Component placement machine

Abstract

To provide a component mounting machine that can improve accuracy of determining whether adsorption nozzles adsorb components.SOLUTION: A component mounting machine comprises: adsorption nozzles that are built into the component mounting machine; a control unit that executes adsorption processing of supplying negative pressure air from an air passage to cause the adsorption nozzles to adsorb components, and mounting processing of mounting the components on a substrate; and a measurement unit that is provided in the air passage, and measures a pressure or a flow rate of the negative pressure air to acquire a measured value. The control unit has a determination unit that compares a measured value during the adsorption processing for the adsorption nozzles with a determination value to determine whether the adsorption nozzles adsorb the components, a reference value calculation unit that calculates a reference value on the basis of an open period measured value being a measured value when the adsorption nozzles do not adsorb the components and an adsorption period measured value being a measured value when the adsorption nozzles adsorb the components, and a determination value changing unit that changes the determination value to the reference value calculated by the reference value calculation unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present specification relates to a component mounting machine that performs component suction and mounting processes using a suction nozzle. [Background technology]

[0002] A technology for mass-producing circuit board products by performing substrate-related operations on boards on which circuit patterns are formed is becoming widespread. A typical example of a substrate-related operation machine that performs substrate-related operations is a component placement machine that performs component placement operations. Many component placement machines use suction nozzles that perform component suction processing by supplying negative pressure air. During the suction processing, a measurement value obtained by measuring the pressure or flow rate of the negative pressure air is compared with a judgment value to determine whether the suction nozzle is suctioning a component. Examples of technologies related to measuring negative pressure air and determining whether the suction nozzle is suctioning a component are disclosed in Patent Documents 1 to 3.

[0003] The chip component suction failure detection device disclosed in Patent Document 1 includes a vacuum sensor that detects the magnitude of the negative pressure inside the suction nozzle, and an amplifier that amplifies and outputs an extracted signal obtained by subtracting a reference value from the detection signal output from the vacuum sensor. This device is said to be able to measure the negative pressure inside the suction nozzle with high precision, detect minute air leaks, and detect abnormal postures where the chip component is suctioned in an upright position. According to the description of the embodiment, the device is premised on pre-storing the negative pressure value when the chip component is properly suctioned, and the stored negative pressure value is compared with the measured negative pressure value to detect abnormal postures.

[0004] Furthermore, the component mounting condition determination method disclosed in Patent Document 2 includes a step of determining the maximum number of components to be picked up so that, when mounting components using a mounting head equipped with multiple suction nozzles, the component suction force of the multiple suction nozzles is equal to or greater than the movable suction force that prevents components from dropping when the mounting head moves. According to this method, the maximum number of components to be picked up is determined taking into account a decrease in component suction force due to air leakage, making it possible to determine tasks that have accurate positioning accuracy and reduce mounting time.

[0005] Furthermore, the electronic component mounting device disclosed in Patent Document 3 includes a vacuum sensor that measures the degree of vacuum inside a vacuum suction circuit connecting a vacuum suction source and a suction nozzle, and a memory unit that stores nozzle characteristic data that indicates the correspondence between the degree of vacuum and the vacuum suction state of the suction nozzle. Furthermore, the electronic component mounting device includes a determination unit that compares the vacuum measurement results with the nozzle characteristic data during operation to determine the following states: absent suction nozzle, properly attached suction nozzle, clogged filter, absent component, properly suctioned component, and suction surface abutment. This allows for easy detection of vacuum suction state abnormalities while the electronic component mounting device is in operation, without the need to remove the suction nozzle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 7-212099 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-281432 [Patent Document 3] Patent No. 3965995 Summary of the Invention [Problem to be solved by the invention]

[0007] Incidentally, many components mounted on circuit boards have flat surfaces (top surfaces), such as rectangular chip components and IC lead components. When a suction nozzle with a flat suction surface (tip) picks up these components using negative pressure air, a gap is unlikely to form between the component and the suction nozzle. Therefore, atmospheric air is unlikely to flow into the suction nozzle (negative pressure air is unlikely to leak). However, among various components, there are irregularly shaped components with holes or irregularities on the suction surface, such as switches and connectors, and rectangular chip components with bulged surfaces. When a suction nozzle picks up these components, a gap forms between the irregularly shaped component and the suction nozzle. Therefore, even in the correct suction position, atmospheric air is likely to flow into the suction nozzle (negative pressure air is likely to leak). Furthermore, as described in Patent Document 2, even if the component's suction surface is flat, atmospheric air may flow into the suction nozzle if the opening at the tip of the suction nozzle is larger than the component's suction surface. When atmospheric air flows into the suction nozzle, the negative pressure decreases, thereby reducing the holding force of the picked-up component.

[0008] The above-mentioned flow of atmospheric air into the suction nozzle varies depending on the combination of the component and the suction nozzle. Therefore, using a predetermined judgment value without considering the combination may result in an erroneous judgment as to whether the suction nozzle is picking up a component. For example, consider a case where the judgment value is set based on the combination of a component with a flat pick-up surface and a suction nozzle with a flat tip. In this case, if the component being picked up is changed to an irregularly shaped component, the amount of inflow (leakage) increases, which may result in an erroneous judgment that the suction nozzle is not picking up the irregularly shaped component, even if it has successfully picked up the irregularly shaped component.

[0009] Furthermore, in Patent Document 1, if a predetermined negative pressure value is stored in advance, when an odd-shaped part is picked up by a suction nozzle with a flat tip, there is a risk that the part will be erroneously judged as being in an abnormal position due to a large amount of atmospheric air inflow (amount of negative pressure air leaking) even if the part is in a normal suction position.Furthermore, in Patent Document 3, if the state of atmospheric air inflow into the suction nozzle is not taken into consideration, the accuracy of judging the vacuum suction state of the suction nozzle will decrease, or there is a risk of erroneously judging one of the six states.

[0010] Therefore, an object of this specification is to provide a component mounting machine that can improve the accuracy of determining whether or not a suction nozzle is picking up a component. [Means for solving the problem]

[0011] This specification discloses a component mounting machine comprising: a suction nozzle detachably mounted on a component mounting machine that mounts components onto a board; a control unit that causes the suction nozzle to perform a suction process to suck up the component by supplying negative pressure air from an air flow path and to perform a mounting process to mount the component onto the board; and a measurement unit that is provided in the air flow path and measures the pressure or flow rate of the negative pressure air to obtain a measurement value, wherein the control unit has: a determination unit that compares the measurement value of the suction nozzle during the suction process with a predetermined determination value to determine whether the suction nozzle is suctioning the component; a reference value calculation unit that calculates a reference value based on an open measurement value that is the measurement value when the suction nozzle is not suctioning the component and a suction measurement value that is the measurement value when the suction nozzle is suctioning the component; and a determination value change unit that changes the determination value to the reference value calculated by the reference value calculation unit. [Effects of the Invention]

[0012] In the disclosed component placement machine, the reference value calculation unit calculates a reference value appropriate for the combination of component and suction nozzle based on the open measurement value and the suction measurement value, which change depending on the combination, and the judgment value change unit changes the judgment value to the calculated reference value. Therefore, compared to conventional techniques that use fixed, predetermined judgment values, the judgment unit uses a judgment value appropriate for the combination, thereby improving the accuracy of determining whether the suction nozzle is picking up a component. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view showing the overall configuration of a component mounting machine according to a first embodiment. [Figure 2] FIG. 4 is a diagram schematically illustrating an air supply system that selectively supplies negative pressure air and positive pressure air to the suction nozzle. [Figure 3] 10A and 10B are diagrams illustrating an example of a measurement value at the time of release, a measurement value at the time of suction, and a reference value when no negative pressure air leak occurs; [Figure 4] 10A and 10B are diagrams illustrating an example of a measurement value at the time of release, a measurement value at the time of suction, and a reference value when a negative pressure air leak occurs; [Figure 5] FIG. 10 is an operational flow diagram illustrating the operation of the component mounting machine during adjustment. [Figure 6] FIG. 10 is an operational flow diagram illustrating the operation of the component mounting machine during operation. [Figure 7] FIG. 10 is a perspective view showing the overall configuration of a component mounting machine according to a second embodiment. [Figure 8] FIG. 2 is a diagram schematically illustrating an air supply system that supplies negative pressure air to a plurality of suction nozzles. [Figure 9] 10A and 10B are diagrams illustrating an example in which a judgment value changing unit sets different judgment values ​​for each of a plurality of suction nozzles. [Figure 10] FIG. 10 is a diagram illustrating the function of a pickup component changing unit. [Figure 11] FIG. 10 is a diagram illustrating the function of an upper limit changing unit. DETAILED DESCRIPTION OF THE INVENTION

[0014] 1. Overall configuration of the component mounting machine 1 of the first embodiment The overall configuration of a component mounting machine 1 of the first embodiment will be described with reference to Fig. 1. In the example shown in Fig. 1, two component mounting machines 1 are arranged adjacent to each other on a common base 11. The two component mounting machines 1 are aligned in the X-axis direction along which the boards are transported, and the horizontal direction perpendicular to the X-axis direction is the Y-axis direction. The component mounting machine 1 includes a mounting machine housing 20, a board transport device 22, a head moving device 24, a mounting head 26, a component supply device 28, a nozzle station 30, a component camera 32, and a control unit 34.

