JP4353602B2 - Component mounting equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component mounting apparatus for taking out electrical / electronic components or other components (hereinafter referred to as components) from a component supply section and mounting them on a mounting surface of a member to be mounted. The present invention relates to a component mounting apparatus that mounts to a mounted portion.
[0002]
[Prior art]
7 and 8 are plan views showing a conventional component mounting apparatus of this type. In the figure, reference numeral 1 denotes a head for conveying parts from below, and 2a, 2b, and 2c denote nozzles for attracting and holding the part 4 from the part supply unit 3 arranged below. The nozzles 2 a, 2 b, 2 c are arranged in a line with respect to one side of the head 1 and move integrally with the head 1. The head 1 is screwed into a moving block 5 and screwed into an X-axis ball screw 6 that is rotatable with respect to the moving block 5, and an X-axis motor 7 connected to a base end portion of the X-axis ball screw 6. It moves along the X-axis direction by the rotational driving force.
[0003]
The moving block 5 is screwed into a Y-axis ball screw 8 that rotates about the Y-axis, and the Y-axis motor 9 connected to the base end of the Y-axis ball screw 8 rotates along the Y-axis direction. Moving. On the side of the base end side of the Y-axis ball screw 8, there is a component supply section 3 for supplying the components 4, 4,... To the nozzles 2a, 2b, 2c along the X-axis direction. In addition, a substrate (attached portion) 10 on which the component 4 is mounted is disposed on the side of the tip end side of the Y-axis ball screw 8. A one-dimensional line sensor 11 is installed between the component supply unit 3 and the substrate 10 in order to detect the holding position of the component 4 with respect to each nozzle 2a, 2b, 2c.
[0004]
As shown in FIG. 8, the line sensor 11 includes a light receiving unit 11a composed of a plurality of light receiving elements and a light projecting unit 11b. The light projecting unit 11b emits light upward, and the light receiving unit 11a Only the vertical component of the reflected light reflected downward by the lower surfaces of the parts 4, 4, 4 held by the nozzles 2 a, 2 b, 2 c is taken in, and a row of the light projecting unit 11 a and the light receiving unit 11 b Is parallel to the Y-axis ball screw 8, and the light projecting surface of the light projecting unit 11b and the light receiving surface of the light receiving unit 11a are positioned lower than the movement path of the nozzles 2a, 2b, 2c. Arranged to exist.
[0005]
Accordingly, by driving the control means (not shown), the nozzles 2a, 2b, 2c are moved onto the one-dimensional line sensor 11 as shown in FIGS. While moving the head 1 in the X-axis direction and traversing the line sensor 11, the parts 4, 4, and 4 held by the nozzles 2a, 2b, and 2c by the one-dimensional line sensor 11 are moved for a predetermined time. When scanned at intervals (10 times in this example), the one-dimensional scanned image shown in the schematic diagram of FIG. 9A is obtained, and the entire lower surface of the component 4 shown in FIG. 2D images can be obtained.
[0006]
Therefore, based on this result, the control means discharges the component 4 whose component holding position is defective to the outside of the line. 9A and 9B, the black background shows an image of the entire lower surface of the component 4.
[0007]
FIG. 7 shows a mounting process of the component mounting apparatus by the control means.
In this example, when the head 1 is moved above the component supply unit 3 at the start point A1, the home position of the cycle is set, and the head 1 is moved from the component supply unit 3 at the start point A1 to the component supply unit 3 at the end C1. The parts are moved in the X-axis direction, and the parts are picked up from the picked-up parts at the selected A1, B1, and C1 positions.
[0008]
When the component removal is completed, the head 1 is moved to one side outside the detection range of the line sensor 11 (D1 position in the figure) and stopped. Thereafter, the head 1 is moved in the X-axis direction. The holding position of each component 4 is detected by crossing the one-dimensional line sensor 11 by movement (D1 → E1 in the figure).
[0009]
The control means includes two-dimensional image information (FIG. 9B) obtained by processing the signal of the output information of the one-dimensional line sensor 11 (FIG. 9A), and two previously stored in the storage unit. The dimensional image information (image information) is compared, and the quality of the holding position of the component 4 is determined for each nozzle. Then, the component 4 with the determination result “good” is mounted at a predetermined position on the substrate 10 (E1 → F1 in the figure), and the “bad” component 4 is moved to a predetermined discharge unit after this cycle is executed. Then discharge.
