JP6415864B2 - Electronic component mounting apparatus and electronic component mounting method - Google Patents

Description

  The present invention relates to an electronic component mounting apparatus and an electronic component mounting method.

  The electronic component mounting apparatus includes a supply device that supplies an electronic component and a mounting head having a nozzle that detachably holds the electronic component. The mounting head holds the electronic component supplied from the supply device with a nozzle and mounts it on the substrate. As a method of the supply device, for example, a method of supplying an electronic component held on a tape as disclosed in Patent Document 1 is known.

JP 2002-057495 A

  In the electronic component mounting apparatus, an adjustment operation such as an alignment operation between the electronic component supplied from the supply device and the nozzle and a teaching operation for storing the position when the electronic component is held by the nozzle is performed. If an error occurs in the adjustment work or the time required for the adjustment work is prolonged, the productivity of the electronic component mounting apparatus may be lowered.

  An object of an aspect of the present invention is to provide an electronic component mounting apparatus and an electronic component mounting method capable of smoothly performing adjustment work and suppressing a decrease in productivity.

  According to a first aspect of the present invention, a substrate holding device that holds a substrate and a first supply device that moves a first tape holding an electronic component in a first movement direction and supplies the electronic component to a first supply position. And a second supply device for moving the second tape holding the electronic component in a second movement direction opposite to the first movement direction and supplying the electronic component to a second supply position; A mounting head that holds the electronic component at least one of the first supply position and the second supply position by the nozzle and mounts the electronic component on the substrate, the first supply position, and the first supply position. A head driving device that moves the mounting head to each of two supply positions and a mounting position facing the substrate; a first image of a first region that is disposed on the mounting head and includes the first supply position; 2nd including 2 supply positions An imaging device capable of acquiring at least one of the second images of the area, and first movement direction information indicating the first movement direction of the first tape included in the first image, together with the first image, and There is provided an electronic component mounting apparatus comprising: a display device that displays second movement direction information indicating the second movement direction of the second tape included in the second image together with the second image.

  In the first aspect of the present invention, the display device may display the first movement direction information and the second movement direction information based on position information of the mounting head that is moved by the head driving device. .

  In the first aspect of the present invention, a plurality of the electronic components are held on the first tape at a first interval, a plurality of the electronic components are held on the second tape at a second interval, A first movement distance of the first tape is set based on the first interval so that each of the plurality of electronic components sequentially stops at the first supply position, and the plurality of electronic components of the second tape are The second movement distance of the second tape is set based on the second interval so that each of the second supply positions sequentially stops at the second supply position, and the display device displays first movement distance information indicating the first movement distance. May be displayed together with the first image, and second movement distance information indicating the second movement distance may be displayed together with the second image.

  In the first aspect of the present invention, the first initial position information indicating the first initial position of the nozzle when the electronic component at the first supply position is held, and the electronic component at the second supply position are held. A storage device that stores second initial position information indicating a second initial position of the nozzle when the operation is performed, an operation device that can generate an operation signal for operating the head driving device, and an operation based on the operation of the operation device The first correction position information indicating the first correction position of the nozzle when holding the electronic component at the first supply position, and the nozzle when holding the electronic component at the second supply position. And a control device that controls the head driving device based on second correction position information indicating a second correction position, wherein the display device stores the first initial position information and the first correction position information in the first position. One image and Displays also, the second initial position information and the second correction position information may be displayed together with the second image.

  In the first aspect of the present invention, the first initial position information and the second initial position information are displayed as first marks, and the first corrected position information and the second corrected position information are displayed as second marks. The first image and the second image displayed on the display device change based on the movement of the imaging device due to the operation of the operation device, and the display device displays the first image and the second image. The positions of the first mark and the second mark may be changed so as to follow the change of the first mark.

  According to a second aspect of the present invention, the first tape holding the electronic component is moved in the first movement direction to supply the electronic component to the first supply position, and the second tape holding the electronic component is Moving in a second movement direction opposite to the first movement direction to supply the electronic component to a second supply position, and each of the first supply position, the second supply position, and a mounting position facing the substrate An imaging device disposed on a mounting head that is movable to at least one of a first image of a first area including the first supply position and a second image of a second area including the second supply position And using the display device, the first moving direction information indicating the first moving direction of the first tape included in the first image is displayed together with the first image and included in the second image. Indicating the second moving direction of the second tape 2 Displaying the moving direction information together with the second image, and mounting the electronic component on at least one of the first supply position and the second supply position on the substrate using a nozzle provided on the mounting head And providing an electronic component mounting method.

  In the second aspect of the present invention, even if the position information of the mounting head is obtained, the first movement direction information and the second movement direction information are displayed based on the position information of the mounting head. Good.

  In the second aspect of the present invention, a plurality of the electronic components are held on the first tape at a first interval, a plurality of the electronic components are held on the second tape at a second interval, Setting a first movement distance of the first tape based on the first interval so that each of the plurality of electronic components sequentially stops at the first supply position; and a plurality of the electrons of the second tape Setting a second movement distance of the second tape based on the second interval so that each of the parts sequentially stops at the second supply position, and the first movement indicating the first movement distance Distance information may be displayed together with the first image, and second movement distance information indicating the second movement distance may be displayed together with the second image.

  In the second aspect of the present invention, the first initial position information indicating the first initial position of the nozzle when the electronic component at the first supply position is held, and the electronic component at the second supply position are held. Setting a second initial position information indicating a second initial position of the nozzle when operating, operating an operation device capable of generating an operation signal for operating a head driving device capable of moving the mounting head, and First correction position information indicating a first correction position of the nozzle when holding the electronic component at the first supply position, and a second correction position of the nozzle when holding the electronic component at the second supply position Determining the second corrected position information indicating, wherein the first initial position information and the first corrected position information are displayed together with the first image, and the second initial position information and the second corrected position are displayed. Information before It may be displayed together with the second image.

  In the second aspect of the present invention, the first initial position information and the second initial position information are displayed with a first mark, and the first corrected position information and the second corrected position information are displayed with a second mark. Display, the first image and the second image displayed on the display device change based on movement of the imaging device by operation of the operation device, and the display device The positions of the first mark and the second mark may be changed so as to follow changes in the image and the second image.

  According to the aspect of the present invention, it is possible to suppress a decrease in productivity.

FIG. 1 is a diagram schematically illustrating an example of an electronic component mounting apparatus according to the present embodiment. FIG. 2 is a diagram schematically illustrating an example of a mounting head according to the present embodiment. FIG. 3 is a diagram schematically illustrating an example of a mounting head according to the present embodiment. FIG. 4 is a diagram schematically illustrating an example of a mounting head according to the present embodiment. FIG. 5 is a diagram schematically illustrating an example of a supply device according to the present embodiment. FIG. 6 is a diagram schematically illustrating an example of a supply device according to the present embodiment. FIG. 7 is a diagram schematically illustrating an example of a supply device according to the present embodiment. FIG. 8 is a block diagram illustrating an example of a control system according to the present embodiment. FIG. 9 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 10 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 11 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 12 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 13 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 14 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 15 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 16 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 17 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 18 is a diagram illustrating an example of a display screen of the display device according to the present embodiment. FIG. 19 is a flowchart illustrating an example of an electronic component mounting method according to the present embodiment.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. Some components may not be used. In addition, constituent elements in the embodiments described below include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range.

  In the following description, an XYZ orthogonal coordinate system is set, and the positional relationship of each part will be described with reference to this XYZ orthogonal coordinate system. One direction in the horizontal plane is the X-axis direction, the direction orthogonal to the X-axis direction in the horizontal plane is the Y-axis direction, and the direction orthogonal to each of the X-axis direction and the Y-axis direction (vertical direction, vertical direction) is the Z-axis direction. To do. The rotation directions (inclination directions) about the X axis, the Y axis, and the Z axis are the θX, θY, and θZ directions, respectively. The XY plane is a horizontal plane.

  FIG. 1 is a diagram schematically illustrating an example of an electronic component mounting apparatus 10 according to the present embodiment. 2 and 3 are diagrams illustrating an example of the mounting head 15 of the electronic component mounting apparatus 10 according to the present embodiment.

  The electronic component mounting apparatus 10 mounts the electronic component C on the substrate P. The electronic component mounting apparatus 10 is also called a mounter 10. The electronic component C may be a lead type electronic component having a lead (insertion type electronic component) or a chip type electronic component having no lead (mounting type electronic component). The lead-type electronic component is mounted on the substrate P by inserting a lead into the opening of the substrate P. The chip-type electronic component is mounted on the substrate P by being mounted on the substrate P.

  1, 2, and 3, an electronic component mounting apparatus 10 includes a substrate transport device 12 that transports a substrate P, a supply device 14 that supplies an electronic component C, a mounting head 15 having a nozzle 32, and a head A drive device 26 including a drive device 16 and a nozzle drive device 34, capable of moving the nozzle 32, an imaging unit 17 including a camera capable of acquiring an image of the electronic component C, and a replacement nozzle holding a replacement nozzle 32 A mechanism 18, a component storage unit 19 that can store the electronic component C, a housing 11 that houses at least a part of the electronic component mounting apparatus 10, and a control device 20 that controls the electronic component mounting apparatus 10 are provided. ing.

