JP7197285B2 - Mounting equipment, mounting method - Google Patents

Description

The present disclosure relates to a mounting device and a mounting method.

2. Description of the Related Art Conventionally, as a mounting apparatus, there is known one having a rotary head in which a plurality of nozzles are arranged in the circumferential direction (see, for example, Patent Document 1). The rotary head described in Patent Document 1 is connected to a head motor via a timing belt or the like, and the entire head is rotated by power from the motor. Each nozzle of the rotary head is connected to a nozzle motor via a timing belt or the like, and the nozzles are simultaneously rotated by power from the nozzles. Each nozzle is rotated by rotating the entire head, and components are mounted on the substrate at a desired mounting angle by rotating each nozzle.

JP-A-2000-261198

In the rotary head described in Patent Document 1, the component is recognized while the nozzle is turning, and the mounting position of the component is corrected according to the recognition result. is required.

The present disclosure has been made in view of the above points, and one of the objects thereof is to provide a mounting apparatus and a mounting method capable of achieving high mounting precision in component mounting using a rotary head.

A mounting apparatus according to one aspect of the present disclosure is a mounting apparatus that mounts a component held by each nozzle by a rotary head having a plurality of nozzles arranged in a circumferential direction, wherein the plurality of nozzles pass through a mounting position and a recognition position. a first drive source that rotates the rotary head to a predetermined position; a second drive source that rotates the nozzle angles of all nozzles in accordance with the mounting angle of the component held by the nozzle at the mounting position; A recognition unit that recognizes a component held by a nozzle at a recognition angle directed by rotation of the nozzle angle; a storage unit that stores a plurality of correction values, and the nozzle angles of all the nozzles are rotated by the second drive source in accordance with the mounting angle of the component held by the nozzle at the mounting position; The recognition angle of the component held by the nozzle at the recognition position is changed, and the plurality of correction values corresponding to the mounting angle for each recognition angle of the component are adjusted to match the nozzle angle to the mounting angle at the mounting position. and an error in the recognition result for each recognition angle, which is the nozzle angle of the recognition position .

According to the present disclosure, in a rotary head in which a plurality of nozzles are arranged in the circumferential direction, the nozzle angles of all nozzles are rotated in accordance with the mounting angle of a component held by the nozzle at the mounting position. The recognition angle of the part held in is changed. The storage unit stores not only the error when the nozzle angle is adjusted to the mounting angle at the mounting position, but also a plurality of correction values that take into account the error of the recognition result for each recognition angle, which is the nozzle angle at the recognition position. there is Therefore, even if the recognition angle of the component held by the nozzle at the recognition position is changed, when the component reaches the mounting position, the optimum correction value considering the error of the recognition result for each recognition angle is selected. By using this correction value, the mounting accuracy can be improved by correcting the nozzle position based on the component recognition result.

1 is a schematic side view showing an entire mounting apparatus according to an embodiment; FIG. FIG. 2 is a schematic top view showing the entire mounting apparatus of the present embodiment; FIG. 2 is a schematic side view of the rotary head of the embodiment; FIG. 5 is an explanatory diagram showing an example of nozzle operation according to the present embodiment; FIG. 5 is an explanatory diagram showing an example of a storage state of correction values in a comparative example; FIG. 4 is an explanatory diagram showing an example of a storage state of correction values according to the embodiment; FIG. 5 is an explanatory diagram showing an example of nozzle operation according to the present embodiment;

A mounting apparatus according to the present embodiment will be described below with reference to the accompanying drawings. FIG. 1 is a schematic side view showing the entire mounting apparatus of this embodiment. FIG. 2 is a schematic top view showing the entire mounting apparatus of this embodiment. FIG. 3 is a schematic side view of the rotary head of this embodiment. It should be noted that the mounting apparatus of the present embodiment is merely an example, and can be modified as appropriate.

As shown in FIGS. 1 and 2, the mounting apparatus 1 is configured to mount a component 25 supplied from a feeder 20 on a predetermined position of a substrate W by a rotary head 30. As shown in FIG. Substantially in the center of the base 10 of the mounting apparatus 1, a substrate transfer section 11 for transferring the substrate W in the X-axis direction is arranged. The board transfer unit 11 loads the board W before component mounting from one end side in the X-axis direction below the rotary head 30 and positions it, and carries out the board W after component mounting to the other end side in the X-axis direction. there is A large number of feeders 20 are arranged side by side in the X-axis direction on both sides of the substrate transfer section 11 .

