Nozzle exchanging system and nozzle exchanging method

Abstract

This nozzle exchanging system uses a mounting head of a component mounting machine to exchange a suction nozzle for suctioning a component between nozzle stations able to accommodate the suction nozzle. This nozzle exchanging system comprises a moving unit and an exchanging unit. If there is no empty socket able to newly accommodate a suction nozzle for exchanging at an exchange destination nozzle station, the moving unit provides the mounting head with at least one empty holder able to hold a suction nozzle for exchanging and moves the mounting head to the exchange destination nozzle station. The exchanging unit causes the mounting head moved to the exchange destination nozzle station by the moving unit to collect a suction nozzle for exchanging from the exchange destination nozzle station, and sets a suction nozzle for exchanging held by the mounting head in the empty socket produced by the collection.

Description

Nozzle replacement system and nozzle replacement method

[0001] This specification discloses a technology related to a nozzle replacement system and a nozzle replacement method.

[0002] The control device described in Patent Document 1 secures a retraction socket by temporarily placing the suction nozzle outside the storage pallet from the storage pallet. Specifically, the control device uses a jig placement table having a plurality of sockets capable of holding the suction nozzle in a predetermined posture within the movable range of the nozzle transfer device as a temporary placement table. When performing the replacement operation, the control device transfers, from the storage pallet, for example, a suction nozzle for which no loading to the nozzle station is specified or an excess suction nozzle to the socket of the jig placement table.

[0003] As a result, the above-described suction nozzle to be temporarily placed is held by the socket of the jig placement table. Therefore, the socket that held the above-described suction nozzle in the storage pallet becomes empty, and the above-described suction nozzle can be transferred from the socket of the jig placement table to the socket of the storage pallet. In this way, by using the jig placement table as a temporary placement table, an empty retraction socket can be secured in the storage pallet.

[0004] International Publication No. 2017 / 068661

[0005] While replacing the suction nozzle using the mounting head of the component mounting machine between nozzle stations, production of the product substrate cannot be performed. Therefore, the longer the time required for replacing the suction nozzle, the lower the production efficiency in the substrate work line.

[0006] In view of such circumstances, this specification discloses a nozzle replacement system and a nozzle replacement method capable of efficiently performing the replacement of the suction nozzle between nozzle stations.

[0007] This specification discloses a nozzle replacement system for replacing suction nozzles for picking up parts using a mounting head of a parts mounting machine between nozzle stations capable of housing suction nozzles for picking up parts. The nozzle replacement system comprises a moving unit and a replacement unit. The moving unit moves the mounting head to the destination nozzle station if there are no available sockets in the destination nozzle station capable of housing a replacement suction nozzle, by providing the mounting head with at least one available holder capable of holding a replacement suction nozzle. The replacement unit causes the mounting head, which has been moved to the destination nozzle station by the moving unit, to pick up a replacement suction nozzle from the destination nozzle station, and sets the replacement suction nozzle held by the mounting head into the available socket created by the picking.

[0008] Furthermore, this specification discloses a nozzle replacement method for replacing a suction nozzle using a mounting head of a component mounting machine between nozzle stations capable of accommodating suction nozzles for adsorbing components. The nozzle replacement method comprises a moving step and a replacement step. The moving step involves, if there are no available sockets at the destination nozzle station capable of accommodating a replacement suction nozzle, providing the mounting head with at least one available holder capable of holding the replacement suction nozzle, and moving the mounting head to the destination nozzle station. The replacement step involves having the mounting head, which has been moved to the destination nozzle station by the moving step, retrieve the replacement suction nozzle from the destination nozzle station, and setting the replacement suction nozzle held by the mounting head into the available socket created by the retrieval.

[0009] Furthermore, this specification discloses a technical concept in which, in claim 4 of the claims initially attached to the application (hereinafter referred to as the initial claims), "the nozzle replacement system described in claim 1" is changed to "the nozzle replacement system described in any one of claims 1 to 3." In addition, this specification discloses a technical concept in which, in claim 7 of the initial claims, "the nozzle replacement system described in claim 4" is changed to "the nozzle replacement system described in any one of claims 4 to 6." Furthermore, this specification discloses a technical concept in which, in claim 8 of the initial claims, "the nozzle replacement system described in claim 4" is changed to "the nozzle replacement system described in any one of claims 4 to 7."

[0010] According to the nozzle replacement system described above, if there are no available sockets at the nozzle station to be replaced that can accommodate a replacement suction nozzle, the nozzle can be replaced by providing at least one available holder on the mounting head that can hold the replacement suction nozzle. The same applies to the nozzle replacement method as described above regarding the nozzle replacement system.

[0011] This is a diagram showing an example of the configuration of production equipment. This is a plan view showing an example of the configuration of a parts mounting machine. This is a side view showing an example of the configuration of a tape feeder. This is a perspective view showing an example of a suction nozzle. This is a perspective view showing an example of the configuration of a nozzle supply unit. This is a perspective view showing an example of the configuration of a nozzle station. This is a block diagram showing an example of a control block for a nozzle replacement system. This is a schematic diagram showing an example of a configuration where there are no available sockets to accommodate a replacement suction nozzle at the nozzle station to be replaced. This is a schematic diagram showing an example of a state in which a replacement suction nozzle is held in the holder of the mounting head. This is a schematic diagram showing an example of a state after a replacement suction nozzle has been picked up from the nozzle station to be replaced. This is a schematic diagram showing an example of a state after the replacement suction nozzle held by the mounting head has been set in the available socket created by the picking in Figure 10. This is a schematic diagram showing an example of a suction nozzle held in the holder of the mounting head. This is a schematic diagram showing an example of a state after a non-target nozzle has been returned to the main machine side nozzle station. This is a schematic diagram showing an example of a state in which a replacement suction nozzle is held in the holder of the mounting head. This is a schematic diagram showing an example of information regarding suction nozzles housed in the main machine side nozzle station and the supply side nozzle station. This is a schematic diagram showing an example of a list. This flowchart shows an example of a control procedure by the nozzle replacement system. This flowchart shows an example of a control procedure for returning the suction nozzle held by the mounting head. This flowchart shows an example of a procedure for calculating the number of nozzles that do not need to be returned. This flowchart (1) shows an example of a control procedure for selecting the nozzle station to be replaced. This flowchart (2) shows an example of a control procedure for selecting the nozzle station to be replaced. This flowchart (3) shows an example of a control procedure for selecting the nozzle station to be replaced. This flowchart shows an example of a control procedure for nozzle replacement at the nozzle station on the main unit side. This flowchart shows an example of a control procedure for nozzle replacement at the supply side nozzle station.

[0012] 1. Embodiment 1-1. Example of the configuration of the substrate processing line WL0 The production equipment includes at least one substrate processing line WL0. In the substrate processing line WL0, a substrate processing machine WM0 performs predetermined substrate processing on the substrate 90 to produce a product substrate 900. The type and number of substrate processing machines WM0 that constitute the substrate processing line WL0 are not limited. As shown in Figure 1, the substrate processing line WL0 of the embodiment includes a plurality of substrate processing machines WM0, which are a printing machine WM1, a printing inspection machine WM2, a component mounting machine WM3, a reflow oven WM4, and a visual inspection machine WM5, and the substrate 90 is transported in the above order by a substrate transport device.

[0013] The printing press WM1 prints solder onto the mounting positions of the components 91 on the circuit board 90. The printing inspection machine WM2 inspects the printing condition of the solder printed by the printing press WM1. As shown in Figure 2, the component mounting machine WM3 mounts the components 91 onto the circuit board 90 on which the solder has been printed by the printing press WM1. There may be one component mounting machine WM3 or multiple component mounting machines. As shown in Figure 1, if multiple component mounting machines WM3 (three in this figure) are provided, the multiple component mounting machines WM3 can share the task of mounting the components 91.

[0014] The reflow oven WM4 heats the substrate 90 on which the components 91 have been mounted by the component mounting machine WM3, melts the solder, and performs soldering. The visual inspection machine WM5 inspects the mounting condition of the components 91 mounted by the component mounting machine WM3. In this way, the substrate processing line WL0 can transport the substrate 90 sequentially using multiple substrate processing machines WM0 and produce product substrates 900 by executing production processes including inspection. The substrate processing line WL0 may also be equipped with substrate processing machines WM0 as needed, such as a functional inspection machine, buffer device, substrate supply device, substrate inversion device, shield mounting device, adhesive coating device, and ultraviolet irradiation device.

[0015] Multiple board-side work machines WM0 and line management device LC0 constituting the board-side work line WL0 are connected communicatively by a communication unit. Furthermore, line management device LC0 and management device HC0 are also connected communicatively by a communication unit. The communication unit can connect these devices communicatively via wired or wireless means, and various communication methods are possible.