[0010]
[Problems to be solved by the invention]
Thus, in the conventional component mounting apparatus, the holding position of the component 4 is measured for each of the nozzles 2a, 2b, and 2c, and the mounting accuracy and yield are improved by feedback of the result.
[0011]
However, in this mounting apparatus, the nozzles 2a, 2b, and 2c are fixed with respect to the head 1, and the parallel arrangement direction of the nozzles is constant (X direction in this example). In order to collectively detect the component positions of all the nozzles 2a, 2b, and 2c, as described above, the D1 position and the E1 position in FIG. 7, that is, the one-dimensional line sensor of each nozzle 2a, 2b, and 2c. Before and after crossing 11, there is an inconvenience that the head 1 is temporarily stopped, and then the direction of the head 1 is changed to mount components.
[0012]
Therefore, in order to achieve high-speed mounting cycles, it is necessary to eliminate the steps of stopping the head 1 and detecting the direction of the head 1 when detecting the component holding position.
[0013]
In JP-A-5-283898, the above-described one-dimensional line sensor can be moved along the X-axis direction and moved to the G1 position in FIG. A technique for shortening the moving distance is disclosed.
[0014]
However, such a technique is effective only for mounting a component using a single nozzle, and cannot cope with an increase in the mounting cycle of a component mounting apparatus having a head in which a plurality of nozzles are arranged in parallel.
[0015]
SUMMARY OF THE INVENTION An object of the present invention is to provide a component mounting apparatus that achieves shortening of the component mounting cycle by eliminating the stop of the head at the time of component detection by simplifying the operation path of a head in which a plurality of nozzles are arranged in parallel. is there.
[0016]
[Means for Solving the Problems]
The above object of the present invention is achieved by the following configurations.
(1) A movement path between a component supply unit for holding a component in a plurality of linearly arranged nozzles that adsorb and hold the component from below and a mounted portion on which the component is mounted. Are moved between the component supply unit and the mounted part, and are held by the nozzles from below and moved. In a component mounting apparatus comprising component recognition means for two-dimensionally detecting a holding position of a component to be moved, the plurality of nozzles are linearly connected to the component conveying means via a rotating means that rotates about a vertical axis. The component mounting apparatus is configured such that the nozzles pass above the component recognition means in the order of nozzle arrangement by setting the rotation angle of the rotation means about the vertical axis. .
[0017]
(2) A movement path between a component supply section for holding a part by adsorbing and holding a part from below and holding the part by each nozzle and a mounted part on which the part is mounted Are moved between the component supply unit and the mounted part, and are held by the nozzles from below and moved. In a component mounting apparatus comprising a component recognition means for detecting a holding position of the component to be operated, the component recognition means is configured to be rotatable about a vertical axis, and a rotation angle of the component recognition means about the vertical axis is set. A component mounting apparatus, wherein the nozzles are configured to pass above the component recognition means in order of nozzle arrangement.
[0018]
(3) A moving means for moving the part recognition means to an arbitrary position is provided in a horizontal plane between the part supply part and the attached part, and the part recognition means is moved corresponding to the movement path. The component mounting apparatus according to (1) or (2) configured as described above.
[0019]
(4) The component recognizing means configured to obtain a two-dimensional image by arranging the light receiving elements on a substantially straight line and scanning a component moving in front of the light source facing the component multiple times. (3) The component mounting apparatus according to (3).
[0020]
(5) The component mounting apparatus according to any one of (1) to (3), wherein the component recognition unit is configured to two-dimensionally arrange light receiving elements and form a two-dimensional image on the light receiving element.
[0021]
(6) The plurality of nozzles are linearly arranged in parallel with the component conveying unit via a rotating unit that rotates about a vertical axis, and the rotation angle of the rotating unit about the vertical axis is set and the component 2. The component mounting apparatus according to (2), wherein the nozzles are configured to pass above the component recognition means in the order in which the nozzles are arranged in parallel by setting the rotation angle around the vertical axis of the recognition means. .