  The substrate transfer device 12 transfers the substrate P. The substrate transfer device 12 includes a substrate holding device 12H that can hold the substrate P, an actuator 12D that can move the substrate holding device 12H in the Z-axis direction, and a guide member 12G that guides the substrate P. The substrate holding device 12H holds the substrate P so that the surface of the substrate P and the XY plane are parallel to each other. In the present embodiment, the guide member 12G is long in the X-axis direction. The substrate P is guided by the guide member 12G and can move in the X-axis direction. The substrate transfer device 12 moves the substrate P at least in the X-axis direction. Note that the substrate transport device 12 may be capable of moving the substrate P in six directions of X axis, Y axis, Z axis, θX, θY, and θZ. The electronic component C is mounted on at least a part of the surface of the substrate P.

  The substrate transfer device 12 can move the substrate P so that the surface of the substrate P and at least a part of the mounting head 15 face each other. The board P is supplied to the electronic component mounting apparatus 10 from the board supply apparatus. The substrate P supplied from the substrate supply device is transported to a predetermined position of the guide member 12G and is held by the substrate holding device 12H. The mounting head 15 mounts the electronic component C on the surface of the substrate P arranged at the predetermined position. After the electronic component C is mounted on the substrate P, the substrate P is transported to the next process device by the substrate transport device 12.

  The supply device 14 supplies the electronic component C to the mounting head 15. The supply device 14 holds a plurality of electronic components C. At least one electronic component C among the plurality of electronic components C held by the supply device 14 is supplied to the mounting head 15. The supply device 14 is disposed on both sides of the substrate transfer device 12 with respect to the Y-axis direction. In the present embodiment, the supply apparatus 14 includes a first supply apparatus 141 disposed on the −Y side of the substrate transfer apparatus 12 and a second supply apparatus 142 disposed on the + Y side of the substrate transfer apparatus 12. The first supply device 141 is disposed on the front side of the electronic component mounting apparatus 10. The second supply device 142 is disposed on the rear side of the electronic component mounting apparatus 10. The first supply device 141 may be referred to as a front side supply device 141. The second supply device 142 may be referred to as a rear supply device 142.

  The supply device 14 includes a feeder called a feeder 21 and a feeder bank that supports the feeder 21. Each column of the feeder bank is numbered, and the position of the feeder 21 is identified by referring to the number of the feeder bank. The supply device 14 includes a tape 13 that holds the electronic component C. The tape 13 holding the electronic component C is wound around the reel. The feeder 21 supports the reel.

  A plurality of feeders 21 are arranged in the direction of transport of the substrate P by the substrate transport device 12. In the present embodiment, the transport direction of the substrate P is the X-axis direction. A plurality of feeders 21 are arranged in the X-axis direction. The electronic component C is supplied from the feeder 21 to the mounting head 15. The feeder bank detachably supports a plurality of feeders 21 arranged in the X-axis direction.

  A reel is supported on each of the plurality of feeders 21. The feeder 21 detachably supports the reel. A plurality of electronic components C are held on the tape 13 wound around the reel. The supply device 14 moves the electronic component C held on the tape 13 by rotating the reel and moving the tape 13. In the present embodiment, the moving direction of the electronic component C by the supply device 14 is the Y-axis direction.

  In the following description, the tape 13 of the first supply device 141 that holds the electronic component C is appropriately referred to as a first tape 131, and the tape 13 of the second supply device 142 that holds the electronic component C is appropriately referred to as a second tape. 132.

  The first supply device 141 moves the first tape 131 holding the electronic component C in the + Y direction (first movement direction), and supplies the electronic component C to the first supply position SP1. The second supply device 142 moves the second tape 132 holding the electronic component C in the −Y direction (second movement direction), and supplies the electronic component C to the second supply position SP2. The first supply position SP1 is a position on the −Y side from the substrate holding device 12H. The second supply position SP2 is a position on the + Y side from the substrate holding device 12H. The moving direction of the second tape 132 is opposite to the moving direction of the first tape 131. In the first supply device 141, the electronic component C moves in the + Y direction. In the second supply device 142, the electronic component C moves in the -Y direction.

  The electronic component C supplied from the supply device 14 may be the same type of electronic component or a different type of electronic component.

  The imaging unit 17 detects the shape of the electronic component C held by the nozzle 32 and the holding state of the electronic component C by the nozzle 32. The imaging unit 17 includes an image recognition device and includes a camera capable of acquiring an image of the electronic component C. The imaging unit 17 takes an image of the electronic component C held by the nozzle 32 from the lower side (−Z side), and analyzes the taken image, whereby the shape of the electronic component C held by the nozzle 32 and the nozzle The holding state of the electronic component C by 32 is detected. Information acquired by the imaging unit 17 is output to the control device 20.

  The replacement nozzle holding mechanism 18 holds a plurality of nozzles 32 to be replaced with respect to the mounting head 15. In the present embodiment, the nozzle 32 includes a suction nozzle that sucks and holds the electronic component C. The nozzle 32 may include a gripping nozzle that holds the electronic component C in between. The nozzle 32 mounted on the mounting head 15 is changed (replaced) by the replacement nozzle holding mechanism 18. The mounting head 15 holds the electronic component C with the mounted nozzle 32.

  The component storage unit 19 stores the electronic component C that is not mounted on the board P. The component storage unit 19 includes a disposal box in which electronic components C that are not mounted on the board P are discarded. When the electronic component C held by the nozzle 32 is not mounted on the substrate P, the electronic component C held by the nozzle 32 is thrown into the component storage unit 19. The electronic component C thrown into the component storage unit 19 is discarded.

  Next, the mounting head 15 will be described. The mounting head 15 includes a base frame 31, a nozzle 32 that detachably holds the electronic component C, an imaging device 36 that acquires an image of an object that faces the mounting head 15, and a height of the object that faces the mounting head 15. A height sensor 37 that detects (position in the Z-axis direction) and a laser recognition device 38 that detects the state of the electronic component C are included. The base frame 31 supports the nozzle 32, the imaging device 36, the height sensor 37, and the laser recognition device 38.

  The mounting head 15 mounts the electronic component C supplied from the supply device 14 on the substrate P. The mounting head 15 holds the electronic component C supplied from the supply device 14 with the nozzle 32. The nozzle 32 mounts the electronic component C on the substrate P held by the substrate holding device 12H.

  The nozzle 32 holds the electronic component C in a detachable manner. The nozzle 32 includes a suction nozzle that sucks and holds the electronic component C. The nozzle 32 includes a suction mechanism that sucks and holds the electronic component C. An opening 33 is provided at the tip of the nozzle 32. By sucking air from the opening 33, the electronic component C is adsorbed and held at the tip of the nozzle 32. The nozzle 32 includes a shaft 32a. A flow path connecting the opening 33 and the suction device is provided inside the shaft 32a. The suction device includes a vacuum system. The electronic component C is held by the nozzle 32 by performing a suction operation from the opening 33 in a state where the tip of the nozzle 32 including the opening 33 is in contact with the electronic component C. The electronic component C is released from the nozzle 32 by releasing the suction operation from the opening 33.

  The mounting head 15 has a plurality of nozzles 32. A plurality of nozzles 32 are arranged in a line. In the present embodiment, six nozzles 32 are arranged in the X-axis direction.

  The driving device 26 includes a head driving device 16 capable of moving the mounting head 15 to each of the first supply position SP1, the second supply position SP2, and the mounting position SPJ facing the substrate P, and nozzle driving capable of moving the nozzle 32. Device 34. The nozzle driving device 34 is disposed on the mounting head 15. The nozzle driving device 34 is supported by the base frame 31.

  When the mounting head 15 is moved by the head driving device 16, each of the nozzle 32, the imaging device 36, the height sensor 37, and the laser recognition device 38 supported by the mounting head 15 has a first supply position SP1. , Move to each of the second supply position SP2 and the mounting position SPJ.

  The head driving device 16 includes an actuator and moves the mounting head 15 in each of the X-axis direction and the Y-axis direction. In the present embodiment, the head driving device 16 moves the base frame 31 of the mounting head 15. The head drive device 16 includes an X-axis drive unit 22 and a Y-axis drive unit 24. Each of the X-axis drive unit 22 and the Y-axis drive unit 24 includes an actuator. The X-axis drive unit 22 is connected to the base frame 31 of the mounting head 15. The base frame 31 moves in the X-axis direction by the operation of the X-axis drive unit 22. The Y-axis drive unit 24 is connected to the base frame 31 via the X-axis drive unit 22. When the X-axis drive unit 22 is moved in the Y-axis direction by the operation of the Y-axis drive unit 24, the base frame 31 is moved in the Y-axis direction.

  When the base frame 31 is moved in the XY plane by the operation of the head driving device 16, the nozzle 32 supported by the base frame 31, the nozzle driving device 34, the imaging device 36, the height sensor 37, and laser recognition are performed. Each of the devices 38 moves in the XY plane together with the base frame 31.

