Patent Description:
Conventionally, there has been known a component mounting machine that simultaneously picks up multiple electronic components from multiple tape feeders by a transfer head including multiple suction nozzles and mounts the electronic components on a board (for example, refer to Patent Literature <NUM>). The component mounting machine detects in advance a positional deviation amount of a component stop position in each tape feeder and stores the positional deviation amount as stop positional correction data. Then, when the component is picked up by the transfer head, the component mounting machine controls a tape feeding mechanism based on the stop positional correction data to perform a position alignment for matching the component stop position with a component suction position by the suction nozzle of the transfer head.

<CIT> relates to a component pickup position correction system for a rotary head type component mounter. In particular, a head moving mechanism is provided with a rotary head <NUM> having multiple suction nozzles that pick up a component. The rotary head rotates about its central axis, lowers the suction nozzle at a specified stopping position of the revolution path to pick up a component, and corrects the direction of a component picked up by the suction nozzle. Component pickup positions are corrected by searching in memory for measurement data of the positions of the multiple suction nozzles and calculating the rotation angle and movement amount in the XY directions or the rotary head required to move to the component pickup positions of the suction nozzles, based on the positons of the suction nozzles and on positions of ideal pickup points along two straight lines extending in the tape feeding direction. With regard to the order of picking up the components, sixteen suction nozzles are rotated such that two suction nozzles are positioned on the straight lines, and the leading components of the component supply tape are fed to pickup positions. The tape feeding amount can be calculated from the current positions of the leading components of the tape feeders.

<CIT> relates to a component mounting device with a head having a plurality of suction nozzles. A residual amount deviation of the Y-axis makes a feed direction move the components tape forwards or backwards.

As described above, Patent Literature <NUM> describes correcting the positional deviation in a case where the component stop position, at which the component fed by the tape feeding mechanism of the tape feeder stops, has a positional deviation. However, Patent Literature <NUM> does not mention a case where a positional deviation occurs in a feeding direction of the component toward the multiple suction nozzles.

A main object of the present disclosure is to provide a component mounting machine capable of appropriately executing pickup of components even in a case where positional deviation occurs in a feeding direction of the components in multiple pickup members.

The present disclosure employs the following means in order to achieve the above-mentioned main object.

The scope of the invention is defined by the independent claim.

According to the component mounting machine of the present disclosure, it is possible to appropriately execute the pickup of the components even in a case where the positional deviation occurs in the feeding direction of the components in the multiple pickup members.

Next, an embodiment of the present disclosure will be described with reference to the drawings.

<FIG> is a schematic configuration view of a component mounting machine. <FIG> is a schematic configuration view of a feeder. <FIG> is a partially enlarged view of the vicinity of a component supply position of the feeder. <FIG> is a schematic configuration view of a mounting head. <FIG> is an explanatory view for explaining an arrangement of the nozzle holders. <FIG> is an explanatory diagram illustrating an electrical connection relationship of a mounting control device of the component mounting machine. The left-right direction in <FIG> is the X-axis direction, the front (front)-rear (back) direction is the Y-axis direction substantially orthogonal to the X-axis direction, and the up-down direction is the Z-axis direction substantially orthogonal to the X-axis direction and the Y-axis direction (horizontal plane).

As illustrated in <FIG>, component mounting machine <NUM> includes housing <NUM> that is installed on base <NUM>, board conveyance device <NUM>, feeder <NUM>, head moving device <NUM>, mounting head <NUM>, and mounting control device <NUM> (refer to <FIG>). In addition to these, component mounting machine <NUM> also includes parts camera <NUM>, mark camera <NUM>, and the like. Parts camera <NUM> is provided between feeder <NUM> and board conveyance device <NUM> for imaging component P picked up by suction nozzle <NUM> of mounting head <NUM> from below. Mark camera <NUM> is provided on mounting head <NUM> for imaging and reading a reference mark attached to board S from above.

Board conveyance device <NUM> has a pair of conveyor belts that are provided at intervals in the front-rear direction of <FIG> and spanned in the X-axis direction (left-right direction). Board S is conveyed from the left to the right in the drawing by the conveyor belt of board conveyance device <NUM>.