A tape reel is detachably attached to the feeder 20, and a carrier tape (not shown) in which a large number of components 25 are packaged is wound around the tape reel. Each feeder 20 feeds out the parts 25 in order toward the supply position where they are picked up by the rotary head 30 by rotation of the sprocket wheel in the device. At the supply position of the rotary head 30, the surface cover tape is peeled off from the carrier tape, and the components 25 in the pockets of the carrier tape are exposed to the outside. In this embodiment, a tape feeder is exemplified as the feeder 20, but other feeders may be provided.

A moving mechanism 13 is provided above the base 10 to horizontally move the rotary head 30 in the XY-axis direction and vertically move it in the Z-axis direction. The moving mechanism 13 has an X-axis driving portion 14 extending in the X-axis direction, a pair of Y-axis driving portions 15 extending in the Y-axis direction, and a Z-axis driving portion 16 extending in the Z-axis direction. A pair of Y-axis driving portions 15 are supported by support portions 17 erected at the four corners of the base 10, and an X-axis driving portion 14 is installed on the pair of Y-axis driving portions 15 so as to be movable in the Y-axis direction. ing. A Z-axis driving unit 16 is installed on the X-axis driving unit 14 so as to be movable in the Y-axis direction, and a rotary head 30 is installed on the Z-axis driving unit 16 so as to be able to move up and down in the Z-axis direction.

The rotary head 30 has a plurality of nozzles 32 arranged in a circumferential direction on a head base 31, and rotates the plurality of nozzles 32 as the head base 31 rotates. The rotation axis of the head base 31 is tilted, and height differences are generated in the orbits of the plurality of nozzles 32 . When the nozzle 32 passes the lowest position during turning, the component 25 is picked up from the feeder 20 by the nozzle 32 , and the component 25 is mounted at a predetermined position on the substrate W by the nozzle 32 . Further, when the nozzle 32 passes the uppermost position during turning, the part 25 held by the nozzle 32 is recognized, and the nozzle position is corrected based on this recognition result.

More specifically, as shown in FIG. 3 , the rotary head 30 has a head base 31 rotatably supported inside a housing 33 , and a plurality of nozzles 32 are arranged around a rotation axis 34 of the head base 31 . is configured to rotate. The head base 31 is formed in a substantially truncated cone shape, and is connected to the upper wall of the housing 33 via a rotating shaft 34 inclined at a predetermined angle. A plurality of (16 in this embodiment) nozzles 32 are arranged on the outer periphery of the head base 31 . A head motor 35 (first drive source) is connected to the head base 31 via a timing belt or the like, and a nozzle motor 36 (second drive source) is connected to each nozzle 32 via a timing belt or the like. ) are linked.

The rotation shaft 34 of the head base 31 is tilted so that the drive shaft of the nozzle 32 faces the vertical direction when the nozzle 32 is positioned at the lowest mounting position. Therefore, the component 25 is mounted on the substrate W by driving the drive shaft of the nozzle 32 up and down when the nozzle 32 passes through the mounting position during rotation. The housing 33 is provided with a mirror 37 that reflects the holding state of the component 25 by the nozzle 32 from below when the nozzle 32 is positioned at the recognition position point-symmetrical to the mounting position. A recognition unit 38 for recognizing the component 25 reflected on the mirror 37 is provided right above the mirror 37 .

The rotary head 30 is rotated around the rotary shaft 34 by the head motor 35, so that the plurality of nozzles 32 are turned so as to pass through the mounting position and the recognition position. The nozzle angle of the nozzle 32 at the mounting position is adjusted to match the mounting angle of the component 25 by the nozzle motor 36 . At this time, since it is necessary to rotate all the nozzles 32 with a single motor 36, the nozzle angles of not only the nozzles 32 at the mounting position but also all the nozzles 32 at other positions are rotated. By adjusting the nozzle angle of the nozzle 32, the component 25 can be mounted on the substrate W at an appropriate mounting angle.