  The nozzle driving device 34 is supported by the base frame 31. The nozzle driving device 34 includes an actuator and can move the nozzle 32 in the Z-axis direction and the θZ direction.

  In the present embodiment, the operation of the head driving device 16 causes the nozzle 32 to move in two directions, the X-axis direction and the Y-axis direction. By the operation of the nozzle driving device 34, the nozzle 32 moves in two directions, the Z axis and the θZ direction. In the present embodiment, the driving device 26 including the head driving device 16 and the nozzle driving device 34 can move the nozzle 32 in four directions of the X axis, the Y axis, the Z axis, and θZ. Note that the driving device 26 may be capable of moving the nozzle 32 in six directions of X axis, Y axis, Z axis, θX, θY, and θZ.

  By the operation of the driving device 26, the nozzle 32 moves in each of the first supply position SP1, the second supply position SP2, and the mounting position SPJ. The nozzle 32 can carry out the electronic component C from the supply device 14 and transport it to the substrate P. The mounting head 15 mounts the electronic component C at least one of the first supply position SP1 and the second supply position SP2 on the substrate P by holding the nozzle 32. The mounting head 15 can mount the electronic component C held by the nozzle 32 at an arbitrary position on the surface of the substrate P.

  The imaging device 36 includes a camera that can acquire an image of an object facing the mounting head 15. The imaging device 36 can acquire an image of the substrate P. The imaging device 36 can acquire an image of the reference mark formed on the surface of the substrate P. The imaging device 36 can acquire an image of the electronic component C mounted on the substrate P. The imaging device 36 can acquire an image of the electronic component C present in the supply device 14. The imaging device 36 can acquire not only the substrate P and the electronic component C but also an image of an object arranged in a region where the mounting head 15 faces.

  By the operation of the head driving device 16, the imaging device 36 arranged in the mounting head 15 can be moved to each of the first supply position SP 1, the second supply position SP 2, and the mounting position SPJ. The imaging device 36 can acquire the first image GA1 of the first area AR1 including the first supply position SP1. The imaging device 36 can acquire the second image GA2 of the second area AR2 including the second supply position SP2. When the electronic component C and the first tape 131 are arranged in the first area AR1, the imaging device 36 can acquire images of the electronic component C and the first tape 131 arranged in the first area AR1. . When the electronic component C and the second tape 132 are arranged in the second area AR2, the imaging device 36 can acquire images of the electronic component C and the second tape 132 arranged in the second area AR2. .

  That is, in the present embodiment, the imaging device 36 can acquire an image of at least a part of the electronic component C supplied to the first supply position SP1 and the first tape 131 of the first supply device 141. The imaging device 36 can acquire images of at least a part of the electronic component C supplied to the second supply position SP2 and the second tape 132 of the second supply device 142.

  The height sensor 37 detects the distance between the mounting head 15 and the object facing it, and detects the height of the object. The height sensor 37 can detect the distance from the substrate P and the distance from the electronic component C mounted on the substrate P. The height sensor 37 is capable of receiving at least a part of the laser light that is emitted to the light emitting element that emits the laser light (detection light) and the object disposed at a position facing the mounting head 15 and reflected by the object. And a light receiving element.

  The laser recognition device 38 detects the state of the electronic component C held by the nozzle 32. The state of the electronic component C includes at least one of the dimensions of the electronic component C, the shape of the electronic component C, and the attitude of the electronic component C held by the nozzle 32. The laser recognition device 38 is built in a bracket 50 connected to the lower part of the base frame 31. The laser recognition device 38 includes an emission device 38a that emits laser light (detection light), and a light receiving device 38b that can receive at least part of the laser light emitted from the emission device 38a. The light receiving device 38b is disposed at a position facing the emitting device 38a. The emission device 38a includes a light emitting element capable of emitting laser light. The light receiving device 38b includes a light receiving element capable of receiving laser light. With respect to the Z-axis direction, the emitting device 38a and the light receiving device 38b are arranged at the same position (height). The laser recognition device 38 detects the state of the electronic component C by irradiating the electronic component C held by the nozzle 32 with laser light.

  Next, the nozzle driving device 34 will be described. FIG. 4 is a diagram illustrating an example of the nozzle driving device 34. The nozzle driving device 34 includes an actuator (Z-axis motor) 341 that can move the nozzle 32 in the Z-axis direction and an actuator (θZ motor) 342 that can move the nozzle 32 in the θZ direction.

  As shown in FIG. 4, the mounting head 15 includes a base frame 31, a guide part 101 provided on the base frame 31, a movable member 102 that is guided by the guide part 101 and can move in the Z-axis direction, and a base frame 31 and a Z-axis motor 341 that moves the movable member 102 in the Z-axis direction. A ball screw 111 is connected to the Z-axis motor 341 via a coupling 110.

  The mounting head 15 includes a θZ motor 342, a pulley 108 connected to the θZ motor 342, a spline bearing 107, a timing belt 109 supported by the pulley 108 and the spline bearing 107, a pulley 108, a timing belt 109, And a vertical rotation drive unit bearing 105 connected to the θZ motor 342 via the spline bearing 107. The spline bearing 107 is disposed inside the vertical rotation drive unit bearing 105. The vertical rotation drive unit bearing 105 is connected to the shaft 32a. A rotation bearing 106 is disposed on the outer periphery of the vertical rotation drive unit bearing 105. An outer peripheral portion of the rotary bearing 106 is fixed to the base frame 31. The movable member 102 is provided with a lower rotary bearing 151 and an upper rotary bearing 152 that rotatably support the shaft 32a. The shaft 32a can be moved in the Z-axis direction and can be moved (rotated) in the θZ direction by the vertical rotation drive unit bearing 105.

  A nut portion 118 that meshes with the ball screw 111 is fixed to a part of the movable member 102. When the ball screw 111 is rotated by the operation of the Z-axis motor 341, the nut portion 118 moves in the Z-axis direction. When the nut portion 118 moves in the Z-axis direction, the movable member 102 to which the nut portion 118 is fixed also moves in the Z-axis direction. Thereby, the nozzle 32 including the shaft 32a is moved in the Z-axis direction.

  The movable member 102 has a deformed portion 112 between the shaft 32a and the nut portion 118. The deformation part 112 includes a circular hole provided in the movable member 102. A strain gauge 113 is disposed on the deforming portion 112. In place of the strain gauge 113, a load cell may be disposed in the deforming portion 112.

  For example, when the electronic component C held by the nozzle 32 is mounted on the substrate P, if at least a part of the electronic component C comes into contact with the substrate P and the movement (lowering) of the nozzle 32 is prevented, the actuator 341 is generated. As the torque increases, the detected value of the strain gauge 113 increases. Thus, in this embodiment, the mounting head 15 can detect whether or not at least a part of the electronic component C held by the nozzle 32 is in contact with the substrate P.

  The nozzle 32 is moved in the Z-axis direction and the θZ direction by the operation of the nozzle driving device 34 including the Z-axis motor 341 and the θZ motor 342. The nozzle 32 is supported by the base frame 31 via a nozzle driving device 34. The base frame 31 is moved in the X-axis direction and the Y-axis direction by the operation of the head driving device 16. By the operation of the head driving device 16, the nozzle 32 supported by the base frame 31 is movable in the X-axis direction and the Y-axis direction. In other words, in the present embodiment, the nozzle 32 can be moved in the X-axis direction and the Y-axis direction by the operation of the head driving device 16, and can be moved in the Z-axis direction and the θZ direction by the operation of the nozzle driving device 34. is there. In the present embodiment, the driving device 26 can move the nozzle 32 in at least four directions of the X axis, the Y axis, the Z axis, and θZ. Note that the driving device 26 may be capable of moving the nozzle 32 in six directions of X axis, Y axis, Z axis, θX, θY, and θZ.

  Next, the supply device 14 will be described. FIG. 5 is a perspective view showing an example of the tape 13 of the supply device 14 and the electronic component C held by the tape 13 according to the present embodiment. FIG. 6 is a cross-sectional view showing an example of the tape 13 of the supply device 14 and the electronic component C held on the tape 13 according to the present embodiment.

  In the present embodiment, the supply device 14 includes a first supply device 141 disposed on the −Y side with respect to the substrate transfer device 12, and a second supply device 142 disposed on the + Y side with respect to the substrate transfer device 12. including. The tape 13 includes a first tape 131 of the first supply device 141 and a second tape 132 of the second supply device 142. 5 and 6 show the first tape 131 of the first supply device 141. FIG. The first supply device 141 and the second supply device 142 have substantially the same structure. The first tape 131 and the second tape 132 have substantially the same structure.

  As shown in FIGS. 5 and 6, the first supply device 141 includes a first tape 131 that holds the electronic component C. The first supply device 141 moves the first tape 131 in the + Y direction, and moves the electronic component C held on the first tape 131 to the first supply device SP1. The mounting head 15 holds the electronic component C of the first tape 131 with the nozzle 32 at the first supply position SP1. After the electronic component C is held by the nozzle 32 at the first supply position SP1, the mounting head 15 moves, so that the electronic component C is carried out from the first tape 131. The electronic component C carried out from the first tape 131 is mounted on the substrate P by the mounting head 15.