[0022]
[Action]
That is, in the invention of (1), the component transport means moves along a predetermined movement path set between the component supply unit and the mounted portion, but the plurality of nozzles are linearly moved by the rotation unit. The component recognition unit can detect the component held by each nozzle from below from the vicinity including the moving path. To do.
[0023]
For this reason, the rotation angle of the nozzle row is adjusted by the rotation means so that each nozzle passes above the component recognition means in the order in which the nozzles are arranged when moving the component conveying means from the component supply unit to the supply target portion. When set, the component holding position is detected without stopping the movement of the component conveying means at the start and end of the component holding position detection. As described above, the movement path of the component conveying means only needs to satisfy the point of detecting the holding position of the component without stopping the movement of the component conveying means.
[0024]
For this reason, the moving path of the nozzle row is a curved path passing through the last component pick-up point and the passing point of the component recognizing means, and the moving path of the component conveying means is a path parallel to the moving path of the nozzle row.
[0025]
In the invention of (2), as in the invention of (1), the plurality of nozzles are not rotated as a whole, but instead, the movement of the component conveying means from the component supply unit to the supply unit is changed. At this time, the rotation angle of the rotation means is set so that each nozzle passes above the component recognition means in the order in which the nozzles are arranged side by side, thereby eliminating the temporary stop of the component conveying means at the start and end of the component holding position detection. In order to improve the efficiency of the cycle.
[0026]
In this case, the rotation angle of the component recognizing means is set corresponding to the moving direction of the nozzle row in the same manner as in the first aspect of the invention.
[0027]
As described above, in the inventions (1) and (2), the stop of the head is eliminated by setting the rotation angle around the vertical axis of the nozzle or the component recognition means, but the nozzle when detecting the component holding position is eliminated. The movement path of the row and the head is curved as compared with the straight line, and accordingly, the cycle time is increased.
[0028]
Therefore, in the invention of (3), the component recognition means is installed between the component supply unit and the substrate, and is movable along the horizontal plane during this period. For this reason, when the component detection means is moved to the vicinity of the final component supply unit in one cycle, the movement path of the nozzle row and the movement path of the component conveying means approximate a straight line, and the lengths of these movement paths are relatively shortened. Will be. Therefore, the efficiency and speed of the cycle can be increased as compared with the invention of (1) or (2).
[0029]
In the invention of (4), in the invention of (2) or (3), a part is scanned a plurality of times to obtain a two-dimensional image, and in the invention of (5), the above (1) In any one of the inventions (3) to (2), a two-dimensional image is formed on the light receiving element, and the holding position of the component is detected.
In the invention of (6), the nozzle moving distance can be further shortened by setting the rotation angles around the vertical axis of both the nozzle and the component recognition means.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected about the same structure part as a prior art, and the description shall be abbreviate | omitted.
[0031]
FIG. 1 shows a plan view of a first embodiment of a component mounting apparatus, and FIG. 2 shows a plan view of a moving path and a mounting cycle of a component conveying means.
[0032]
In the figure, 3 is a component supply unit, 10 is a substrate, 21 is a head as a component conveying means, and 22a, 22b, and 22c are nozzles that take out the component 4 from the component supply unit 3. The nozzles 22a, 22b, and 22c are integrally and linearly arranged in parallel with a pivot shaft 24 that is pivotally supported about one side of the head 21 on the substrate 10 side so as to be rotatable about a vertical axis. And a driven pulley 25 fixed to one end of the pivot shaft 24 and a motor shaft 26 a of a nozzle driving motor (stepping motor) 26 disposed on the upper surface of the head 21. An endless drive belt 28 is wound around the drive pulley 27.
[0033]
Therefore, by driving the head driving motor 26, the angle of the nozzle row composed of the nozzles 22a, 22b, and 22c can be freely set, and is installed between the component supply units 3, 3,. The two-dimensional component recognition means 23 thus set can set an angle at which the component 4 can be imaged from below.
[0034]
In the first embodiment, the two-dimensional component recognition means 23 is composed of a CCD camera, and is configured to image the lower surface of the component 4 and output this image information to a control means (not shown). Yes.
[0035]
FIG. 2 shows a moving path of the head 21 and the nozzles 22a, 22b, and 22c, and a mounting cycle of the component 4 with the head 21 as the center.