The mounting apparatus 1 is provided with a control section 40 that performs integrated control of each section of the apparatus. The control unit 40 is provided with a storage unit 41 that stores correction values, which will be described later. The control unit 40 is composed of a processor, a memory, and the like that execute various processes. The memory is composed of one or a plurality of storage media such as ROM (Read Only Memory) and RAM (Random Access Memory) depending on the application. The memory stores a control program for the entire mounting apparatus 1 and a program for causing the mounting apparatus 1 to execute the mounting method using the rotary head 30 while correcting the nozzle position.

Incidentally, as shown in FIG. 4A, the rotary head 30 is assigned index numbers 1-16 in order from the top in the turning direction, index numbers 1-8 being the first half nozzles, and index numbers 9-16 being the second half nozzles. is set to The mounting position P1 and the recognition position P2 have a point-symmetrical positional relationship, and when the nozzle 32 at the beginning of the first half nozzles (index number 1) reaches the mounting position P1, the nozzle 32 at the beginning of the second half nozzles (index number 9) reaches the mounting position P1. reaches the recognition position P2. In this manner, while the component 25 is being mounted by either the first half nozzle or the second half nozzle, the component 25 is recognized by the other.

Since there is no preceding nozzle for mounting the component 25 in the first half nozzle, the nozzle angle is not rotated even if the first half nozzle passes the recognition position P2. On the other hand, since the former nozzle for mounting the component 25 precedes the latter nozzle, the nozzle angle is rotated when the latter nozzle passes the recognition position P2. More specifically, when the first half nozzles reach the mounting position P1, the nozzle angles of all the nozzles 32 are rotated in accordance with the mounting angle of the component 25 held by the nozzles 32 at the mounting position P1. , the nozzle angle of the nozzle 32 of the second half nozzle is also rotated.

For example, as shown in FIG. 4B, a nozzle angle is set for each nozzle 32 with reference to the direction normal to the rotating direction of the rotary head 30 . Before the nozzle 32 (for example, index number 1) that mounts the component 25 passes through the mounting position P1, angle adjustment corresponding to the mounting angle of the component 25 is not performed at the mounting position P1, and the nozzle 32 at the recognition position P2 , the nozzle angle is never rotated. Therefore, at the recognition position P2, the nozzle angle of each nozzle 32 is not changed from 0°, and the component 25 held by the first half nozzles is always recognized at the recognition angle of 0°.

As shown in FIG. 4C, after the nozzle 32 (for example, index number 1) for mounting the component 25 has passed the mounting position P1, the nozzle angles of all the nozzles 32 are adjusted to match the mounting angle of the component 25 at the mounting position P1. is adjusted. When the mounting angle of the component 25 held by the nozzle 32 at the mounting position P1 is adjusted from 0° to 90°, the recognition angle of the component 25 held by the nozzle 32 at the recognition position P2 is changed from 0° to 90°. be done. Therefore, the mounting angle of the component 25 held by the first half nozzle is changed but the recognition angle is not changed, and both the mounting angle and the recognition angle of the component 25 held by the second half nozzle may be changed. .

In such a rotary head 30, the component 25 is mounted on the substrate W at the mounting position P1 based on the recognition result of the component 25 at the recognition position P2. Since the nozzle 32 is misaligned due to the mounting angle of the component 25, it is necessary to correct the nozzle position according to the mounting angle. By pre-storing a correction value corresponding to the mounting angle of the component 25 in the storage unit 41, the nozzle position of each nozzle 32 can be corrected using the correction value. Since the recognition angle of the first half nozzles does not change and only the second half nozzles changes, the correction values are stored separately for the first half nozzles and the second half nozzles.

In the comparative example shown in FIG. 5, for the first half nozzles with index numbers 1 to 8, the recognition angle does not change from 0°. Correction values A to D are set. For the second half nozzles with index numbers 9-16, correction values EH corresponding to mounting angles of 0°, 90°, 180° and 270° are set in common for recognition angles of 0°, 90°, 180° and 270°. It is That is, in the comparative example, correction values common to a plurality of recognition angles are stored for each mounting angle, assuming that the influence of errors due to recognition angles is extremely small.