[0015] The placement machine housing 20 is composed of a frame portion 201 and a beam portion 202 that spans the upper portion of the frame portion 201. Furthermore, an openable and closable cover 203 is provided above the beam portion 202. The cover 203 is shown in the component placement machine 1 on the left, but is not shown in the component placement machine 1 on the right.

[0016] The substrate transport device 22 includes two sets of conveyor devices (221, 222) and a substrate holding mechanism (not shown). The two conveyor devices (221, 222) are provided on the frame portion 201 so as to be parallel to each other and extend in the X-axis direction. Each of the conveyor devices (221, 222) is driven by a motor (not shown) and transports the substrate it supports in the X-axis direction. Each of the two substrate holding mechanisms is disposed below and approximately in the center of each of the conveyor devices (221, 222). The substrate holding mechanism holds the substrate at a predetermined mounting position.

[0017] The component supply device 28 is configured with multiple tape feeders 29 arranged in the X-axis direction. Each tape feeder 29 rotatably holds a tape reel. A carrier tape, each of which stores components in a row of storage pockets, is wound on the tape reel. Each tape feeder 29 uses a tape feeding mechanism (not shown) to feed the carrier tape at a pitch to the supply position. In this way, the tape feeder 29 supplies components at the supply position. Note that a reel holding mechanism that rotatably holds the tape reel may be configured separately from the tape feeder 29.

[0018] The head moving device 24 is an XY robot type device. The head moving device 24 includes an X-axis motor (not shown) that slides the slider 25 in the X-axis direction, and a Y-axis motor (not shown) that slides the slider 25 in the Y-axis direction. A mounting head 26 is attached to the side of the slider 25 facing the negative Y-axis. The mounting head 26 is driven by the X-axis motor and the Y-axis motor to move to any position on the frame part 201. A suction nozzle 4 or a nozzle tool 7 is detachably mounted below the mounting head 26. The nozzle tool 7 will be described in the second embodiment.

[0019] The suction nozzle 4 is driven to move up and down by a Z-axis motor (not shown), and rotates about its axis by an R-axis motor (not shown). The suction nozzle 4 is further supplied with negative pressure air and positive pressure air selectively from an air supply system 5 (described later). The suction nozzle 4 performs a suction process in which it picks up a component from a supply position of the tape feeder 29, and a placement process in which it places the component at a placement coordinate position set on the board.

[0020] A circuit board camera (not shown) with a downward optical axis is provided below the slider 25 or the mounting head 26. The circuit board camera captures image data by capturing images of position reference marks attached to the circuit board held at the mounting position. The acquired image data is processed to accurately determine the mounting position of the circuit board. This calibrates the relative positional relationship between the first XY coordinate system of the head moving device 24 and the second XY coordinate system that represents the component mounting coordinate position on the circuit board.

[0021] The nozzle station 30 is provided adjacent to the component supply device 28. The nozzle station 30 accommodates a plurality of interchangeable suction nozzles 4. The suction nozzles 4 accommodated in the nozzle station 30 are automatically replaced with the suction nozzles 4 mounted on the mounting head 26 as needed. For example, multiple types of suction nozzles 4 with different shapes and sizes are replaced depending on the differences in the shapes, dimensions, and weights of the multiple types of components to be picked up. Furthermore, a suction nozzle 4 that requires maintenance after performing suction and mounting processes a predetermined number of times or more is replaced.

[0022] The component camera 32 is provided between the board transport device 22 and the component supply device 28. The component camera 32 is positioned so that its optical axis faces upward. The component camera 32 captures an image of the suction nozzle 4 holding a component to acquire image data. The component camera 32 captures the image while the mounting head 26 is temporarily stopped above it. Alternatively, the component camera 32 may capture the image at a fast shutter speed, just as the mounting head 26 passes above it. The image data is processed to detect the relative positional relationship between the suction nozzle 4 and the held component, and this is reflected in the mounting process. An example of the component camera 32 is a digital imaging device having an imaging element such as a CCD or CMOS.

[0023] 2. Production Information Server 9 Next, we will explain the production information server 9, which serves as a higher-level control device for the component mounting machine 1. The production information server 9 is configured using a computer device. The production information server 9 comprehensively manages production operations on a substrate-related operation line consisting of multiple substrate-related operation machines, including the component mounting machine 1. The production information server 9 is connected to the component mounting machine 1 and other substrate-related operation machines via a communication path or wirelessly. The production information server 9 exchanges information with the component mounting machine 1 and other substrate-related operation machines as needed. The production information server 9 stores component data 92, equipment data 93, job data 94, and operation history data 95 in an attached memory 91, and updates them sequentially.

[0024] The component data 92 is data that stores information about various types of components to be mounted on a board. The component data 92 includes component external shape information that indicates the shape, mass, dimensions of the external shape and electrodes, and external color of each component. The component data 92 also includes information about the electrical characteristics, manufacturer, packaging, handling conditions, and other information about each component. The equipment data 93 is data that stores the structure and performance of the component mounting machine 1 and other substrate-related operation machines. The equipment data 93 includes information about the tools used by the component mounting machine 1 and other substrate-related operation machines. For example, the equipment data 93 includes information about the structure and dimensional specifications of each part of the suction nozzle 4, the dimensional range and maximum mass of components that can be picked up by the suction nozzle 4, and how to use the suction nozzle 4.

[0025] The job data 94 is data that stores the work content of the substrate-related work to be performed on the substrate. The job data 94 includes design data that indicates the type of substrate, the type of component to be mounted, and the mounting coordinate position. The job data 94 also includes production data that specifies the mounting order of multiple components in the component mounting machine 1 and the type of suction nozzle 4 to be used. The job data 94 also specifies the content of the substrate-related work (job) of other substrate-related work machines. The job data 94 is created for each type of substrate product. The operation history data 95 is data that stores the operation history when the component mounting machine 1 and other substrate-related work machines are in operation.

[0026] When producing board products, the production information server 9 distributes job data 94 to the component mounting machine 1 and the other board-related operation machines. The component mounting machine 1 and the other board-related operation machines perform board-related operations in accordance with the received job data 94. The component mounting machine 1 and the other board-related operation machines refer to component data 92 and equipment data 93 as necessary based on the contents of the job data 94. The component mounting machine 1 and the other board-related operation machines digitize their operations while in operation and send the data to the production information server 9. The production information server 9 uses the received data to successively update operation history data 95.

[0027] 3.Air supply system 5 Next, the air supply system 5, which selectively supplies negative pressure air and positive pressure air to the suction nozzle 4, will be described with reference to Figure 2. The suction nozzle 4 has a base end 41 that extends vertically and is located on the upper side when in use, a tip end 43 that is located on the lower side and has an opening 44 for suctioning components, and an internal flow path 42 that connects the base end 41 side with the tip end 43 side. The air supply system 5 is composed of a negative pressure source 51, a negative pressure valve 52, a positive pressure source 53, a positive pressure valve 54, an air flow path 55, a pressure sensor 56, a flow rate sensor 57, etc.

[0028] The negative pressure source 51 generates negative pressure air to be supplied to the suction nozzle 4. "Supplying negative pressure air to the suction nozzle 4" means sucking air from the internal flow path 42 of the suction nozzle 4 to change the internal pressure from atmospheric pressure to a vacuum value. A vacuum pump, for example, can be used as the negative pressure source 51. The negative pressure source 51 may also be configured to include a negative pressure air supply path that supplies negative pressure air from a negative pressure source located outside the machine to the inside of the machine. The negative pressure valve 52 opens and closes the connection between the negative pressure source 51 and one end of the air flow path 55.

[0029] The positive pressure source 53 generates positive pressure air to be supplied to the suction nozzle 4. The positive pressure source 53 may be, for example, a compressor or a pressure accumulator tank in which positive pressure air is accumulated by a compressor. The positive pressure source 53 may further include a regulator that optimizes the positive pressure of the positive pressure air or maintains it at a constant value. The positive pressure source 53 may also include a positive pressure air supply path that supplies positive pressure air to the interior of the apparatus from a positive pressure source located outside the apparatus. The positive pressure valve 54 opens and closes the connection between the positive pressure source 53 and one end of an air flow path 55. The negative pressure valve 52 and the positive pressure valve 54 may be electromagnetic valves or mechanical valves driven by a mechanical opening and closing mechanism. The other end of the air flow path 55 is connected to the base end 41 of the internal flow path 42 of the suction nozzle 4.

[0030] A pressure sensor 56 and a flow rate sensor 57 are provided as measuring units along the air flow path 55. The pressure sensor 56 measures the pressure of the negative pressure air flowing through the air flow path 55 to obtain a measurement value (negative pressure value). The flow rate sensor 57 measures the flow rate of the negative pressure air flowing through the air flow path 55 to obtain a measurement value. Here, it is assumed that the negative pressure source 51 is operating, the negative pressure valve 52 is opening, and the opening 44 of the suction nozzle 4 is in a closed state where it is closed. In the closed state, the flow rate of the negative pressure air flowing through the air flow path 55 decreases, and the negative pressure value at that time approaches the vacuum value.

[0031] Next, assume an open state in which the negative pressure source 51 is activated, the negative pressure valve 52 is opened, and the opening 44 is open. In the open state, atmospheric air flows into the internal flow path 42 from the opening 44. This inflow of atmospheric air is equivalent to negative pressure air leaking from the opening 44 to the outside, and is therefore referred to as a "negative pressure air leak." The negative pressure air leak increases the flow rate of negative pressure air flowing through the air flow path 55, causing the negative pressure value at that time to approach the atmospheric pressure value from the vacuum value side. This approaching of the negative pressure value of the negative pressure air from the vacuum value side to the atmospheric pressure value is referred to as a "negative pressure drop." Furthermore, assume a state in which the negative pressure source 51 is activated, the negative pressure valve 52 is opened, and the opening 44 is partially open. The flow rate and pressure of the negative pressure air will be between those in the closed state and the open state.