  The first tape 131 has a plurality of recesses 23 provided at the first interval PT1. The electronic component C is disposed in the recess 23. An adhesive tape 25 is disposed on the lower surface of the first tape 131. The electronic component C is fixed by the adhesive tape 25 in the recess 23. With respect to the transport direction (Y-axis direction) of the first tape 131, a plurality of electronic components C are held on the first tape 131 at the first interval PT1.

  The first tape 131 has a plurality of holes 27 provided at predetermined intervals in the transport direction (Y-axis direction) of the first tape 131. The convex portion 21 </ b> T of the feeder 21 is disposed in the hole 27. When the feeder 21 is operated in a state where the convex portion 21T is disposed in the hole 27, the first tape 131 moves in the + Y direction on the travel path of the feeder 21.

  FIG. 7 is a schematic diagram illustrating an example of the first tape 131 of the first supply device 141 and the second tape 132 of the second supply device 142. As shown in FIG. 7, in the first supply device 141, a plurality of electronic components C are held on the first tape 131 at the first interval PT1 in the transport direction (Y-axis direction) of the first tape 131. In the second supply device 142, the plurality of electronic components C are held on the second tape 132 at the second interval PT2 with respect to the transport direction (Y-axis direction) of the second tape 132.

  The first supply device 141 moves the first tape 131 holding the electronic component C in the + Y direction, and supplies the electronic component C to the first supply position SP1. The mounting head 15 holds the electronic component C of the first tape 131 with the nozzle 32 at the first supply position SP1. The electronic component C held by the nozzle 32 at the first supply position SP1 is transported to the mounting position SPJ and mounted on the substrate P.

  The second supply device 142 moves the second tape 132 holding the electronic component C in the −Y direction, and supplies the electronic component C to the second supply position SP2. The mounting head 15 holds the electronic component C of the second tape 132 with the nozzle 32 at the second supply position SP2. The electronic component C held by the nozzle 32 at the second supply position SP2 is transported to the mounting position SPJ and mounted on the substrate P.

  The first supply device 141 moves the first tape 131 in the + Y direction, and arranges the electronic component C to be mounted among the plurality of electronic components C on the first tape 131 at the first supply position SP1. When the electronic component C to be mounted is disposed at the first supply position SP1, the first supply device 141 temporarily stops the movement of the first tape 131. In a state where the movement of the first tape 131 is stopped, the electronic component C disposed at the first supply position SP1 is held by the nozzle 32. The mounting head 15 carries out the electronic component C held by the nozzle 32 from the first tape 131. After the electronic component C to be mounted is unloaded from the first tape 131, the first supply device 141 is arranged so that the next electronic component C to be mounted is arranged at the first supply position SP1. Is moved in the + Y direction. When the next electronic component C to be mounted is arranged at the first supply position SP1, the first supply device 141 temporarily stops the movement of the first tape 131. In a state where the movement of the first tape 131 is stopped, the electronic component C disposed at the first supply position SP1 is held by the nozzle 32. Thereafter, the same operation is repeated.

  That is, when the previous electronic component C to be mounted is arranged at the first supply position SP1 by the movement of the first tape 131 in the + Y direction, the movement of the first tape 131 is stopped. After the previous electronic component C to be mounted is unloaded from the first tape 131 by the nozzle 32, the first tape 131 is moved in the + Y direction so that the next electronic component C to be mounted is arranged at the first supply position SP1. Moved to. When the next electronic component C to be mounted is placed at the first supply position SP1 by the movement of the first tape 131 in the + Y direction, the movement of the first tape 131 is stopped. After the next electronic component C to be mounted is unloaded from the first tape 131 by the nozzle 32, the first tape 131 is + Y so that the next electronic component C to be mounted is arranged at the first supply position SP1. Moved in the direction.

  Thus, in the present embodiment, the first tape 131 moves in the + Y direction by the first movement distance LP1 so that each of the plurality of electronic components C on the first tape 131 sequentially stops at the first supply position SP1. The operation of stopping the first tape 131 after the movement of the first movement distance LP1, and the operation of carrying out the electronic component C at the first supply position SP1 from the first tape 131 are repeated. The first movement distance LP1 is set based on the first interval PT1. In the present embodiment, the first movement distance LP1 is substantially equal to the dimension of the first interval PT1. The first movement distance LP1 may be referred to as a first feed pitch LP1.

  As illustrated in FIGS. 5 and 7 and the like, the imaging device 36 can acquire the first image GA1 of the first area AR1 including the first supply position SP1. The first area AR1 is an imaging area that can be imaged by the imaging device 36. The imaging region includes a visual field region of the optical system of the imaging device 36. In the first area AR1, at least a part of the electronic component C and the first tape 131 held on the first tape 131 are arranged.

  Similarly, the second supply device 142 moves the second tape 132 in the −Y direction, and arranges the electronic component C to be mounted among the plurality of electronic components C on the second tape 132 at the second supply position SP2. . When the electronic component C to be mounted is disposed at the second supply position SP2, the second supply device 142 temporarily stops the movement of the second tape 132. With the movement of the second tape 132 stopped, the electronic component C arranged at the second supply position SP2 is held by the nozzle 32. The mounting head 15 carries out the electronic component C held by the nozzle 32 from the second tape 132. After the electronic component C to be mounted is unloaded from the second tape 132, the second supply device 142 is arranged so that the next electronic component C to be mounted is arranged at the second supply position SP2. Is moved in the -Y direction. When the next electronic component C to be mounted is placed at the second supply position SP2, the second supply device 142 temporarily stops the movement of the second tape 132. With the movement of the second tape 132 stopped, the electronic component C arranged at the second supply position SP2 is held by the nozzle 32. Thereafter, the same operation is repeated.

  Thus, in the present embodiment, the second tape 132 is moved in the −Y direction by the second movement distance LP2 so that each of the plurality of electronic components C of the second tape 132 is sequentially stopped at the second supply position SP2. The operation of moving, the operation of stopping the second tape 132 after moving the second movement distance LP2, and the operation of carrying out the electronic component C at the second supply position SP2 from the second tape 132 are repeated. The second movement distance LP2 is set based on the second interval PT2. In the present embodiment, the second movement distance LP2 is substantially equal to the dimension of the second interval PT2. Note that the second movement distance LP2 may be referred to as a second feed pitch LP2.

  As illustrated in FIG. 7 and the like, the imaging device 36 can acquire the second image GA2 of the second area AR2 including the second supply position SP2. The second area AR2 is an imaging area that can be imaged by the imaging device 36. The imaging region includes a visual field region of the optical system of the imaging device 36. In the second area AR2, at least a part of the electronic component C and the second tape 132 held on the second tape 132 are arranged.

  FIG. 8 is a block diagram illustrating an example of the control system 200 of the electronic component mounting apparatus 10 according to the present embodiment. As shown in FIG. 8, the control system 200 includes a control device 20, an operation device 40, a display device 42, a storage device 44, and an image processing device 46.

  The control device 20 controls the electronic component mounting device 10. The control device 20 includes a processor such as a CPU and a memory such as a ROM and a RAM, and has an arithmetic processing function and a storage function. The control device 20 includes a head control unit 20 </ b> A and controls a drive device 26 including the head drive device 16 and the nozzle drive device 34. The mounting head 15 moves in each of the first supply position SP1, the second supply position SP2, and the mounting position SPJ by the operation of the driving device 26.

  The operating device 40 is connected to the control device 20. The operating device 40 is operated by an operator. The operation device 40 includes input devices such as a keyboard, a mouse, and a touch panel. The operation device 40 generates an operation signal when operated. In the present embodiment, when the operation device 40 is operated, an operation signal for operating the drive device 26 including the head drive device 16 is generated. An operator can operate the drive device 26 via the operation device 40. An operator can adjust the position of the mounting head 15 in the XY plane by operating the operating device 40. The adjustment of the position of the mounting head 15 includes adjustment of the position of the nozzle 32 in the XY plane and adjustment of the position of the imaging device 36. The adjustment of the position of the imaging device 36 includes adjustment of the position of the imaging region of the imaging device 36 in the XY plane.

  The display device 42 is connected to the control device 20. The display device 42 includes a monitor or a touch panel that displays various types of information related to mounting. The display device 42 displays an image based on the image signal output from the control device 20.

  The storage device 44 is connected to the control device 20. It includes a memory such as ROM and RAM, or a recording medium such as a hard disk. The storage device 44 stores various types of information related to mounting. The storage device 44 stores information (recipe) related to the mounting conditions of the electronic component mounting apparatus 10. The mounting conditions include a sequence when a product is produced by the electronic component mounting apparatus 10, commands for the electronic component mounting apparatus 10, settings, and parameters.

  In the following description, information regarding the mounting conditions is appropriately referred to as a production program. The production program includes information (substrate data) related to the board P to be mounted and information (component data) related to the electronic component C mounted on the board P.