However, as a result of correcting the nozzle positions using the correction values described above, although the first half nozzles of index numbers 1-8 can be mounted with high accuracy, the second half nozzles of index numbers 9-16 do not have sufficient mounting accuracy. I didn't get it. As a result of investigation by the present applicant, it was found that although the influence of mechanical positional deviation due to the difference in the recognition angle is small, the error in the recognition result due to the difference in the recognition angle greatly affects the mounting accuracy. That is, the mounting accuracy is also affected by changes in the appearance of the component 25 depending on the misalignment of the optical axis of the recognition unit 38 and the degree of light hitting the component 25 .

Therefore, in the mounting apparatus 1 of the present embodiment, a plurality of correction values corresponding to mounting angles are stored in the storage unit 41 (see FIG. 1) for each recognition angle of the component 25 . As a result, the nozzle position is corrected with an appropriate correction value considering the mounting angle and recognition angle of the component 25 . In addition to the mechanical error due to the difference in the recognition angle, the error in the recognition result due to the difference in the recognition angle is taken into consideration, so the mounting accuracy of the component 25 on the board W can be improved. Therefore, there is no variation in the mounting accuracy between the first half nozzle and the second half nozzle, and the components 25 can be mounted with high precision even with the second half nozzle as with the first half nozzle.

The nozzle operation will be described below with reference to FIGS. 6 and 7. FIG. FIG. 6 is an explanatory diagram showing an example of a storage state of correction values according to the present embodiment. FIG. 7 is an explanatory diagram showing an example of nozzle operation according to the present embodiment.

As shown in FIG. 6A, the storage unit 41 stores a plurality of correction values corresponding to mounting angles for each component recognition angle. Since the recognition angle of the first half nozzle is constant as described above, a correction value corresponding to the mounting angle of the component 25 is stored for the index number of the first half nozzle. Since the recognition angle of the second half nozzle is changed according to the mounting angle of the first half nozzle, a correction value corresponding to the mounting angle is stored for each recognition angle of the component 25 for the index number of the second half nozzle. In this manner, the storage unit 41 manages the correction values separately for the index numbers of the first half nozzles and the index numbers of the second half nozzles.

Specifically, for index numbers 1 to 8 of the first half nozzles, correction values A to D corresponding to mounting angles of 0°, 90°, 180°, and 270° are set for a recognition angle of 0°. For index numbers 9-16 of the second half nozzles, correction values ET corresponding to mounting angles 0°, 90°, 180°, and 270° are set for each recognition angle of 0°, 90°, 180°, and 270°. It is Here, correction values for four recognition angles and mounting angles are exemplified, but the storage unit 41 may store correction values corresponding to four or more recognition angles and mounting angles. Correction values corresponding to four or less recognition angles and mounting angles may be stored.

Further, the storage unit 41 stores a correction value corresponding to the mounting angle at equal intervals for each recognition angle at equal intervals (90° intervals in this embodiment). Corresponding correction values are not stored. In this case, the correction value between the recognition angle and the mounting angle may be linearly calculated from the correction values stored in the storage unit 41 . For example, when the recognition angle and the mounting angle of index number 9 are both 45°, the correction values E and F for the recognition angle of 0° and the mounting angle of 0° and 90° and the mounting angle of 0° and 90° for the recognition angle of 90° The correction values I and J for ° and the average value are calculated as correction values.

In this way, the nozzle position can be corrected using the correction value between the recognition angle and the mounting angle that are not stored in the storage unit 41 . In addition, by suppressing the number of correction values stored in the storage unit 41, the resource usage of the storage unit 41 can be reduced. As the nozzle position correction value, an offset amount (X, Y) in the XY direction may be stored, or an offset amount (X, Y, θ) in the XY θ direction may be stored. The XY direction of the nozzle position is corrected by the moving mechanism 13 (see FIG. 1), and the .theta. direction of the nozzle position is corrected by the motor 36 (see FIG. 3) for the nozzle 32. FIG.