[0016] In this embodiment, a wireless local area network (LAN) is configured by multiple board-handling machines WM0, a line management device LC0, and a management device HC0. Therefore, the multiple board-handling machines WM0 can communicate wirelessly with each other via a communication unit. Furthermore, the multiple board-handling machines WM0 can communicate wirelessly with the line management device LC0 via a communication unit. In addition, the line management device LC0 and the management device HC0 can communicate wirelessly with each other via a communication unit.

[0017] The line management device LC0 controls multiple board-to-board work machines WM0 that constitute the board-to-board work line WL0 and monitors the operating status of the board-to-board work line WL0. The line management device LC0 stores various control data for controlling the multiple board-to-board work machines WM0. The line management device LC0 transmits control data to each of the multiple board-to-board work machines WM0. In addition, each of the multiple board-to-board work machines WM0 transmits its operating status and production status to the line management device LC0.

[0018] The control device HC0 manages at least one line control device LC0. For example, the operating status and production status of the substrate processing machine WM0 acquired by the line control device LC0 are transmitted to the control device HC0 as needed. The control device HC0 is equipped with a storage device (e.g., a database). The storage device can store various acquired data acquired by the substrate processing machine WM0. For example, various image data captured by the substrate processing machine WM0 are included in the acquired data. Records of operating status (log data) acquired by the substrate processing machine WM0 are also included in the acquired data. The storage device can collect and store various production information related to the production of such product substrates 900.

[0019] 1-2. Example Configuration of Component Mounting Machine WM3 The component mounting machine WM3 mounts components 91 onto a substrate 90. As shown in Figure 2, the component mounting machine WM3 is equipped with a substrate transport device 11, a component supply device 12, a component transfer device 13, a component camera 14, a substrate camera 15, a control device 16, a display device 17, and a nozzle station 60 (main machine side nozzle station 60a).

[0020] The substrate transport device 11 is composed of, for example, a belt conveyor and transports the substrate 90 in the transport direction (X-axis direction). The substrate 90 is a circuit board on which various circuits such as electronic circuits, electrical circuits, and magnetic circuits are formed. The substrate transport device 11 carries the substrate 90 into the component mounting machine WM3 and positions the substrate 90 at a predetermined position inside the machine. After the component mounting process of the component mounting machine WM3 is completed, the substrate transport device 11 transports the substrate 90 out of the component mounting machine WM3.

[0021] The component supply device 12 supplies components 91 to be mounted on the substrate 90. Specifically, the component supply device 12 is equipped with a tape feeder 40 that can be attached and detached along the transport direction (X-axis direction) of the substrate 90. As shown in Figure 3, for example, the tape feeder 40 comprises a feeder body 41, a reel 42, a tape feeding mechanism 43, and a feeder control unit 44. The feeder body 41 is formed in a flat box shape and can be mounted in a slot 12s of a feeder holder 12a capable of holding various feeders.

[0022] The reel 42 is rotatably supported relative to the feeder body 41. A carrier tape containing the components 91 is wound around the reel 42. The tape feeding mechanism 43 feeds the carrier tape in a pitch manner to supply the components 91 in a pickable manner at the supply position PP0 located on the leading edge of the tape feeder 40. The feeder control unit 44 drives and controls the sprocket that feeds the carrier tape in a pitch manner. The component supply device 12 may also be equipped with a tray unit. The tray unit can supply relatively large electronic components (for example, leaded components) compared to chip components, etc., in a state where they are arranged on a tray.

[0023] The component transfer device 13 comprises a head drive device 13a and a movable table 13b. The head drive device 13a is configured to move the movable table 13b in the X-axis direction and the Y-axis direction (directions perpendicular to the X-axis direction in the horizontal plane) by a linear motion mechanism. A mounting head 20 is detachably (replaceable) attached to the movable table 13b by a clamping member. The mounting head 20 uses at least one suction nozzle 30 to suction and hold the component 91 supplied by the component supply device 12, and mounts the component 91 onto the substrate 90 positioned by the substrate transport device 11.

[0024] The suction nozzle 30 only needs to be able to adsorb and hold the part 91, and can take various forms. As shown in Figure 4, for example, the suction nozzle 30 comprises a body shaft 31, a flange 32, a nozzle shaft 34, and a nozzle identification member 35. The body shaft 31 is formed in a cylindrical shape. The flange 32 is formed in a disc shape with a larger diameter than the body shaft 31 and is coupled to one end of the body shaft 31 in the axial direction (the lower side of the paper in Figure 4). A recess 33 is formed in a part of the outer edge of the flange 32, recessed toward the center. The recess 33 fixes the rotation angle around the axis when the suction nozzle 30 is held by the mounting head 20. The recess 33 is also used when detecting the rotation angle around the axis when the suction nozzle 30 is held by the mounting head 20.

[0025] The nozzle shaft 34 is formed in the shape of a cylindrical tube that extends axially from the body shaft 31. The nozzle shaft 34 can attract the part 91 by contacting the opening at its tip. The nozzle shaft 34 is configured to move axially back and forth relative to the body shaft 31. Specifically, the nozzle shaft 34 is biased by an elastic member in the direction of advancing from the body shaft 31. When a load is applied to the tip of the nozzle shaft 34 toward the body shaft 31, the nozzle shaft 34 retracts into the body shaft 31 against the elastic force of the elastic member. This reduces the impact or load acting on the part 91 from the suction nozzle 30 during the part 91 suction or mounting process.

[0026] The nozzle identification member 35 is attached to the upper surface of the flange 32. The nozzle identification member 35 may, for example, use a two-dimensional code and may include unique information such as the type of suction nozzle 30 and individual information. The nozzle identification member 35 can be read by a reading device (for example, a known code reader, a substrate camera 15, etc.). Note that there are multiple types of suction nozzles 30 depending on the size, shape, etc., of the part 91 to be suctioned.

[0027] For example, the suction nozzle 30 is designed so that the nozzle shaft 34 has a larger diameter and the opening at the tip is larger as the size of the object 91 to be suctioned increases. Multiple types of suction nozzles 30 have the same diameter and thickness of at least the flange 32, and are interchangeable for mounting. Furthermore, the nozzle shaft 34 is not limited to a cylindrical shape, and the opening at the tip is not limited to a circular shape. For example, the opening at the tip may be elliptical, and the nozzle shaft 34 may be formed in a tubular shape with a non-circular cross-section to accommodate a non-circular opening. In addition, an insulating material such as rubber may be provided at the tip of the nozzle shaft 34.

[0028] The component camera 14 and the substrate camera 15 can use known imaging devices. The component camera 14 is fixed to the base of the component mounting machine WM3 so that its optical axis is upward in the vertical direction (Z-axis direction perpendicular to the X-axis and Y-axis directions). The component camera 14 can image the component 91 held by the suction nozzle 30 from below. The substrate camera 15 is mounted on the movable table 13b of the component transfer device 13 so that its optical axis is downward in the vertical direction (Z-axis direction). The substrate camera 15 can image the substrate 90 and the like from above. The component camera 14 and the substrate camera 15 perform imaging based on control signals sent from the control device 16. Image data of the images captured by the component camera 14 and the substrate camera 15 is transmitted to the control device 16.

[0029] The control device 16 is equipped with a known arithmetic unit and memory device, and a control circuit is configured within it. The control device 16 receives information, image data, and other data output from various sensors provided on the component mounting machine WM3. Based on a control program and predetermined mounting conditions set in advance, the control device 16 sends control signals to each device.

[0030] For example, the control device 16 causes the substrate camera 15 to image the substrate 90 positioned by the substrate transport device 11. The control device 16 processes the image captured by the substrate camera 15 to recognize the positioning state of the substrate 90. The control device 16 also causes the component 91 supplied by the component supply device 12 to be picked up and held by the suction nozzle 30, and causes the component camera 14 to image the component 91 held by the suction nozzle 30. The control device 16 processes the image captured by the component camera 14 to recognize the holding posture of the component 91.

[0031] The control device 16 moves the suction nozzle 30 upwards towards the planned mounting position, which is predetermined by a control program or the like. The control device 16 also corrects the planned mounting position based on the positioning state of the substrate 90, the holding posture of the component 91, etc., to set the actual mounting position for mounting the component 91. The planned mounting position and the mounting position include not only the position (X-axis coordinate and Y-axis coordinate) but also the rotation angle.

[0032] The control device 16 corrects the target position (X-axis coordinates and Y-axis coordinates) and rotation angle of the suction nozzle 30 to match the mounting position. The control device 16 lowers the suction nozzle 30 at the corrected target position and corrected rotation angle to mount the component 91 onto the substrate 90. The control device 16 repeats the above pick-and-place cycle to perform a mounting process in which multiple components 91 are mounted onto the substrate 90. The time during which substrate work is performed in the substrate work machine WM0 is called the cycle time.