[0036]
As shown in the figure, the movement path K of the nozzle row from immediately after the completion of picking up the nozzle row to the completion of detection of the holding position of the component 4 is the component pick-up point C2 of the component supply unit 3 set as the end point in the X axis direction The path from the completion of the holding position detection of the component 4 to the board mounting is set as a passing point of the two-dimensional component recognition unit 23. And along a straight line connecting the first mounting points D2 of the substrate 10. The moving path of the head 21 is set inside corresponding to the moving path K of the nozzle row.
[0037]
The component mounting cycle is roughly divided into a component take-out process for holding the nozzles 22a, 22b, and 22c by suction of the nozzles 22a, 22b, and 22c, and after this component take-out process, the head 21 is two-dimensionally moved from the component supply unit 3 on the two-dimensional basis. A component holding position detecting step for sequentially detecting the components held by the nozzles 22a, 22b, and 22c in the order in which the nozzles are arranged while passing above the component recognizing unit 23, and component holding After position detection, the nozzle 21a, 22b, 22c is moved onto the substrate 10 by the movement of the head 21, and the component mounting process for mounting the component 4 is performed. The control means (not shown) includes: Corresponding to these steps, the X-axis motor 7, the Y-axis motor 9, and the nozzle driving motor 26 are controlled.
[0038]
In the component mounting process, the control means sets the component extraction position A2 of the component extraction unit 3 at the start point for the plurality of component supply units 3 as the home position of the entire mounting cycle. Then, after the nozzle drive motor 26 is driven, the rotation angle of the nozzle drive motor 26 is set so that the nozzle row is along the X-axis direction, and then only the X-axis motor 7 is driven to move the head 21 to the nozzle home. While moving from the position A2 to the terminal end C2 of the component supply unit 3, the components are held in the nozzles 22a, 22b, and 22c in advance at selected component take-out positions, for example, three points A2, B2, and C2 in the drawing. .
[0039]
Next, the control unit drives the nozzle driving motor 26 between the last component pick-up point C2 and the two-dimensional component recognition unit 23 so that each of the nozzles 22a, 22b, and 22c sequentially recognizes the two-dimensional component. The pivot shaft 24 is rotated so as to sequentially pass above the means 23, that is, so that the nozzle row moves along the track K.
[0040]
Next, the process moves to the component holding position detection step, and the head 21 is moved to the component recognition means 23 side along the forward path of the head 21 by driving the X-axis motor 7 and the Y-axis motor 9.
[0041]
The two-dimensional component recognition unit 23 images the lower surface of the component 4 held by the nozzles 22a, 22b, and 22c from the lower side in order of passage and outputs a corresponding signal to the control unit. For this reason, the two-dimensional component holding position detection device 23 recognizes the lower surface of the component 4 as an image in the order in which the nozzles are arranged side by side, and the control means detects the components 4, 4, and 4 Based on the two-dimensional image, the shape of the component and the component holding position are recognized for each nozzle 22a, 22b, and 22c, and the quality of the component is determined and the position is corrected.
[0042]
Then, the component mounting process is started, and the head 21 is moved to a predetermined position D2 on the substrate 10 by drive control of the X-axis motor 7 and the Y-axis motor 9, and the component 4 held by the nozzle 2a at the tip in the moving direction. Is mounted on the first mounting point D2 of the board 10, and then the remaining components 4, 4 are mounted on other mounting points of the board 10 by driving the X-axis motor 7, the Y-axis motor 9, and the nozzle driving motor 25. To do.
[0043]
As described above, the component mounting apparatus according to the first embodiment stops the movement of the head 21 when switching from the component extraction process to the component holding position detection, and the head 21 when switching from the component holding position detection process to the mounting process. Stops moving and realizes a smooth cycle.
[0044]
Therefore, it is possible to increase the speed of the component mounting cycle. However, in order to increase the speed further, as shown in FIG. 3, a horizontal plane is provided between the component supply unit 3 and the substrate 10. A moving table 29 that moves to an arbitrary position along the moving table 29 is installed, the component recognizing means 23 is installed and fixed on the moving table 29, and the component recognizing means 23 is selected by moving the moving table 29 back and forth and left and right. You may comprise so that it may move to the final part picking point C2 vicinity.