Next, an example of nozzle operation will be described. For example, as shown in the left diagram of FIG. 7A, when the rotary head 30 is rotated and the nozzle 32 with index number 1 reaches the recognition position P2, the nozzle 32 with index number 9 reaches the mounting position P1. At this time, since the nozzle 32 with the index number 9 passes through the mounting position P1 without being mounted, the nozzle angle of the nozzle 32 with the index number 1 is not rotated at the recognition position P2. Therefore, at the recognition position P2, the component 25 held by the nozzle 32 with the index number 1 is recognized with the recognition angle of 0°. Similarly, the nozzles 32 with index numbers 2-8 are also recognized at the recognition angle of 0°.

As shown in the central view of FIG. 7A, when the nozzle 32 with index number 1 reaches mounting position P1, the nozzle angle of all nozzles 32 is 90° in accordance with the mounting angle of component 25 held at index number 1. adjusted to At the mounting position P1, the correction value B (see FIG. 6) corresponding to the mounting angle of 90° is read from the storage unit 41, and the component 25 is mounted while the nozzle position of the nozzle 32 with the index number 1 is corrected with the correction value B. Actions are performed. At the recognition position P2, the component 25 held by the nozzle 32 of index number 9 is recognized by the recognition unit 38 (see FIG. 3) in a state in which the recognition angle is 90° due to the rotation of the nozzle angle. Similarly, the mounting operation of the nozzles 32 with index numbers 2-8 and the recognition operation with index numbers 10-16 are performed.

As shown in the right diagram of FIG. 7A, when the nozzle 32 with the index number 9 reaches the mounting position P1, the nozzle angle of all the nozzles 32 is 0° in accordance with the mounting angle of the component 25 held at the index number 9. adjusted to At the mounting position P1, the correction value I (see FIG. 6) corresponding to the recognition angle of 90° and the mounting angle of 0° is read out from the storage unit 41, and the nozzle position of the nozzle 32 with the index number 9 is corrected with the correction value I. While the component 25 is being mounted, the mounting operation is performed. Similarly, for the nozzles 32 with index numbers 10-16, the mounting operation is performed while the nozzle positions are corrected with correction values corresponding to the recognition angle and the mounting angle.

Further, for example, as shown in the central diagram of FIG. 7B, when the mounting angle of the component 25 held at index number 1 is 270°, correction is made with the correction value D (see FIG. 6) corresponding to the mounting angle of 270°. The mounting operation is performed while At this time, at the recognition position P2, the component 25 held by the nozzle 32 of index number 9 is recognized by the recognition unit 38 (see FIG. 3) in a state in which the recognition angle is directed to 270° due to the rotation of the nozzle angle. Further, as shown in the right diagram of FIG. 7B, when the mounting angle of the component 25 held at index number 9 is 180°, the correction value S corresponding to the mounting angle of 180° at the recognition angle of 270° is used. be.

As described above, in the mounting apparatus 1 of the present embodiment, the nozzle angles of all the nozzles 32 are rotated according to the mounting angle of the component 25 held by the nozzle 32 at the mounting position P1. The recognition angle of the component 25 held by the nozzle 32 is changed. The storage unit 41 stores a plurality of correction values considering not only the error when the nozzle angle is matched to the mounting angle at the mounting position P1 but also the error of the recognition result for each recognition angle which is the nozzle angle at the recognition position P2. remembered. Therefore, even if the recognition angle of the component 25 held by the nozzle 32 at the recognition position P2 is changed, when the component 25 reaches the mounting position P1, the optimum correction value considering the error of the recognition result for each recognition angle is obtained. selected. By using this correction value, it is possible to correct the nozzle position based on the recognition result of the component 25 and improve the mounting accuracy.

In addition, in the present embodiment, a rotary head with an inclined rotating shaft has been described as an example, but the present invention is not limited to this configuration. The rotary head may be one in which a plurality of nozzles are arranged in the circumferential direction, for example, one in which the rotation axis is vertical.

In addition, in the present embodiment, the motor connected to the rotary head via a timing belt or the like was exemplified as the first drive source, but the configuration is not limited to this. The first drive source may be configured in any way as long as it can rotate the rotary head.