[0032] As can be seen from the above, the measurement values ​​of pressure sensor 56 and flow rate sensor 57 are indicators of the state of negative pressure air leakage at opening 44. Furthermore, the measurement values ​​of pressure sensor 56 and flow rate sensor 57 are correlated and can be converted into each other. Therefore, both measurement values ​​are not necessary to recognize the state of negative pressure air leakage, and one of pressure sensor 56 and flow rate sensor 57 may be omitted, or only the measurement value of one may be used without omitting it. The following describes mainly the case where the measurement value of the pressure detected by pressure sensor 56 (negative pressure value) is used.

[0033] 4. Type of parts and whether there is a leak Next, the general classification of components that can be picked up by the suction nozzle 4 and whether or not negative pressure air leaks from the opening 44 of the suction nozzle 4 will be described with reference to FIG. 2. In this embodiment, the tip 43 of the suction nozzle 4 has a circular outer shape that is flat in the horizontal direction. The opening 44 also has a circular opening shape that is flat in the horizontal direction and has a diameter D. However, the opening shape of the opening 44 is not limited to this, and may be an oval, elliptical, gourd-shaped, or the like.

[0034] Components that are picked up by the suction nozzle 4 can be broadly divided into those with flat pick-up surfaces that are less susceptible to leakage, such as rectangular electronic components and IC lead components, and those with irregular shapes, such as switches and connectors, that have uneven pick-up surfaces that are more susceptible to leakage. For example, rectangular electronic components PF have flat pick-up surfaces, and the length L1 of the short side of the pick-up surface is greater than the diameter D of the opening 44. When the suction nozzle 4 picks up a rectangular electronic component PF, if the relative positions are properly controlled, no gap will form between the pick-up surface of the rectangular electronic component PF and the opening 44 of the suction nozzle 4. Therefore, negative pressure air leakage will not occur, and even if it does occur, it will be minimal.

[0035] Parts that are prone to leaks have uneven surfaces. In other words, negative pressure air leaks are likely to occur in parts with holes or irregularities on the surface, or in parts that are large relative to their size and have a square, semi-cylindrical outer shape. The hypothetical irregularly shaped part PV shown in Figure 2 has a V-shaped recess on its surface when viewed from the front. When the suction nozzle 4 picks up the irregularly shaped part PV, even if their relative positions are properly controlled, a gap will form between the surface of the irregularly shaped part PV and the opening 44 of the suction nozzle 4. This will result in significant negative pressure air leaks. Note that irregularly shaped parts PV come in a variety of shapes other than the hypothetical one.

[0036] Note that whether or not negative pressure air leaks occur is not determined solely by the component shape, but also by the compatibility between the type of component and the type of suction nozzle 4. For example, with a rectangular electronic component PS where the length L2 of the short side of the surface to be picked is smaller than the diameter D of the opening 44 of the suction nozzle 4, a gap will form between the surface to be picked and the opening 44 of the suction nozzle 4, causing negative pressure air to leak. Also, it is possible to manufacture and use an irregular-shaped suction nozzle with a modified tip shape to match the uneven shape of the surface to be picked of the irregular-shaped component PV. When an irregular-shaped suction nozzle picks up an irregular-shaped component PV, negative pressure air leaks are suppressed.

[0037] 5. Configuration related to control of component placement machine 1 The control unit 34 is attached to the frame unit 201, and its position is not particularly limited. The control unit 34 is configured using a computer device having a CPU, memory, input / output units, etc. The control unit 34 may be configured by distributing multiple CPUs within the machine and connecting them for communication. The control unit 34 is connected for communication to an input / display unit 204 located on the front surface of the cover 203. The input / display unit 204 accepts input operations for operator commands and settings, and displays the operating status of the component placement machine 1, etc. The input / display unit 204 may be a combination of operation keys and a display panel, or a touch panel.

[0038] Furthermore, the control unit 34 is connected to the production information server 9 via an in-house LAN or the like. The control unit 34 controls the board transport device 22, the component supply device 28, the head moving device 24, the component camera 32, the air supply system 5, and the like based on job data 94 distributed from the production information server 9. The control unit 34 switches between an operating mode during actual operation and an adjustment mode. During times other than actual operation, for example, during a setup change to change the type of board or when the component mounting machine 1 temporarily suspends mounting work, the control unit 34 can be set to the adjustment mode.

[0039] The control unit 34 includes six functional units configured mainly using software, namely, an adsorption / attachment control unit 61, a determination unit 62, a pre-acquisition unit 63, a reference value calculation unit 64, a judgment value change unit 65, and an abnormality detection unit 66. The adsorption / attachment control unit 61, the determination unit 62, and the abnormality detection unit 66 operate in an operation mode, and the pre-acquisition unit 63, the reference value calculation unit 64, and the judgment value change unit 65 operate in an adjustment mode.

[0040] The suction and placement control unit 61 controls the execution of the suction process and placement process of the suction nozzle 4. More specifically, the suction and placement control unit 61 first moves the suction nozzle 4 horizontally to the supply position of the tape feeder 29. Next, the suction and placement control unit 61 lowers the suction nozzle 4 while opening the negative pressure valve 52 with the positive pressure valve 54 closed to supply negative pressure air. This places the internal flow path 42 in a negative pressure state, and the suction nozzle 4 picks up the component at the opening 44 (suction process). The suction and placement control unit 61 then moves the suction nozzle 4 holding the component to above the component camera 32, and causes the component camera 32 to take an image.

[0041] The suction placement control unit 61 then moves the suction nozzle 4 horizontally to the placement coordinate position on the board. Next, while lowering the suction nozzle 4, the suction placement control unit 61 closes the negative pressure valve 52 and opens the positive pressure valve 54 to supply positive pressure air. As a result, the internal flow path 42 of the suction nozzle 4 becomes positive pressure, and the suction nozzle 4 places the component held in the opening 44 at the placement coordinate position (placement process). The suction placement control unit 61 then moves the suction nozzle 4 horizontally again toward the tape feeder 29. This completes control of one cycle of the suction placement cycle using the suction nozzle 4. The suction placement control unit 61 repeats control of the suction placement cycle for multiple components specified in the job data 94.

[0042] The determination unit 62 compares the measurement value (negative pressure value) measured by the pressure sensor 56 during the suction process of the suction nozzle 4 with a predetermined determination value to determine whether the suction nozzle 4 is suctioning a component. In other words, the determination unit 62 determines that the suction nozzle 4 is suctioning a component when the measured negative pressure value is closer to the vacuum value than the determination value. Also, the determination unit 62 determines that the suction nozzle 4 is not suctioning a component when the measured negative pressure value is closer to the atmospheric pressure value than the determination value.

[0043] If the determination unit 62 determines that a component has been picked up, the suction placement control unit 61 determines that the suction process has ended normally and moves the suction nozzle 4 above the component camera 32. If the determination unit 62 determines that a component has not been picked up, the suction placement control unit 61 either retries the suction process or suspends operation. If the retry is successful, the suction placement control unit 61 continues control of the suction placement cycle. If the operation is suspended due to failure after a predetermined number of retries or if the operation is suspended from the beginning, the suction placement control unit 61 displays a message on the input display unit 204 or notifies the operator by another means that the operation has been suspended. Thereafter, the suction placement control unit 61 temporarily suspends control of the suction placement cycle.

[0044] The pre-acquisition unit 63, the reference value calculation unit 64, and the judgment value change unit 65 operate when an operation command is input to the input / display unit 204 in the adjustment mode. The pre-acquisition unit 63 uses the pressure sensor 56 to acquire an open measurement value PA1, which is a measurement value when the suction nozzle 4 is not picking up a component, and suction measurement values ​​(PB1, PB2), which are measurement values ​​when the suction nozzle 4 is picking up a component (see FIGS. 3 and 4). In other words, the pre-acquisition unit 63 sets conditions that determine whether or not a component is being picked up, unlike during actual operation, and performs actual measurements using the pressure sensor 56. At this time, the setup of the tape feeder 29 may not necessarily have been completed. The suction nozzle 4 picks up a component from the tape feeder 29 after setup has been completed, or picks up a component prepared by the operator using tweezers or placed in the palm of the operator's hand (manual component placement).

[0045] The advance acquisition unit 63 can refer to the job data 94 to set a combination of the type of component for which a reference value (described later) is to be calculated and the type of suction nozzle 4, and acquire the open measurement value and the suction measurement value. Furthermore, the advance acquisition unit 63 can acquire the open measurement value and the suction measurement value by setting a selected part of the multiple components defined in the job data 94 as the target parts for calculating the reference value. When a leak of negative pressure air occurs between a component and the suction nozzle 4 that is suctioning the component, the advance acquisition unit 63 preferably sets the component as the target part for calculation.

[0046] The calculation target parts may be selected by the operator using the input display unit 204. The advance acquisition unit 63 may also set all parts defined in the job data 94 as calculation target parts. Furthermore, the advance acquisition unit 63 may operate in advance with multiple types of parts that may cause negative pressure air leaks as calculation target parts, regardless of the job data 94, and omit the operation when any of the parts is defined in the job data 94.