[0033] The display device 17 can display various types of information. The display device 17 only needs to be able to display various types of information, and any known display device can be used. Specifically, the display device 17 is equipped with a display unit that displays various data in a way that is easily visible to the operator. Furthermore, for example, the display unit may be configured as a touch panel and function as an input device that accepts various operations from the operator.

[0034] The nozzle station 60 (main unit side nozzle station 60a) accommodates multiple suction nozzles 30 in an automatically replaceable manner. Specifically, the nozzle station 60 (main unit side nozzle station 60a) is detachably mounted on a base in the area between the substrate transport device 11 and the component supply device 12, and adjacent to the component camera 14. The mounting head 20 can move to the nozzle station 60 (main unit side nozzle station 60a) and exchange the suction nozzle 30 it is holding with the suction nozzle 30 housed in the nozzle station 60 (main unit side nozzle station 60a). By automatically exchanging the suction nozzles 30, the mounting head 20 can increase the types and number of usable suction nozzles 30, enabling the mounting of multiple types of components 91 with different sizes, etc.

[0035] 1-3. Example of Nozzle Supply Unit 50 Configuration As previously described, the nozzle station 60a on the machine side is fixed to the base of the component mounting machine WM3, and the attachment and detachment of the nozzle station 60a on the machine side is performed by an operator when the component mounting machine WM3 is not in operation. Therefore, it may be difficult for the nozzle station 60a on the machine side to flexibly supply multiple types of suction nozzles 30 in accordance with changes in the type of product substrate 900 being produced.

[0036] Therefore, the parts supply device 12 can be equipped with a nozzle supply unit 50. The nozzle supply unit 50 can be positioned on the feeder holder 12a in the parts mounting machine WM3 in a manner interchangeable with the tape feeder 40, and supplies suction nozzles 30 to the parts mounting machine WM3. The nozzle supply unit 50 also includes a nozzle station 60 (supply-side nozzle station 60b) capable of accommodating the suction nozzles 30. Similar to the main-machine nozzle station 60a, the suction nozzles 30 can be arranged in a planar manner at the supply-side nozzle station 60b. The supply-side nozzle station 60b is also detachably provided on the nozzle supply unit 50. The nozzle supply unit 50 of this embodiment can be mounted in the slot 12s of the feeder holder 12a.

[0037] Specifically, the nozzle supply unit 50 has an external shape that is generally the same as that of the tape feeder 40, except for the width dimension (the dimension in the transport direction (X-axis direction) of the substrate 90), and is compatible with the tape feeder 40 for mounting. Therefore, the nozzle supply unit 50 can be detachably mounted in one or more slots 12s of the feeder holder 12a. When the nozzle supply unit 50 is mounted in a slot 12s, the mounting head 20 can exchange the suction nozzle 30 with the supply-side nozzle station 60b, similar to the main-machine-side nozzle station 60a.

[0038] As shown in Figure 5, the nozzle supply unit 50 has various components assembled to a main body 51 including side plates. The main body 51 is formed in a box shape that is flattened in the width direction (X-axis direction) and can be mounted in a slot 12s of the feeder holding base 12a. Specifically, the nozzle supply unit 50 comprises a nozzle station 60 (supply-side nozzle station 60b), the main body 51, a lifting drive unit 52, a restricting drive unit 53, and a unit control unit 54.

[0039] The supply-side nozzle station 60b is provided so as to be able to move up and down at the supply position PP0 set on the upper tip side of the main body 51. In either the main-side nozzle station 60a or the supply-side nozzle station 60b, the nozzle station 60 only needs to be able to accommodate the suction nozzles 30 arranged in a planar manner, and can take various forms. As shown in Figure 6, for example, the nozzle station 60 comprises a base body 61, a base plate 62, and a cover plate 65. The base body 61 is formed in the shape of a rectangular frame in plan view. The base body 61 has a height dimension that is greater than the length dimension of the tip side of the flange 32 of the suction nozzle 30, and secures space inside for housing the nozzle shaft 34 of the suction nozzle 30.

[0040] The base plate 62 is a storage member arranged on a plane and having multiple storage sections (storage holes) capable of accommodating the suction nozzle 30. The base plate 62 is a rectangular plate-shaped member and is placed over the top of the base body 61. The base plate 62 has multiple stepped storage holes 63 and multiple fitting pins 64. The multiple stepped storage holes 63 are arranged at two-dimensional grid points that are approximately equal in spacing, except for the outer edge in the longitudinal direction of the base plate 62.

[0041] The diameter of the large-diameter upper portion of the stepped housing hole 63 is larger than the diameter of the flange 32 of the suction nozzle 30. Also, the height dimension of the large-diameter upper portion of the stepped housing hole 63 is slightly larger than the thickness of the flange 32. The diameter of the small-diameter lower portion of the stepped housing hole 63 is smaller than the diameter of the flange 32 and larger than the diameter of the body shaft 31. Multiple fitting pins 64 are arranged on the longitudinal outer edge of the base plate 62 and stand upright.

[0042] The cover plate 65 is a restricting member that prevents the suction nozzle 30, which is housed in the stepped housing hole 63, from popping out except during automatic replacement. The cover plate 65 is a plate-shaped member that is approximately the same shape and size as the base plate 62, and is slidably positioned above the base plate 62. The cover plate 65 is provided with a plurality of restricting holes 66 and a plurality of elongated holes 69. Each of the plurality of restricting holes 66 is positioned above the stepped housing hole 63.

[0043] Each of the plurality of regulating holes 66 has a shape in which a large-diameter arc portion 67 and a small-diameter arc portion 68 are arranged side by side in the longitudinal direction of the cover plate 65. The diameter of the large-diameter arc portion 67 is larger than the diameter of the flange 32. Also, the diameter of the small-diameter arc portion 68 is smaller than the diameter of the flange 32 and larger than the diameter of the body axis 31. Furthermore, even if there is a constricted portion between the large-diameter arc portion 67 and the small-diameter arc portion 68 of the regulating hole 66, it is sufficient that the opening width dimension of the constricted portion is larger than the diameter of the body axis 31.

[0044] Each of the plurality of long holes 69 is formed along the longitudinal direction of the cover plate 65 and is respectively arranged on the fitting pins 64. Each of the plurality of long holes 69 is fitted with a gap provided so that the fitting pins 64 can move relatively. Thereby, the cover plate 65 can slide in the longitudinal direction with respect to the base plate 62. Also, the fitting pins 64 are enlarged in diameter above passing through the long holes 69, and the deviation of the cover plate 65 upward is suppressed.

[0045] The nozzle station 60 is operated to a collectable state when automatically exchanging the suction nozzle 30. In the collectable state, the cover plate 65 is slid, and the large-diameter arc portion 67 of the regulating hole 66 and the stepped accommodation hole 63 overlap vertically. Then, the flange 32 of the suction nozzle 30 to be received descends through the large-diameter arc portion 67 and is placed on the stepped portion of the stepped accommodation hole 63. Also, the flange 32 of the suction nozzle 30 to be delivered ascends from the stepped portion of the stepped accommodation hole 63 through the large-diameter arc portion 67.

[0046] On the other hand, the nozzle station 60 is operated to a non-collectable state during normal times other than during automatic exchange to restrict the protrusion of the held suction nozzle 30. In the non-collectable state, the sliding movement of the cover plate 65 is returned to the original position, and the small-diameter arc portion 68 of the regulating hole 66 and the stepped accommodation hole 63 overlap vertically. Then, the flange 32 is sandwiched and accommodated between the small-diameter portion of the stepped accommodation hole 63 and the periphery of the small-diameter arc portion 68, thereby suppressing the protrusion of the suction nozzle 30.

[0047] As shown in FIG. 5, the lifting drive unit 52 and the regulation drive unit 53 are provided on the proximal end side with respect to the supply-side nozzle station 60b. The lifting drive unit 52 drives the supply-side nozzle station 60b to move up and down between a collectable position P2 on the upper side in the vertical direction (Z-axis direction) and a non-collectable position P1 on the lower side in the vertical direction (Z-axis direction) via a known transmission mechanism. The regulation drive unit 53 controls the sliding movement of the cover plate 65 via a known transmission mechanism, and switches the collectable state and the non-collectable state of the suction nozzle 30 at the supply-side nozzle station 60b. The lifting drive unit 52 and the regulation drive unit 53 can use a known drive source (for example, an electromagnetic solenoid or the like).