In addition, in the present embodiment, the motor connected to the plurality of nozzles via the timing belt or the like was exemplified as the second drive source, but the configuration is not limited to this. The second drive source may be configured in any way as long as it can rotate the nozzle angles of all the nozzles.

Further, in the present embodiment, the recognition unit is not limited to a configuration that captures an image of a component for image recognition, and may be configured to recognize the component, for example, a configuration that recognizes the component by laser recognition.

Further, in this embodiment, the mounting position and the recognition position are configured to have a point-symmetrical positional relationship, but the present invention is not limited to this configuration. The mounting position and the recognition position may be set at different positions on the orbital trajectory of the plurality of nozzles.

In addition, in the present embodiment, index numbers are assigned to the plurality of nozzles in order from the top in the turning direction, but the present invention is not limited to this configuration. A plurality of nozzles may be indexed in a identifiable manner, for example alphabetical letters instead of index numbers.

In addition, in the present embodiment, the storage unit is configured to store the correction value corresponding to the mounting angle at equal intervals for each recognition angle at equal intervals. It is sufficient if the correction values are stored, and the recognition angles and the mounting angles do not have to be at equal intervals.

Moreover, in the present embodiment, the component is not particularly limited to an electronic component as long as it can be mounted on the board.

Moreover, in the present embodiment, the substrate is not limited to a printed substrate, and may be a flexible substrate placed on a jig substrate.

Also, the program of the present embodiment may be stored in a storage medium. The storage medium is not particularly limited, but may be a non-transitory storage medium such as an optical disk, a magneto-optical disk, or a flash memory.

Also, although the present embodiment and modifications have been described, other embodiments may be obtained by combining the above-described embodiments and modifications in whole or in part.

Further, the technology of the present disclosure is not limited to the above-described embodiments and modifications, and may be variously changed, replaced, and modified without departing from the spirit of the technical idea. Furthermore, if the technical idea can be realized in another way by advancement of technology or another derived technology, the method may be used for implementation. Therefore, the claims cover all implementations that may fall within the scope of the technical concept.

Characteristic points in the above embodiment are summarized below.
The mounting apparatus described in the above embodiments is a mounting apparatus that mounts a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in a circumferential direction. a first driving source that rotates the rotary head to the correct position, a second driving source that rotates the nozzle angles of all the nozzles according to the mounting angle of the component held by the nozzle at the mounting position, and a nozzle held at the recognition position a recognition unit that recognizes the projected component at the recognition angle oriented by rotation of the nozzle angle; and a storage unit that stores the

The mounting method described in the above embodiment is a mounting method for mounting a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in a circumferential direction. a step of rotating the rotary head to the mounting position; a step of rotating the nozzle angles of all the nozzles according to the mounting angle of the component held by the nozzle at the mounting position; and rotating the nozzle angle of the component held by the nozzle at the recognition position and a step of recognizing the part at the recognition position and the recognition angle of the part at the recognition position from a storage unit storing a plurality of correction values corresponding to the mounting angle for each recognition angle of the part. and correcting the nozzle position based on the part recognition result using the correction value corresponding to the mounting angle.

According to these configurations, since the nozzle angles of all the nozzles are rotated according to the mounting angle of the component held by the nozzle at the mounting position, the recognition angle of the component held by the nozzle at the recognition position is changed. . The storage unit stores not only the error when the nozzle angle is adjusted to the mounting angle at the mounting position, but also a plurality of correction values that take into account the error of the recognition result for each recognition angle, which is the nozzle angle at the recognition position. there is Therefore, even if the recognition angle of the component held by the nozzle at the recognition position is changed, when the component reaches the mounting position, the optimum correction value considering the error of the recognition result for each recognition angle is selected. By using this correction value, the mounting accuracy can be improved by correcting the nozzle position based on the component recognition result.

In the mounting apparatus according to the above embodiment, the mounting position and the recognition position are in a positional relationship of point symmetry, and among the plurality of nozzles, the nozzle angle of the first half nozzle is not rotated at the recognition position, and the second half nozzle is held by the first half nozzle. The nozzle angle is rotated at the recognition position in accordance with the mounting angle of the component. According to this configuration, the driving of the nozzles can be controlled separately for the first half nozzles and the second half nozzles.

