37R.

[0031] The lift cylinder 37 raises and lowers the nozzle changer 18 by moving the lift rod 37R back and forth in the Z direction. This allows the nozzle changer 18 to switch 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 18 is positioned at the elevated position by the lift cylinder 37 (details will be described later).

[0032] Here, the "nozzle replacement work" refers to a series of operations in which a nozzle 22 attached to the shaft 21 of the mounting head 14 is removed and another nozzle 22 is attached to the shaft 21, and is made up of a nozzle removal work in which the nozzle 22 is removed from the shaft 21, and a nozzle attachment work in which a new replacement nozzle 22 is attached to the shaft 21. Note that the nozzle changer 18 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.

[0033] 3, 4A, and 4B, a pair of changer position marks 18M are provided at a pair of diagonal positions on the top surface (nozzle mounting surface) of nozzle mounting portion 31, and a changer identification mark 18S is provided at one of the other pair of diagonal positions as an identification code indicating the type of nozzle changer 18. Changer position mark 18M is a mark for recognizing the position of nozzle changer 18, and changer identification mark 18S is an identification code indicating the type of nozzle changer 18.

[0034] FIG. 5 is a side view showing the nozzle changer 18 together with the board camera 16. In FIG. 5, the changer position mark 18M is provided at a position lower than the changer identification mark 18S provided on the upper surface (nozzle mounting surface) of the nozzle mounting portion 31 and the nozzle marks 22M of each nozzle 22 mounted on the nozzle mounting portion 31. Specifically, the changer position mark 18M is provided at a position such that the height of the changer position mark 18M when the nozzle changer 18 is in the raised position is approximately the same as the height of the changer identification mark 18S and the nozzle marks 22M when the nozzle changer 18 is in the lowered position. Therefore, in this embodiment, the Z-direction distance H1 (FIG. 5(a)) of the changer identification mark 18S and the nozzle marks 22M from the board camera 16 when the nozzle changer 18 is in the lowered position is approximately equal to the Z-direction distance H2 (FIG. 5(b)) of the changer position mark 18M from the board camera 16 when the nozzle changer 18 is in the raised position.

[0035] Fig. 6 is a block diagram showing a control system of component mounting device 1. In Fig. 6, control device 19 provided in component mounting device 1 includes operation control section 41, recognition section 42, and judgment section 43. Operation control section 41 controls the transport and positioning operation of board KB by board transport section 12, the supply operation of parts BH by each part feeder 13, the lifting and lowering operation of each shaft 21 by shaft lifting section 23 provided in mounting head 14, and the movement operation of mounting head 14 by head movement mechanism 15.

[0036] The operation control unit 41 also controls the operation of the shutter drive cylinder 36 to switch the shutter 35 of the nozzle changer 18 between the non-restricting position and the restricting position. The operation control unit 41 also controls the operation of the lift cylinder 37 to switch the position of the nozzle changer 18 between the lowered position and the raised position.

[0037] 6, the operation control unit 41 controls the imaging operation of the board camera 16 and the imaging operation of the component camera 17. The image data obtained by imaging with the board camera 16 (image data of the board mark Mk, image data of the changer position mark 18M, image data of the changer identification mark 18S, and image data of the nozzle mark 22M of each nozzle 22) and the image data obtained by imaging with the component camera 17 (image data of the component BH) are each transmitted to the control device 19.

[0038] The recognition unit 42 of the control device 19 recognizes the position of the board KB based on image data obtained by imaging with the board camera 16, recognizes the position of the nozzle changer 18, recognizes the type of nozzle changer 18, and recognizes the type of each nozzle 22. The recognition unit 42 also recognizes the component BH based on image data obtained by imaging with the component camera 17. The judgment unit 43 of the control device 19 makes various judgments during the nozzle replacement work by the mounting head 14.

[0039] When the component mounting device 1 configured as described above performs a component mounting operation to mount components BH on a board KB, the operation control unit 41 of the control device 19 first activates the board transport unit 12 to receive and carry in the board KB sent from an upstream device. The board KB is then positioned at a predetermined work position. The mounting head 14 is then moved, and the board camera 16 is caused to capture images of the two board marks Mk provided on the board KB positioned at the work position. The recognition unit 42 of the control device 19 recognizes the position of the board KB based on the image captured by the board camera 16.