[0048] The lifting drive unit 52 holds the supply-side nozzle station 60b at the non-collectable position P1 when the drive power is lost, and exhibits a fail-safe function. That is, when the drive power is not supplied to the nozzle supply unit 50 equipped in the component mounting machine WM3 for some reason, the supply-side nozzle station 60b is not lifted to the collectable position P2, so that interference between the supply-side nozzle station 60b and other parts is suppressed. Further, the regulation drive unit 53 makes the supply-side nozzle station 60b in a non-collectable state when the drive power is lost, and exhibits a fail-safe function. That is, even when the nozzle supply unit 50 is removed from the slot 12s and the drive power is not supplied, the protrusion of the suction nozzle 30 is suppressed.

[0049] The unit control unit 54 is arranged at the lower part on the proximal end side of the main body unit 51. The unit control unit 5 control the lifting drive unit 52 and the regulation drive unit 53, and monitors the state of the lock mechanism. The unit control unit 54 is communicably connected to the control device 16 of the component mounting machine WM3 via a connector, and performs control according to commands from the control device 16. The supply position PP0 of the suction nozzle 30 when the nozzle supply unit 50 is equipped in the slot 12s is the same position as the supply position PP0 of the tape feeder 40 equipped in the slot 12s. The mounting head 20 can move to the supply position PP0 of the nozzle supply unit 50 and perform automatic replacement of the suction nozzle 30.

[0050] The nozzle supply unit 50, equipped in slot 12s, raises the supply-side nozzle station 60b to the sampling-enabled position P2 when the suction nozzle 30 is automatically replaced. This raises the supply-side nozzle station 60b to a height where the mounting head 20 can descend and the suction nozzle 30 can be automatically replaced. In addition, during normal operation other than when the suction nozzle 30 is automatically replaced, the nozzle supply unit 50 lowers the supply-side nozzle station 60b to the non-sampling position P1 and keeps it in standby mode. This prevents interference between the supply-side nozzle station 60b and the mounting head 20 and suction nozzle 30, which descend for the suction processing of the part 91.

[0051] 1-4. Example of Nozzle Replacement System 70 Configuration As previously described, the component mounting machine WM3 includes, for example, a main-machine side nozzle station 60a, which is a nozzle station 60 provided on the base, and a supply-side nozzle station 60b, which is a nozzle station 60 provided on a nozzle supply unit 50 that is detachably equipped on the component mounting machine WM3. In this way, when a plurality of nozzle stations 60 are provided, the component mounting machine WM3 can replace the suction nozzle 30 between the nozzle stations 60 using the mounting head 20.

[0052] However, while the suction nozzle 30 is being replaced between nozzle stations 60 using the mounting head 20 of the component mounting machine WM3, production of product substrates 900 cannot be carried out. Therefore, the longer the time required to replace the suction nozzle 30, the lower the production efficiency of the substrate work line WL0 becomes. To address this, a nozzle replacement system 70 is provided in this embodiment. The nozzle replacement system 70 allows for efficient replacement of the suction nozzle 30 between nozzle stations 60.

[0053] When viewed as a control block, the nozzle replacement system 70 comprises a moving unit 71 and a replacement unit 72. The nozzle replacement system 70 may also include a guide unit 73. The nozzle replacement system 70 may also include an acquisition unit 74. As shown in Figure 7, the nozzle replacement system 70 of the embodiment comprises a moving unit 71, a replacement unit 72, a guide unit 73, and an acquisition unit 74. The moving unit 71, the replacement unit 72, the guide unit 73, and the acquisition unit 74 can be provided in various control devices and management devices.

[0054] For example, at least one of the moving unit 71, the replacement unit 72, the guide unit 73, and the acquisition unit 74 can be provided in the control device 16 of the component mounting machine WM3. At least one of the moving unit 71, the replacement unit 72, the guide unit 73, and the acquisition unit 74 can also be provided in the line management device LC0, the management device HC0, etc. At least one of the moving unit 71, the replacement unit 72, the guide unit 73, and the acquisition unit 74 can also be formed on the cloud. The moving unit 71, the replacement unit 72, the guide unit 73, and the acquisition unit 74 can also be distributed and arranged on various control devices, management devices, the cloud, etc.

[0055] As shown in Figure 7, in the nozzle replacement system 70 of this embodiment, the moving unit 71, the replacement unit 72, the guiding unit 73, and the acquisition unit 74 are all provided on the control device 16 of the component mounting machine WM3. The matters described herein can be selected and applied as appropriate. Furthermore, the matters described herein can be combined as appropriate.

[0056] 1-4-1. Moving section 71 and replacement section 72 If there is an empty socket 60s1 in the destination nozzle station 60 that can accommodate a replacement suction nozzle 30t, the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold can be taken from the source nozzle station 60 and set in the destination nozzle station 60.

[0057] However, if there are no available sockets 60s1 at the nozzle station 60 to be replaced that can accommodate a replacement suction nozzle 30t, the replacement suction nozzle 30t cannot be set, which may reduce the efficiency of nozzle replacement. Therefore, the nozzle replacement system 70 includes a moving unit 71 and a replacement unit 72. The moving unit 71, when there are no available sockets 60s1 at the nozzle station 60 to be replaced that can accommodate a replacement suction nozzle 30t, provides the mounting head 20 with at least one available holder 20h1 capable of holding the replacement suction nozzle 30t, and moves the mounting head 20 to the nozzle station 60.

[0058] In the above case, the movable unit 71 only needs to be able to provide at least one empty holder 20h1 on the mounting head 20, and the number of empty holders 20h1 is not limited. For example, the movable unit 71 can provide one empty holder 20h1 on the mounting head 20, and the holders 20h other than the empty holder 20h1 can hold the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold.

[0059] Figure 8 shows an example of a configuration in which there are no available sockets 60s1 in the replacement nozzle station 60 that can accommodate a replacement suction nozzle 30t. For example, the nozzle station 60 from which the nozzles are to be replaced is the main unit nozzle station 60a, and the nozzle station 60 to which the nozzles are to be replaced is the supply-side nozzle station 60b. In the example shown in the figure, the main unit nozzle station 60a houses eight replacement suction nozzles 30t, indicated by white circles, and sixteen non-asymmetric nozzles 30nt, indicated by black circles. Non-asymmetric nozzles 30nt refer to suction nozzles 30 other than the replacement suction nozzles 30t.

[0060] Furthermore, the supply-side nozzle station 60b houses eight replacement suction nozzles 30t, indicated by hatched circles, and eight asymmetrical nozzles 30nt, indicated by black circles. Thus, the supply-side nozzle station 60b is provided with a socket (corresponding to the stepped housing hole 63 described above) capable of housing 16 suction nozzles 30, but there are no empty sockets 60s1 that can newly house replacement suction nozzles 30t. In the example shown in the figure, the mounting head 20 is provided with eight holders 20h, each capable of holding a suction nozzle 30. In the mounting head 20 shown in the figure, no suction nozzles 30 are held, and eight empty holders 20h1, indicated by dashed circles, are formed.

[0061] Figure 9 shows an example of a state in which a replacement suction nozzle 30t is held in the holder 20h of the mounting head 20. As shown in the figure, the mounting head 20 is provided with one empty holder 20h1. In addition, the other seven holders 20h hold seven replacement suction nozzles 30t, indicated by white circles, which were taken from the nozzle station 60a on the machine side, which is the nozzle station from which the nozzles are replaced.

[0062] In this way, the movable unit 71 provides one empty holder 20h1 on the mounting head 20, and allows the holders 20h other than the empty holder 20h1 to hold the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold (in this case, seven). As a result, the nozzle station 60a on the main unit side has seven empty sockets 60s1, indicated by the dashed circles.

[0063] The mounting head 20 is provided with at least one empty holder 20h1 (in the above example, one empty holder 20h1), so the mounting head 20 can use the empty holder 20h1 to pick up and hold the replacement suction nozzle 30t housed in the nozzle station 60 to be replaced. The replacement unit 72 then causes the mounting head 20, which has been moved to the nozzle station 60 to be replaced by the moving unit 71, to pick up the replacement suction nozzle 30t from the nozzle station 60 to be replaced, and sets the replacement suction nozzle 30t held by the mounting head 20 into the empty socket 60s1 created by the picking.

[0064] Figure 10 shows an example of the state after a replacement suction nozzle 30t has been picked up from the replacement nozzle station 60. Specifically, Figure 10 shows that one of the eight replacement suction nozzles 30t, indicated by the hatched circles in Figure 9, which are housed in the supply-side nozzle station 60b, has been picked up and is being held in one of the empty holders 20h1 of the mounting head 20, indicated by the dashed circle in Figure 9.

