CN102753006B

CN102753006B - Component mounting method

Info

Publication number: CN102753006B
Application number: CN201210248932.9A
Authority: CN
Inventors: 矶贝武义; 野沢瑞穗; 须原信介
Original assignee: Fuji Machine Manufacturing Co Ltd
Current assignee: Fuji Corp
Priority date: 2007-11-21
Filing date: 2008-11-12
Publication date: 2015-05-27
Anticipated expiration: 2028-11-12
Also published as: CN101869012A; JP5014083B2; JP2009130014A; WO2009066592A1; CN101869012B; CN102753006A

Abstract

Provided are a component mounting head, a component mounting device, and a side surface image acquiring device for an adsorption nozzle and a component to be adsorbed which can prevent the extension of cycle time even in the case where a side surface recognition function is used. The component mounting head comprises a rotatable nozzle holder (17), a plurality of adsorption nozzles (18) which are held movable in an axis line direction and which mount a component on a printed-circuit board, a nozzle holder locating device for rotating the nozzle holder about the axis line and sequentially locating the plurality of adsorption nozzles on a working position, a back-and-forth adsorption nozzle transfer device for transferring the adsorption nozzle back and forth in the axis line direction, and a side surface recognition camera for acquiring the side surface image of the component. In the component mounting head, the side surface image acquiring device for acquiring the side surface images of the leading ends of the adsorption nozzles located on a posterior position (S1-1) and an anterior position (S1+1) posterior to and anterior to the working position is provided.

Description

Part mounting method

The divisional application that the application is the applying date is on May 21st, 2010, application number is 200880117199.9, denomination of invention is the application of " component mounting head, apparatus for mounting part, suction nozzle and the side image acquisition device by adsorbent parts ".

Technical field

The present invention relates to part mounting method, and for part being arranged on component mounting head on substrate, there is the apparatus for mounting part of this component mounting head, obtain suction nozzle and be attracted to this suction nozzle front end part side image suction nozzle and by the side image acquisition device of adsorbent parts.

Background technology

Such as, describe in patent documentation 1 and there is the apparatus for mounting part of such electronic-circuit-component as acquisition device, in electronic-circuit-component installation system etc., maintenance electronic-circuit-component is adsorbed by suction nozzle, to be arranged on circuit substrate thus to be set up electronic circuit, electronic-circuit-component as acquisition device for obtaining the information being in hold mode by the suction of electronic-circuit-component.

In this apparatus for mounting part, as as described in a part for the specification of No. 2006-114697, the Patent of the applicant's earlier application, before and after the installation action of the parts such as electronic component, the part be adsorbed on suction nozzle is taken, confirm whether part is reliably arranged on substrate.Now, acquired image must be the image in the shooting of stable position.That is, when obtaining the image of part, take under the state that must stop at suction nozzle.

For this reason, as shown in figure 16 in the past, suction nozzle frame (swivel head: revolver head) is made to rotate (1) around R axle, be positioned on job position S1 by having adsorbed the suction nozzle 1 that should obtain the part of image thus, in this case, the image obtaining the leading section (part) of suction nozzle 1, to confirm that part is appropriately adsorbed on suction nozzle 1, on this basis, makes suction nozzle 1 perform down maneuver (2) in the Z-axis direction thus be arranged on substrate by part.In addition, after making suction nozzle 1 perform vertical motion (3) in the Z-axis direction, obtain the image of suction nozzle 1 to confirm noresidue part, then, make suction nozzle frame rotate (4) around R axle, the suction nozzle 1 adsorbing next part is positioned on job position S1.

In addition, patent documentation 2 describes the IC testing fixture utilizing a shooting camera to obtain inner face image with the IC of projection (bump) and side image.

Patent documentation 1:JP JP 2004-172465 publication,

Patent documentation 2:JP JP 2007-149908 publication.

Summary of the invention

The problem that invention will solve

But, in the existing device shown in Figure 16, in the common installation action not using side recognition function, make rotation (R axle) motion of suction nozzle frame and the lifting (Z axis) motion action simultaneously (overlapping action: overlap) of suction nozzle, thus can part is transported on substrate; But when using side recognition function, in order to obtain the image of the suction nozzle of job position, cannot action simultaneously.Therefore, the motion of R axle and Z axis must be carried out as described above in order, there is the cycle long, the problem that productivity is low.

In addition, when part moves on the installation site that will install on substrate by component mounting head, the direction of rotation of suction nozzle frame is positioned at the suction part of the rear line position at job position rear, and the suction nozzle being positioned at the first line position in job position front does not have adsorbent parts.Before part is arranged on substrate, the rear line position side image of the part utilizing the front end of the suction nozzle and this suction nozzle that move to rear line position to adsorb is needed to confirm with or without part, measure the height of part, to confirm in posture and decision table, in the case, rear line position side image needs to take part large area over half, and the leading position side image of the part utilizing the front end of the suction nozzle and this suction nozzle moving to first line position to adsorb, only confirm with or without part, as long as therefore leading position side image has the small size of the fore-end degree of shooting suction nozzle.

On the other hand, in the IC testing fixture that patent documentation 2 is recorded, cannot utilize a side shooting camera, leading position side image surface and the rear line position profile of the part suction nozzle and this suction nozzle that move to first line position and rear line position respectively adsorbed photograph on a picture.

The present invention is the invention made in view of the current fact, and object is, provides a kind of component mounting head and apparatus for mounting part, the cycle also can be prevented elongated when using side recognition function; And, there is provided a kind of suction nozzle and by the side image acquisition device of adsorbent parts, can with side shooting camera, a picture is taken with different image areas the leading position side image surface of the part that the suction nozzle of the first line position in job position front and the rear line position at rear in the direction of rotation moving to suction nozzle frame (nozzle holder) and suction nozzle adsorb and rear line position profile.

For the method for dealing with problems

In order to solve described problem, first technical scheme provides a kind of component mounting head, have: suction nozzle frame, it can enclose and be rotated about axis, multiple suction nozzle, it is circumferentially concentric with described axis that these suction nozzles are maintained on this suction nozzle frame, and can move in the axial direction, for adsorbent parts this part is arranged on substrate, suction nozzle frame whirligig, it rotates around described axis for making described suction nozzle frame, thus described multiple suction nozzle is moved to job position successively, suction nozzle advance and retreat mobile device, it to be retreated movement in the axial direction for making described suction nozzle, side identifies camera, it is for obtaining the side image of described part, the feature of described component mounting head is, have side image acquisition device, it can obtain the side image of the leading section of the described suction nozzle of the rear line position at first line position and the described job position rear moving to described job position front respectively between given period, refer between described given period, in order to install described part to described substrate, described suction nozzle frame is in rotary moving and make described suction nozzle move to described job position, during then described suction nozzle frame temporarily stops

The component mounting head of the second technical scheme is on the basis of the first technical scheme, and described side image acquisition device can utilize a side identification camera to obtain the side image of the leading section of two described suction nozzles of the rear line position at first line position and the described job position rear being positioned at described job position front.

The component mounting head of the 3rd technical scheme is on the basis of the first or second technical scheme, there is motion control device simultaneously, its for while pattern control described suction nozzle frame whirligig and described suction nozzle advance and retreat mobile device simultaneously, the rotational action of described suction nozzle frame and the moving back and forth of described suction nozzle are carried out simultaneously.