[0040] After recognizing the board KB positioned at the work position, the component mounting device 1 operates the part feeder 13 to supply the component BH to the component supply port 13K while operating the head movement mechanism 15, causing the mounting head 14 to repeatedly perform component transfer operations. The component transfer operation consists of a component pickup operation in which the nozzle 22 picks up the component BH supplied by the part feeder 13, and a component transfer operation (FIG. 7) in which the picked-up component BH is imaged by the component camera 17 and then the component BH is mounted on the board KB. FIG. 7 shows the state in which the mounting head 14 is mounting the component BH on the board KB. In the component transfer operation, the recognition result of the component BH obtained by the component camera 17 imaging the component BH is used to correct the position of the nozzle 22 when mounting the component BH on the board KB.

[0041] As described above, in the component mounting device 1 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 1 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.

[0042] Next, we will explain the procedure for replacing the nozzle 22 in the component mounting device 1. Figure 8 is a flowchart of a main routine showing the flow of the nozzle replacement work, and Figures 9 and 10 are flowcharts of subroutines in the nozzle replacement work.

[0043] As shown in Figure 8, in the nozzle 22 replacement work, the operation control unit 41 of the component mounting device 1 first moves the mounting head 14 above the nozzle changer 18 using the head moving mechanism 15, and causes the board camera 16 to capture an image of the changer identification mark 18S provided on the nozzle changer 18 and the nozzle marks 22M of each nozzle 22 placed on the nozzle changer 18 (step ST1, (a) of Figure 5).

[0044] Once the image of the changer identification mark 18S and the image of the nozzle mark 22M of each nozzle 22 have been obtained by imaging with the board camera 16, the recognition unit 42 of the component mounting device 1 recognizes the type of nozzle changer 18 based on the obtained image of the changer identification mark 18S. The recognition unit 42 also recognizes the type of each nozzle 22 based on the obtained image of the nozzle mark 22M of each nozzle 22 (step ST2).

[0045] At the time of steps ST1 and ST2 described above, the nozzle changer 18 is positioned in a lowered position, which is a standard height position. The shutter 35 of the nozzle changer 18 is positioned in a restricted position (FIG. 4B). The shutter 35 is positioned in the lowered position because the type of nozzle changer 18 and the type of each nozzle 22 must be recognized before the mounting head 14 begins the nozzle 22 replacement operation (before the nozzle changer 18 is positioned in the raised position). The shutter 35 is positioned in the restricted position because keeping the shutter 35 in the restricted position while there is no possibility of the nozzle 22 being attached to or detached from the nozzle changer 18 is preferable in terms of preventing the nozzle 22 from falling off the nozzle changer 18.

[0046] Once the recognition unit 42 has recognized the type of nozzle changer 18 and the type of each nozzle 22 in step ST2, the operation control unit 41 actuates the lifting cylinder 37 to raise the nozzle changer 18 (step ST3). Once the nozzle changer 18 is in the raised position, the operation control unit 41 moves the mounting head 14 and causes the board camera 16 to sequentially capture images of the two changer position marks 18M provided on the nozzle changer 18 (imaging step of step ST4; FIG. 5(b)).

[0047] Once images of the two changer position marks 18M have been obtained in the imaging process of step ST4, the recognition unit 42 recognizes the position of the nozzle changer 18 based on the obtained images of the two changer position marks 18M. Furthermore, the recognition unit 42 recognizes the position of each nozzle 22 placed on the nozzle changer 18 based on the recognized position of the nozzle changer 18 (recognition process of step ST5).

[0048] As described above, in the component mounting device 1 of this embodiment, the board camera 16 is configured to capture an image of the changer position mark 18M in a state where the nozzle changer 18 is positioned in the raised position by the lift cylinder 37 (i.e., a state where the nozzle replacement work is actually being performed). Therefore, even if the lift rod 37R is not precisely facing the vertical direction (Z direction) or in other situations where the mounting surface (nozzle mounting portion 31) of the nozzle changer 18 for the nozzles 22 does not move up or down while maintaining a horizontal posture, the influence of this situation can be eliminated and the position of the nozzle changer 18 (and thus the positions of the nozzles 22 mounted on the nozzle changer 18) can be accurately determined.