[0065] Figure 11 shows an example of the state after a replacement suction nozzle 30t held by the mounting head 20 has been set into the empty socket 60s1 created by the sampling in Figure 10. Specifically, Figure 11 shows that one of the seven replacement suction nozzles 30t, indicated by the white circles in Figure 10, is housed in the empty socket 60s1 of the supply-side nozzle station 60b, indicated by the dashed circle in Figure 10. As a result, one empty holder 20h1, indicated by the dashed circle in Figure 11, is formed on the mounting head 20.

[0066] Therefore, the replacement unit 72 can cause the mounting head 20 to retrieve another replacement suction nozzle 30t from the nozzle station 60 to be replaced, and to set the other replacement suction nozzle 30t held by the mounting head 20 into the empty socket 60s1 created by the retrieval. In this way, the replacement unit 72 can repeat the process of retrieving replacement suction nozzles 30t from the nozzle station 60 to be replaced and setting the replacement suction nozzles 30t held by the mounting head 20 into the empty socket 60s1 until all of the replacement suction nozzles 30t held by the mounting head 20 have been replaced.

[0067] Once the replacement of all the replacement suction nozzles 30t held by the mounting head 20 is complete, the moving unit 71 moves the mounting head 20 to the main unit nozzle station 60a, which is the nozzle station 60 from which the replacement was performed. The replacement unit 72 then sets the replacement suction nozzles 30t held by the mounting head 20 into the empty sockets 60s1 of the main unit nozzle station 60a, which the mounting head 20 has moved to the nozzle station 60 from which the replacement was performed by the moving unit 71. In the above example, the mounting head 20 holds seven replacement suction nozzles 30t, indicated by the hatched circles. These seven replacement suction nozzles 30t, indicated by the hatched circles, are then housed in the empty sockets 60s1 of the main unit nozzle station 60a.

[0068] Note that one replacement suction nozzle 30t remains at the nozzle station 60a on the main unit side, indicated by a white circle. Also, one replacement suction nozzle 30t remains at the supply-side nozzle station 60b, indicated by a hatched circle. The moving unit 71, in the same manner as the first time, causes the holder 20h of the mounting head 20 to hold the remaining replacement suction nozzle 30t, and moves the mounting head 20 to the supply-side nozzle station 60b, which is the nozzle station 60 to be replaced. The replacement unit 72 then causes the mounting head 20, which has been moved to the supply-side nozzle station 60b by the moving unit 71, to pick up a replacement suction nozzle 30t from the supply-side nozzle station 60b, and sets the replacement suction nozzle 30t held by the mounting head 20 into the empty socket 60s1 created by the picking.

[0069] The moving unit 71 then moves the mounting head 20 to the main unit nozzle station 60a, which is the nozzle station 60 from which the nozzles are replaced. The replacement unit 72 then sets the replacement suction nozzle 30t held by the mounting head 20, which has been moved to the nozzle station 60 from which the nozzles are replaced by the moving unit 71, into the empty socket 60s1 of the main unit nozzle station 60a. In the above example, the mounting head 20 holds one replacement suction nozzle 30t, indicated by the hatched circle. The replacement suction nozzle 30t, indicated by the hatched circle, is then housed in the empty socket 60s1 of the main unit nozzle station 60a.

[0070] In the example above, the nozzle station 60 to be replaced is designated as the main unit nozzle station 60a, and the nozzle station to be replaced is designated as the supply-side nozzle station 60b. However, it is also possible to designate the nozzle station 60 to be replaced as the supply-side nozzle station 60b, and the nozzle station to be replaced as the main unit nozzle station 60a. In either configuration, the moving unit 71 can move the mounting head 20 between the main unit nozzle station 60a, which is a nozzle station 60 provided on the base of the component mounting machine WM3, and the supply-side nozzle station 60b, which is a nozzle station 60 provided on the nozzle supply unit 50 that is detachably equipped on the component mounting machine WM3.

[0071] Furthermore, the replacement suction nozzle 30t can be any suction nozzle 30 that is replaced between nozzle stations 60, and is not limited to any other type. For example, the recovery nozzle 30a is included in the replacement suction nozzle 30t. The recovery nozzle 30a refers to a suction nozzle 30 that is recovered from the component mounting machine WM3. For example, a suction nozzle 30 that is no longer used in the production of product substrates 900 in the component mounting machine WM3 is included in the recovery nozzle 30a. Also, a suction nozzle 30 that requires maintenance is included in the recovery nozzle 30a.

[0072] In the previously described example, the recovery nozzle 30a corresponds to the replacement suction nozzle 30t, indicated by the white circle, housed in the main unit nozzle station 60a in Figure 8. For example, when there is a recovery nozzle 30a, which is the suction nozzle 30 to be recovered from the component mounting machine WM3, the moving unit 71 has the mounting head 20 hold the recovery nozzle 30a and moves it to the supply-side nozzle station 60b, which is the nozzle station to be replaced. The replacement unit 72 can then set the recovery nozzle 30a held by the mounting head 20 into an empty socket 60s1 that has become available in the supply-side nozzle station 60b.

[0073] Furthermore, the supply nozzle 30b is included in the replacement suction nozzle 30t. The supply nozzle 30b refers to the suction nozzle 30 supplied from the supply-side nozzle station 60b to the component mounting machine WM3. For example, the supply nozzle 30b is a suction nozzle 30 that is required in the production of the product substrate 900 in the component mounting machine WM3, and is supplied to the component mounting machine WM3 based on the production plan for the product substrate 900 in the component mounting machine WM3.

[0074] In the example described above, the supply nozzle 30b corresponds to the replacement suction nozzle 30t, indicated by the hatched circle, housed in the supply-side nozzle station 60b in Figure 8. For example, when there is a supply nozzle 30b, which is a suction nozzle 30 supplied from the supply-side nozzle station 60b to the component mounting machine WM3, the moving unit 71 has the mounting head 20 hold the supply nozzle 30b and moves it to the replacement nozzle station 60, which is the main machine-side nozzle station 60a. The replacement unit 72 can then set the supply nozzle 30b held by the mounting head 20 into an empty socket 60s1 that has become available in the main machine-side nozzle station 60a.

[0075] Furthermore, if the mounting head 20 is holding an asymmetric nozzle 30nt, which is a suction nozzle 30 other than the replacement suction nozzle 30t, at the start of the suction nozzle 30 replacement, the number of replacement suction nozzles 30t that the mounting head 20 can hold decreases compared to the case where the asymmetric nozzle 30nt is not held. Therefore, the replacement unit 72 is better configured to set the asymmetric nozzle 30nt in an empty socket 60s1 of the nozzle station 60a on the main unit side when the mounting head 20 is holding an asymmetric nozzle 30nt, which is a suction nozzle 30 other than the replacement suction nozzle 30t, at the start of the suction nozzle 30 replacement.

[0076] Figure 12 shows an example of a suction nozzle 30 held in the holder 20h of the mounting head 20. The mounting head 20 shown in the figure holds four replaceable suction nozzles 30t, indicated by white circles, and four asymmetrical nozzles 30nt, indicated by black circles. As previously described, the four replaceable suction nozzles 30t, indicated by white circles, are the recovery nozzles 30a. When they are returned to the nozzle station 60a on the main unit side, they need to be held in the mounting head 20 again and moved to the nozzle station 60b on the supply side.

[0077] Therefore, the replacement unit 72 returns only the four asymmetric nozzles 30nt, indicated by the black circles, to the main unit nozzle station 60a. Specifically, the replacement unit 72 sets the four asymmetric nozzles 30nt, indicated by the black circles, into the empty sockets 60s1 of the main unit nozzle station 60a. Figure 13 shows an example of the state after the asymmetric nozzles 30nt have been returned to the main unit nozzle station 60a. As a result, the mounting head 20 shown in the figure holds the four replacement suction nozzles 30t, indicated by the white circles, and four empty holders 20h1, indicated by the dashed circles, are formed.

[0078] Figure 14 shows an example of a state in which a replacement suction nozzle 30t is held in the holder 20h of the mounting head 20. This figure shows a state in which three of the four empty holders 20h1, indicated by dashed circles in Figure 13, hold three replacement suction nozzles 30t, indicated by white circles. This allows the mounting head 20 to have one empty holder 20h1, and the holders 20h other than the empty holder 20h1 can hold the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold (in this case, seven). Therefore, the replacement unit 72 can perform nozzle replacement in the same manner as in the example described above.

[0079] Furthermore, if there is an empty socket 60s1 at the destination nozzle station 60 that can accommodate a replacement suction nozzle 30t, the mobile unit 71 can take the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold from the source nozzle station 60 and move them to the destination nozzle station 60.Then the replacement unit 72 can set the replacement suction nozzles 30t held by the mounting head 20, which has been moved to the destination nozzle station 60 by the mobile unit 71, into the empty socket 60s1 at the destination nozzle station 60.