The component mounting head of the 4th technical scheme is on the basis of the second technical scheme, described side image acquisition device has optical system, and this optical system can obtain the side image of the leading section of first line position and the rear line position at described job position rear and three the described suction nozzles of described job position moving to described job position front respectively; Described component mounting head also has mode-changeover device, and this mode-changeover device is used for switching between two kinds of patterns, and above-mentioned two kinds of patterns refer to, uses the pattern of an image and use the pattern of two images in the side image that can obtain.

5th technical scheme provides a kind of apparatus for mounting part, has the component mounting head described in any one in the first ~ four technical scheme

6th technical scheme provides a kind of suction nozzle and by the side image acquisition device of adsorbent parts, be located on component mounting head, this component mounting head has: suction nozzle frame, it can enclose and be rotated about axis, multiple suction nozzle, it is circumferentially concentric with described axis that these suction nozzles are maintained on this suction nozzle frame, and can move in the axial direction, for adsorbent parts this part is arranged on substrate, suction nozzle frame whirligig, it rotates around described axis for making described suction nozzle frame, and described multiple suction nozzle is moved to job position successively, suction nozzle advance and retreat mobile device, it to be retreated movement at described job position in the axial direction for making described suction nozzle, described suction nozzle and being by the feature of the side image acquisition device of adsorbent parts, a side shooting camera is utilized to take leading position side image surface and rear line position profile, thus on a picture, form leading position side image and rear line position side image, when taking, above-mentioned leading position side image surface imports in above-mentioned side shooting camera by the first light path, rear line position profile imports in above-mentioned side shooting camera by the second light path, described leading position side image surface, it is the profile of the part that the described suction nozzle of first line position moving to described job position front in the direction of rotation of described suction nozzle frame adsorbs with the front end of this suction nozzle, described rear line position profile, it is the profile of the part that the described suction nozzle of rear line position moving to described job position rear in the direction of rotation of described suction nozzle frame adsorbs with the front end of this suction nozzle, set described first light path and the second light path, make the area on a described picture shared by the side image of described leading position different from the size shared by described rear line position side image.

The suction nozzle of the 7th technical scheme and by the side image acquisition device of adsorbent parts on the basis of the 6th technical scheme, set described first light path and the second light path, make line position side image after described in the image ratio of side, described leading position large.

The suction nozzle of the 8th technical scheme and by the side image acquisition device of adsorbent parts on the basis of the 7th technical scheme, set described first light path, the center of the described suction nozzle on the side image of described leading position is offset relative to the center of described leading position side image.

The suction nozzle of the 9th technical scheme and by the side image acquisition device of adsorbent parts on the basis of six ~ eight technical schemes, in order to set the scope of described leading position side image and described rear line position side image, blocking for what block described first light path and the second light path opening frame wall being arranged and can adjust open area, and making this opening frame opposite with the part that the leading section of suction nozzle and this suction nozzle that move to described first line position and described rear line position adsorb.

The effect of invention

The component mounting head of the first technical scheme has side image acquisition device, this side image acquisition device can obtain the side image of the leading section of the suction nozzle moving to the first line position in job position front and the rear line position at rear respectively, therefore, when using side recognition function, also suction nozzle can be made in the rotational action of suction nozzle frame to retreat move, the duty cycle (cycle time) of mounting parts can be shortened.

According to the component mounting head of the second technical scheme, side image acquisition device utilizes a side to identify, and camera is to the side image of the leading section of two suction nozzles of the rear line position of the first line position and rear that obtain job position front, therefore, it is possible to realization obtains saving space and the low cost of the side image acquisition device of the side image of the leading section of the suction nozzle of the first line position in job position front and the rear line position at rear.

The component mounting head of the 3rd technical scheme has motion control device simultaneously, this while motion control device by while pattern control suction nozzle frame whirligig and suction nozzle advance and retreat mobile device simultaneously, carry out the rotational action of suction nozzle frame and the moving back and forth of suction nozzle simultaneously, therefore, the duty cycle of mounting parts can be shortened, improve productivity.

According to the component mounting head of the 4th technical scheme, side image acquisition device has optical system and mode-changeover device, described optical system can obtain the first line position moving to job position front respectively, the side image of the leading section of the rear line position at rear and three suction nozzles of job position, described mode-changeover device is for switching or two of using in the side image that can obtain, therefore, the pattern while that two side images can not only being used to carry out thus control is moved to suction nozzle frame and suction nozzle simultaneously, and a side image can be used separately to move control to suction nozzle frame and suction nozzle.

The apparatus for mounting part of the 5th technical scheme has the component mounting head 10 described in the first ~ four technical scheme, therefore, it is possible to easily also efficiently to substrate mounting parts.

Suction nozzle according to the 6th technical scheme and the side image acquisition device by adsorbent parts, utilize the first light path and the second light path, the leading position side image surface of the part suction nozzle of the first line position in job position front and the rear line position at rear in the direction of rotation moving to suction nozzle frame and this suction nozzle adsorbed and rear line position profile import a side shooting camera, thus by leading position side image and the shooting of rear line position side image on a picture.And, first light path and the second light path are set as, on a picture, leading position side image is different with the area shared by rear line position side image, utilize the side that the area in first line position side image and rear line position side image is large, such as, can carry out judging in the elevation measurement of part, posture confirmation and table.Utilize little one of area can reach the presence or absence fully judging part.

Suction nozzle according to the 7th technical scheme and the side image acquisition device by adsorbent parts, on a picture, after the image ratio of side, leading position, line position side image is large.Time on the component delivery position that component mounting head moves to parts feeder, in the direction of rotation of suction nozzle frame, be positioned at the suction part of the first line position in the job position front relative with component delivery position, be positioned at the non-adsorbent parts of suction nozzle of the rear line position at rear.Therefore, part that the suction nozzle of first line position and this suction nozzle adsorb is moved on a large scale and in the large-area leading position side image that obtains after the entering of part have taken absorption, therefore, it is possible to carry out elevation measurement to the part that suction nozzle front end is adsorbed, confirm to adsorb with correct body position, namely, confirm there is the part being difficult inclination attitude absorption, with or without the part of contrary absorption in table etc.Utilize the rear line position side image that have taken the nozzle portion moving to rear line position and the small size obtained, suction nozzle front end non-adsorbent parts mistakenly can be confirmed.

In addition, after suction part, measure the height of part at once, confirm with correct body position absorption etc., therefore, it is possible to find the part that bad part, absorption posture are bad as early as possible, reliably effectively can prevent invalid conveyance, install by mistake.

Suction nozzle according to the 8th technical scheme and the side image acquisition device by adsorbent parts, the center of suction nozzle in the side image of described leading position and the center phase deviation of leading position side image.Therefore, move to after have taken absorption the suction nozzle of first line position fore-end and in the large-area leading position side image obtained, the center of suction nozzle offsets further, thus such as make the part that the area in the two side portions entering the suction nozzle center of leading position side image at least over half of very large part is large, therefore, it is possible to reliably the height of the part that suction nozzle front end is adsorbed measured, confirm with correct body position absorption etc.

In addition, suction nozzle according to the 9th technical scheme and the side image acquisition device by adsorbent parts, the opening frame that wall is outputed will blocked for what block the first light path and the second light path, be set at ad-hoc location opposite, described ad-hoc location refers to the leading section of the suction nozzle moving to first line position and rear line position with by the close position of adsorbent parts, thus easily can set size, the scope of leading position side image and rear line position side image rightly, thus effectively use a picture.