[0047] Furthermore, the advance acquisition unit 63 may acquire multiple values ​​of at least one of the open measurement value and the suction measurement value. Here, the open measurement value is generally constant at the time of measurement, so there is little variation when multiple measurements are taken. On the other hand, the suction measurement value is prone to variation when multiple measurements are taken, as the component suction state is not always constant. In particular, in a combination that causes negative pressure air leakage, the state of the gap between the component and the suction nozzle 4 changes each time, making it easy for variation to occur. Therefore, it is preferable that the advance acquisition unit 63 acquires at least multiple values ​​of the suction measurement value.

[0048] 3 and 4 show examples of the open measurement value PA1 and the suction measurement values ​​(PB1, PB2) acquired by the advance acquisition unit 63. FIG. 3 illustrates a combination of a rectangular electronic component PF and a suction nozzle 4, i.e., a case where no negative pressure air leak occurs. FIG. 4 illustrates a combination of an odd-shaped component PV or a rectangular electronic component PS and a suction nozzle 4, i.e., a case where a negative pressure air leak occurs. Note that FIGS. 3 and 4 qualitatively illustrate the magnitude relationships between various negative pressure values ​​and do not necessarily represent them to an accurate scale (the same applies to FIGS. 9 to 11). In FIGS. 3 and 4, P0 represents the vacuum pressure value, P1 represents the atmospheric pressure value, Smax represents the upper reference value, and Smin represents the lower reference value. In the following explanation, the negative pressure value of the negative pressure air is expressed as a negative gauge pressure value, with the atmospheric pressure value P1 being zero.

[0049] The upper limit reference value Smax and the lower limit reference value Smin are determined in advance for each type of suction nozzle 4. The upper limit reference value Smax is the minimum negative pressure value required for the suction nozzle 4 to pick up a component. The upper limit reference value Smax is determined based on the conditions that the suction nozzle 4 can stably pick up a component and that the component will not fall or slide horizontally when subjected to horizontal and vertical acceleration. Furthermore, the upper limit reference value Smax is determined taking into account the component with the largest mass (maximum mass) among the components that the suction nozzle 4 will pick up.

[0050] The lower limit reference value Smin is a negative pressure value at which it can be determined that the suction nozzle 4 is sufficiently suctioning a component. The lower limit reference value Smin is set, for example, to the negative pressure value detected by the pressure sensor 56 when the opening 44 of the suction nozzle 4 is completely closed. Negative pressure values ​​between the upper limit reference value Smax and the lower limit reference value Smin are within the normal range. If the negative pressure value measured by the pressure sensor 56 deviates from the normal range, it is determined that the negative pressure is abnormal, and the component mounting machine 1 is temporarily stopped. As numerical example, the upper limit reference value Smax is approximately -15 kPa to -30 kPa, and the lower limit reference value Smin is approximately -75 kPa to -90 kPa.

[0051] In the case of FIG. 3 where there is no leak of negative-pressure air, the measured value PA1 at the time of release is a negative-pressure value relatively close to the atmospheric-pressure value P1. On the other hand, the measured value PB1 at the time of adsorption is a negative-pressure value extremely close to the lower-limit reference value Smin. In FIG. 4 where a leak of negative-pressure air occurs, the measured value PA1 at the time of release naturally remains unchanged compared to the case of FIG. 3. On the other hand, when comparing the measured value PB2 at the time of adsorption with the measured value PB1 at the time of adsorption in FIG. 3, due to the leak of negative-pressure air, it changes significantly toward the atmospheric-pressure value P1 (decrease in negative pressure) and approaches the measured value PA1 at the time of release. Note that the performance of the negative-pressure source 51 and the amount of leak within the air supply system 5 affect the measured value PA1 at the time of release and the measured values (PB1, PB2) at the time of adsorption.

[0052] The reference value calculation unit 64 calculates a reference value between the measured value at the time of release and the measured value at the time of adsorption. For example, as shown in FIG. 3, the reference value calculation unit 64 calculates a reference value SV1 that internally divides the range between the measured value PA1 at the time of release and the measured value PB1 at the time of adsorption into k:(1 - k). Mathematically, it is expressed by the following (Equation 1). Note that the value of k can be changed. SV1 = k(PB1 - PA1)+PA1 where: 0 < k < 1 ···(Equation 1) As a numerical example, when the measured value PA1 at the time of release = -30 kPa, the measured value PB1 at the time of adsorption = -90 kPa, and k = 0.6, the reference value SV1 = -66 kPa.

[0053] Here, in a large number of combinations (combinations of components and the adsorption nozzle 4) where there is no leak of negative-pressure air, a state similar to FIG. 3 occurs. Therefore, in the prior art, a predetermined determination value J1 extremely close to or equal to the reference value SV1 was determined in advance. Also, the determination unit of the prior art uniformly used the predetermined determination value J1 to determine whether the adsorption nozzle 4 was adsorbing the component.

[0054] 4, where a negative pressure air leak occurs, the reference value calculation unit 64 calculates a reference value SV2 between the open measurement value PA1 and the suction measurement value PB2. The reference value calculation unit 64 may use the above (Equation 1) and the same value of k, or may use a different equation. As a numerical example when (Equation 1) is used, when the open measurement value PA1 = -30 kPa, the suction measurement value PB2 = -40 kPa, and k = 0.6, the reference value SV2 = -36 kPa.

[0055] As described above, the reference value calculation unit 64 calculates different reference values ​​(SV1, SV2) depending on the combination of the type of component and the type of suction nozzle 4. Furthermore, in the above example, the reference value calculation unit 64 calculates different reference values ​​(SV1, SV2) depending on whether or not a negative pressure air leak occurs between the component and the suction nozzle 4 picking up that component. The reference value calculation unit 64 may also calculate different reference values ​​depending on the suction measurement value when a negative pressure air leak is estimated to occur. In other words, the suction measurement value changes depending on the difference between the shape of the component's surface to be picked up and the shape of the tip 43 of the suction nozzle 4, and the larger the gap between the two, the closer the suction measurement value is to atmospheric pressure value P1. Therefore, the reference value calculation unit 64 calculates different reference values ​​for components with relatively large and small leak amounts.

[0056] The calculated reference values ​​(SV1, SV2) normally fall between the upper limit reference value Smax and the lower limit reference value Smin. That is, the reference value calculation unit 64 calculates the reference values ​​(SV1, SV2) between the upper limit reference value Smax and the lower limit reference value Smin. If the calculated reference values ​​do not fall between the upper limit reference value Smax and the lower limit reference value Smin, the reference value calculation unit 64 displays a message on the input display unit 204 that a calculation abnormality has occurred, or notifies the operator by another means.

[0057] Furthermore, when the advance acquisition unit 63 acquires multiple open-state measurement values ​​and / or suction-state measurement values, the reference value calculation unit 64 performs statistical processing on the acquired multiple values. Examples of statistical processing include averaging to obtain an average value, maximum value selection processing, and minimum value selection processing. This improves the accuracy of at least one of the open-state measurement values ​​and suction-state measurement values, or optimizes them to the safe side to prevent erroneous determinations. After performing statistical processing, the reference value calculation unit 64 calculates a reference value.

[0058] The judgment value changing unit 65 changes the predetermined judgment value J1 to the calculated reference values ​​(SV1, SV2). That is, the judgment value changing unit 65 changes the judgment value when the suction nozzle 4 picks up a rectangular electronic component PF to the reference value SV1, and changes the judgment value when the suction nozzle 4 picks up an odd-shaped component PV or a rectangular electronic component PS to the reference value SV2.

[0059] In this way, the reference values ​​(SV1, SV2) appropriate for the combination of component and suction nozzle 4 are calculated, and the judgment value is changed to the reference values ​​(SV1, SV2). Therefore, the judgment unit 62 can correctly judge whether the suction nozzle 4 is picking up a component, regardless of the type of component. In contrast, the conventional technology, which uniformly uses a predetermined judgment value J1, is prone to erroneous judgment. Using the examples in FIGS. 3 and 4, it is assumed that the measurement value when the suction nozzle 4 picks up an odd-shaped component PV or a rectangular electronic component PS generally coincides with the pickup measurement value PB2. In other words, the measurement value when picking up is approximately -40 kPa, which is closer to the atmospheric pressure value P1 than the judgment value J1 (≒ S1 = -66 kPa). Therefore, in the conventional technology, even if the suction nozzle 4 successfully picks up an odd-shaped component PV or a rectangular electronic component PS, it is erroneously judged that the suction nozzle 4 has not picked up the component.

[0060] Furthermore, the judgment value change unit 65 associates a judgment value used in the past based on a combination of a component type and a suction nozzle 4 type with the combination and sets it as adjustment history data. This adjustment history data is transmitted to the production information server 9 and accumulated in the operation history data 95. When a changeover is performed to change the board type from the current board type to the next board type, the judgment value change unit 65 checks whether the combination of the component type and the suction nozzle 4 type for the next board type exists in the accumulated adjustment history data. If present, the judgment value change unit 65 sets the judgment value for the next board type by referencing the judgment value associated with that combination. Normally, the judgment value change unit 65 sets the adjustment history judgment value as the judgment value for the next board type.

[0061] The judgment value change unit 65 treats multiple components that have the same external shape, dimensions, and weight as the same type. For example, two resistor components with different resistance values ​​(electrical characteristics) are usually treated as different types, but if the appearance and weight are the same, the behavior and state regarding the suction process of the suction nozzle 4 will be the same. Therefore, the judgment value change unit 65 treats two resistor components that have the same appearance and weight as the same type even if they have different resistance values.