[0080] For example, consider the case where the supply-side nozzle station 60b shown in Figure 8 does not house the eight asymmetrical nozzles 30nt indicated by the black circles (i.e., eight empty sockets 60s1 are provided). In this case, the moving unit 71 takes the maximum number of replacement suction nozzles 30t indicated by the white circles that the mounting head 20 can hold (eight in this case) from the source nozzle station 60, which is the main unit nozzle station 60a, and moves them to the destination nozzle station 60, which is the supply-side nozzle station 60b. Then, the replacement unit 72 sets the eight replacement suction nozzles 30t, indicated by the white circles, held by the mounting head 20 that has been moved to the destination nozzle station 60 by the moving unit 71, into the eight empty sockets 60s1 of the destination nozzle station 60.

[0081] Furthermore, the moving unit 71 retrieves the maximum number of replacement suction nozzles 30t indicated by hatched circles that the mounting head 20 can hold (in this case, 8) from the supply-side nozzle station 60b, which is the nozzle station from which the nozzles are to be replaced, and moves them to the main unit-side nozzle station 60a, which is the nozzle station to which the nozzles are to be replaced. Then, the replacement unit 72 sets the 8 replacement suction nozzles 30t, indicated by hatched circles, held by the mounting head 20 that has been moved to the nozzle station 60 by the moving unit 71, into the 8 empty sockets 60s1 of the nozzle station 60 (sockets that housed the 8 replacement suction nozzles 30t, indicated by 8 white circles).

[0082] For example, in the nozzle station 60a on the main unit side shown in Figure 8, it is also possible to consider a case where eight of the sixteen asymmetric nozzles 30nt indicated by black circles are not accommodated (i.e., eight empty sockets 60s1 are provided). In this case, as described above, the nozzle station 60a on the main unit side and the supply side nozzle station 60b are swapped, and the replacement suction nozzles 30t indicated by white circles are swapped with the replacement suction nozzles 30t indicated by hatched circles. Furthermore, in both cases where there are empty sockets 60s1 at the nozzle station 60 to be replaced and where there are not, the maximum number of replacement suction nozzles 30t that the mounting head 20 can hold is indicated as an upper limit. The actual number of replacement suction nozzles 30t that the mounting head 20 collects can be set from various perspectives, and one example of how to set this is explained in the control example by the nozzle replacement system 70 described later.

[0083] 1-4-2. Guide Unit 73 and Acquisition Unit 74 Assume a case where there are no available sockets 60s1 at either the main unit nozzle station 60a or the supply side nozzle station 60b, and it is not possible to provide an available holder 20h1 on the mounting head 20. In this case, the mounting head 20 cannot replace the nozzle. Therefore, the guide unit 73 provides guidance that the suction nozzle 30 cannot be replaced when there are no available sockets 60s1 at either the main unit nozzle station 60a or the supply side nozzle station 60b, and it is not possible to provide an available holder 20h1 on the mounting head 20.

[0084] The guidance unit 73 only needs to be able to provide the above-mentioned guidance and can take various forms. For example, the guidance unit 73 can provide guidance on the display screen of the component mounting machine WM3, such as the display device 17, that the suction nozzle 30 cannot be replaced. The guidance unit 73 can also provide voice guidance that the suction nozzle 30 cannot be replaced. Furthermore, the guidance unit 73 can provide guidance on a portable terminal carried by the worker that the suction nozzle 30 cannot be replaced.

[0085] An operator who has received the above instructions can, for example, install an empty socket 60s1 in the main unit nozzle station 60a or the supply side nozzle station 60b. Also, if the mounting head 20 has one holder 20h, or if the mounting head 20 has multiple holders 20h, but only one holder 20h is available due to a malfunction or other reason (hereinafter referred to as "the case where there is one available holder"), this corresponds to a case where an empty holder 20h1 cannot be installed in the mounting head 20. In this case, an operator who has received the above instructions can also replace the mounting head 20 with one that can accommodate an empty holder 20h1.

[0086] Furthermore, the moving unit 71 and the replacement unit 72 can obtain information about replacement suction nozzles 30t by various methods. For example, the nozzle replacement system 70 may include an acquisition unit 74. The acquisition unit 74 obtains a list LT0 which shows at least one of the suction nozzles 30a, which are suction nozzles 30 to be recovered from the component mounting machine WM3, and the supply nozzles 30b, which are suction nozzles 30 to be supplied from the supply nozzle station 60b to the component mounting machine WM3.

[0087] Figure 15 shows an example of information regarding the suction nozzles 30 housed in the main unit nozzle station 60a and the supply side nozzle station 60b. For example, the line management device LC0 stores station identification information SID0, nozzle identification information NID0, nozzle information NF0, etc., associated with each nozzle station 60. Station identification information SID0 refers to information that can identify the nozzle station 60. Nozzle identification information NID0 refers to information that can identify the suction nozzles 30 housed in the nozzle station 60. Nozzle information NF0 refers to various information regarding the suction nozzles 30.

[0088] Figure 15 shows that the nozzle station 60a on the main unit side is equipped with a nozzle station 60 whose station identification information SID0 is indicated by station identification information SID1. Furthermore, the nozzle station 60 is equipped with n (n is a natural number, and the same applies hereinafter) housing sections (also called sockets, corresponding to the stepped housing holes 63 described above) capable of accommodating suction nozzles 30, and the housing section numbers SN0 that can identify the n housing sections are indicated by housing section numbers SN11 to SN1n. Moreover, it is shown that the housing section with housing section number SN11 houses a suction nozzle 30 whose nozzle identification information NID0 is indicated by nozzle identification information NID11. The same applies to the housing sections with housing section numbers SN12 and above as described above.

[0089] Furthermore, the same applies to the nozzle station 60, where the station identification information SID0 provided in the supply-side nozzle station 60b is indicated by the station identification information SID2. In other words, the housing unit number SN0 of the nozzle station 60 is indicated by housing unit numbers SN21 to SN2n, and the nozzle identification information NID0 is indicated by nozzle identification information NID21 to NID2n.

[0090] The nozzle information NF0 indicates whether the housed suction nozzle 30 is a replacement suction nozzle 30t or an unasymmetrical nozzle 30nt. Furthermore, if the housed suction nozzle 30 is a replacement suction nozzle 30t, the nozzle information NF0 indicates whether the housed suction nozzle 30 is a recovery nozzle 30a or a supply nozzle 30b. Thus, the acquisition unit 74 can acquire information about the suction nozzle 30 shown in Figure 15 from the line management device LC0 and obtain the list LT0 shown in Figure 16.

[0091] In the list LT0 shown in Figure 16, the suction nozzle 30 housed in the housing unit number SN11, whose nozzle identification information NID0 is NID11, is shown to be a recovery nozzle 30a. Similarly, the suction nozzle 30 housed in the housing unit number SN12, whose nozzle identification information NID0 is NID12, is shown to be a recovery nozzle 30a. Furthermore, the suction nozzle 30 housed in the housing unit number SN21, whose nozzle identification information NID0 is NID21, is shown to be a supply nozzle 30b. Similarly, the suction nozzle 30 housed in the housing unit number SN22, whose nozzle identification information NID0 is NID22, is shown to be a supply nozzle 30b.

[0092] The acquisition unit 74 can also add the resulting suction nozzle 30 to list LT0 if at least one of the recovery nozzle 30a and supply nozzle 30b occurs after acquiring list LT0. For example, nozzle information NF0 may include maintenance information. Maintenance information refers to information indicating whether or not maintenance is required for the suction nozzle 30. For example, the more times the suction nozzle 30 is used, the more likely foreign matter (e.g., dirt) is to adhere to the opening of the nozzle shaft 34. Also, the more times the suction nozzle 30 is used, the more likely the elastic member of the nozzle shaft 34 is to deteriorate. The acquisition unit 74 can add any recovery nozzle 30a that requires maintenance to list LT0 after acquiring list LT0.

[0093] The acquisition unit 74 can also remove the replaced suction nozzle 30 from list LT0 if at least one of the recovery nozzle 30a and supply nozzle 30b shown in list LT0 is replaced by the replacement unit 72. For example, suppose that the suction nozzle 30 whose nozzle identification information NID0 is NID11 and which is housed in the housing unit number SN11 shown in list LT0 in Figure 16 is replaced with the suction nozzle 30 whose nozzle identification information NID0 is NID21 and which is housed in the housing unit number SN21.