  The image processing device 46 is connected to the control device 20. The image processing device 46 is connected to the imaging device 36. The image data acquired by the imaging device 36 is output to the image processing device 46. The image processing device 46 processes (image processing) the image data output from the imaging device 36. The image data processed by the image processing device 46 is output to the control device 20.

  The control device 20 causes the display device 42 to display the first image GA1 of the first area AR1 including the first supply position SP1 acquired by the imaging device 36. In addition, the control device 20 causes the display device 42 to display the second image GA2 in the second area AR2 including the second supply position SP2 acquired by the imaging device 36.

  FIG. 9 is a diagram illustrating an example of a display screen of the display device 42 according to the present embodiment. FIG. 9 shows an example in which the first image GA1 of the first area AR1 including the first supply position SP1 is displayed on the display screen of the display device 42.

  As shown in FIG. 9, the first image GA1 of the first area AR1 including the first supply position SP1 is displayed on the display device. The display device 42 displays the first image GA1 acquired by the imaging device 36 in real time.

  In the present embodiment, first movement direction information DM1 indicating the movement direction (+ Y direction) of the first tape 131 included in the first image GA1 is displayed on the display device 42 together with the first image GA1.

  In the present embodiment, the control device 20 causes the display device 42 to display the arrow Ya together with the first image GA1. The first movement direction information DM1 is indicated by the direction of the arrow Ya. The direction of the tip of the arrow Ya is the moving direction of the first tape 131. The control device 20 causes the display device 42 to display the arrow Ya so that the direction of the tip of the arrow Ya matches the moving direction of the first tape 131.

  In the present embodiment, the first movement distance information FD1 indicating the first movement distance LP1 of the first tape 131 included in the first image GA1 is displayed on the display device 42 together with the first image GA1.

  In the present embodiment, the first movement distance information FD1 is indicated by the length of the arrow Ya. The control device 20 displays the arrow Ya on the display device 42 so that the length of the arrow Ya correlates with the first movement distance LP1. For example, when the first movement distance LP1 is long, a long arrow Ya is displayed on the display screen of the display device 42. When the first movement distance LP1 is short, a short arrow Ya is displayed on the display screen of the display device 42.

  FIG. 10 shows an example in which the second image GA2 of the second area AR2 including the second supply position SP2 is displayed on the display screen of the display device 42.

  As shown in FIG. 10, the second image GA2 of the second area AR2 including the second supply position SP2 is displayed on the display device 42. The display device 42 displays the second image GA2 acquired by the imaging device 36 in real time.

  In the present embodiment, second movement direction information DM2 indicating the movement direction (−Y direction) of the second tape 132 included in the second image GA2 is displayed on the display device 42 together with the second image GA2.

  In this embodiment, the control apparatus 20 displays the arrow Yb on the display apparatus 42 with the 2nd image GA2. The second movement direction information DM2 is indicated by the direction of the arrow Yb. The direction of the tip of the arrow Yb is the moving direction of the second tape 132. The control device 20 causes the display device 42 to display the arrow Yb so that the direction of the tip of the arrow Yb matches the moving direction of the second tape 132.

  In the present embodiment, the second movement distance information FD2 indicating the second movement distance LP2 of the second tape 132 included in the second image GA2 is displayed on the display device 42 together with the second image GA2.

  In the present embodiment, the second movement distance information FD2 is indicated by the length of the arrow Yb. The control device 20 displays the arrow Yb on the display device 42 so that the length of the arrow Yb and the second movement distance LP2 are correlated. For example, when the second movement distance LP2 is long, a long arrow Yb is displayed on the display screen of the display device 42. When the second movement distance LP2 is short, a short arrow Yb is displayed on the display screen of the display device 42.

  The control device 20 causes the display device 42 to display one of the first movement direction information DM1 and the second movement direction information DM2 based on the position information of the mounting head 15 that is moved by the head driving device 16. The control device 20 causes the display device 42 to display one of the first movement direction information DM1 and the second movement direction information DM2 based on the position information of the mounting head 15 in the XY plane.

  The control device 20 may display either one of the first movement direction information DM1 and the second movement direction information DM2 on the display device 42 with reference to the feeder bank number designated in the production program. For example, if the first (F-1) from the left on the front is selected, the moving direction information DM1 is displayed, and if the first (R-1) from the left on the rear is selected, the second moving direction is displayed. Information DM2 is displayed. As described above, the movement direction information may be determined by obtaining the position information from the feeder bank number.

  In the control device 20, the mounting head 15 and the imaging device 36 disposed in the mounting head 15 are disposed in the first supply position SP1 or in the vicinity of the first supply position SP1 based on the acquired position information of the mounting head 15. When it is determined that the first movement direction information DM1 is displayed, the display device 42 is displayed. In the control device 20, the mounting head 15 and the imaging device 36 disposed in the mounting head 15 are disposed in the second supply position SP2 or in the vicinity of the second supply position SP2 based on the acquired position information of the mounting head 15. When it is determined that the second movement direction information DM2 is displayed, the display device 42 is caused to display the second movement direction information DM2.

  That is, when the control device 20 determines that the first supply position SP1 is disposed in the imaging region of the imaging device 36 based on the positional information of the mounting head 15 in the XY plane, the control device 20 displays the first movement direction information DM1. It is displayed on the display device 42. When the control device 20 determines that the second supply position SP2 is disposed in the imaging region of the imaging device 36 based on the positional information of the mounting head 15 in the XY plane, the control device 20 displays the second movement direction information DM2 on the display device. 42 is displayed.

  The position information of the mounting head 15 can be acquired based on the driving amount of the head driving device 16. For example, the control device 20 mounts the mounting head 15 (imaging device 36) in the XY plane with respect to a predetermined reference position based on the drive amount of the X-axis drive unit 22 and the drive amount of the Y-axis drive unit 24 of the head drive device 16. Position information can be acquired. A position detection device that can detect the position of the mounting head 15 (imaging device 36) in the XY plane may be provided. The control device 20 acquires position information of the mounting head 15 in the XY plane based on the detection result of the position detection device. The control device 20 may cause the display device 42 to display the first movement direction information DM1 when determining that the first supply position SP1 is disposed in the imaging region of the imaging device 36. The control device 20 may cause the display device 42 to display the second movement direction information DM2 when determining that the second supply position SP2 is disposed in the imaging region of the imaging device 36.

  In the present embodiment, the control device 20 causes the display device 42 to display one of the first movement distance information FD1 and the second movement distance information FD2 based on the storage information stored in the storage device 44. That is, the control device 20 displays either the first movement distance information FD1 or the second movement distance information FD2 on the display device 42 based on the production program (information regarding the mounting conditions) stored in the storage device 44. Let

  The first movement distance LP1 is set based on the first interval PT1 of the electronic component C on the first tape 131. The first interval PT1 is included in the part data of the production program. The first movement distance LP1 is also included in the production program. The control device 20 displays the first movement distance information FD1 on the display device 42 based on the production program. In the present embodiment, the control device 20 determines the length of the arrow Ya based on the production program, and causes the display device 42 to display the arrow Ya having the length.

  Similarly, the second movement distance LP2 is set based on the second interval PT2 of the electronic component C on the second tape 132. The second interval PT2 is included in the part data of the production program. The second movement distance LP2 is also included in the production program. The control device 20 displays the second movement distance information FD2 on the display device 42 based on the production program. In the present embodiment, the control device 20 determines the length of the arrow Yb based on the production program, and causes the display device 42 to display the arrow Yb having that length.

  Note that the meaning of the arrow Ya and the meaning of the arrow Yb may be displayed as characters on the display screen of the display device 42. For example, a description such as “the direction of the arrow Ya indicates the conveyance direction of the electronic component C. The length of the arrow Ya indicates the first movement distance LP1” is displayed on the display screen of the display device 42. May be.

  FIG. 11 shows an example in which the first image GA1 of the first area AR1 including the first supply position SP1 is displayed on the display screen of the display device 42.

  As shown in FIG. 11, the first image GA1 of the first area AR1 including the first supply position SP1 is displayed on the display device. The display device 42 displays the first image GA1 acquired by the imaging device 36 in real time. First moving direction information DM1 indicating the moving direction (+ Y direction) of the first tape 131 included in the first image GA1 is displayed on the display device 42 together with the first image GA1.

  In the example illustrated in FIG. 11, the control device 20 causes the display device 42 to display the frame image FF1 and the frame image FB1 together with the first image GA1. The design of the frame image FF1 is different from the design of the frame image FB1. In the example shown in FIG. 11, the frame image FF1 has a design in which a rectangle is drawn with a dotted line. The frame image FB1 has a design in which a double rectangle is drawn with a dotted line. The design of the frame image FF1 and the design of the frame image FB1 are arbitrary.

  The first movement direction information DM1 is indicated by the positional relationship between the frame image FF1 and the frame image FB1. The position (direction) where the frame image FF1 is arranged with respect to the frame image FB1 is the moving direction of the first tape 131. The control device 20 causes the display device 42 to display the frame image FF1 and the frame image FB1 so that the position of the frame image FF1 with respect to the frame image FB1 matches the moving direction of the first tape 131. In the present embodiment, the frame image FF1 is arranged on the + Y side (upper side in the display screen of the display device 42) than the frame image FB1. Thereby, the moving direction of the first tape 131 is expressed by the frame image FF1 and the frame image FB1.