In the mounting apparatus described in the above embodiment, index numbers are assigned to the plurality of nozzles in order from the top in the turning direction, and the storage unit stores correction values corresponding to component mounting angles for the index numbers of the first half nozzles. is stored, and a correction value corresponding to the mounting angle is stored for each recognition angle of the component with respect to the index numbers of the nozzles in the second half. According to this configuration, the correction values can be managed separately for the index numbers of the first half nozzles and the index numbers of the second half nozzles.

In the mounting apparatus according to the above embodiment, the storage unit stores a correction value corresponding to the equally spaced mounting angle for each equally spaced recognition angle, and the correction value between the recognition angle and the mounting angle is It is linearly calculated from the correction values stored in the storage unit. According to this configuration, correction can be performed using a correction value between the recognition angle and the mounting angle that are not stored in the storage unit.

1: mounting device 25: component 30: rotary head 32: nozzle 35: motor (first drive source)
36: Motor (second drive source)
38: recognition unit 41: storage unit P1: mounting position P2: recognition position

Claims (5)

A mounting device that mounts a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in a circumferential direction,
a first drive source that rotates the rotary head so that the plurality of nozzles pass through a mounting position and a recognition position;
a second drive source for rotating the nozzle angles of all nozzles in accordance with the mounting angle of the component held by the nozzle at the mounting position;
a recognition unit that recognizes a component held by the nozzle at the recognition position at a recognition angle directed by rotation of the nozzle angle;
a storage unit that stores a plurality of correction values corresponding to mounting angles for each recognition angle of the component in order to correct the nozzle position based on the recognition result of the component ;
The nozzle angles of all the nozzles are rotated by the second driving source according to the mounting angle of the component held by the nozzle at the mounting position, and the component held by the nozzle at the recognition position is recognized. the angle is changed,
The plurality of correction values corresponding to the mounting angle for each recognition angle of the component are the error when the nozzle angle is matched to the mounting angle at the mounting position and the nozzle angle at the recognition position for each recognition angle. A mounting apparatus characterized by a plurality of correction values considering errors in recognition results . The mounting position and the recognition position have a point-symmetrical positional relationship,
Among the plurality of nozzles, the nozzle angle of the first half nozzle is not rotated at the recognition position, and the nozzle angle of the second half nozzle is rotated at the recognition position in accordance with the mounting angle of the component held by the first half nozzle. The mounting apparatus according to claim 1. index numbers are assigned to the plurality of nozzles in order from the top in the turning direction;
The storage unit stores a correction value corresponding to the component mounting angle for the index number of the first half nozzle, and stores a correction value corresponding to the mounting angle for each recognition angle of the component for the index number of the second half nozzle. The mounting apparatus according to claim 2, characterized by: The storage unit stores correction values corresponding to equally spaced mounting angles for each equally spaced recognition angle,
4. The mounting apparatus according to claim 1, wherein the correction value between the recognition angle and the mounting angle is linearly calculated from the correction value stored in the storage unit. A mounting method for mounting a component held by each nozzle by a rotary head in which a plurality of nozzles are arranged in a circumferential direction,
rotating the rotary head by a first drive source such that the plurality of nozzles pass through a mounting position and a recognition position;
rotating the nozzle angles of all the nozzles by a second drive source in accordance with the mounting angle of the component held by the nozzle at the mounting position;
a step of recognizing a component held by a nozzle at the recognition position at a recognition angle oriented by rotation of the nozzle angle by a recognition unit;
Using a correction value corresponding to the recognition angle of the component at the recognition position and the mounting angle of the component at the recognition position from a storage unit storing a plurality of correction values corresponding to the mounting angle for each recognition angle of the component. correcting the nozzle position based on the part recognition result ;
The nozzle angles of all the nozzles are rotated by the second driving source according to the mounting angle of the component held by the nozzle at the mounting position, and the component held by the nozzle at the recognition position is recognized. a step in which the angle is changed ;
The plurality of correction values corresponding to the mounting angle for each component recognition angle are an error when the nozzle angle is matched to the mounting angle at the mounting position, and each recognition angle, which is the nozzle angle at the recognition position. a plurality of correction values considering an error in the recognition result of .

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