Accompanying drawing explanation

Fig. 1 is the stereogram of the apparatus for mounting part representing embodiments of the present invention.

Fig. 2 is the front view of the component mounting head representing the first execution mode of the present invention.

Fig. 3 is the figure of the pith being exaggerated Fig. 2.

Fig. 4 is the figure observed from arrow 4 direction of Fig. 3.

Fig. 5 is the block diagram of the control device representing the first execution mode.

Fig. 6 is the action specification figure for illustration of the action in the first execution mode.

Fig. 7 is the figure that outline represents the action in the first execution mode.

Fig. 8 is the figure of the side image represented in the first execution mode.

Fig. 9 is the enlarged drawing of the pith of the component mounting head representing the second execution mode of the present invention.

Figure 10 is the figure observed from arrow 10 direction of Fig. 9.

Figure 11 is the block diagram of the control device represented in the second execution mode.

Figure 12 is the figure that outline represents the action in the second execution mode.

Figure 13 is the deformation pattern of Fig. 7.

Figure 14 is the figure of the component mounting head representing the 3rd execution mode of the present invention.

Figure 15 is the figure of the side image represented in the 3rd execution mode.

Figure 16 is the figure that outline represents existing action.

The explanation of Reference numeral

10: component mounting head, 15R: axle motor, 17: suction nozzle frame, 18: suction nozzle, 18a: leading section, 20:Z axle motor, 21:CCD camera (a side shooting camera), 22: the center of suction nozzle, 30: apparatus for mounting part, 31: reflector, 41: suction nozzle action bars (Nozzle lever), 45: shooting box main body, 45a, 45b: opening frame, 45d: arc-shaped wall, 46: irradiation body, 49a: the first light path, 49b: the second light path, 50: side image acquisition device, 51: control device, 55: suction nozzle frame whirligig, 56: suction nozzle advance and retreat mobile device, 57: motion control device simultaneously, 59: mode-changeover device, 68a, 68b: movable wall, 74: supply position, 77a: leading position side image, 77b: rear line position side image, 78: one pictures, 79: the center of leading position side image, P: part, S1: job position, S1+1: first line position, S1-1: rear line position.

Embodiment

First execution mode of component mounting head of the present invention and apparatus for mounting part is described based on accompanying drawing below.As shown in Figure 1, the apparatus for mounting part 30 of execution mode has parts feeder 70, base board delivery device 60 and part shifting apparatus 80.

Parts feeder 70, the multiple boxlike feeder of spread configuration (cassette feeder) 71 on base frame 90.Boxlike feeder 71 has: the component delivery position 74 being arranged on the main body 72 on base frame 90 separatably, being located at the supply reel (reel) 73 at main body 72 rear portion, being located at main body 72 front end.Feed tray 73 is wound around and keeps elongated belt, the belt that this is elongated seals part up for safekeeping with the spacing of regulation, pull out this belt by sprocket wheel (sprocket) with the spacing specified, remove sealing state up for safekeeping and it being sent to component delivery position 74 in order of part.In addition, between parts feeder 70 and base board delivery device 60, be provided with CCD camera 75, as the side image acquisition device of the holding position of detection part.In addition, part shifting apparatus 80 retreats to rear in FIG, but moves to above CCD camera 75 when detecting the holding position of part.

Base board delivery device 60, for transporting substrate in the X-axis direction, is the two transmission type (double conveyer type) of what is called the first carrying device 61 and the second carrying device 62 being lined up two row settings.In the first carrying device 61 and the second carrying device 62, on base station 63, level is parallel to each other and arranges pair of guide rails 64a, 64b, 65a, 65b respectively opposedly, and be disposed with a pair conveyer belt opposed to each other, this pair conveyer belt supports and transports the substrate guided by these guide rails 64a, 64b, 65a, 65b respectively.In addition, base board delivery device 60 is provided with clamping device (clamp device), and substrate, for the substrate being transported to assigned position is upwards pushed away and clamped, is fixed on installation site by this clamping device by it.

Part shifting apparatus 80 is XY automation hand-type (robot type), be loaded on base frame 90, and be disposed in the top of base board delivery device 60 and parts feeder 70, have Y-axis slide block 12, this Y-axis slide block 12 is driven by Y-axis servo motor 11 and moves in the Y-axis direction.As shown in Figure 2, Y-axis slide block 12 can guide X-axis slide block 13, make it move in the X-direction vertical with Y direction.

That is, X-axis slide block 13 is via the pair of guide rails 12a extended in the X-axis direction be fixed on Y-axis the slide block 12 and a pair bootstrap block 13a be fixed on X-axis slide block 13, remains on Y-axis slide block 12, and can move.Y-axis slide block 12 is fixed with not shown X-axis servo motor, the output shaft of this X-axis servo motor is connected with ball screw (ball screw) the axle 12b extended in the X-axis direction.Ball screw axle 12b, via not shown ball, is screwed with the ball nut 13b be fixed on X-axis slide block 13.Thus, if X-axis servo motor rotates, then ball screw axle 12b rotates, and X-axis slide block 13 is guided by guide rail (guide rail) 12a via ball nut 13b, thus moves in the X-axis direction.

On X-axis slide block 13, be provided with component mounting head 10, this component mounting head 10 is for adsorbent parts and be arranged on substrate.Component mounting head 10 as shown in Figure 2, is made up of R axle motor 15, calibration numerical control axle 16, suction nozzle frame 17, suction nozzle 18, θ axle motor 19, Z axis motor 20, the side image acquisition device 50 etc. with CCD camera 21.

X-axis slide block 13 is provided with first, second frame 25,26 integratedly that extend in the horizontal direction, this first, second frame 25,26 in the vertical direction from, the first frame 25 is fixed with R axle motor 15.On the output shaft of R axle motor 15, the first frame 25 is connected with can around vertical axes AL(R direction of principal axis) the calibration numerical control axle (Indexing Axis) 16 that supports rotatably.Calibration numerical control axle 16 is supported with the rotary body 28 defining driven gear 27 and θ shaft gear 29, and this rotary body 28 is merely able to rotate.In the bottom of calibration numerical control axle 16, be fixed with the suction nozzle frame 17 of the cylindrical shape forming swivel head (revolver head).By described R axle motor 15 and calibration numerical control axle 16, form the suction nozzle frame whirligig 55 making suction nozzle frame 17 in rotary moving on R direction of principal axis.

As shown in Figure 4, on suction nozzle frame 17, on the circumference 17a concentric with vertical axes AL, maintain multiple suction nozzle 18, and these suction nozzles 18 can move in the vertical direction.Also as shown in Figure 3, each suction nozzle 18 is arranged on the lower end of suction nozzle axle (nozzle spindle) 33, and this suction nozzle axle 33 can be slidingly supported on suction nozzle frame 17 in the vertical direction.Form large-diameter portion 33a in the bottom of suction nozzle axle 33, be fixed with suction nozzle gear 34 in the upper end of suction nozzle axle 33.Compress Spring 35 is provided with between suction nozzle gear 34 and suction nozzle frame 17, by this Compress Spring 35, to the pressure that suction nozzle axle 33 and suction nozzle 18 apply upward, and, large-diameter portion 33a is abutted with the lower surface of suction nozzle frame 17, and restriction suction nozzle axle 33 and suction nozzle 18 are moved upward thus.In addition, via suction nozzle axle 33, never illustrated negative pressure generating device supplies negative pressure to each suction nozzle 18.Thus, each suction nozzle 18 can carry out adsorbent parts P with its leading section 18a.