[0049] As described above, changer position mark 18M is provided at a position lower in height than the height of the identification code (changer identification mark 18S and nozzle mark 22M of each nozzle 22 placed on nozzle changer 18) provided on nozzle changer 18, and the Z-direction distance H1 of the identification code from board camera 16 when nozzle changer 18 is in the lowered position is approximately equal to the Z-direction distance H2 of changer position mark 18M from board camera 16 when nozzle changer 18 is in the raised position (FIGS. 5(a) and 5(b)). Therefore, board camera 16, which is the imaging unit, can capture images of the position recognition mark (changer position mark 18M) and the identification code (changer identification mark 18S and nozzle mark 22M) of nozzle changer 18 at approximately the same focal length.

[0050] In the recognition process of step ST5, once the recognition unit 42 has recognized the position of the nozzle changer 18 and the positions of each nozzle 22 placed on the nozzle changer 18, the operation control unit 41 actuates the shutter drive cylinder 36 to switch the shutter 35 of the nozzle changer 18 to the non-restricting position (step ST6; Fig. 4B → Fig. 4A). Once the shutter 35 has switched to the non-restricting position, the operation control unit 41 performs the work of removing the nozzle 22 (step ST7).

[0051] 11A to 15B are diagrams illustrating the operation of removing the nozzle 22 performed by the component mounting apparatus 1 according to the embodiment of the present disclosure. As shown in FIG. 9, the nozzle 22 removal operation first aligns the nozzle 22 to be removed from the shaft 21 (step ST21). The nozzle 22 is aligned by positioning the nozzle 22 to be removed above the nozzle insertion hole 34 corresponding to the placement location of the nozzle 22 (FIG. 11A). After the nozzle 22 is aligned with the nozzle insertion hole 34, the shaft elevating unit 23 is actuated to lower the shaft 21 (step ST22, indicated by arrow B in FIG. 11B). As a result, the tube portion 22b of the nozzle 22 is inserted from above into the nozzle insertion hole 34 of the nozzle placement unit 31 (FIG. 11B). Note that the shafts 21 of the mounting head 14 shown in FIGS. 11A, 11B, and subsequent figures illustrate some (two) of the eight shafts 21 of the mounting head 14.

[0052] After the operation control unit 41 lowers the shaft 21 to insert the pipe portion 22b of the nozzle 22 into the nozzle insertion hole 34, it actuates the shutter drive cylinder 36 to switch the shutter 35 of the nozzle changer 18 to the restricted position (step ST23, FIGS. 4A to 4B). Then, it actuates the shaft lifting unit 23 to lift the shaft 21 (step ST24, arrow C shown in FIG. 12A).

[0053] When shaft 21 rises, nozzle 22 tries to rise together with shaft 21, but because flange 22c of nozzle 22 abuts against shutter 35 from below, further upward movement of nozzle 22 is restricted and only shaft 21 moves upward. As a result, nozzle 22 remains within nozzle changer 18, and is pulled out from shaft 21 and placed on the upper surface (nozzle placing surface) of nozzle placing portion 31 of nozzle changer 18 (FIG. 12A).

[0054] Once the nozzle 22 has been pulled out from the shaft 21, the operation control unit 41 actuates the shutter drive cylinder 36 to switch the shutter 35 to the non-restricted position (step ST25; Fig. 4B → Fig. 4A), thereby preparing for removal of the next nozzle 22.

[0055] Once the shutter 35 is switched to the non-restricting position, the determination unit 43 determines whether there are any 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 to move the mounting head 14 in the horizontal direction (step ST27).

[0056] 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 positioned above the nozzle insertion hole 34 corresponding to its mounting location. That is, if the nozzle 22 to be removed next is not positioned above the nozzle insertion hole 34 corresponding to the mounting location, it is necessary to align the nozzle 22, so it is decided to move the mounting head 14 horizontally, but if the nozzle 22 to be removed next is positioned above the nozzle insertion hole 34 corresponding to the mounting location (FIG. 12B), it is not necessary to realign the nozzle 22, so it is decided not to move the mounting head 14 horizontally.