[0062] The abnormality detection unit 66 detects an abnormality in the suction nozzle 4 when the measurement value during the suction process of the suction nozzle 4 is not between the open measurement value PA1 and the suction measurement values ​​(PB1, PB2). If the measurement value during the suction process (negative pressure value) is closer to the atmospheric pressure value P1 than the open measurement value PA1, it is clear that there is excessive negative pressure air leakage. Therefore, it is possible to assume an abnormality such as the opening 44 of the suction nozzle 4 widening or perforation occurring somewhere other than the opening 44.

[0063] On the other hand, if the measured value (negative pressure value) during suction processing is closer to the vacuum value P0 than the measured values ​​(PB1, PB2) during suction, it is clear that the negative pressure air leak is too small. Therefore, it is possible to assume that the internal flow path 42 of the suction nozzle 4 is clogged or has an abnormality such as narrowing or deformation. Compared to conventional anomaly detection technology, which sets the normal range between the upper reference value Smax and the lower reference value Smin, the anomaly detection unit 66 can set the normal range narrower, making it possible to detect anomalies at a minor stage.

[0064] 6. Operation of component placement machine 1 Next, the operation of the component mounting machine 1 of the first embodiment will be described with reference to the operation flow during adjustment in Fig. 5 and the operation flow during operation in Fig. 6. Before the operation flow in Fig. 5 starts, production of the current board type has been completed, and the control unit 34 is set to adjustment mode. In step S1, the control unit 34 acquires job data 94 for the next board type from the production information server 9. Based on the job data 94, the control unit 34 recognizes the types and mounting order of components to be mounted on the board, as well as the type of suction nozzle 4 to be used.

[0065] In the next step S2, the judgment value change unit 65 checks whether the combination of the type of component and the type of suction nozzle 4 for the next board type exists in the accumulated adjustment history data. In the next step S3, if the check result is yes, the judgment value change unit 65 advances the operation flow to step S4, and if the check result is no, the operation flow advances to step S5. In step S4 if the check result is yes, the judgment value change unit 65 discards the judgment value J1 for at least some combinations (combinations of components and suction nozzles 4) and sets the judgment value with adjustment history as the judgment value for the next board type. Note that it is also permissible for the judgment value with adjustment history to be the judgment value J1. After step S4 is completed, the operation flow merges with step S5.

[0066] In step S5, the advance acquisition unit 63 selects some of the multiple parts specified in the job data 94 as parts for which reference values ​​are to be calculated. In this operation flow, the advance acquisition unit 63 selects as calculation target parts those parts for which a judgment value was not set in step S4 and for which negative pressure air leaks occur during suction processing by the suction nozzle 4. The quantity of calculation target parts may be zero, one, or multiple. Steps S6 to S10 are executed for the calculation target parts. If the number of calculation target parts is zero, steps S6 to S10 are omitted.

[0067] In step S6, when one or more calculation target parts have been selected, the advance acquisition unit 63 acquires the open measurement value PA1. In the next step S7, the advance acquisition unit 63 acquires the suction measurement values ​​(PB1, PB2), preferably acquiring multiple values. In the next step S8, the reference value calculation unit 64 calculates the reference values ​​(SV1, SV2). In the next step S9, the judgment value change unit 65 changes the predetermined judgment value J1 to the calculated reference values ​​(SV1, SV2). In the next step S10, the judgment value change unit 65 determines whether processing has been completed for all calculation target parts. If not, the operational loop from step S6 to step S10 is repeated.

[0068] When processing for all calculation target parts is completed, the operation flow exits the operation loop and proceeds to step S11. In step S11, the judgment value change unit 65 associates the judgment values ​​that were set, changed, and not changed in the operation flow with combinations of the type of part and the type of suction nozzle 4 as adjustment performance data, and stores them in the operation history data 95. The contents of the adjustment performance data include the judgment value set in step S4 by discarding the judgment value J1, and the judgment values ​​corresponding to the reference values ​​(SV1, SV2) changed in step S9. Furthermore, the contents of the adjustment performance data include the judgment value J1 used for parts for which steps S4 and S9 are not executed and no negative pressure air leak occurs. This completes the operation flow for adjustment.

[0069] Next, in step S21 of FIG. 6, the control unit 34 is set to the operating mode, and the suction placement control unit 61 starts control. This causes the component mounting machine 1 to start operation, first loading a board. In the next step S22, the suction placement control unit 61 causes the suction nozzle 4 to perform the suction process. At the same time, the pressure sensor 56 acquires a measurement value (negative pressure value) during the suction process. In the next step S23, the determination unit 62 checks whether or not the judgment value for the component to be subjected to the suction process has been changed from the judgment value J1. If the judgment value has been changed, in step S24, the determination unit 62 selects the changed judgment value. If the judgment value has not been changed, in step S25, the determination unit 62 selects the predetermined judgment value J1. After step S24 or step S25 is executed, the operation flow merges with step S26.

[0070] In step S26, first, the abnormality detection unit 66 makes a determination. More specifically, the abnormality detection unit 66 detects an abnormality in the suction nozzle 4 if the measurement value (negative pressure value) acquired in step S22 is out of the range between the open measurement value PA1 and the suction measurement values ​​(PB1, PB2). Furthermore, for a component that does not have the open measurement value PA1 and the suction measurement values ​​(PB1, PB2), the abnormality detection unit 66 detects an abnormality in the suction nozzle 4 if the measurement value (negative pressure value) is out of the range between the upper reference value Smax and the lower reference value Smin (normal range). In step S27 if an abnormality is detected, the abnormality detection unit 66 executes abnormality processing, such as notifying an operator that an abnormality has occurred or temporarily stopping the suction mounting cycle.

[0071] If the abnormality detection unit 66 does not detect an abnormality, the determination unit 62 makes a determination. The determination unit 62 compares the measurement value (negative pressure value) acquired in step S22 with the determination value selected in step S24 or the determination value J1 selected in step S25 to determine whether the suction nozzle 4 is suctioning a component. If the determination unit 62 determines that a component is not being suctioned, the suction mounting control unit 61 returns the operation flow to step S22 and retries the suction process.

[0072] If the determination unit 62 determines that a component has been picked up, then in step S28, the suction placement control unit 61 causes the suction nozzle 4 to perform the placement process. In the next step S29, the suction placement control unit 61 determines whether the placement process for all components defined in the job data 94 has been completed. If not, the operational loop from step S22 to step S28 is repeated. During the repetition, the suction nozzle 4 is automatically replaced as necessary, and the determination value is changed according to the suction nozzle 4 mounted on the placement head 26. When the placement process for all components has been completed, the operational flow for one board ends. Then, the board is unloaded, the next board is loaded, and step S22 and subsequent steps are repeated. Note that the determination unit may detect that the picked component has fallen and notify the operator if the negative pressure value measured by the pressure sensor 56 exceeds the determination value between the completion of the suction process and the execution of the placement process.

[0073] In the component mounting machine 1 of the first embodiment, the reference value calculation unit 64 calculates reference values ​​(SV1, SV2) appropriate for the combination of a component and a suction nozzle 4 based on the open measurement value PA1 and the suction measurement values ​​(PB1, PB2), which change depending on the combination. The judgment value change unit 65 changes the judgment values ​​to the calculated reference values ​​(SV1, SV2). Therefore, compared to the prior art, which uses a fixed, predetermined judgment value J1, the judgment unit 62 uses judgment values ​​(judgment value J1, reference value SV1, reference value SV2) appropriate for the combination, thereby improving the accuracy of determining whether the suction nozzle 4 is picking up a component.

[0074] In addition, the advance acquisition unit 63 acquires the open measurement value and the suction measurement value by setting some combinations of components and suction nozzles 4 that will cause negative pressure air leaks. Therefore, for combinations that will cause negative pressure air leaks, the judgment value can be changed with high accuracy based on the actual measurement results. Furthermore, for combinations that will not cause negative pressure air leaks, advance acquisition by actual measurement is omitted, and actual measurement is also omitted when adjustment history data is available, thereby reducing the effort and time required for actual measurement.

[0075] 7. Configuration of component mounting machine 1A of second embodiment Next, the configuration of a component mounting machine 1A according to a second embodiment will be described with reference to Figures 7 and 8. In the second embodiment, a nozzle tool 7 having multiple suction nozzles 4 is used. To accommodate the multiple suction nozzles 4, the air supply system 5A is modified, and the functions of the six functional units of the control unit 34 are also modified. Furthermore, the control unit 34 includes two additional functional units, namely, a component pickup change unit 67 and an upper limit change unit 68.

[0076] The nozzle tool 7 is detachably mounted on the underside of the mounting head 26. The nozzle tool 7 has a generally cylindrical outer shape and is formed as a rotating body that rotates around a vertical central axis. The nozzle tool 7 rotates by being driven by an R-axis rotation drive mechanism (not shown). The nozzle tool 7 has multiple (eight in the example of FIG. 8 ) suction nozzles 4 that revolve around the vertical central axis by its own rotation, either detachably or fixedly. The suction nozzles 4 are driven to move up and down by a Z-axis motor (not shown) and rotate around their axes by being driven by a Q-axis motor (not shown). Note that the mounting head 26 may be a rotary head to which the nozzle tool 7 is fixedly mounted. The shape of the nozzle tool 7 is not limited to the above, and may be formed in a shape other than a cylindrical shape, for example, a rectangular shape, and may have multiple suction nozzles 4 arranged in a line or a lattice pattern.