Further, in the lower center portion of suction nozzle frame 17, be fixed with the reflector 31 of the cylindrical shape be capable of reflecting light.Therefore, suction nozzle frame 17 and reflector 31 rotate around vertical axes AL together with calibration numerical control axle 16.Thus, if make R axle motor 15 rotate, then the suction nozzle frame 17 of the multiple suction nozzle 18 of maintenance can be made around vertical axes AL(R direction of principal axis via calibration numerical control axle 16) rotate, thus multiple suction nozzle 18 can be made to move to job position S1 in order.

First frame 25 is fixed with θ axle motor 19, is fixed with driven wheel 36 at the output shaft of θ axle motor 19.Driven wheel 36 is meshed with the driven gear 27 on the rotary body 28 be rotatably supported on calibration numerical control axle 16.In addition, on rotary body 28, axial specific length forms θ shaft gear 29, this θ shaft gear 29 engages with each suction nozzle gear 34 be fixed on suction nozzle axle 33 slidably respectively.Thus, if make θ axle motor 19 rotate, then via driven wheel 36, driven gear 27, θ shaft gear 29 and suction nozzle gear 34, and whole suction nozzle 18 can be made to carry out rotation relative to suction nozzle frame 17.

In addition, the first frame 25 is fixed with Z axis motor 20, the output shaft of Z axis motor 20 is connected with ball screw axle 37.The bearing 38 be fixed on the first frame 25 supports this ball screw axle 37 with the bearing 39 be fixed on the second frame 26, can rotate around the axis parallel with vertical axes AL.On ball screw axle 37, be screwed with ball nut 40 via not shown ball, this ball nut 40 becomes rectilinear motion for making the rotary motion of Z axis motor 20.Ball nut 40 is fixed on suction nozzle action bars 41, is fixed on guide rail (guide) the 42 guiding suction nozzle action bars 41 extended at above-below direction on the first and second frames 25,26, can slides at above-below direction.

Projecting on suction nozzle action bars 41 have press section 41a, and this press section 41a and the upper end being moved into the suction nozzle axle 33 of job position S1 described later abut against, and press suction nozzle axle 33 to the below of Z-direction.Thus, if make Z axis motor 20 rotate, then ball screw axle 37 rotates, and suction nozzle action bars 41 is guided by guide rail 42 via ball nut 40, thus moves up and down.If suction nozzle action bars 41 moves up and down, then the suction nozzle axle 33 corresponding with press section 41a and suction nozzle 18 can be made to move up and down.By described Z axis motor 20, ball screw axle 37, ball nut 40, suction nozzle action bars 41 etc., constitute and suction nozzle 18 is retreated the suction nozzle advance and retreat mobile device 56 of movement in the Z-axis direction.

As shown in Figure 6, the press section 41a of suction nozzle action bars 41, the direction of rotation of suction nozzle frame 17 has the width W 1 of regulation centered by job position S1, under the state being positioned at the angular range of the regulation before and after job position S1 at suction nozzle 18, the upper end of the suction nozzle axle 33 of this suction nozzle 18 can abut against with press section 41a.Thus, in the angular range of the regulation before and after job position S1, can in the rotational action of suction nozzle frame 17, suction nozzle 18 be made to move up and down.

Second frame 26 is hung with Support bracket (bracket) 43, Support bracket 43 is fixed with a CCD camera 21, this CCD camera 21 is for obtaining the two dimensional image of the part P on the leading section 18a being attracted to two suction nozzles 18, wherein, these two suction nozzles 18 are moved into the first line position S1+1 in the job position S1 front of suction nozzle the frame 17 and rear line position S1-1 at job position S1 rear respectively in the direction of rotation of suction nozzle frame 17.CCD camera 21 utilizes the light reflected by reflector 31 to obtain the two dimensional image of the part P be adsorbed on the leading section 18a of suction nozzle 18.

The side corresponding with suction nozzle 18 on Support bracket 43, is fixed with shooting box main body 45; In the side relative with reflector 31 of shooting box main body 45, as shown in Figure 4, at the first line position S1+1 in the job position S1 front of suction nozzle the frame 17 and rear line position S1-1 at rear, be formed with the wall 45d of the vertical axes AL arc-shaped that is center of arc, surround suction nozzle frame 17.The arc-shaped wall 45d of shooting box main body 45 is provided with the multiple irradiation body 46 be made up of the LED irradiating light to reflector 31.On arc-shaped wall 45d, in the position relative with the rear line position S1-1 at rear with the first line position S1+1 in job position S1 front, have opening frame 45a, 45b.The second prism 48 of two first prisms 47a, 47b and chevron is provided with in shooting box main body 45, wherein, described two first prisms 47a, 47b are incident to respectively through opening frame 45a, 45b by the reverberation that reflector 31 reflects, by refracted light incident to the second prism 48 of these two first prism 47a, 47b refractions, this second prism 48 makes it reflect to CCD camera 21.

Optical facilities 49 are formed by these the first prism 47a, 47b and the second prism 48, these optical facilities 49 are for irradiating from irradiation body 46 and being imported CCD camera 21 by the reverberation that reflector 31 reflects, in addition, form side image acquisition device 50 by reflector 31, irradiation body 46, first and second prism 47a, 47b, 48 and CCD camera 21 etc., this side image acquisition device 50 is for obtaining the side image of the leading section 18a of two suction nozzles 18 being positioned at the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear.

In described side image acquisition device 50, under two suction nozzles 18 of the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear that move to suction nozzle frame 17 locate the state stopping at rising end, the light irradiated from irradiation body 46 is reflected by reflector 31, the outer peripheral edges of this reverberation through part P and two opening frames 45a, 45b of shooting box main body 45, become the polarised light in directive second prism 48 direction by first prism 47a, 47b.Further, the second prism 48 makes its polarization be the directional light of directive CCD camera 21, thus carries out image recognition by CCD camera 21.

Thus, by a CCD camera 21, the two dimensional image of the part P that the leading section 18a that simultaneously can obtain two suction nozzles 18 being moved into the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear adsorbs.

Then based on Fig. 5, the control device 51 in present embodiment is described.Control device 51 has the computer 52 be made up of CPU and memory etc., computer 52 is connected with pattern recognition device 53, and this pattern recognition device 53 is for identifying the side image being positioned at two suction nozzles 18 of the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear taken by side image acquisition device 50.

In addition, computer 52 is connected with simultaneously motion control device 57 and order controller 58, for the Z axis motor 20 of the R axle motor 15 and suction nozzle advance and retreat mobile device 56 that control suction nozzle frame whirligig 55.Action control (overlap and the control) while that motion control device 57 being for carrying out R axle motor 15 and Z axis motor 20 simultaneously, in addition, order controller 58, for carrying out sequentially-operating control to R axle motor 15 and Z axis motor 20, is selected to control by which control device 57,58 to be controlled by computer 52.

The action be arranged on by part P by the apparatus for mounting part 30 of described structure on substrate is then described.First, based on the instruction carrying out self-control device 51, drive the conveyer belt of base board delivery device 60, substrate is by guide rail 64a, 64b(65a, 65b) guide conveyance to the position of regulation.Then, substrate upwards pushes away and clamps by clamping device, is located and is fixed on assigned position.