[0057] If the nozzle 22 to be removed next is located above the nozzle insertion hole 34 corresponding to the placement location (FIG. 12B), and the determination unit 43 determines in step ST27 that the mounting head 14 should not be moved horizontally, the process returns to step ST22, where the shaft 21 is lowered (arrow D shown in FIG. 13A), and the tube portion 22b of the nozzle 22 is inserted into the nozzle insertion hole 34 (FIG. 13A). Then, the process proceeds from step ST23 to step ST24, and the nozzle 22 is pulled out of the nozzle changer 18 (arrow E shown in FIG. 13B).

[0058] On the other hand, if the nozzle 22 to be removed next is not positioned above the nozzle insertion hole 34 corresponding to the placement location (Figure 14A) and it is determined 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 14B) and aligns the nozzle 22 with the nozzle insertion hole 34 (step ST28, Figure 14B).

[0059] Here, the position of the nozzle insertion hole 34 grasped when aligning the nozzle 22 in steps ST21 and ST27 is the position of the nozzle changer 18 recognized through the imaging step of step ST4 and the recognition step of step ST5, i.e., the position where the nozzle changing work is actually performed (raised position), and is therefore extremely accurate. For this reason, in this embodiment, the nozzle 22 can be aligned with the nozzle insertion hole 34 with high precision.

[0060] After completing the alignment of the nozzle 22, the operation control unit 41 lowers the shaft 21 (step ST22, arrow G shown in FIG. 15A) and inserts the tube portion 22b of the nozzle 22 into the nozzle insertion hole 34 of the nozzle placing unit 31 (FIG. 15A). Then, the process proceeds to step ST23 and then step ST24, and the nozzle 22 is pulled out from the nozzle changer 18 (arrow H shown in FIG. 15B).

[0061] By repeating this series of steps (step ST21 → step ST22 → ... step ST28), when all the nozzles 22 to be removed have been removed, it is determined in step ST26 immediately after the last nozzle 22 is removed that there are no more shafts 21 from which the nozzles 22 need to be removed. Then, when it is determined in step ST26 that there are no more shafts 21 from which the nozzles 22 need to be removed, the subroutine of step ST7 is terminated and the process returns to the main routine (FIG. 8).

[0062] After completing the nozzle removal operation (step ST7) and returning to the main routine, the operation control unit 41 then performs the installation operation of the nozzle 22 (nozzle installation step of step ST8).

[0063] FIG. 10 is a flowchart showing the flow (subroutine) of step ST8. FIGS. 16A to 26B are diagrams illustrating the operation of the nozzle 22 mounting work performed by the component mounting apparatus 1 according to the embodiment of the present disclosure. As shown in FIG. 10, in the nozzle 22 mounting work, first, the shaft 21 onto which the nozzle 22 is to be mounted is aligned (step ST31). This alignment of the shaft 21 is performed by positioning the shaft 21 onto which the nozzle 22 is to be mounted above the nozzle 22 to be mounted (FIG. 16A). After the alignment of the shaft 21 with respect to the nozzle 22 is completed, the operation control unit 41 lowers the shaft 21 (step ST32; arrow J shown in FIG. 16B). Then, the lower end of the shaft 21 is inserted from above into the shaft insertion portion 22v of the nozzle 22 to be mounted, thereby mounting the nozzle 22 onto the shaft 21 (FIG. 16B).

[0064] After attaching the nozzle 22 to the shaft 21, the operation control unit 41 raises the shaft 21 (step ST33, arrow K shown in FIG. 17A). As a result, the nozzle 22 is pulled upward from the nozzle changer 18 while still attached to the lower end of the shaft 21 (FIG. 17A). In this manner, in this embodiment, the mounting head 14 attaches the nozzle 22, which is placed on the nozzle changer 18 and whose position has been recognized by the recognition unit 42, to the shaft 21.