[0077] As shown in Fig. 8, the air supply system 5A is composed of a negative pressure source 51, a negative pressure valve 52, a common air flow path 58, a pressure sensor 56, a flow rate sensor 57, and nozzle valves 59 provided corresponding to the eight suction nozzles 4, respectively. Note that the positive pressure air supply system is not shown in Fig. 8. The negative pressure source 51 can be the same as that in the first embodiment, so its description will be omitted. The negative pressure valve 52 opens and closes the space between the negative pressure source 51 and one end of the common air flow path 58. A pressure sensor 56 and a flow rate sensor 57 are provided as measuring units in the common air flow path 58.

[0078] The other end of the common air flow path 58 branches into eight systems so that each can individually communicate with each suction nozzle 4. A nozzle valve 59 is provided in each of the branched systems. The nozzle valves 59 switch between a communication state in which negative pressure air flows between the common air flow path 58 and the internal flow path 42 of the suction nozzle 4, and a blocked state in which negative pressure air does not flow. A solenoid valve or a mechanical valve can be used as the nozzle valves 59.

[0079] The suction and placement control unit 61 of the control unit 34 controls the execution of the suction process and placement process of the multiple suction nozzles 4 in accordance with the job data 94. Here, for convenience, the eight suction nozzles 4 are referred to as the first suction nozzle 401 to the eighth suction nozzle 408 in accordance with the processing order of each suction nozzle 4. The suction and placement control unit 61 first controls the suction process of the eight suction nozzles 4, and then causes the component camera 32 to take an image. The component camera 32 has an imaging field of view range that can capture an image of all eight suction nozzles 4 in one imaging operation. The suction and placement control unit 61 then controls the placement process of the eight suction nozzles 4. This completes the control of one cycle of the suction and placement cycle. The determination unit 62 can apply different determination values ​​to each of the first suction nozzle 401 to the eighth suction nozzle 408 to determine whether or not a component is being picked up.

[0080] The advance acquisition unit 63 first references the job data 94 and sets a combination of component types and suction nozzle 4 types for which reference values ​​are to be calculated for each of a plurality of suction mounting cycles. The number of combinations to be set ranges from a minimum of 0 pairs to a maximum of 8 pairs, which is equal to the number of suction nozzles 4. The advance acquisition unit 63 then sets a fixed condition for one suction nozzle 4 as the reference, with the states of the other suction nozzles 4 fixed. This condition setting is performed by simulating the operating conditions when the component mounting machine 1 is actually operating.

[0081] Specifically, the suction nozzles 4 that are earlier in the processing order than the reference suction nozzle 4 have their nozzle valves 59 opened to communicate with the common air flow path 58, and are fixed in a state in which they are picking up a component. On the other hand, the suction nozzles 4 that are later in the processing order than the reference suction nozzle 4 have their nozzle valves 59 closed to be fixed in a blocked state. The advance acquisition unit 63 then acquires an open measurement value, which is a measurement value measured when the reference suction nozzle 4 is connected to the common air flow path 58 but is not picking up a component. The advance acquisition unit 63 further acquires a suction measurement value, which is a measurement value measured when the reference suction nozzle 4 is connected to the common air flow path 58 and is picking up a component.

[0082] The reference value calculation unit 64 calculates a reference value by applying, for example, Equation 1 of the first embodiment, based on the open measurement value and the suction measurement value for the reference suction nozzle 4. The judgment value change unit 65 changes the judgment value for the reference suction nozzle 4 to the reference value calculated by the reference value calculation unit 64. The advance acquisition unit 63, the reference value calculation unit 64, and the judgment value change unit 65 change the reference suction nozzle 4 in order, and operate a number of times corresponding to the number of combinations set by the advance acquisition unit 63.

[0083] The abnormality detection unit 66 detects abnormalities for all suction nozzles 4 in each of a plurality of suction attachment cycles. For a suction nozzle 4 for which an open measurement value and a suction measurement value have been acquired, the abnormality detection unit 66 detects an abnormality when the measurement value (negative pressure value) during the suction process falls outside the range between the open measurement value and the suction measurement value. For a suction nozzle 4 for which an open measurement value and a suction measurement value have not been acquired, the abnormality detection unit 66 detects an abnormal negative pressure when the measurement value (negative pressure value) during the suction process falls outside the range between the upper reference value Smax and the lower reference value Smin (normal range).

[0084] One of the pickup component change unit 67 and the upper limit change unit 68 operates and the other stops in accordance with the operator's selection setting using the input / display unit 204. The pickup component change unit 67 determines whether or not the negative pressure value during the pickup process of each of the multiple pickup nozzles 4 is likely to exceed the upper limit reference value Smax and deviate toward the atmospheric pressure value P1, based on at least one of the open measurement value, the pickup measurement value, and the judgment value. If there is a possibility of deviation, the pickup component change unit 67 takes corrective action to change at least one of the number and type of components that the multiple pickup nozzles 4 pick up during the pickup process, so that the negative pressure value does not exceed the upper limit reference value Smax.

[0085] Specifically, when a component with a negative pressure leak exists during a single pickup cycle, the three quantities—the open measurement value, the suction measurement value, and the judgment value—shift toward atmospheric pressure P1 compared to when no component exists. If the open measurement value exceeds the upper reference value Smax, the negative pressure during the pickup process may exceed the upper reference value Smax. In other words, a decrease in the negative pressure in the internal flow path 42 of the suction nozzle 4 reduces the holding force of the picked-up component, potentially causing the component to fall or slide. To address this risk, the pickup component change unit 67 reduces the number of components with a negative pressure leak and deactivates some suction nozzles. Alternatively, the pickup component change unit 67 replaces one or more components with a negative pressure leak to a component without a negative pressure leak (corrective action). In summary, the pickup component change unit 67 takes corrective action to reduce the number of components with a negative pressure leak as needed during operation based on the actual measurement results during adjustment, thereby preventing negative pressure abnormalities.

[0086] The upper limit changing unit 68 determines whether or not there is a possibility that the negative pressure value during suction processing of each of the plurality of suction nozzles 4 will exceed the upper limit reference value Smax and deviate toward the atmospheric pressure value P1, based on at least one of the open measurement value, the suction measurement value, and the judgment value. If there is a possibility of deviation, the upper limit changing unit 68 takes corrective action to change the upper limit reference value Smax within an allowable range based on the job data 94, so that the measurement value will not exceed the changed upper limit reference value.

[0087] Additionally, if there is a component that is experiencing a negative pressure leak during one suction and placement cycle, there is a risk that the negative pressure value will exceed the upper reference value Smax, i.e., that the component may fall or skid, as previously described. Here, the upper reference value Smax is determined, as previously described, taking into account the maximum mass of the component that the suction nozzle 4 can pick up. Therefore, when the suction nozzle 4 picks up a lightweight component that is less than the maximum mass, even if the negative pressure value exceeds the upper reference value Smax, as long as the excess is not excessive, there is no actual risk of the lightweight component falling or skidding.

[0088] Based on the above, the upper limit change unit 68 acquires the mass of the lightweight part to be picked up and calculates the appropriate excess amount based on the ratio to the maximum mass. Furthermore, the upper limit change unit 68 changes the upper limit reference value Smax toward the atmospheric pressure value P1 by the appropriate excess amount (corrective action). The changed upper limit reference value applies only to the combination of the lightweight part and the suction nozzle 4. Note that changing the upper limit reference value Smax is not permitted when the suction nozzle 4 is picking up the maximum mass part. In summary, the upper limit change unit 68 takes corrective action to change the upper limit reference value Smax toward the atmospheric pressure value P1 if necessary and possible, thereby preventing negative pressure abnormalities. The corrective action functions of the suction part change unit 67 and the upper limit change unit 68 will be further described in the following operation description.

[0089] 8. Operation of component placement machine 1A Next, the operation of the component mounting machine 1A of the second embodiment will be described based on an example with reference to FIGS. 8 to 11. In the example shown in FIG. 8, first, the first suction nozzle 401 picks up the square electronic component PF. Next, the second suction nozzle 402, the third suction nozzle 403, the fourth suction nozzle 404, the fifth suction nozzle 405, and the sixth suction nozzle 406 pick up the square electronic component PF in order. Then, seventh, the seventh suction nozzle 407 picks up the odd-shaped component PV. Eighth, the eighth suction nozzle 408 picks up the odd-shaped component PV. The eight nozzle valves 59 are opened sequentially from the first side to the eighth side and remain open from the end of the pick-up process until the start of the mounting process. It is assumed that there is no related adjustment history data.

[0090] In this example, the advance acquisition unit 63 first sets the combination of the odd-shaped component PV and the seventh suction nozzle 407 and the combination of the odd-shaped component PV and the eighth suction nozzle 408 as combinations that will cause a negative-pressure air leak. According to this setting, the rectangular electronic component PF is excluded from the calculation target components. As a result, as indicated by the dashed lines in the left column of FIG. 9 , the open-state measurement value PA1 and the suction measurement value PB1 for the first suction nozzle 401 to the sixth suction nozzle 406 are not acquired, and the reference value SV1 is not calculated. If the open-state measurement value PA1 and the suction measurement value PB1 for the first suction nozzle 401 to the sixth suction nozzle 406 were acquired, the negative pressure values ​​would approximate the negative pressure values ​​when there is no negative-pressure air leak, as shown in FIG. 3 . The determination unit 62 uses a predetermined determination value J1 during the suction process for the first suction nozzle 401 to the sixth suction nozzle 406.