Then, by driving Y-axis servo motor 11 and omitting illustrated X-axis servo motor, Y-axis slide block 12 and X-axis slide block 13 are moved, makes component mounting head 10 move to the part extraction portion 74 of parts feeder 70.

Then, by control device 51, R axle motor 15 is rotated, thus suction nozzle frame 17 is rotated, make the suction nozzle axle 33 of the suction nozzle 18 having installed regulation move to the below of the press section 41a of suction nozzle action bars 41.In addition, by control device 51, Z axis motor 20 is rotated forward, thus press suction nozzle action bars 41 downwards and make it overcome the elastic force of Compress Spring 35, via suction nozzle axle 33 the leading section 18a of suction nozzle 18 be pressed into and transport to the close position of the part P of part extraction portion 74.In this case, from omission illustrated negative pressure generating device, negative pressure is supplied to suction nozzle 18, adsorb at the leading section 18a of suction nozzle 18 and keep part P.Then, Z axis motor 20 is reversed, and suction nozzle action bars 41 is moved upward, and suction nozzle 18 is pushed into rising end position by the elastic force of Compress Spring 35.By repeating such action, adsorbent parts P on multiple suction nozzle 18 respectively.

Then, drive Y-axis servo motor 11 and omit illustrated X-axis servo motor, Y-axis slide block 12 and X-axis slide block 13 being moved, makes component mounting head 10 move to the top of the installation site of substrate.Then, by the rotation of θ axle motor 19, to move to suction nozzle frame 17 job position S1 suction nozzle 18 leading section 18a adsorb maintenance part P control, it is made to keep the posture specified, and, Z axis motor 20 is rotated forward, thus presses suction nozzle action bars 41 downwards and make it overcome the elastic force of Compress Spring 35, until be arranged on substrate by the part P of the leading section 18a of suction nozzle 18.Then, by making Z axis motor 20 reverse, suction nozzle action bars 41 is moved upward, until the elastic force being in Compress Spring 35 makes suction nozzle 18 move to state topmost.

By the down maneuver of such suction nozzle 18 moving to job position S1, come to substrate mounting parts P, but in the present embodiment, during the installation exercise of these parts P, by side image acquisition device 50, obtain the side image that location stops at the leading section 18a of two suction nozzles 18 of the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear, the pattern recognition device 53 that two acquired side images are input to control device 51 carries out image recognition.

Like this, action control (1), (2) simultaneously can be realized, namely, be arranged in the process on substrate at the part P that the suction nozzle 18 moving to job position S1 is adsorbed, obtain the side image of each leading section 18a of two suction nozzles 18 moving to the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear, thus as shown in Figure 7, then in the action in rotary moving of suction nozzle frame 17, make suction nozzle 18 carry out advance and retreat in the vertical direction simultaneously and move.

Namely, as shown in Figure 6, in the down maneuver of the suction nozzle axle 33 by moving to job position S1, the absorption part P remained on suction nozzle 18 is arranged in the process on substrate, obtained the side image of two suction nozzles 18 of the halted state being positioned at the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear as described above by side image acquisition device 50, the pattern recognition device 53 that two acquired side images are input to control device 51 carries out image recognition.

Irradiate from irradiation body 46 light come to be reflected by reflector 31, through outer peripheral edges and opening frame 45a, 45b of each part P adsorbed by two suction nozzles 18, and be incident to CCD camera 21.Thereby, it is possible to obtain the side image of two shown in Fig. 8 (two dimensional image), in these two side images (two dimensional image), reflector 31 part becomes light ground, and the leading section 18a of part P and suction nozzle 18 is dimmed.

Then, by the side image (with reference to Fig. 8 (A)) of the leading section 18a of suction nozzle 18 be positioned on the rear line position S1-1 at job position S1 rear, be treated to the two-dimensional image data of the progressive series of greys (gray scale) or black and white two-value, calculate the distance from the leading section 18a of suction nozzle 18 to each part P.Difference the data from the leading section 18a of suction nozzle 18 to the reference position of each part P obtaining this calculated data and precompute in the design phase, namely obtain " position skew ", itself and threshold value are compared, its result, when " position skew " exceeds threshold value, be judged as the adsorption operations mistake (without the situation of part P and the situation of absorption abnormal posture) of suction nozzle 18 adsorbent parts P, when " position skew " does not exceed threshold value, be judged as normal.In addition, " situation of absorption abnormal posture " refers to, the situation of absorption posture not in the permissible range for installing to substrate of part P.The data of being somebody's turn to do " position skew " are stored in the storage area of control device 51, as described later to correction during substrate mounting parts P.

On the other hand, based on the side image (with reference to Fig. 8 (B)) of leading section 18a of suction nozzle 18 of first line position S1+1 being positioned at job position S1 front, differentiate this suction nozzle 18 whether by part P normal mounting on substrate.That is, when the leading section 18a of suction nozzle 18 does not exist part P, be judged as that part P normal mounting is on substrate; When the leading section 18a of suction nozzle 18 remains part P, be judged as installing extremely, such as, perform the installation again of part P.

If terminated to substrate mounting parts P, then stop from omission illustrated negative pressure generating device supply negative pressure, the absorption removing part P keeps, and by the reverse of Z axis motor 20, suction nozzle axle 33 is increased in the Z-axis direction, rotated by R axle motor 15 simultaneously, suction nozzle frame 17 is rotated at R direction of principal axis.Thus, make to be arranged on substrate by part P after suction nozzle 18 R direction of principal axis rotate (revolution) while increase in the Z-axis direction.

If suction nozzle 18 rises to rising end position, and suction nozzle frame 17 have rotated predetermined angular, then the suction nozzle axle 33 towards the suction nozzle 18 of the first line position S1+1 in job position S1 front departs from from the below of the press section 41a of suction nozzle action bars 41.Then, invade the below of press section 41a towards the suction nozzle axle 33 of the suction nozzle 18 of job position S1 from the rear line position S1-1 at job position S1 rear.In this case, Z axis motor 20 rotates forward, and suction nozzle action bars 41 declines in Z-direction, and thus, the press section 41a of suction nozzle action bars 41 makes the suction nozzle axle 33 of suction nozzle 18 decline, its result, and suction nozzle 18 rotates while decline in Z-direction at R direction of principal axis.Further, if suction nozzle frame 17 spacing in rotary moving, suction nozzle 18 is made to be positioned at job position S1, then suction nozzle frame 17 temporarily stops, in this case, Z axis motor 20 makes suction nozzle 18 decline on a small quantity, by the leading section 18a of suction nozzle 18 adsorb maintenance part P be arranged on substrate.

And, in order to substrate mounting parts P, during suction nozzle frame 17 temporarily stops, as mentioned above, by side image acquisition device 50, obtain the side image of new definition at two suction nozzles 18 of the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear.

Like this, by obtaining the side image of two suction nozzles 18 being positioned at the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear, during suction nozzle frame 17 rotates a spacing on R direction of principal axis, the suction nozzle 18 of the first line position S1+1 moving to job position S1 front can be made to carry out ascending motion in Z-direction, and the suction nozzle 18 moving to job position S1 from the rear line position S1-1 at job position S1 rear can be made to carry out descending motion in Z-direction.