[0065] Furthermore, in this embodiment, the shaft lifting unit 23 of the mounting head 14 is configured to attach the nozzle 22 placed on the nozzle changer 18, which has been positioned in the raised position by the lifting cylinder 37 serving as the lifting unit, to the lower end of the shaft 21 and withdraw it above the nozzle changer 18 (more specifically, the shaft 21 is lowered from above the nozzle changer 18 and then raised to attach the nozzle 22 to the lower end of the shaft 21, and then withdraw the attached nozzle 22 above the nozzle changer 18) (steps ST32 and ST33). In this embodiment, steps ST32 and ST33 constitute a nozzle withdrawal process in which the nozzle 22 placed on the nozzle changer 18, which has been positioned in the raised position by the lifting cylinder 37, is attached to the lower end of the shaft 21 and withdrawn above the nozzle changer 18.

[0066] When the nozzle 22 is pulled out of the nozzle changer 18 by raising the shaft 21, the determination unit 43 determines whether there is another shaft 21 to which the nozzle 22 should be attached (step ST34). If it is determined that there is no other shaft 21 to which the nozzle 22 should be attached, the subroutine of step ST8 is terminated and the process returns to the main routine (FIG. 8). On the other hand, if it is determined in step ST34 that there is another shaft 21 to which the nozzle 22 should be attached, it then determines whether to move the mounting head 14 horizontally (step ST35).

[0067] Here, the decision as to whether to move the mounting head 14 horizontally is made based on whether the shaft 21 onto which the nozzle 22 is to be mounted next is located above the nozzle 22 to which that shaft 21 is to be mounted. That is, if the shaft 21 onto which the nozzle 22 is to be mounted next is not located above the nozzle 22 to which that nozzle 22 is to be mounted, it is necessary to align the shaft 21, so it is decided that the mounting head 14 should be moved horizontally, but if the shaft 21 onto which the nozzle 22 is to be mounted next is located above the nozzle 22 to which that nozzle 22 is to be mounted (FIG. 17A), it is not necessary to align the shaft 21, so it is decided that the mounting head 14 should not be moved horizontally.

[0068] If the determination unit 43 determines in step ST35 that the mounting head 14 should not be moved horizontally, the process returns to step ST32, where the shaft 21 onto which the nozzle 22 is to be attached is lowered (arrow L shown in FIG. 17B), and the nozzle 22 is attached to the shaft 21 (FIG. 17B). After the nozzle 22 is attached to the shaft 21, the operation control unit 41 raises the shaft 21 (step ST33; arrow M shown in FIG. 18). As a result, the nozzle 22 is pulled out of the nozzle changer 18 while attached to the lower end of the shaft 21 (FIG. 18).

[0069] On the other hand, if it is determined in step ST35 that the mounting head 14 should be moved horizontally, the determination unit 43 determines whether there is a margin in the upward stroke of the shafts 21 (step ST36). Here, the case where there is a margin in the upward stroke of the shafts 21 refers to a case where the component mounting device 1 is able to raise (lift) each shaft 21 by a certain stroke beyond the maximum upward stroke set for each shaft 21 during normal component mounting work.

[0070] In step ST36, if the determination unit 43 determines that there is sufficient room for the upward stroke of the shaft 21, the shaft 21 to which the nozzle 22 is attached is raised higher (step ST37; Fig. 17A → Fig. 19A; arrow N shown in Fig. 19A). Then, the mounting head 14 is moved horizontally (step ST38; arrow P shown in Fig. 19B) to align the shaft 21 (Fig. 19B).

[0071] After aligning the shaft 21, the operation control unit 41 returns to step ST32 and lowers the shaft 21 (arrow Q shown in FIG. 20A). As a result, once the nozzle 22 is attached to the shaft 21 (FIG. 20A), the operation control unit 41 raises the shaft 21 (step ST33, FIG. 20B, arrow R shown in the figure). Then, if there is another shaft 21 to which a nozzle 22 should be attached ("Y" in step ST34) and the mounting head 14 is to be moved horizontally ("Y" in step ST35), the operation control unit 41 raises the shaft 21 to which the nozzle 22 is attached higher in step ST37 (arrow S shown in FIG. 21).