[0094] In this case, the acquisition unit 74 removes from list LT0 the suction nozzle 30 whose nozzle identification information NID0 is indicated by nozzle identification information NID11 and the suction nozzle 30 whose nozzle identification information NID0 is indicated by nozzle identification information NID21 and the suction nozzle 30 whose nozzle identification information NID0 is indicated by nozzle identification information NID21 and the suction nozzle 30 whose nozzle identification information NID0 is indicated by nozzle identification information NID21. As a result, the moving unit 71 and the replacement unit 72 can appropriately obtain the replacement suction nozzle 30t for which the nozzle replacement will be performed.

[0095] 1-4-3. Example of control by the nozzle replacement system 70 For example, the nozzle replacement system 70 performs control according to the flowchart shown in Figures 17 to 24. As shown in Figure 17, the nozzle replacement system 70 first prepares and returns the suction nozzle 30 held by the mounting head 20 (step S10). Then, the nozzle replacement system 70 performs the processing or decision shown in steps S20 to S60 until both the recovery nozzle 30a and the supply nozzle 30b are used up (until No in step S70).

[0096] Specifically, the nozzle replacement system 70 selects the nozzle station 60 to be replaced (step S20). If the selected nozzle station 60 is the machine-side nozzle station 60a (if the answer is Yes in step S40), the nozzle replacement system 70 performs nozzle replacement at the machine-side nozzle station 60a (step S50). If the selected nozzle station 60 is the supply-side nozzle station 60b (if the answer is No in step S40), the nozzle replacement system 70 performs nozzle replacement at the supply-side nozzle station 60b (step S60).

[0097] During the preparation and return of the suction nozzle 30 held by the mounting head 20, the processes or decisions shown in Figures 18 and 19 are performed. Specifically, first, the nozzle exchange system 70 determines whether or not there is a recovery nozzle 30a in the list LT0 (step S11). If there is a recovery nozzle 30a in the list LT0 (if the answer is Yes in step S11), the nozzle exchange system 70 determines whether or not there is an empty socket 60s1 in the supply-side nozzle station 60b (step S12). If there is no empty socket 60s1 in the supply-side nozzle station 60b (if the answer is Yes in step S12), the nozzle exchange system 70 sets the system not to remove the recovery nozzle 30a held by the mounting head 20 (step S13).

[0098] More specifically, the nozzle replacement system 70 configures the suction nozzles 30 so that the recovery nozzles 30a held by the mounting head 20 are not removed from the mounting head 20, up to a maximum number obtained by subtracting one from the number of holders 20h on the mounting head 20. Also, if there is an empty socket 60s1 at the supply-side nozzle station 60b (if the answer is No in step S12), the nozzle replacement system 70 configures the system so that the recovery nozzles 30a held by the mounting head 20 are not removed (step S14). More specifically, the nozzle replacement system 70 configures the suction nozzles 30 so that the recovery nozzles 30a held by the mounting head 20 are not removed from the mounting head 20, up to a maximum number of holders 20h on the mounting head 20.

[0099] When the process shown in step S13 or step S14 is completed, the nozzle replacement system 70 executes the process shown in step S15. Also, if there is no recovery nozzle 30a in list LT0 (if the result is No in step S11), the nozzle replacement system 70 does not perform the judgment and process shown in steps S12 to S14 described above, but instead executes the process shown in step S15. Specifically, the nozzle replacement system 70 calculates the number of nozzles that do not need to be returned (step S15).

[0100] As shown in Figure 19, first, the nozzle replacement system 70 determines whether or not there are any empty sockets 60s1 at the supply nozzle station 60b (step S15a). If there are no empty sockets 60s1 at the supply nozzle station 60b (if the answer is Yes in step S15a), the nozzle replacement system 70 sets the number of holders 20h that can have their nozzles replaced at one time (step S15b). More specifically, the nozzle replacement system 70 sets the number of holders 20h that can have their nozzles replaced at one time to the larger of the number of supply nozzles 30b in list LT0 and the number of recovery nozzles 30a in list LT0 plus 1.

[0101] Furthermore, if there is an empty socket 60s1 at the supply nozzle station 60b (if the answer is No in step S15a), the nozzle replacement system 70 sets the number of holders 20h that can have their nozzles replaced at one time (step S15c). More specifically, the nozzle replacement system 70 sets the number of holders 20h that can have their nozzles replaced at one time to the larger of the number of supply nozzles 30b in list LT0 and the number of recovery nozzles 30a in list LT0. In either case, the nozzle replacement system 70 determines whether the number of holders 20h on the mounting head 20 is greater than the set number of holders 20h (step S15d).

[0102] If the number of holders 20h on the mounting head 20 is greater than the set number of holders 20h (if the answer is Yes in step S15d), the nozzle replacement system 70 calculates the number of nozzles that do not need to be returned (step S15e). More specifically, the nozzle replacement system 70 calculates the number of nozzles that do not need to be returned by subtracting the number of holders 20h that can be replaced at one time from the number of holders 20h on the mounting head 20. Also, if the number of holders 20h on the mounting head 20 is less than or equal to the set number of holders 20h (if the answer is No in step S15d), the nozzle replacement system 70 calculates the number of nozzles that do not need to be returned (step S15f). More specifically, the nozzle replacement system 70 sets the number of nozzles that do not need to be returned to zero.

[0103] In either case, as shown in Figure 18, the nozzle replacement system 70 designates the suction nozzles 30 held on the mounting head 20 as nozzles that do not need to be removed, up to the calculated number of nozzles that do not need to be returned (step S16). Then, the nozzle replacement system 70 returns the suction nozzles 30 to be removed from the mounting head 20 to the machine-side nozzle station 60a (step S17). As a result, the nozzle replacement system 70 can appropriately return the non-asymmetric nozzles 30nt held on the mounting head 20 at the start of suction nozzle 30 replacement to the machine-side nozzle station 60a.

[0104] Furthermore, the process or decision shown in Figures 20 to 22 is performed when selecting the replacement nozzle station 60. Specifically, as shown in Figure 20, first, the nozzle replacement system 70 determines whether or not it is the first time the replacement nozzle station 60 is being selected (step S21). If it is the first selection (if Yes in step S21), the nozzle replacement system 70 determines whether or not there is a recovery nozzle 30a in list LT0 (step S22). If there is a recovery nozzle 30a in list LT0 (if Yes in step S22), the nozzle replacement system 70 sets the replacement nozzle station 60 to the main unit nozzle station 60a in order to prioritize the work at the main unit nozzle station 60a (step S23).

[0105] If the recovery nozzle 30a is not in list LT0 (if the answer is No in step S22), the nozzle replacement system 70 sets the replacement nozzle station 60 to the supply side nozzle station 60b (step S24). Also, as shown in Figure 21, in the case of the second or subsequent selection (if the answer is No in step S21), the nozzle replacement system 70 determines whether the mounting head 20 is holding the recovery nozzle 30a (step S25). If the mounting head 20 is holding the recovery nozzle 30a (if the answer is Yes in step S25), the nozzle replacement system 70 sets the replacement nozzle station 60 to the supply side nozzle station 60b in order to prioritize the transfer of the recovery nozzle 30a held by the mounting head 20 (step S26).

[0106] If the mounting head 20 does not hold the recovery nozzle 30a (if the answer is No in step S25), the nozzle replacement system 70 determines whether condition 1 is met (step S27). Condition 1 is when there is a supply nozzle 30b in the list LT0, the mounting head 20 does not hold the supply nozzle 30b, and there is no recovery nozzle 30a in the list LT0. If condition 1 is met (if the answer is Yes in step S27), the nozzle replacement system 70 sets the nozzle station to be replaced as the supply nozzle station 60b in order to prioritize the work at the supply nozzle station 60b (step S28).

[0107] As shown in Figure 22, if condition 1 is not met (the answer is No in step S27), the nozzle replacement system 70 determines whether condition 2 is met (step S29). Condition 2 is when there is a supply nozzle 30b in the list LT0, the mounting head 20 does not hold the supply nozzle 30b, and the number of effective holders on the mounting head 20 is one. In principle, work at the main unit nozzle station 60a is given priority, so if there is a supply nozzle 30b in the list LT0 and the mounting head 20 does not hold the supply nozzle 30b, there is a possibility that there are no available sockets 60s1 at the supply-side nozzle station 60b.

[0108] If there are no available sockets 60s1 at the supply-side nozzle station 60b, and the number of effective holders for the mounting head 20 is one, nozzle replacement cannot be started from the main unit nozzle station 60a. Therefore, if condition 2 is met (Yes in step S29), the nozzle replacement system 70 sets the nozzle station 60 to be replaced to the supply-side nozzle station 60b (step S30). If condition 2 is not met (No in step S29), the nozzle replacement system 70 sets the nozzle station 60 to be replaced to the main unit nozzle station 60a (step S31).