Namely, when use obtains the side recognition function of the side image of the leading section 18a of suction nozzle 18, motion control device 57 is simultaneously selected by the computer 52 of control device 51, based on motion control device 57 while of this, the action control while of as described above suction nozzle frame whirligig 55 and suction nozzle advance and retreat mobile device 56 being carried out.

By repeating above action, in order part P being arranged on substrate, if all part P has been arranged on substrate, then removing the clamping of substrate, discharge substrate.Like this, required part P is arranged on the release on substrate.

The component mounting head 10 of described first execution mode has side image acquisition device 50, this side image acquisition device 50 can obtain the side image of the leading section 18a of the suction nozzle 18 moving to the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear respectively, therefore, when using side recognition function, also suction nozzle 18 can be made during the rotational action of suction nozzle frame 17 to retreat move, the duty cycle (cycle time) of mounting parts P can be shortened.

In addition, according to the component mounting head 10 of described first execution mode, side image acquisition device 50 can utilize a side to identify, and camera is to the side image of the leading section 18a of the suction nozzle 18 of the rear line position S1-1 of the first line position S1+1 and rear that obtain job position S1 front, therefore, it is possible to the space that realization obtains the side image acquisition device 50 of the side image of the leading section 18a of the suction nozzle 18 of the first line position S1+1 in job position S1 front and the rear line position S1-1 at rear is saved and low cost.

In addition, the component mounting head 10 of described first execution mode has motion control device 57 simultaneously, this while motion control device 57 by while pattern control suction nozzle frame whirligig 55 and suction nozzle advance and retreat mobile device 56, control is moved to suction nozzle frame 17 and suction nozzle 18 simultaneously, therefore, the duty cycle of mounting parts P can be shortened, improve productivity.

Further, the apparatus for mounting part of described first execution mode has described component mounting head 10, therefore, it is possible to easily also efficiently to substrate mounting parts P.

In addition, in described first execution mode, obtain the side image of the leading section 18a of two suction nozzles 18 moving to the rear line position S1-1 at job position S1 rear and the first line position S1+1 in front, but rear line position S1-1 and first line position S1+1 also can be job position S1 just before or just after position, as long as the position more forward than job position S1 and rearward position.

In addition, in described first execution mode, obtained the side image of the leading section 18a of two suction nozzles 18 by a CCD camera 21, but also can be obtained the side image of the leading section 18a of two suction nozzles 18 by different CCD camera.

In addition, in described first execution mode, use CCD camera 21 as side image acquisition device 50, as long as but the equipment of two dimensional image can be obtained, can be such as CMOS camera.

Then, based on Fig. 9 to Figure 12, the second execution mode of the present invention is described.The difference of the second execution mode and the first execution mode is, in the first embodiment, obtain the side image of the leading section 18a of two suction nozzles 18 being positioned at the rear line position S1-1 at job position S1 rear and the first line position S1+1 in front, but in this second embodiment, obtain the side image of the leading section 18a of three suction nozzles 18 being positioned at job position S1, thereafter line position S1-1 and first line position S1+1.Therefore, the main difference illustrated between the first execution mode below, to the Reference numeral of same structure part mark Same Part, omits the description.

In figure 9 and in figure 10, on the arc-shaped wall 45a of the shooting box main body 45 opposite with the reflector 31 be arranged on suction nozzle frame 17, multiple irradiation body 46 of irradiating light to reflector 31 are installed.On arc-shaped wall 45a, respectively with the rear line position S1-1 at job position S1 rear, position that the first line position S1+1 in front and job position S1 is corresponding, have three opening frames 45a, 45b, 45c.In shooting box main body 45, be provided with three first prisms 47a, 47b, 47c, also be provided with the second prism 48, described first prism 47a, 47b, 47c is incident to respectively through opening frame 45a, 45b, 45c by the reverberation that reflector 31 reflects, by the refracted light incident of these first prisms 47a, 47b, 47c refraction to described second prism 48, this second prism 48 makes it refract to CCD camera 21.

By described reflector 31, irradiation body 46, first and second prism 47a, 47b, 47c, 48 and CCD camera 21 etc. form side image acquisition device 50, this side image acquisition device 50 is positioned at the side image of leading section 18a of three suction nozzles 18 of job position S1 and the rear line position S1-1 at its rear, the first line position S1+1 in front respectively for obtaining.

In this second embodiment, as shown in figure 11, three side images acquired by side image acquisition device 50 are input to the mode-changeover device 59 of control device 51, mode-changeover device 59 switches between two kinds of patterns, these two kinds of patterns refer to, use the side image being positioned at the leading section 18a of a suction nozzle 18 of job position S1, or use the side image being positioned at the leading section 18a of two suction nozzles 18 of the rear line position S1-1 at job position S1 rear and the first line position S1+1 in front, side image under a certain pattern is inputed to pattern recognition device 53 and carry out image recognition.

Therefore, according to the second execution mode, can not only in the same manner as the first execution mode, use the side image being positioned at the leading section 18a of two suction nozzles 18 of the rear line position S1-1 at job position S1 rear and the first line position S1+1 in front, by while motion control device 57, action control (overlap and the control) while of suction nozzle frame whirligig 55 and suction nozzle advance and retreat mobile device 56 being carried out as shown in the solid line of Figure 12, the side image of the leading section 18a of the suction nozzle 18 being positioned at job position S1 can also be utilized, by order controller 58, as shown in the double dot dash line of Figure 12, sequentially-operating control is carried out to suction nozzle frame whirligig 55 and suction nozzle advance and retreat mobile device 56.

In addition, as shown in figure 13, also can only during transporting part P from the rear line position S1-1 at job position S1 rear to job position S1, or, during the first line position S1+1 from job position S1 to job position S1 front transports part P, by while motion control device 57 pairs of suction nozzle frame whirligigs 55 and suction nozzle advance and retreat mobile device 56 carry out while action control.In this case, be positioned at job position S1 and line position (or first line position) S1-1(or S1+1 thereafter as long as at least obtain) the side image of two suction nozzles 18.

According to the component mounting head 10 of described second execution mode, side image acquisition device 50 has optical system and mode-changeover device 59, described optical system can obtain the rear line position S1-1 moving to job position S1 rear respectively, the side image of the leading section 18a of the first line position S1+1 in front and three suction nozzles 18 of job position S1, described mode-changeover device 59 is for switching or two of using in the side image that can obtain, therefore, the pattern while that two side images can not only being used to carry out thus control is moved to suction nozzle frame 17 and suction nozzle 18 simultaneously, and a side image can be used separately to move control to suction nozzle frame 17 and suction nozzle 18.

Then, suction nozzle in the component mounting head of the 3rd execution mode of the present invention is described and by the side image acquisition device of adsorbent parts based on Figure 14.The difference of the 3rd execution mode and the first execution mode is, is set as by the first light path 49a and the second light path 49b, and the area after the area ratio on a picture 78 shared by leading position side image 77a shared by line position side image 77b is large.Therefore, the main difference illustrated between the first execution mode below, to the Reference numeral of same structure part mark Same Part, omits the description.