[0072] On the other hand, if it is determined in step ST36 that there is not enough room in the upward stroke of shaft 21, a nozzle changer lowering determination is made (step ST39). In determining whether to lower the nozzle changer in step ST39, the horizontal movement distance KR (FIG. 22A) of mounting head 14 required to mount nozzle 22 on the next shaft 21 is equal to or less than a predetermined reference distance, and if the movement distance KR is equal to or less than the reference distance, it is determined that there is no need to lower nozzle changer 18, and if the movement distance KR is greater than the reference distance, it is determined that there is a need to lower nozzle changer 18.

[0073] Here, the "reference distance" is an arbitrary very small distance, such as a distance equivalent to the diameter of the pipe portion 22b of the nozzle 22. If the movement distance KR when moving the mounting head 14 in the horizontal direction is equal to or less than a predetermined reference distance, it is determined that there is no need to lower the nozzle changer 18. This is because, if the movement distance KR of the mounting head 14 is very small, there is an extremely small risk of interference between the nozzle 22 and the nozzle changer 18, even if the distance between the lower end of the nozzle 22 pulled out above the nozzle changer 18 while attached to the shaft 21 and the upper surface of the nozzle changer 18 (more specifically, the upper surface of the shutter 35) is close.

[0074] In step ST39, if the determination unit 43 determines that it is not necessary to lower the nozzle changer 18 (if it determines that the movement distance KR of the mounting head 14 is equal to or less than the reference distance), the mounting head 14 is moved horizontally without lowering the nozzle changer 18 (without positioning it in the lowered position) (step ST38, arrow T shown in FIG. 22B), and after aligning the shaft 21 (FIG. 22B), the shaft 21 is lowered in step ST32 (arrow U shown in FIG. 23A). Once the nozzle 22 is attached to the shaft 21 (FIG. 23A), the shaft 21 is raised (step ST33, arrow V shown in FIG. 23B).

[0075] On the other hand, if the determination unit 43 determines in step ST39 that it is necessary to lower the nozzle changer 18 (if it determines that the movement distance KR of the mounting head 14 exceeds the reference distance), the nozzle changer 18 is temporarily lowered to ensure that the nozzle 22 pulled out above the nozzle changer 18 does not interfere with the nozzle changer 18 (step ST40; FIGS. 24A to 24B; arrow W1 shown in FIG. 24B), and the mounting head 14 is moved horizontally (arrow X shown in FIG. 25A) to align the shaft 21 (step ST41; FIG. 25A). Then, the nozzle changer 18 is raised (step ST42; arrow W2 shown in FIG. 25B), and the process returns to step ST32. The shaft 21 is then lowered (arrow Y shown in FIG. 26A), and the nozzle 22 is attached to the shaft 21 (FIG. 26A). Once the nozzle 22 is attached to the shaft 21, the shaft 21 is raised (step ST33; FIG. 26B; arrow Z shown in the figure).

[0076] As described above, step ST39 in FIG. 10 is a judgment step for determining whether or not it is necessary to lower the nozzle changer 18 after the nozzle 22 has been pulled out from the nozzle changer 18 in the nozzle pulling-out process of steps ST32 and ST33, and before the mounting head 14 is moved horizontally.

[0077] Furthermore, the above steps ST38 and ST41 are horizontal movement steps in which, if it is determined in the judgment step of step ST39 that there is no need to lower the nozzle changer 18, the mounting head 14 is moved horizontally without lowering the nozzle changer 18, and, if it is determined in the judgment step that there is a need to lower the nozzle changer 18, the nozzle changer 18 is lowered by the lifting cylinder 37 and then the mounting head 14 is moved horizontally.

[0078] Here, the position of nozzle 22 grasped when aligning shaft 21 with nozzle 22 in steps ST31, ST38, and ST41 is the position of nozzle changer 18 recognized through the imaging step of step ST4 and the recognition step of step ST5, i.e., the position where nozzle replacement work is actually performed (raised position), and is therefore extremely accurate. Therefore, in this embodiment, the alignment of shaft 21 and nozzle 22 can be performed with high precision.