[0091] The advance acquisition unit 63 then sets the states of the other suction nozzles 4 to fixed conditions, using the seventh suction nozzle 407 as a reference. Specifically, the first suction nozzle 401 to the sixth suction nozzle 406, which are earlier in the processing order, are set to a connected state in which they are connected to the common air flow path 58 and are fixed to a state in which they are picking up a rectangular electronic component PF (the state at the end of the suction process). On the other hand, the eighth suction nozzle 408, which is later in the processing order, is fixed to a blocked state in which the nozzle valve 59 is closed. The advance acquisition unit 63 then acquires an open state measurement value PA1 when the seventh suction nozzle 407 is connected to the common air flow path 58 but is not picking up an odd-shaped component PV. The advance acquisition unit 63 further acquires a suction state measurement value PB3 when the seventh suction nozzle 407 is connected to the common air flow path 58 and is picking up an odd-shaped component PV.

[0092] 9 are obtained. The open measurement value PA1 and the suction measurement value PB3 are obtained as shown in the center column of Fig. 9. The open measurement value PA1 is in the same state as the left column in that negative pressure air leaks from one opening 44, and is therefore roughly equal to the open measurement value PA1 in the left column. On the other hand, the suction measurement value PB3 changes closer to the atmospheric pressure value P1 than the suction measurement value PB1 (no leak) in the left column due to the negative pressure air leaking from the gap between the odd-shaped part PV and the seventh suction nozzle 407.

[0093] The reference value calculation unit 64 calculates the reference value SV3 by applying Equation 1 to the open measurement value PA1 and the suction measurement value PB3. The judgment value change unit 65 changes the judgment value to the reference value SV3 for the seventh suction nozzle 407. The reference value SV3, which corresponds to the changed judgment value, is closer to the atmospheric pressure value P1 than the judgment value J1 in the left column. The judgment unit 62 uses the reference value SV3 as the judgment value during the suction process for the seventh suction nozzle 407.

[0094] Next, the advance acquisition unit 63 sets the states of the other suction nozzles 4 to fixed conditions using the eighth suction nozzle 408 as a reference. Specifically, the first suction nozzle 401 to the sixth suction nozzle 406 are fixed to the states at the end of the suction process for the rectangular electronic component PF, and the seventh suction nozzle 407 is fixed to the state at the end of the suction process for the odd-shaped component PV. The advance acquisition unit 63 then acquires an open-state measurement value PA4 when the eighth suction nozzle 408 is connected to the common air flow path 58 but is not suctioning an odd-shaped component PV. The advance acquisition unit 63 further acquires a suction-time measurement value PB4 when the eighth suction nozzle 408 is connected to the common air flow path 58 and is suctioning an odd-shaped component PV.

[0095] 9 are obtained. The open measurement value PA4 and the suction measurement value PB4 are obtained. The open measurement value PA4 is closer to the atmospheric pressure value P1 than the open measurement value PA1 in the left and center columns due to the leakage of negative pressure air from the gap between the odd-shaped component PV and the seventh suction nozzle 407. On the other hand, the suction measurement value PB4 is closer to the atmospheric pressure value P1 than the suction measurement value PB3 in the left column (a leak from one location) due to the leakage of negative pressure air from two locations: the gap between the odd-shaped component PV and the seventh suction nozzle 407, and the gap between the odd-shaped component PV and the eighth suction nozzle 408.

[0096] The reference value calculation unit 64 calculates the reference value SV4 by applying (Equation 1) to the open measurement value PA4 and the suction measurement value PB4. The judgment value change unit 65 changes the judgment value to the reference value SV4 for the eighth suction nozzle 408. The reference value SV4, which corresponds to the changed judgment value, is closer to the atmospheric pressure value P1 than the reference value SV3, which corresponds to the judgment value in the center column. The judgment unit 62 uses the reference value SV4 as the judgment value during the suction process for the eighth suction nozzle 408.

[0097] In the component mounting machine 1A of the second embodiment, the judgment value changing unit 65 can set, in one pickup and placement cycle, multiple judgment values ​​(judgment value J1, reference value SV3, reference value SV4) that are suitable for the combination of the component and the pickup nozzle 4. Therefore, by using multiple judgment values ​​(judgment value J1, reference value SV3, reference value SV4), the judgment unit 62 can improve the accuracy of determining whether the pickup nozzle 4 is picking up a component.

[0098] Additionally, the advance acquisition unit 63 sets the combination of the odd-shaped component PV and the seventh suction nozzle 407, and the combination of the odd-shaped component PV and the eighth suction nozzle 408, in which negative pressure air leaks, and acquires the open measurement value and the suction measurement value. Therefore, for combinations in which negative pressure air leaks occur, the judgment value can be changed with high accuracy based on the results of actual measurements that simulate the operating conditions during actual operation. Furthermore, actual measurements are omitted for the first suction nozzle 401 through the sixth suction nozzle 406, in which negative pressure air leaks do not occur, reducing the effort and time required for actual measurements.

[0099] Next, the functions of the pickup component changing unit 67 and the upper limit changing unit 68 will be explained using another example. In this example, the first pickup nozzle 401 to the fifth pickup nozzle 405 pick up a square electronic component PF in turn, and then the sixth pickup nozzle 406 to the eighth pickup nozzle 408 pick up an odd-shaped component PV in turn. It is assumed that there is no related adjustment record data.

[0100] In another example, as shown in the leftmost column of FIG. 10 , the first suction nozzle 401 to the fifth suction nozzle 405 do not acquire the open measurement value PA1 and the suction measurement value PB1, and the determination unit 62 uses a predetermined determination value J1. Also, as shown in the second column from the left, the sixth suction nozzle 406 acquires the open measurement value PA1 and the suction measurement value PB3, and calculates a reference value SV3. The determination unit 62 uses the reference value SV3 as a determination value during the suction process for the sixth suction nozzle 406. Furthermore, as shown in the third column from the left, the seventh suction nozzle 407 acquires the open measurement value PA4 and the suction measurement value PB4, and calculates a reference value SV4. The determination unit 62 uses the reference value SV4 as a determination value during the suction process for the seventh suction nozzle 407.

[0101] Next, the advance acquisition unit 63 sets fixed conditions for the states of the other suction nozzles 4 with respect to the eighth suction nozzle 408. Specifically, the first suction nozzle 401 to the fifth suction nozzle 405 are fixed to the states at the end of the suction process for the rectangular electronic component PF, and the sixth suction nozzle 406 and the seventh suction nozzle 407 are fixed to the states at the end of the suction process for the odd-shaped component PV. The advance acquisition unit 63 then acquires an open measurement value PA5 when the eighth suction nozzle 408 is connected to the common air flow path 58 but is not picking up an odd-shaped component PV. The advance acquisition unit 63 further acquires a suction measurement value PB5 when the eighth suction nozzle 408 is connected to the common air flow path 58 and is picking up an odd-shaped component PV.

[0102] As shown in the rightmost column of Figure 10, the open-state measurement value PA5 exceeds the upper limit reference value Smax and deviates toward the atmospheric pressure value P1. Therefore, the negative pressure value when the eighth suction nozzle 408 actually performs the suction process may exceed the upper limit reference value Smax. In other words, when the nozzle valve 59 of the eighth suction nozzle 408 is opened, a significant leak of negative pressure air occurs at the opening 44 of the eighth suction nozzle 408. Furthermore, negative pressure air also leaks from the gap between the odd-shaped component PV and the sixth suction nozzle 406 and the gap between the odd-shaped component PV and the seventh suction nozzle 407. The sum of the leaks from these three locations significantly reduces the negative pressure in the common air flow path 58, potentially causing the rectangular electronic component PF and odd-shaped component PV to fall or slide after suction processing has been completed.

[0103] At this time, the pickup component change unit 67 determines that there is a possibility that the negative pressure value during pickup processing by the eighth pickup nozzle 408 will exceed the upper limit reference value Smax and deviate from the upper limit reference value Smax, and takes corrective action. Specifically, the pickup component change unit 67 takes corrective action by pausing the eighth pickup nozzle 408 and not opening the nozzle valve 59. Alternatively, the pickup component change unit 67 takes corrective action by having the eighth pickup nozzle 408 pick up the rectangular electronic component PF. At this time, the pickup component change unit 67 may change the combination of the pickup nozzle 4 and the component to be used, and may also change the component placement order. In other words, the first pickup nozzle 401 to the sixth pickup nozzle 406 may pick up the rectangular electronic component PF, and the seventh pickup nozzle 407 and the eighth pickup nozzle 408 may pick up the odd-shaped component PV.

[0104] The pickup component change unit 67 determines corrective action to incorporate the odd-shaped component PV that was scheduled to be picked up by the eighth pickup nozzle 408 into another pickup and placement cycle or a newly established pickup and placement cycle. The pickup component change unit 67 reflects the corrective action described above in the job data 94. Alternatively, the pickup component change unit 67 requests the operator to take corrective action using the input / display unit 204 or other means.

[0105] Alternatively, the upper limit changing unit 68 may operate instead of the suction component changing unit 67 to perform the corrective action shown in FIG. 11. In FIG. 11, the open measurement value PA5 exceeds the upper limit reference value Smax. The upper limit changing unit 68 determines that there is a possibility that the negative pressure value when the eighth suction nozzle 408 performs the suction process will exceed the upper limit reference value Smax, and performs the corrective action. The upper limit changing unit 68 considers whether it is possible to change the upper limit reference value Smax to a new upper limit reference value Smax2 that is higher than the open measurement value PA5, within the range allowed based on the job data 94.