[0109] Furthermore, when replacing nozzles at the nozzle station 60a on the main unit side, the process or decision shown in Figure 23 is performed. Specifically, as shown in Figure 23, first, the nozzle replacement system 70 sets a predetermined number of supply nozzles 30b held by the mounting head 20 (step S51). More specifically, the nozzle replacement system 70 sets the supply nozzles 30b using the smaller of the number of supply nozzles 30b on the mounting head 20 and the number of empty sockets 60s1 on the nozzle station 60a on the main unit side as the predetermined number.

[0110] The nozzle replacement system 70 then determines whether or not there are any empty sockets 60s1 at the supply-side nozzle station 60b (step S52). If there are no empty sockets 60s1 at the supply-side nozzle station 60b (if the answer is Yes in step S52), the nozzle replacement system 70 causes the mounting head 20 to hold a predetermined number of recovery nozzles 30a (step S53). More specifically, the nozzle replacement system 70 holds the recovery nozzles 30a by determining the predetermined number to be the smaller of the number of recovery nozzles 30a in list LT0 and the number of available holders 20h minus 1.

[0111] If there is an empty socket 60s1 at the supply nozzle station 60b (if the answer is No in step S52), the nozzle exchange system 70 causes the mounting head 20 to hold a predetermined number of recovery nozzles 30a (step S54). More specifically, the nozzle exchange system 70 holds the recovery nozzles 30a with the smaller of the number of recovery nozzles 30a in list LT0 and the number of collectible holders 20h as the predetermined number.

[0112] Furthermore, when replacing nozzles at the supply-side nozzle station 60b, the process or decision shown in Figure 24 is performed. Specifically, as shown in Figure 24, first, the nozzle replacement system 70 determines whether condition 3 is met (step S61). Condition 3 is when the number of available sockets 60s1 at the supply-side nozzle station 60b is equal to or greater than the number of recovery nozzles 30a on the mounting head 20. If condition 3 is met (Yes in step S61), the nozzle replacement system 70 sets a predetermined number of recovery nozzles 30a held by the mounting head 20 (step S62). More specifically, the nozzle replacement system 70 sets the number of recovery nozzles 30a on the mounting head 20 as the predetermined number.

[0113] If condition 3 is not met (if the answer is No in step S61), the nozzle replacement system 70 sets a predetermined number of recovery nozzles 30a held by the mounting head 20 (step S63). More specifically, the nozzle replacement system 70 sets the number of recovery nozzles 30a to the lesser of the number of empty sockets 60s1 in the supply-side nozzle station 60b and 1, whichever is less. Then, the nozzle replacement system 70 determines whether or not the mounting head 20 is holding recovery nozzles 30a (step S64).

[0114] If the mounting head 20 is holding the recovery nozzle 30a (if the answer is Yes in step S64), the nozzle replacement system 70 causes the mounting head 20 to hold a predetermined number of supply nozzles 30b (step S65). More specifically, the nozzle replacement system 70 holds the supply nozzles 30b with the predetermined number being the smaller of the number of supply nozzles 30b in list LT0, the number of empty sockets 60s1 in the machine-side nozzle station 60a, and the number of collectible holders 20h. If the mounting head 20 is not holding the recovery nozzle 30a (if the answer is No in step S64), the nozzle replacement system 70 causes the mounting head 20 to hold a predetermined number of supply nozzles 30b (step S66). More specifically, the nozzle replacement system 70 holds the supply nozzles 30b with the predetermined number being the smaller of the number of supply nozzles 30b in list LT0 and 1.

[0115] 2. Nozzle Replacement Method The same applies to the nozzle replacement method as described above for the nozzle replacement system 70. Specifically, the nozzle replacement method comprises a moving step and a replacement step. The moving step corresponds to the control performed by the moving unit 71. The replacement step corresponds to the control performed by the replacement unit 72. The nozzle replacement method may also include a guiding step. The guiding step corresponds to the control performed by the guiding unit 73. The nozzle replacement method may also include an acquisition step. The acquisition step corresponds to the control performed by the acquisition unit 74. Note that redundant explanations have been omitted in this specification.

[0116] 3. An example of the effects of the embodiment According to the nozzle replacement system 70, if there is no available socket 60s1 in the nozzle station 60 to be replaced that can accommodate a replacement suction nozzle 30t, the mounting head 20 is provided with at least one available holder 20h1 capable of holding the replacement suction nozzle 30t, and the suction nozzle 30 can be replaced. The same applies to the nozzle replacement method as described above for the nozzle replacement system 70.

[0117] 20: Mounting head, 20h: Holder, 20h1: Empty holder, 30: Suction nozzle, 30a: Recovery nozzle, 30b: Supply nozzle, 30t: Replacement suction nozzle, 30nt: Non-asymmetric nozzle, 50: Nozzle supply unit, 60: Nozzle station, 60a: Main unit nozzle station, 60b: Supply side nozzle station, 60s1: Empty socket, 70: Nozzle replacement system, 71: Moving unit, 72: Replacement unit, 73: Guide unit, 74: Acquisition unit, 91: Parts, LT0: List, WM3: Part mounting machine.

Claims

1. A nozzle replacement system for replacing a suction nozzle for picking up a part using a mounting head of a part mounting machine between nozzle stations capable of accommodating a suction nozzle for picking up a part, comprising: a moving unit that moves the mounting head to the destination nozzle station, provided with at least one empty holder capable of holding the replacement suction nozzle, when there is no empty socket capable of newly accommodating the replacement suction nozzle at the destination nozzle station; and a replacement unit that causes the mounting head, which has been moved to the destination nozzle station by the moving unit, to pick up the replacement suction nozzle from the destination nozzle station, and sets the replacement suction nozzle held by the mounting head into the empty socket created by the picking.

2. The nozzle replacement system according to claim 1, wherein the movable part is provided with one empty holder on the mounting head, and the holders other than the empty holder hold the maximum number of replacement suction nozzles that the mounting head can hold.

3. The nozzle replacement system according to claim 1 or 2, wherein the replacement unit repeatedly collects replacement suction nozzles from the nozzle station to be replaced and sets the replacement suction nozzles held by the mounting head into the empty sockets until all of the replacement suction nozzles held by the mounting head have been replaced.

4. The nozzle replacement system according to claim 1, wherein the moving part moves the mounting head between the main unit nozzle station, which is the nozzle station provided on the base of the component mounting machine, and the supply-side nozzle station, which is the nozzle station provided on a nozzle supply unit that is detachably equipped on the component mounting machine.

5. The nozzle replacement system according to claim 4, wherein, when there is a suction nozzle to be recovered from the component mounting machine, the moving unit causes the mounting head to hold the recovery nozzle and moves it to the supply-side nozzle station which is the nozzle station to be replaced, and the replacement unit causes the recovery nozzle held by the mounting head to be set in the empty socket that has been created in the supply-side nozzle station.

6. The nozzle replacement system according to claim 4 or 5, wherein the replacement unit causes the non-asymmetric nozzle to be set in the empty socket of the nozzle station on the main unit side when the mounting head is holding a non-asymmetric nozzle, which is a suction nozzle other than the replacement suction nozzle, at the start of the replacement of the suction nozzle.

7. The nozzle replacement system according to claim 4, further comprising a guide that indicates that the suction nozzle cannot be replaced when there are no available sockets in either the nozzle station on the main unit side or the nozzle station on the supply side, and the mounting head cannot be provided with the available holder.

8. The nozzle replacement system according to claim 4, comprising an acquisition unit that acquires a list showing at least one of the suction nozzles to be recovered from the component mounting machine and the suction nozzles to be supplied from the supply-side nozzle station to the component mounting machine.

9. The nozzle replacement system according to claim 8, wherein the acquisition unit adds the resulting adsorption nozzle to the list if at least one of the recovery nozzle and the supply nozzle occurs after the acquisition of the list.

10. The nozzle replacement system according to claim 8 or 9, wherein the acquisition unit removes the replaced adsorption nozzle from the list when at least one of the recovery nozzle and the supply nozzle shown in the list is replaced by the replacement unit.

11. A nozzle replacement method for replacing a suction nozzle for picking up a part using a mounting head of a part mounting machine between nozzle stations capable of accommodating a suction nozzle for picking up a part, comprising: a moving step of moving the mounting head to the nozzle station to be replaced, provided that the mounting head is equipped with at least one empty holder capable of holding the replacement suction nozzle, when there is no empty socket capable of newly accommodating the replacement suction nozzle at the nozzle station to be replaced; and a replacement step of having the mounting head, which has been moved to the nozzle station to be replaced by the moving step, pick up the replacement suction nozzle from the nozzle station to be replaced, and setting the replacement suction nozzle held by the mounting head into the empty socket created by the picking.

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