[0079] As described above, in the component mounting device 1 (the nozzle mounting method in the component mounting device 1) of the present embodiment, after the nozzle 22 placed on the nozzle changer 18, which is positioned in the raised position by the lift cylinder 37, is attached to the lower end of the shaft 21 and pulled out above the nozzle changer 18 (steps ST32 and ST33), it is determined whether or not it is necessary to lower the nozzle changer 18 (step ST39) before moving the mounting head 14 in the horizontal direction ("Y" in step ST35). If it is determined that it is not necessary to lower the nozzle changer 18, the mounting head 14 is moved in the horizontal direction without lowering the nozzle changer 18 (step ST38, arrow P shown in FIG. 19B). If it is determined that it is necessary to lower the nozzle changer 18, the nozzle changer 18 is lowered by the lift cylinder 37 (step ST40, arrow W1 shown in FIG. 24B), and then the mounting head 14 is moved in the horizontal direction (step ST41, arrow X shown in FIG. 25A).

[0080] In this way, in the component mounting device 1 of this embodiment, when it is necessary to lower the nozzle changer 18 after the nozzle 22 has been pulled out of the nozzle changer 18 by the shaft lifting unit 23 during the mounting operation of the nozzle 22, the nozzle changer 18 is lowered and then the mounting head 14 is moved horizontally. Therefore, when the mounting head 14 is moved horizontally during the mounting operation of the nozzle 22, it is possible to prevent the lower end of the nozzle 22 from interfering with the nozzle changer 18.

[0081] 10, by repeating the process from step ST31 to step ST42, when all the nozzles 22 to be attached have been attached, it is determined in step ST34 immediately after the last nozzle 22 has been attached that there are no other shafts 21 to which nozzles 22 should be attached. Once this determination is made, the operation control unit 41 ends the subroutine of step ST8 and returns to the main routine (FIG. 8).

[0082] 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 18 to the restricted position (step ST9; Fig. 4A → Fig. 4B). Then, the operation control unit 41 operates the lift cylinder 37 to move the nozzle changer 18 from the raised position to the lowered position (step ST10), and then moves the mounting head 14 from above the nozzle changer 18 (step ST11). This completes the nozzle 22 replacement operation.

[0083] As explained above, in the component mounting device 1 (nozzle mounting method in the component mounting device 1) in this embodiment, the nozzle changer 18 can be raised and lowered by the lifting cylinder 37, and after the nozzle 22 attached to the lower end of the shaft 21 is pulled out above the nozzle changer 18, a determination is made as to whether or not it is necessary to lower the nozzle changer 18 before moving the mounting head 14 horizontally. If it is determined that it is not necessary to lower the nozzle changer 18, the mounting head 14 is moved horizontally without lowering the nozzle changer 18, but if it is determined that it is necessary to lower the nozzle changer 18, the nozzle changer 18 is lowered and then the mounting head 14 is moved horizontally.

[0084] Therefore, according to the component mounting device 1 in this embodiment (the nozzle mounting method in the component mounting device 1), the nozzle changer 18 is positioned in the raised position, which has the advantage of being able to shorten the downward stroke of the shaft 21, and during the nozzle 22 mounting operation, it is possible to prevent the nozzle 22 mounted on the shaft 21 from interfering with the nozzle changer 18 when the mounting head 14 is moved horizontally above the nozzle changer 18, thereby improving the operational reliability of the mounting head 14.

[0085] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to those described above and various modifications are possible. For example, the number and arrangement of the shafts 21 provided in the mounting head 14 and the number and arrangement of the nozzle insertion holes 34 provided in the nozzle changer 18 are not limited to those shown in the above-described embodiments. Furthermore, the lifting unit that lifts and lowers the nozzle changer 18 is not limited to a cylinder (lifting cylinder 37) and may be configured using a motor.

[0086] Furthermore, in the above-described embodiment, after the nozzle 22 is pulled out from the nozzle changer 18 by the shaft lifting unit 23, the determination of whether or not it is necessary to lower the nozzle changer 18 before moving the mounting head 14 horizontally is made based on whether or not the moving distance KR when moving the mounting head 14 horizontally is equal to or less than a reference distance, but the determination may be made using other criteria.