[0045]
With such a configuration, the movement trajectory K of the nozzle row in the component holding position detection step approximates a straight line, and high speed is achieved by shortening the distance. In this case, a known device such as a rail, a wheel, an X-axis ball screw and a Y-axis ball screw, or a rack and pinion mechanism is used for moving the moving table.
[0046]
Next, a second embodiment of the present invention will be described with reference to FIG. The same components as those in the prior art and the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.
[0047]
As shown in FIG. 4, the component mounting apparatus according to the second embodiment includes a pivot shaft 23 as a rotating means of a nozzle row including nozzles 22 a, 22 b, and 22 c, a nozzle driving motor 26, a driving pulley 27, The driven pulley 25 is abolished, and the nozzles 2a, 2b, 2c are arranged directly and linearly on one side of the head 21, and the component supply unit 3 and the substrate 10 are replaced by the rotating means. In the meantime, the component recognition rotating means 30 for rotating the component recognition means about the vertical axis is installed, and for example, the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is attached to the component recognition rotating means 30. It is what is installed.
[0048]
The component recognition rotation means 30 is, for example, a driving device that supports and drives the rotation table on the rotation table on which the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is mounted and fixed. A motor drive device is attached.
[0049]
Therefore, when the rotation angle of the rotation table is made to correspond to the movement path of the nozzles 2a, 2b, 2c from the component supply unit 3 to the mounting surface of the substrate 10, the nozzles 2a, 2b, 2c The upper direction of the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is sequentially traversed in the order of nozzle arrangement.
[0050]
Therefore, even in this embodiment, as in the first embodiment, the mounting cycle can be speeded up. Of course, the component recognition rotating means 30 is installed on the moving table 29, and the movement of the head 21 from the removal of the component to the detection of the holding position of the component 4 by the movement of the moving table 29 and the rotation of the component recognition rotating means 30. The route may be straightened and speeding up by shortening the distance may be promoted.
[0051]
Next, a third embodiment of the present invention will be described with reference to FIGS. The same components as those in the prior art and the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.
[0052]
As shown in FIG. 5, the component mounting apparatus according to the third embodiment includes a pivot shaft 23 as a rotating means of a nozzle row including nozzles 22 a, 22 b, and 22 c, a nozzle driving motor 26, a driving pulley 27, In addition to the driven pulley 25, a component recognition rotating unit 30 that rotates the component recognition unit about the vertical axis is installed between the component supply unit 3 and the substrate 10. For example, the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is mounted.
[0053]
The component recognition rotation means 30 is, for example, a driving device that supports and drives the rotation table on the rotation table on which the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is mounted and fixed. A motor drive device is attached. The component recognition rotating means 30 is preferably configured to be movable in the XY direction, at least in the X direction.
[0054]
The feature of the fourth embodiment is that the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 has a length corresponding to the parallel width of the nozzles 22a, 22b, 22c, and each nozzle 22a, 22b, 22c. This is because the parts held in can be recognized collectively. For this purpose, the one-dimensional line sensor 11 or the two-dimensional component recognition means 23 is set with a rotation angle so as to be parallel to the parallel arrangement direction of the nozzles 22a, 22b, 22c, and the nozzles 22a, 22b, 22c It is moved on a path that linearly moves from the component supply unit 3 to the mounting unit.
[0055]
As shown in FIG. 6A, the nozzles 22a, 22b, and 22c that hold the components in the component supply unit can linearly go to the mounting position without changing the orientation from the state where the holding of the components is completed. Further, as shown in FIG. 6B, the direction of the nozzles 22a, 22b, and 22c holding the components in the component supply unit is changed, and the direction and position of the one-dimensional line sensor 11 or the two-dimensional component recognition unit 23 are changed. Accordingly, the nozzles 22a, 22b, and 22c can be linearly directed to the mounting position.
[0056]
In these cases, the components held by the nozzles 22a, 22b, and 22c are collectively recognized by the one-dimensional line sensor 11 or the two-dimensional component recognition means 23, and the required time for mounting is further shortened.
[0057]
In each of the embodiments described above, the driving / stopping of the X-axis motor 7, the Y-axis motor 9, and the nozzle driving motor 25, the rotation amount, the rotation speed, the direction and movement speed of the moving table, and the nozzles 2a, 2b, 2c. , 22a, 22b, and 22c, and control for defective holding positions are performed by the nozzles 2a, 2b, 2c, 22a, 22b, and 22c, the responsiveness of the component recognition units 11 and 23, the component supply unit 3, It is assumed that the position is uniquely determined based on the position of the substrate 10, the position where the component 4 is taken out, and the mounting position, and the substrate 10 is supplied by another transfer device every mounting cycle.