  In the present embodiment, the first movement distance information FD1 indicating the first movement distance LP1 of the first tape 131 included in the first image GA1 is displayed on the display device 42 together with the first image GA1.

  In the present embodiment, the first movement distance information FD1 is indicated by a distance DS1 between the frame image FF1 and the frame image FB1. The control device 20 causes the display device 42 to display the frame image FF1 and the frame image FB1 so that the distance DS1 between the frame image FF1 and the frame image FB1 and the first movement distance LP1 are correlated. For example, when the first moving distance LP1 is long, the frame image FF1 and the frame image FB1 are displayed on the display screen of the display device 42 so that the distance DS1 between the frame image FF1 and the frame image FB1 becomes long. When the first movement distance LP1 is short, the frame image FF1 and the frame image FB1 are displayed on the display screen of the display device 42 such that the distance DS1 between the frame image FF1 and the frame image FB1 is short.

  FIG. 12 shows an example in which the second image GA2 of the second area AR2 including the second supply position SP2 is displayed on the display screen of the display device 42.

  As shown in FIG. 12, the twelfth image GA2 of the second area AR2 including the second supply position SP2 is displayed on the display device. The display device 42 displays the second image GA2 acquired by the imaging device 36 in real time. Second movement direction information DM2 indicating the movement direction (−Y direction) of the second tape 132 included in the second image GA2 is displayed on the display device 42 together with the second image GA2.

  In the example illustrated in FIG. 12, the control device 20 causes the display device 42 to display the frame image FF2 and the frame image FB2 together with the second image GA2. The design of the frame image FF2 is different from the design of the frame image FB2. In the example shown in FIG. 12, the frame image FF2 has a design in which a rectangle is drawn with a dotted line. The frame image FB2 has a design in which a double rectangle is drawn with a dotted line. The design of the frame image FF2 and the design of the frame image FB2 are arbitrary.

  The second movement direction information DM2 is indicated by the positional relationship between the frame image FF2 and the frame image FB2. The position (direction) where the frame image FF2 is arranged with respect to the frame image FB2 is the moving direction of the second tape 132. The control device 20 causes the display device 42 to display the frame image FF2 and the frame image FB2 so that the position of the frame image FF2 with respect to the frame image FB2 matches the moving direction of the second tape 132. In the present embodiment, the frame image FF2 is arranged on the −Y side (lower side on the display screen of the display device 42) than the frame image FB2. Accordingly, the moving direction of the second tape 132 is expressed by the frame image FF2 and the frame image FB2.

  In the present embodiment, the second movement distance information FD2 indicating the second movement distance LP2 of the second tape 132 included in the second image GA2 is displayed on the display device 42 together with the second image GA2.

  In the present embodiment, the second movement distance information FD2 is indicated by a distance DS2 between the frame image FF2 and the frame image FB2. The control device 20 causes the display device 42 to display the frame image FF2 and the frame image FB2 so that the distance DS2 between the frame image FF2 and the frame image FB2 and the second movement distance LP2 are correlated. For example, when the second movement distance LP2 is long, the frame image FF2 and the frame image FB2 are displayed on the display screen of the display device 42 so that the distance DS2 between the frame image FF2 and the frame image FB2 becomes long. When the second movement distance LP2 is short, the frame image FF2 and the frame image FB2 are displayed on the display screen of the display device 42 so that the distance DS2 between the frame image FF2 and the frame image FB2 is short.

  Also in the example shown in FIGS. 11 and 12, the control device 20 is based on the position information of the mounting head 15 that is moved by the head driving device 16, and is one of the first movement direction information DM1 and the second movement direction information DM2. Is displayed on the display device 42.

  In the present embodiment, the control device 20 causes the display device 42 to display one of the first movement distance information FD1 and the second movement distance information FD2 based on the storage information stored in the storage device 44. That is, the control device 20 displays either the first movement distance information FD1 or the second movement distance information FD2 on the display device 42 based on the production program (information regarding the mounting conditions) stored in the storage device 44. Let

  In the example illustrated in FIG. 11, the control device 20 determines the distance DS1 between the frame image FF1 and the frame image FB1 based on the production program, and causes the display device 42 to display the frame image FF1 and the frame image FB1.

  Similarly, in the example illustrated in FIG. 12, the control device 20 determines the distance DS2 between the frame image FF2 and the frame image FB2 based on the production program, and the frame image FF2 and the frame image FB2 are displayed on the display device 42. Display.

  FIG. 11 shows the first moving distance LP1 (first interval PT1) set based on the production program and the actual first moving distance LP1 (first interval PT1) of the electronic component C held on the first tape 131. ) Is almost the same. That is, an example is shown in which the recess 23 is disposed inside the frame image FF1, and the recess 23 (electronic component C) is also disposed inside the frame image FB1.

  FIG. 12 shows the second moving distance LP2 (second interval PT2) set based on the production program and the actual second moving distance LP2 (second interval PT2) of the electronic component C held on the second tape 132. ) Is almost the same. That is, an example is shown in which the recess 23 is disposed inside the frame image FF2, and the recess 23 (electronic component C) is also disposed inside the frame image FB2.

  FIG. 13 shows the first moving distance LP1 (first interval PT1) set based on the production program and the actual first moving distance LP1 (first interval PT1) of the electronic component C held on the first tape 131. ) Does not match. That is, an example in which the concave portion 23 is arranged outside the frame image FF1 is shown.

  When the image shown in FIG. 13 is displayed on the display device 42, the operator looks at the display device 42 and the first moving distance LP1 (first interval PT1) set based on the production program is incorrect. It can be confirmed easily.

  Note that the meaning of the frame image FF1 and the frame image FF2 and the meaning of the frame image FB1 and the frame image FB2 may be displayed on the display screen of the display device 42 as characters. For example, on the display screen of the display device 42, “The direction in which the frame image FF1 is arranged indicates the conveying direction of the electronic component C. The distance DS1 between the frame image FF1 and the frame image FB1 is the first movement distance LP1. May be displayed. "

  Note that the display examples of the first movement direction information DM1, the second movement direction information DM2, the first movement distance information FD1, and the second movement distance information FD2 shown in FIGS. 9, 10, 11, 12, and the like. Is an example. The first movement direction information DM1, the second movement direction information DM2, the first movement distance information FD1, and the second movement distance information FD2 may be represented by different shapes or different sizes. It may be expressed by different characters or may be expressed by different marks. For example, the discrimination information for discriminating whether the image displayed on the display device 42 is the first image GA1 or the second image GA2 is one of the first image GA1 and the second image GA2. The image may be displayed on the display device 42 together with the image. For example, when the first image GA1 is displayed on the display device 42, the character “F (Front)” may be displayed together with the first image GA1 as the discrimination information. When the second image GA2 is displayed on the display device 42, the character “R (Rear)” may be displayed together with the second image GA2 as the discrimination information.

  In addition, the display examples shown in FIGS. 9, 10, 11, 12, and the like may be combined. For example, as shown in FIG. 14, the first movement direction information DM1 may be expressed by the direction of the arrow Ya, the arrangement of the frame image FF1 and the frame image FB1, and the character “F (Front)”. The first movement distance information FD1 may be expressed by the length of the arrow Ya and the distance DS1 between the frame image FF1 and the frame image FB1. As shown in FIG. 15, the second movement direction information DM2 may be expressed by the direction of the arrow Yb, the arrangement of the frame image FF2 and the frame image FB2, and the character “R (Rear)”. The second movement distance information FD2 may be expressed by the length of the arrow Yb and the distance DS2 between the frame image FF2 and the frame image FB2.

  In the present embodiment, the first initial position information indicating the first initial position (first default suction position) of the nozzle 32 when the electronic component C at the first supply position SP1 is held by the nozzle 32, and the second The storage device 44 stores second initial position information indicating the second initial position (second default suction position) of the nozzle 32 when the electronic component C at the supply position SP2 is held by the nozzle 32. The first initial position and the second initial position are designed suction positions. The first initial position and the second initial position are included in the production program.

  In the present embodiment, the operator operates the operating device 40 while viewing the first image GA1 or the second image GA2 of the display device 42, operates the driving device 26 including the head driving device 16, and uses the nozzle 32. A teaching operation for finding and storing the optimum suction position when holding the electronic component C is performed. The operating device 40 can generate an operation signal for operating the driving device 26 including the head driving device 16. The operator operates the operating device 40 while looking at the display device 42 to find the optimum suction position when the electronic component C is held by the nozzle 32 and stores the optimum suction position in the storage device 44. it can.

  The head control unit 20A of the control device 20 determines the first correction position (the first correction position) of the nozzle 32 when holding the electronic component C at the first supply position SP1 determined based on the teaching work including the operation of the operation device 40. Based on the first correction position information indicating the optimal suction position) and the second correction position information indicating the second correction position (second optimal suction position) of the nozzle 32 when holding the electronic component C at the second supply position SP2. Then, the driving device 26 including the head driving device 16 is controlled to mount the electronic component C on the substrate P.