As shown in figure 14, have the 3rd execution mode suction nozzle and by the component mounting head 10(of the side image acquisition device of adsorbent parts with reference to Fig. 2) the second frame 26 on, be hung with Support bracket 43.Support bracket 43 is fixed with a CCD camera 21, the part P(that the front end that the light that this CCD camera 21 utilizes reflector 31 to reflect takes two specific suction nozzles 18 and this specific suction nozzle 18 is adsorbed is by adsorbent parts P) leading position side image surface and rear line position side image, leading position side image 77a and rear line position side image 77b is photographed on a picture 78, wherein, described specific two suction nozzles 18 are in the direction of rotation of suction nozzle frame 17, move to the first line position S1+1 in the front of a distance job position S1 spacing respectively, two suction nozzles 18 of the rear line position S1-1 at the rear of a distance job position S1 spacing.

In the basket of CCD camera 21, be fixed with oppositely with the suction nozzle 18 moving to job position S1 and take box main body 45, in the side relative with reflector 31 of shooting box main body 45, at whole job position S1, first line position S1+1 and the rear line position S1-1 arc-shaped wall 45d that to be formed with vertical axes AL be center of arc, this arc-shaped wall 45d surrounds suction nozzle frame 17.On the arc-shaped wall 45d of shooting box main body 45, the multiple irradiation body 46 be made up of the LED irradiating light to reflector 31 are installed.On arc-shaped wall 45d, with the first line position S1+1 of job position S1, position that rear line position S1-1 is relative, have opening frame 45a, 45b.In the both side edges of opening frame 45a, 45b, be provided with movable wall 68a, the 68b that can adjust position, thus the open area of opening frame 45a, 45b can be adjusted, that is, width and the position of the direction of rotation of suction nozzle frame 17 can be adjusted.The second prism 48 of two first prisms 47a, 47b and chevron is provided with in shooting box main body 45, wherein, described two first prisms 47a, 47b are incident to respectively through opening frame 45a, 45b by the reverberation that reflector 31 reflects, by refracted light incident to the second prism 48 of these two first prism 47a, 47b refractions, this second prism 48 makes it reflect to CCD camera 21.

The first light path 49a is formed by opening frame 45a, the first prism 47a and the second prism 48, this first light path 49a utilizes and irradiates and the reverberation reflected by reflector 31 from irradiation body 46, will move to the leading section of the suction nozzle 18 of first line position S1+1 and be imported CCD camera 21 by the leading position side image surface of adsorbent parts P.The second light path 49b is formed by opening frame 45b, the first prism 47b and the second prism 48, this second light path 49b utilizes and irradiates and the reverberation reflected by reflector 31 from irradiation body 46, will move to the leading section of the suction nozzle 18 of rear line position S1-1 and be imported CCD camera 21 by the rear line position profile of adsorbent parts P.Further, by arc-shaped wall 45d form block the first light path 49a and the second light path 49b block wall; By opening frame 45a, 45b be located on arc-shaped wall 45d and movable wall 68a, 68b, formation can adjust the opening frame of open area, and described open area is arranged to the open area opposite with moving to the part P that adsorbs in first line position S1+1, the leading section of suction nozzle 18 of rear line position S1-1 and the front end of this suction nozzle 18.

Like this, suction nozzle and by the side image acquisition device 50 of adsorbent parts by the first light path 49a, second light path 49b and the formation such as CCD camera 21 as side shooting camera, by the first light path 49a and the second light path 49b, by the leading position side image surface of the part P that the suction nozzle 18 of first line position S1+1 and the front end of suction nozzle 18 that are moved into job position S1 front in the direction of rotation of suction nozzle frame 17 adsorb, and in the direction of rotation of suction nozzle frame 17, be moved into the rear line position profile of the part P that the suction nozzle 18 of rear line position S1-1 at job position S1 rear and the front end of suction nozzle 18 are adsorbed, import a CCD camera 21, thus leading position side image 77a and rear line position side image 77b is taken on a picture 78.

Thus, the light irradiated from irradiation body 46 is reflected by reflector 31, through the suction nozzle 18 moving to first line position S1+1, by between the outer peripheral edges of adsorbent parts P and opening frame 45a, and move to the suction nozzle 18 of rear line position S1-1, by between the outer peripheral edges of adsorbent parts P and opening frame 45b, be incident to CCD camera 21, thus leading position side image 77a and rear line position side image 77b is taken on a picture 78 (with reference to Figure 15), and on first line position side image 77a and rear line position side image 77b, reflector 31 part becomes light ground, leading position side image surface and rear line position profile dimmed.Now, set the first light path 49a and the second light path 49b, make the area after the area ratio on a picture 78 shared by leading position side image 77a shared by line position side image 77b large.Namely, by carrying out the position adjustment of CCD camera 21, the position adjustment of first and second prism 47a, 47b and being located at the position adjustment of movable wall 68a in the both side edges of opening frame 45a, 45b, 68b, adjust width in the direction of rotation of suction nozzle frame 17 of opening frame 45a, 45b and position, thus the position of leading position side image 77a on the camera site that can set leading position side image surface and rear line position profile and the picture 78 taken by CCD camera 21 and rear line position side image 77b and size.

When carrying out absorption action, namely, on the component delivery position 74 that component mounting head 10 moves to parts feeder 70 and multiple suction nozzle 18 adsorbs when keeping part P in order, be positioned at the suction nozzle 18 adsorbent parts P of the first line position S1+1 of the job position S1 opposite with component delivery position 74, be positioned at the non-adsorbent parts P of suction nozzle 18 of rear line position S1-1.And, when confirming with or without part, need to measure the height of the part P that the suction nozzle 18 moving to first line position S1+1 adsorbs, confirm to adsorb with correct body position, that is, confirming the part with or without adsorbing (with reference to Figure 15 (A)) in table on the contrary, having the part etc. being difficult inclination attitude absorption (with reference to Figure 15 (B)), therefore, first line position side image 77a needs to take part P on a large scale.Such as, the position based on the reed being located at part P side determines whether to have adsorbed part P on the contrary in table, and therefore, leading position side image 77a needs the area that can photograph at least side of part P.At rear line position S1-1, there is inerrancy adsorption of foreign matter suction nozzle 18 front end before only confirming absorption, as long as therefore have taken the leading section of suction nozzle 18 on rear line position side image 77b.Therefore, be set as by the first light path 49a and the second light path 49b, the area after the area ratio on a picture 78 shared by leading position side image 77a shared by line position side image 77b is large.

Further, the adjustment opening width of frame 45a in the direction of rotation of suction nozzle frame 17 and the position of position and CCD camera 21, make the center 22 of the suction nozzle 18 accounted on a picture 78 in large-area leading position side image 77a offset relative to the center 79 of leading position side image 77a.Thus, as shown in Figure 15 (A), in the fore-end being moved into the suction nozzle 18 of first line position S1+1 after have taken absorption and the large-area leading position side image 77a obtained by adsorbent parts P, the image of at least half of such as large adsorbent parts enters the large part of area in the two side portions at the center 22 of the suction nozzle 18 of leading position side image 77a, therefore, it is possible to the part P reliably adsorbed suction nozzle 18 front end carries out judging in elevation measurement, table.As shown in Figure 15 (B), when be only formed in by the image of adsorbent parts P leading position side image 77a suction nozzle 18 center 22 two side portions in area little part, also can detect and adsorb part P with heeling condition.

In addition, opening frame 45a, 45b that the arc-shaped wall 45d of wall outputs will blocked as what block the first light path 49a and the second light path 49b, be set at ad-hoc location opposite, described ad-hoc location refers to the leading section of the suction nozzle 18 moving to first line position S1+1 and rear line position S1-1 with by the close position of adsorbent parts P.Thus, position adjustment is carried out to movable wall 68a, 68b, adjust the position of opening frame 45a, 45b and the position of width and CCD camera 21, thus easily can set size, the coverage of leading position side image 77a and rear line position side image 77b rightly, thus effectively use a picture 78.