[0058]
【The invention's effect】
According to the first and second aspects of the present invention, the stop when switching from the component take-out process to the component holding position detection and the stop of the head when switching from the component holding position detection process to the mounting process are eliminated and smooth. Since it is configured to realize the cycle, it is possible to increase the speed of the component mounting cycle.
[0059]
According to the third aspect of the present invention, it is possible to straighten the path of the conveying means, and the time required for the component mounting cycle can be further shortened.
[0060]
Further, according to the invention described in claim 4, it is possible to carry out highly reliable component detection with an inexpensive configuration.
[0061]
In addition, according to the fifth aspect of the invention, it is possible to detect the holding position of the component with high accuracy and high reliability.
[0062]
According to the sixth aspect of the present invention, the nozzle moving distance can be further shortened.
[Brief description of the drawings]
FIG. 1 is a plan view of a component conveying apparatus according to a first embodiment of the present invention.
FIG. 2 is a plan view of the component conveying apparatus according to the first embodiment of the present invention, and is a diagram illustrating a component conveying means and a moving path of nozzles and steps of a mounting cycle.
FIG. 3 is a plan view of a component conveying apparatus according to a second embodiment of the present invention, and is a plan view showing an aspect in which component recognition means is configured to be movable.
FIG. 4 is a plan view of a component conveying apparatus according to a second embodiment of the present invention, and is a plan view showing a form in which component recognition rotating means is installed.
FIG. 5 is a plan view of a component conveying apparatus according to a third embodiment of the present invention, showing a state in which component holding means and component recognition means are configured to be rotatable.
6A and 6B are plan views showing a movement path according to a third embodiment of the present invention, in which FIG. 6A is a state in which the nozzle is moved without rotating, and FIG. 6B is a state in which both the nozzle and the component recognition means are rotated. It is a top view of the state which moves a nozzle.
FIG. 7 is a plan view of a conventional component mounting apparatus.
FIG. 8 is a perspective view showing a conventional component mounting apparatus.
FIG. 9 is an explanatory diagram illustrating an imaging state of a component by a one-dimensional line sensor.
[Explanation of symbols]
1 Head (Parts conveying means)
3 Component supply unit 4 Component 5 Moving block (nozzle conveying means)
6 X-axis ball screw (nozzle transfer means)
7 X-axis motor (nozzle transfer means)
8 Y-axis ball screw (nozzle transfer means)
9 Y-axis motor (nozzle transfer means)
10 Substrate (attached part)
11 One-dimensional line sensor 11a Light-receiving part 11b Light-projecting part 22a, 22b, 22c Nozzle 23 Two-dimensional component recognition means 24 Pivoting shaft (turning means)
25 Driven pulley (turning means)
26 Nozzle drive motor (turning means)
27 Drive pulley (turning means)
28 Endless belt (turning means)
30 Component recognition rotation means

Claims (2)

There are nozzle rows in which a plurality of nozzles for adsorbing and holding the components are linearly arranged in parallel, between the component supply unit for holding the components to each nozzle and the mounted portion on which the components are mounted. Parts transporting means for transporting the parts reciprocated along the moving path and held by the nozzles to the mounted portion;
In a component mounting apparatus comprising component recognition means that two-dimensionally detects a holding position of a component that is disposed between the component supply unit and the mounted portion and is held and moved by the nozzles from below.
The component carrying means comprises a rotating means for rotating the nozzle array around the vertical axis, the vertical axis of the rotation angle of the pivoting means setting the first of the attached part and the component recognition unit by Component mounting characterized in that the angle of the nozzle row is changed so as to be parallel to a straight line connecting the mounting position, and the nozzles are passed over the component recognition means in the order in which the nozzles are arranged side by side. apparatus. A moving means for moving the component recognizing means to an arbitrary position is provided in a horizontal plane between the component supplying section and the mounted portion, and the component recognizing means is moved corresponding to the moving path. The component mounting apparatus according to claim 1 .

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