[0106] If so, the upper limit changing unit 68 executes corrective action to change the upper limit reference value Smax to a new upper limit reference value Smax2, as indicated by the dashed arrow. The reference value calculation unit 64 calculates the reference value SV5 by applying (Equation 1) to the open measurement value PA5 and the suction measurement value PB5. The judgment value changing unit 65 changes the judgment value to the reference value SV5 for the eighth suction nozzle 408.

[0107] On the other hand, if the upper limit reference value Smax cannot be changed because the irregular-shaped part PV corresponds to the aforementioned maximum mass, or for other reasons, the upper limit changing unit 68 takes corrective action by pausing the eighth suction nozzle 408 and not opening the nozzle valve 59. In addition, the upper limit changing unit 68 determines corrective action by incorporating the irregular-shaped part PV that was scheduled to be picked up by the eighth suction nozzle 408 into a different suction and placement cycle or a newly established suction and placement cycle. The upper limit changing unit 68 reflects the corrective action in the job data 94. Alternatively, the upper limit changing unit 68 requests the operator to take corrective action using the input / display unit 204 or other means.

[0108] When the negative pressure value during the suction process may exceed the upper limit reference value Smax due to the operation of either the suction component change unit 67 or the upper limit change unit 68, corrective action can be taken. This prevents the occurrence of negative pressure abnormalities. In addition, the job data 94 is automatically corrected or suggestions for correction are provided, and the corrections can be small in scale. If an operator were to correct the job data 94 without receiving suggestions for correction, it would take a considerable amount of time and effort.

[0109] 9. Applications and Modifications of the Embodiments In the first embodiment, the predetermined judgment value J1 can be set to a different negative pressure value depending on the type of suction nozzle 4. In other words, when the performance of the negative pressure source 51 is constant, the larger the opening area of ​​the opening 44, the greater the amount of negative pressure air leaks, and the closer the open measurement value PA1 is to the atmospheric pressure value P1. Therefore, the judgment value J1 can be set to be closer to the atmospheric pressure value P1. In this way, the judgment unit 62 will use a judgment value J1 closer to the atmospheric pressure value P1 for a suction nozzle 4 with a larger opening area of ​​the opening 44. Also, the function of the judgment value changing unit 65 to accumulate adjustment history data and perform comparison in accordance with the next board type may be omitted.

[0110] Furthermore, in the second embodiment, the suction component changing unit 67 and the upper limit changing unit 68 operate selectively, but the upper limit changing unit 68 may operate preferentially, and the suction component changing unit 67 may operate when the upper limit changing unit 68 is unable to change the upper limit reference value Smax. Furthermore, the configuration and operation of the air supply system (5, 5A) can be modified in various ways. Various other applications and modifications are possible for the first and second embodiments. [Explanation of symbols]

[0111] 1, 1A: Component placement machine 26: Placement head 34: Control unit 4: Suction nozzles 401 to 408: 1st to 8th suction nozzles 42: Internal flow path 43: Tip 44: Opening 5, 5A: Air supply system 51: Negative pressure source 52: Negative pressure valve 55: Air flow path 56: Pressure sensor 57: Flow rate sensor 58: Common air flow path 59: Nozzle valve 61: Suction placement control unit 62: Judgment unit 63: Advance acquisition unit 64: Reference value calculation unit 65: Judgment value change unit 66: Abnormality detection unit 67: Suction component change unit 68: Upper limit change unit 7: Nozzle tool 9: Production information server 92: Component data 93: Equipment data 94: Job data 95: Operation history data PF: Square electronic component PV: Irregular shaped component : PS: Square electronic component J1: Judgment value Smax, Smax2: Upper limit reference value Smin: Lower limit reference value PA1, PA4, PA5: Measured value when released PB1, PB2, PB3, PB4, PB5: Measured value when adsorbed SV1, SV2, SV3, SV4, SV5: Reference value

Claims

1. a suction nozzle that is detachably mounted on a component placement machine that places components on a board; a control unit that causes the suction nozzle to perform a suction process for suctioning the component by supplying negative pressure air from an air flow path, and also causes the suction nozzle to perform a mounting process for mounting the component onto the board; a measuring unit that is provided in the air flow path and measures the pressure or flow rate of the negative pressure air to obtain a measurement value, The control unit a determination unit that compares the measurement value of the suction nozzle during the suction process with a predetermined determination value to determine whether the suction nozzle is suctioning the component; a reference value calculation unit that calculates a reference value based on an open measurement value, which is the measurement value when the suction nozzle is not suctioning the component, and a suction measurement value, which is the measurement value when the suction nozzle is suctioning the component; a judgment value change unit that changes the judgment value to the reference value calculated by the reference value calculation unit, Parts placement machine.

2. The component mounting machine according to claim 1 , wherein the reference value calculation unit calculates different reference values ​​depending on the combination of the type of the component and the type of the suction nozzle.

3. 3. The component mounting machine according to claim 2, wherein the reference value calculation unit calculates different reference values ​​depending on whether or not a leak of the negative pressure air occurs between the component and the suction nozzle that is suctioning the component, or depending on the suction-time measurement value when it is estimated that the leak of the negative pressure air will occur.

4. 4. The component mounting machine according to claim 1, wherein the reference value calculation unit calculates the reference value between the open measurement value and the suction measurement value.

5. an upper limit reference value that is the minimum required for the suction nozzle to pick up the component, and a lower limit reference value that allows it to be determined that the suction nozzle is sufficiently picking up the component are determined in advance; the reference value calculation unit calculates the reference value between the upper limit reference value and the lower limit reference value.

5. The component mounting machine according to claim 4.

6. 5. The component mounting machine according to claim 4, wherein the control unit references job data that defines the type of component to be mounted on the board and the type of suction nozzle to be used, sets a combination of the type of component and the type of suction nozzle for calculating the reference value, and acquires the open measurement value and the suction measurement value using the measurement unit.

7. 7. The component mounting machine according to claim 6, wherein the control unit acquires the released measurement value and the suction measurement value by using a selected portion of the plurality of components defined in the job data as the components for which the reference values ​​are to be calculated.

8. 8. The component mounting machine according to claim 7, wherein the control unit, when a leak of the negative pressure air occurs between the component and the suction nozzle that is suctioning the component, selects the component as the component to be calculated.

9. the control unit acquires a plurality of at least one of the open measurement value and the adsorption measurement value, the reference value calculation unit calculates the reference value based on a result of statistically processing at least a plurality of the measurement values ​​during release and the measurement values ​​during adsorption.

5. The component mounting machine according to claim 4.

10. 5. The component mounting machine according to claim 4, further comprising an abnormality detection unit that detects an abnormality in the suction nozzle when the measurement value during the suction process of the suction nozzle falls outside a range between the measurement value when the suction nozzle is open and the measurement value during suction.

11. The judgment value changing unit the judgment value used in the past based on the combination of the type of component and the type of suction nozzle is associated with the combination and used as adjustment history data, and the adjustment history data is further accumulated; when the type of the board is changed from a current board type to a next board type, if the combination of the type of the component in the next board type and the type of the suction nozzle is included in the accumulated adjustment record data, refer to the judgment value associated with the combination. The component mounting machine according to any one of claims 1 to 3.

12. the control unit causes the plurality of suction nozzles that can communicate with a common air flow path that supplies the negative pressure air to perform the suction process and the attachment process; the measuring unit is provided in the common air flow path, the reference value calculation unit calculates a different reference value for each of the plurality of suction nozzles based on whether the plurality of suction nozzles are in a state of communicating with the common air flow path. The component mounting machine according to any one of claims 1 to 3.

13. the control unit refers to job data that defines the types and mounting order of the components to be mounted on the board and the suction nozzles to be used, and sets one of the suction nozzles as a reference and the states of the other suction nozzles as fixed conditions; the reference value calculation unit calculates the reference value based on the open measurement value, which is the measurement value when the one suction nozzle is connected to the common air flow path but is not suctioning the component, and the suction measurement value, which is the measurement value when the one suction nozzle is connected to the common air flow path and is suctioning the component, the determination value change unit changes the determination value for the one suction nozzle to the reference value calculated by the reference value calculation unit.

13. The component mounting machine according to claim 12.

14. 14. The component mounting machine according to claim 13, wherein the control unit fixes each of the other suction nozzles to a state where it is not connected to the common air flow path, or to a state where it is connected to the common air flow path and is suctioning the component.

15. 14. The component mounting machine according to claim 13, further comprising a component pickup change unit that determines whether or not the measurement value during the pickup process of each of the plurality of suction nozzles is likely to exceed an upper reference value that is a minimum value required to pick up the component, based on at least one of the open measurement value, the suction measurement value, and the judgment value, and, if there is a possibility of the deviation, changes at least one of the number and type of the components that the plurality of suction nozzles pick up in the pickup process so that the measurement value does not exceed the upper reference value.

16. 14. The component mounting machine according to claim 13, further comprising an upper limit changing unit that determines whether or not there is a possibility that the measurement value during the suction process of each of the plurality of suction nozzles will deviate from an upper limit reference value that is a minimum value required to pick up the component, based on at least one of the open measurement value, the suction measurement value, and the judgment value, and if there is a possibility of deviation, changes the upper limit reference value within a range allowable based on the job data so that the measurement value does not exceed the changed upper limit reference value.

Images