  In the present embodiment, the display device 42 displays the first initial position information DF1 and the first corrected position information AM1 together with the first image GA1, and the second initial position information DF2 and the second corrected position information AM2 as the second image GA2. Display with

  FIG. 16 shows an example in which the first initial position information DF1 and the first corrected position information AM1 are displayed on the display device 42 together with the first image GA1. In FIG. 16, the first initial position information DF1 is displayed as a triangular first mark. The first correction position information AM1 is displayed as a circular second mark. As shown in FIG. 16, the first mark indicating the first initial position information DF1 and the second mark indicating the first corrected position information AM1 are simultaneously displayed on the same screen. Therefore, the operator can easily check the positional deviation amount between the suction position of the nozzle 32 based on the design value (production program) and the optimum suction position of the actual nozzle 32 by looking at the display device 42.

  FIG. 17 shows an example in which the second initial position information DF2 and the second corrected position information AM2 are displayed on the display device 42 together with the second image GA2. As shown in FIG. 17, the display device 42 can display the second initial position information DF2 and the second corrected position information AM2 together with the second image GA2. The second initial position information DF2 is displayed with a triangular first mark. The second correction position information AM2 is displayed as a circular second mark.

  The meaning of the first mark and the meaning of the second mark may be displayed as characters on the display screen of the display device 42. For example, a description such as “the first mark indicates the first initial position information” may be displayed on the display screen of the display device 42.

  In the teaching work, the mounting head 15 and the imaging device 36 arranged on the mounting head 15 are moved by the operation of the operating device 40. Based on the movement of the imaging device 36 by the operation of the operation device 40, the first image GA1 and the second image GA2 displayed on the display device 42 change. That is, when the imaging device 36 moves, the imaging region of the imaging device 36 also moves, so the object (region) arranged in the imaging region also changes. Thereby, the first image GA1 and the second image GA2 displayed on the display device 42 in real time change.

  In the present embodiment, when the first image GA1 changes, the display device 42 includes the first mark indicating the first initial position information DF1 and the first corrected position information AM1 so as to follow the change of the first image GA1. The position of the second mark indicating is changed. Similarly, the display device 42 indicates the first mark indicating the second initial position information DF2 and the second corrected position information AM2 so as to follow the change of the second image GA2 when the second image GA2 changes. Change the position of the second mark.

  FIG. 18 shows an example in which the positions of the first mark indicating the first initial position information DF1 and the position of the second mark indicating the first corrected position information AM1 are changed so as to follow the change in the first image GA1. Due to the movement of the imaging device 36, the position of the first image GA1 including the first tape 131 and the electronic component C changes in the first area AR1 including the imaging region of the imaging device 36. Even when the first image GA1 is moved, the control device 20 displays the first mark indicating the first initial position information DF1 and the second mark indicating the first corrected position information AM1 on the electronic component C of the first tape 131. The positions of the first mark indicating the first initial position information DF1 and the second mark indicating the first correction position information AM1 in the first area AR1 are changed so as to be continuously arranged. Thereby, since the relative position of the first mark and the second mark is maintained on the display screen of the display device 42, the visibility is improved, and the operator can intuitively operate the operation device 40.

  Next, an example of a method for mounting the electronic component C according to the present embodiment on the substrate P will be described with reference to the flowchart of FIG. In the following description, an example in which the electronic component C supplied from the first supply device 141 is mounted on the substrate P will be described.

  After the first tape 131 holding the electronic component C is installed in the feeder 21 of the first supply device 141, the first supply device 141 moves the first tape 131 holding the electronic component C in the + Y direction, The electronic component C is supplied to the first supply position SP1 (step SA1).

  The control device 20 acquires the first image GA1 of the first area AR1 including the first supply position SP1 using the imaging device 36 disposed on the mounting head 15 (step SA2).

  Using the display device 42, the control device 20 displays first movement direction information DM1 indicating the movement direction of the first tape 131 included in the first image GA together with the first image GA1. In the present embodiment, the control device 20 shows the first movement distance information FD1 indicating the first movement distance LP1 of the first tape 131 together with the first movement direction information DM1 and the first image GA1 (step SA3).

  As described above, the first movement direction information DM1 and the first movement distance information FD1 may be indicated using the arrow Ya, or may be indicated using the frame image FF1 and the frame image FB1. The first movement direction information DM1 is displayed based on the position information of the mounting head 15 in the XY plane. The first movement distance information FD1 is displayed based on the first interval PT1 defined by the production program.

  Since the first movement direction information DM1 and the first movement distance information FD1 for identifying the first image GA1 are displayed on the display device 42 together with the first image GA1, the operator can view the first image GA1. It can be easily recognized that the image is about the first supply device 141.

  Next, teaching work is performed (step SA4). The operator operates the operating device 40 while viewing the first image GA1 of the display device 42, operates the driving device 26 including the head driving device 16 and holds the electronic component C by the nozzle 32. The position is searched and the optimum suction position is stored in the storage device 44.

  Through the teaching operation, first correction position information AM1 indicating the first correction position of the nozzle 32 when the electronic component C at the first supply position SP1 is held is determined (step SA5).

  Further, the first corrected position information AM1 determined by the teaching work is displayed on the display device 42 together with the first initial position information DF1 and the first image GA1.

  In the teaching work, the mounting head 15 and the imaging device 36 arranged on the mounting head 15 are moved by the operation of the operating device 40. Based on the movement of the imaging device 36 by the operation of the operation device 40, the first image GA1 displayed on the display device 42 changes. As described with reference to FIG. 18, the display device 42 follows the change in the first image GA1 so that the first mark indicating the first initial position information DF1 and the second correction position information AM1. Change the mark position.

  After the teaching work is completed and the first correction position information AM1 is determined, the control device 20 mounts the electronic component C at the first supply position SP1 on the board P using the nozzle 32 provided in the mounting head 15. (Step SA6). In step SA4 and step SA5, first correction position information AM1 indicating the first correction position (first optimum suction position) of the nozzle 32 when holding the electronic component C at the first supply position SP1 is determined. Therefore, the control device 20 performs high-precision mounting by adjusting the position of the nozzle 32 when the electronic component C is carried out (pickup) from the first tape 131 based on the first correction position information MA1. be able to.

  The display, teaching work, and mounting of the display device 42 for the first supply device 141 have been described above. The same applies to the display, teaching work, and mounting of the display device 42 for the second supply device 142. The description about the display of the display device 42 about the 2nd supply apparatus 142, teaching work, and mounting is abbreviate | omitted.

  As described above, according to the present embodiment, the first moving direction information DM1 is displayed on the display device 42 together with the first image GA1. Further, the second moving direction information DM2 is displayed on the display device 42 together with the second image GA2. The first movement direction information DM1 and the second movement direction information DM2 are identification information (identification display) for identifying whether the image displayed on the display device 42 is the first image GA1 or the second image GA2. Part). Therefore, the worker visually recognizes which of the first movement direction information DM1 and the second movement direction information DM2 is displayed on the display device 42, so that the image displayed on the display device 42 is the first image. It can be recognized whether it is GA1 or the second image GA2.

  In many cases, the imaging region (viewing region) of the imaging device 36 is limited. For example, when the imaging device 36 images the first supply device 141, the display device 42 displays only a partial area of the first supply device 141. Therefore, even when the operator looks at the display device 42, it is determined whether the image displayed on the display device 42 is the first image GA1 related to the first supply device 141 or the second image GA2 related to the second supply device 142. Likely to be difficult to do.

  Further, for example, when an image of the supply device 14 is acquired while illuminating the supply device 14, an image displayed on the display device 42 may become unclear due to, for example, illumination conditions. Even in this case, the operator looks at the display device 42 and the image displayed on the display device 42 is the first image GA1 related to the first supply device 141 or the second image GA2 related to the second supply device 142. It is likely that it will be difficult to judge whether

  For example, in the teaching work, although the first image GA 1 related to the first supply device 141 is actually displayed on the display device 42, the operator may indicate “the second image related to the second supply device 142 on the display device 42. If the teaching work is performed in a state where it is misidentified that “GA2 is displayed”, an error may occur in the teaching work or the time required for the teaching work may be prolonged.

  Further, not only in the teaching work, but also in the adjustment work performed while the operator looks at the display device 42, such as the alignment work between the electronic component C supplied from the supply device 14 and the nozzle 32, the operator mistakes. If an image that is highly likely to be displayed is displayed on the display device 42, an error may occur in the adjustment work, or the time required for the adjustment work may be prolonged.

  According to the present embodiment, together with the image (first image GA1 or second image GA2) displayed on the display device 42, it is possible to identify whether the image is the first image GA1 or the second image GA2. The first movement direction information DM1 or the second movement direction information DM2 is displayed together with the image. Therefore, it is suppressed that an operator misidentifies the display content of the display device 42, and it is possible to prevent an error from occurring in the adjustment work and a time required for the adjustment work from being prolonged. Therefore, the adjustment work is performed smoothly, and a decrease in productivity of the electronic component mounting apparatus 10 is suppressed.