As shown in Figure 5, control device 51 has the computer 52 be made up of CPU and memory etc., computer 52 is connected with pattern recognition device 53, this pattern recognition device 53 for identify by side image acquisition device 50 take be positioned at rear line position S1-1 before job position S1, first line position S1+1 afterwards suction nozzle 18 and by side image 77a, 77b of adsorbent parts P.

In addition, computer 52 is connected with motion control device 57 and order controller 58 simultaneously, for controlling the R axle motor 15 of suction nozzle frame whirligig 55 and the Z axis motor 20 of suction nozzle advance and retreat mobile device 56.Order controller 58, for carrying out sequentially-operating control to R axle motor 15 and Z axis motor 20, is selected to control to be controlled by which in control device 57,58 by computer 52.

According to described 3rd execution mode, stop the rotation at suction nozzle frame 17, move to job position S1 suction nozzle 18 decline and adsorbent parts P during in, side image acquisition device 50 obtains the suction nozzle 18 that moves to first line position S1+1 and rear line position S1-1 respectively and by the leading position side image 77a of adsorbent parts P and rear line position side image 77b, makes them be placed on a picture 78.The pattern recognition device 53 that these two side images 77a, 77b input to control device 51 is carried out image recognition, carry out judging in elevation measurement, table to the part P that suction nozzle 18 front end is adsorbed based on leading position side image 77a, determine whether adsorbent parts P based on rear line position side image 77b.

Like this, after suction nozzle 18 adsorbent parts P, measure the height of part P at once, confirm with correct body position absorption etc., therefore, it is possible to find the part that bad part, absorption posture are bad as early as possible, reliably effectively can prevent invalid conveyance, install by mistake.

If all suction nozzle 18 has adsorbed part P, then drive Y-axis servo motor 11 and omit illustrated X-axis servo motor, Y-axis slide block 12 and X-axis slide block 13 are moved, component mounting head 10 moves in CCD camera 75, CCD camera 75 is taken the part P being adsorbed maintenance by multiple suction nozzle 18, and detection part P offsets relative to the position of suction nozzle 18, angular deflection.Then, according to the skew of described position, angular deflection, it is mobile that Y-axis servo motor 11 and the illustrated X-axis servo motor of omission make component mounting head 10 carry out correction, moved to and be positioned on the substrate of assigned position.Then, rotated by θ axle motor 19, to move to suction nozzle frame 17 job position S1 suction nozzle 18 front end adsorb maintenance part P revise described angular deflection, this part P is controlled the posture for regulation, and, rotated forward by Z axis motor 20, press suction nozzle axle 33 downwards by suction nozzle action bars 41 and make it overcome the elastic force of Compress Spring 35, until the part P adsorbed the front end of suction nozzle 18 is arranged on substrate.Then, reversed by Z axis motor 20, suction nozzle action bars 41 is moved upward, and the elastic force of Compress Spring 35 promotes suction nozzle 18, until be in suction nozzle 18 to move to state topmost.Component mounting head 10 moves to the situation of installation site in the same manner as moving to the situation of described supply position 74, and in the action in rotary moving of suction nozzle frame 17, the advance and retreat of simultaneously carrying out the above-below direction of suction nozzle 18 move.If mounting parts P terminates on the installation site of substrate, then Y-axis servo motor 11 and the illustrated X-axis servo motor of omission make component mounting head 10 move to the next installation site of substrate.On installation site, confirm that part has been adsorbed in suction nozzle 18 front end before installing based on rear line position side image 77b, confirm the non-adsorbent parts P in suction nozzle 18 front end after installing based on leading position side image 77a.

In addition, according to described 3rd execution mode, side image acquisition device 50 utilizes a side shooting camera to obtain the leading section of the suction nozzle 18 being positioned at the first line position S1+1 after job position S1 and rear line position S1-1 before and the leading position side image 77a of adsorbent parts P and rear line position side image 77b, therefore, it is possible to realize saving space and the low cost of side image acquisition device 50.

In described 3rd execution mode, set the first light path 49a and the second light path 49b, make the area after the area ratio on a picture 78 shared by leading position side image 77a shared by line position side image 77b large, but when carrying out installation action, namely, component mounting head 10 is moved to substrate installation site and on substrate during mounting parts, also can set like this: the height measuring part P based on rear line position side image 77b, confirm to adsorb with correct body position, the part P that suction nozzle 18 of having no way of departs from is checked based on leading position side image 77a, now, adjusted by the position of CCD camera 21, first, second prism 47a, the position of 47b adjusts and is located at opening frame 45a, the movable wall 68a of the both side edges of 45b, the position adjustment of 68b, first light path 49a and the second light path 49b is set as the area shared by the side image 77a of area ratio leading position after on a picture 78 shared by line position side image 77b is large.

Above, execution mode is utilized to describe component mounting head 10 of the present invention and apparatus for mounting part 30 and suction nozzle and by the side image acquisition device 50 of adsorbent parts, but the present invention is not limited thereto, in the scope of thought not violating technology of the present invention, can suitably change.

Industrial utilizability

Component mounting head of the present invention, apparatus for mounting part, suction nozzle and the side image acquisition device by adsorbent parts, be used in part substrate installed suction nozzle and adsorb.

Claims

1. a part mounting method, be the method used in apparatus for mounting part, this apparatus for mounting part has component mounting head, and this component mounting head comprises:

Suction nozzle frame, it can enclose and be rotated about axis,

Multiple suction nozzle, it is circumferentially concentric with described axis that these suction nozzles are maintained on this suction nozzle frame, and can move in the axial direction, for adsorbent parts, this part is arranged on substrate,

Suction nozzle frame whirligig, it rotates around described axis for making described suction nozzle frame, thus described multiple suction nozzle is moved to job position successively,

Suction nozzle advance and retreat mobile device, it to be retreated movement in the axial direction for making described suction nozzle,

Side image acquisition device, it is for obtaining the side image of described part;

The feature of described part mounting method is,

In order to make described suction part, described suction nozzle frame makes that described suction nozzle is in rotary moving temporarily stop to described suction nozzle frame after described job position during in, by side image acquisition device, obtain the first line position to described job position front in rotary moving described suction nozzle and by the leading position side image of adsorbent parts, measure the height of adsorbed part based on obtained described leading position side image;

In order to install described part to described substrate, described suction nozzle frame makes that described suction nozzle is in rotary moving temporarily stop to described suction nozzle frame after described job position during in, by side image acquisition device, obtain the rear line position to described job position rear in rotary moving described suction nozzle and by the described suction nozzle of the rear line position side image of adsorbent parts and the first line position to described job position front in rotary moving with by the leading position side image of adsorbent parts, based on obtained described rear line position side image, confirm that the front end of the described suction nozzle before installing is adsorbed with part, based on obtained described leading position side image, confirm the non-adsorbent parts in front end of the described suction nozzle after installing.

2. part mounting method as claimed in claim 1, is characterized in that,

Also comprise simultaneously action control step, for while pattern control described suction nozzle frame whirligig and described suction nozzle advance and retreat mobile device simultaneously, the rotational action of described suction nozzle frame and the moving back and forth of described suction nozzle are carried out simultaneously.