[0087] Furthermore, in the above-described embodiment, the imaging unit that captures the position recognition mark (changer position mark 18M) of the nozzle changer 18 attached to the nozzle changer 18 when it is positioned in the raised position by the lifting unit (lifting cylinder 37) is the board camera 16, which is provided in the mounting head 14, but the imaging unit does not necessarily have to be provided in the mounting head 14.

[0088] Furthermore, in the above-described embodiment, in order to enable the mark for recognizing the position of the nozzle changer 18 (changer position mark 18M) and the identification code (changer identification mark 18S, which is the identification code indicating the type of nozzle changer 18, and nozzle mark 22M, which is the identification code indicating the type of nozzle 22) to be imaged with the same imaging unit (board camera 16), the mark for recognizing the position of the nozzle changer 18 was positioned at a lower height than the identification code, but by increasing the focal depth of the imaging unit or configuring the focal position to be variable in the vertical direction, it is possible to enable greater design freedom and to image both the mark for recognizing the position of the nozzle changer 18 and the identification code. [Industrial Applicability]

[0089] A component mounting device and a nozzle mounting method for the component mounting device are provided that can prevent a nozzle mounted on a shaft from interfering with a nozzle changer during nozzle mounting work. [Explanation of symbols]

[0090] 1. Parts mounting device 11 Foundation 12 Substrate transport section 13 Parts feeder 13K Parts supply port 14 Mounting head 15 Head movement mechanism 16 Board Camera 17 Parts Camera 18 Nozzle Changer 18M Changer position mark 18S Changer Identification Mark 19 Control device 21 Shaft 22 nozzles 22a base 22b Pipe section 22c Tsubabe 22M nozzle mark 22T aisle 22v shaft insertion part 23 Shaft lifting section 31 Nozzle mounting section 33 Legs 34 Nozzle insertion hole 35 Shutter 35a Slide groove 35H connecting piece 35s guide screw 35T nozzle passage hole 35z Groove 36 Shutter drive cylinder 36R shutter drive rod 37 Lifting cylinder (lifting part) 37R lifting rod 41 Operation control section 42 Recognition part 43 Judgment Department BH parts KB board KR travel distance Mk board mark OP worker

Claims

1. A component mounting device having a nozzle changer on which a nozzle is placed, and a mounting head that attaches the nozzle placed on the nozzle changer to a lower end of a shaft, and sucks a component using the nozzle to mount it on a substrate, a lifting unit that lifts and lowers the nozzle changer between a lowered position and an elevated position; a shaft lifting unit that is provided on the mounting head and that attaches the nozzle placed on the nozzle changer in a state where the nozzle changer is positioned at the raised position by the lifting unit to a lower end of the shaft and pulls the nozzle out above the nozzle changer; a determination unit that determines whether or not it is necessary to lower the nozzle changer before moving the mounting head in a horizontal direction after the nozzle has been pulled out from the nozzle changer by the shaft lifting unit; 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 using the elevating unit and then 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 not to lower the nozzle changer if the distance traveled when the mounting head is moved horizontally is equal to or less than a predetermined reference distance, and determines to lower the nozzle changer if the distance traveled exceeds the reference distance.

3. 3. The component mounting device according to claim 1, wherein the judgment unit judges whether the shaft can be further raised after the nozzle has been pulled out of the nozzle changer by the shaft lifting unit, before determining whether the nozzle changer needs to be lowered, and when the judgment unit determines that the shaft can be further raised, the operation control unit moves the mounting head horizontally without lowering the nozzle changer using the lifting unit.

4. A nozzle mounting method for a component mounting device including a nozzle changer on which a nozzle is placed, a mounting head that attaches the nozzle placed on the nozzle changer to a lower end of a shaft and uses the nozzle to pick up a component and mount it on a board, and an elevating unit that raises and lowers the nozzle changer between a lowered position and an elevated position, a nozzle removal step of attaching the nozzle placed on the nozzle changer in a state where the nozzle changer is positioned at the raised position by the lifting unit to a lower end of the shaft and removing the nozzle from the nozzle changer; a determination step of determining whether or not it is necessary to lower the nozzle changer after the nozzle has been pulled out from the nozzle changer in the nozzle pulling out step and before the mounting head is moved in a horizontal direction; 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 unit and then 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 mounting method in a component mounting device comprising:

Images