  In addition to the adjustment work, for example, at least one of the first supply device 141 and the second supply device 142 can be imaged by the imaging device 36 for checking the supply state of the electronic component C from the supply device 14. There is sex. Even in the confirmation work, it is possible to prevent the operator from misrecognizing the display contents of the display device 42, and it is possible to prevent an error from occurring in the confirmation work and a time required for the confirmation work from being prolonged.

  In the present embodiment, the display device 42 displays the first movement direction information DM1 and the second movement direction information DM2 based on the position information of the mounting head 15 that is moved by the head driving device 16. Accordingly, the display device 42 can accurately display the first movement direction information DM1 and the second movement direction information DM2.

  Further, in the present embodiment, in order to identify whether the image is the first image GA1 or the second image GA2 together with the image (first image GA1 or second image GA2) displayed on the display device 42. The first movement distance information FD1 or the second movement distance information FD2 is displayed together with the image. This also suppresses the operator from misidentifying the display content of the display device 42.

  In the present embodiment, the first initial position information DF1 and the first corrected position information AM1 are displayed on the display device 42 together with the first image GA1. Further, the second initial position information DF2 and the second corrected position information AM2 are displayed on the display device 42 together with the second image GA2. Thereby, the operator can easily confirm the positional deviation amount between the suction position of the nozzle 32 based on the design value (production program) and the optimum suction position of the actual nozzle 32 by looking at the display device 42. .

  In the present embodiment, the positions of the first mark indicating the first initial position information DF1 and the second mark indicating the first corrected position information AM1 are changed so as to follow the change of the first image GA1. Further, the positions of the first mark indicating the second initial position information DF2 and the second mark indicating the second corrected position information AM2 are changed so as to follow the change of the second image GA2. Thereby, the relative position of the first mark and the second mark is maintained on the display screen of the display device 42, and visibility is improved. The operator can intuitively operate the operation device 40 in the teaching work.

DESCRIPTION OF SYMBOLS 10 Electronic component mounting apparatus 11 Housing | casing 12 Board | substrate conveyance apparatus 12D Actuator 12G Guide member 12H Board holding apparatus 13 Tape 14 Supply apparatus 15 Mounting head 16 Head drive apparatus 17 Imaging unit 18 Replacement nozzle holding mechanism 19 Component storage part 20 Control apparatus 21 Feeder 21T Convex part 22 X-axis drive part 23 Concave part 24 Y-axis drive part 25 Adhesive tape 26 Driving device 27 Hole 31 Base frame 32 Nozzle 32a Shaft 33 Opening 34 Nozzle driving device 36 Imaging device 37 Height sensor 38 Laser recognition device 40 Operating device 42 Display device 44 Storage device 46 Image processing device 50 Bracket 101 Guide portion 102 Movable member 105 Vertical rotation drive portion bearing 106 Rotation bearing 107 Spline bearing 108 Pulley 109 Timing belt 110 Coupling 111 Bo Screw 112 Deformation part 113 Strain gauge 118 Nut part 131 First tape 132 Second tape 141 First supply device 142 Second supply device 200 Control system 341 Actuator 342 Actuator AM1 First correction position information AM2 Second correction position information AR1 First 1 area AR2 2nd area GA1 1st image GA2 2nd image DF1 1st initial position information DF2 2nd initial position information DM1 1st movement direction information DM2 2nd movement direction information DS1 distance DS2 distance FD1 1st movement distance information FD2 2 Movement distance information C Electronic component LP1 First movement distance LP2 Second movement distance P Substrate PT1 First interval PT2 Second interval SP1 First supply position SP2 Second supply position SPJ Mounting position

Claims (10)

A substrate holding device for holding the substrate;
A first supply device for moving a first tape holding the electronic component in a first movement direction and supplying the electronic component to a first supply position;
A second supply device for moving the second tape holding the electronic component in a second movement direction opposite to the first movement direction and supplying the electronic component to a second supply position;
A mounting head for holding the electronic component in a detachable manner, holding the electronic component at least one of the first supply position and the second supply position by the nozzle and mounting the electronic component on the substrate;
A head driving device that moves the mounting head to each of the first supply position, the second supply position, and the mounting position facing the substrate;
A first image and a second supply position that are arranged on the mounting head and show the electronic component held on the first tape and the first tape arranged in a first area including the first supply position. An imaging device capable of acquiring a second image indicating the second tape disposed in a second area including the electronic component held on the second tape ;
Wherein said the first moving direction of the first tape in the first image to display the indicate by the first moving direction information different from the first image with the first image, it included in the second image a display device for displaying together with the second image a different second moving direction information and the second moving direction shown by the second image of the second tape,
An electronic component mounting apparatus comprising:   The electronic component mounting apparatus according to claim 1, wherein the display device displays the first movement direction information and the second movement direction information based on position information of the mounting head that is moved by the head driving device. A plurality of the electronic components are held on the first tape at a first interval;
A plurality of the electronic components are held on the second tape at a second interval;
A first movement distance of the first tape is set based on the first interval so that each of the plurality of electronic components of the first tape sequentially stops at the first supply position;
A second movement distance of the second tape is set based on the second interval so that each of the plurality of electronic components of the second tape sequentially stops at the second supply position;
The display device, wherein a shown and another first moving distance information from the first image a first moving distance and displayed together with the first image, separate from the shows the second moving distance and the second image The electronic component mounting apparatus according to claim 1, wherein the second moving distance information is displayed together with the second image. First initial position information indicating a first initial position of the nozzle when holding the electronic component at the first supply position, and a second initial position of the nozzle when holding the electronic component at the second supply position A storage device for storing second initial position information indicating a position;
An operation device capable of generating an operation signal for operating the head driving device;
First correction position information indicating a first correction position of the nozzle when holding the electronic component at the first supply position, determined based on an operation of the operation device, and the electron at the second supply position A control device that controls the head driving device based on second correction position information indicating a second correction position of the nozzle when holding a component;
The display device displays the first initial position information and the first corrected position information together with the first image, and displays the second initial position information and the second corrected position information together with the second image. The electronic component mounting apparatus according to any one of claims 1 to 3. The first initial position information and the second initial position information are displayed with a first mark,
The first correction position information and the second correction position information are displayed as second marks,
The first image and the second image displayed on the display device change based on the movement of the imaging device by the operation of the operation device,
The electronic component mounting apparatus according to claim 4, wherein the display device changes positions of the first mark and the second mark so as to follow changes in the first image and the second image. Moving the first tape holding the electronic component in the first movement direction to supply the electronic component to the first supply position;
Moving the second tape holding the electronic component in a second movement direction opposite to the first movement direction to supply the electronic component to a second supply position;
Using an imaging device arranged in a mounting head movable to each of the first supply position, the second supply position, and the mounting position facing the substrate, the imaging apparatus is arranged in a first region including the first supply position. The first tape and the first image showing the electronic component held on the first tape , and the second tape and the second tape arranged in the second region including the second supply position and obtaining a second image showing the electronic component being,
Using the display device to display the said first movement direction of the first tape in the first image shown by a first movement direction information different from the first image with the first image, the second and displaying together with the second image a different second direction of movement information and the second tape of the second movement direction shown by the second image included in the two images,
Mounting the electronic component on at least one of the first supply position and the second supply position on the substrate using a nozzle provided on the mounting head;
An electronic component mounting method including: Obtaining position information of the mounting head,
The electronic component mounting method according to claim 6, wherein the first movement direction information and the second movement direction information are displayed based on position information of the mounting head. A plurality of the electronic components are held on the first tape at a first interval;
A plurality of the electronic components are held on the second tape at a second interval;
Setting a first movement distance of the first tape based on the first interval so that each of the plurality of electronic components of the first tape stops sequentially at the first supply position;
Setting a second movement distance of the second tape based on the second interval so that each of the plurality of electronic components of the second tape sequentially stops at the second supply position,
Wherein the first moving distance shown by the first image further first moving distance information is displayed together with the first image, another of the second moving distance and the second moving distance shown by the second image The electronic component mounting method according to claim 6 or 7, wherein information is displayed together with the second image. First initial position information indicating a first initial position of the nozzle when holding the electronic component at the first supply position, and a second initial position of the nozzle when holding the electronic component at the second supply position Setting second initial position information indicating a position;
A first correction position of the nozzle when the electronic device at the first supply position is held by operating an operation device capable of generating an operation signal for operating a head drive device capable of moving the mounting head. Determining first correction position information, and second correction position information indicating a second correction position of the nozzle when holding the electronic component at the second supply position,
The first initial position information and the first corrected position information are displayed together with the first image, and the second initial position information and the second corrected position information are displayed together with the second image. The electronic component mounting method according to claim 8. Displaying the first initial position information and the second initial position information with a first mark;
Displaying the first correction position information and the second correction position information with a second mark,
The first image and the second image displayed on the display device change based on movement of the imaging device due to operation of the operation device,
The electronic component mounting method according to claim 9, wherein the display device changes a position of the first mark and the second mark so as to follow a change in the first image and the second image.

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