As illustrated in <FIG>, feeder <NUM> is attached to feeder base <NUM> provided in front of housing <NUM> so as to be arranged in the left-right direction (X-axis direction). As illustrated in <FIG>, feeder <NUM> is configured as a tape feeder including reel <NUM>, tape feeding mechanism <NUM>, connector <NUM>, and feeder control device <NUM>. Tape <NUM> is wound around reel <NUM>. As illustrated in <FIG>, tape <NUM> is formed with cavity 22a and sprocket hole 22b at predetermined intervals along a longitudinal direction thereof. Component P is accommodated in cavity 22a.

Tape feeding mechanism <NUM> includes feeding motor 24a configured as a stepping motor, driving gear 24b provided on a rotation axis of feeding motor 24a, transmission gear 24c meshing with driving gear 24b, and sprocket 24d having sprocket teeth meshing with transmission gear 24c on an outer peripheral surface. Tape feeding mechanism <NUM> engages the sprocket teeth of sprocket 24d with sprocket hole 22b formed in tape <NUM>, and intermittently rotates sprocket 24d by the driving of feeding motor 24a, thereby drawing tape <NUM> from reel <NUM> and sequentially feeding tape <NUM> to the component supply position (refer to <FIG>). Component P accommodated in tape <NUM> is protected by a film covering a surface of tape <NUM>. Then, the film of component P is peeled off in front of the component supply position to be in an exposed state at the component supply position, thereby capable of being picked up by suction nozzle <NUM>.

As illustrated in <FIG>, feeder control device <NUM> includes a microcomputer 28a incorporating a CPU, a ROM, a RAM, and the like, and motor driver 28b serving as a drive circuit of feeding motor 24a. Microcomputer 28a receives a detection signal from feeding amount sensor <NUM> that detects the feeding amount of tape <NUM> by detecting the rotational displacement of transmission gear 24c, and outputs a pulse signal for driving feeding motor 24a to motor driver 28b. Motor driver 28b generates a drive current based on the input pulse signal and outputs the same to feeding motor 24a. When sprocket 24d is rotated by a driving force from feeding motor 24a via transmission gear 24c, tape <NUM> engaged with sprocket 24d is fed to the component supply position.

Head moving device <NUM> moves mounting head <NUM> in the XY-axis direction (front-rear left-right direction), and includes X-axis slider <NUM> and Y-axis slider <NUM>, as illustrated in <FIG>. X-axis slider <NUM> is supported by a pair of upper and lower X-axis guide rails <NUM> provided on a front surface of Y-axis slider <NUM> so as to extend in the X-axis direction (left-right direction), and is movable in the X-axis direction by the driving of X-axis motor <NUM> (refer to <FIG>). Y-axis slider <NUM> is supported by a pair of left and right Y-axis guide rails <NUM> provided on an upper stage portion of housing <NUM> so as to extend in the Y-axis direction (front-rear direction), and is movable in the Y-axis direction by the driving of Y-axis motor <NUM> (refer to <FIG>). The position of X-axis slider <NUM> in the X-axis direction is detected by X-axis position sensor <NUM> (refer to <FIG>), and the position of Y-axis slider <NUM> in the Y-axis direction is detected by Y-axis position sensor <NUM> (refer to <FIG>). Mounting head <NUM> is attached to X-axis slider <NUM>. Therefore, mounting head <NUM> is movable along the XY-plane (horizontal plane) by driving and controlling head moving device <NUM> (X-axis motor <NUM> and Y-axis motor <NUM>).

As illustrated in <FIG>, mounting head <NUM> includes head main body <NUM>, multiple nozzle holders <NUM> (eight in the embodiment), multiple suction nozzles <NUM> (eight in the embodiment), R-axis driving device <NUM>, Q-axis driving device <NUM>, and two Z-axis driving devices <NUM>.

Head main body <NUM> is a rotation body that can be rotated by R-axis driving device <NUM>. Nozzle holders <NUM> are arranged at predetermined angular intervals (in the embodiment, at <NUM>° intervals) on the same circumference about the rotation axis (center axis) of head main body <NUM>, and are supported so as to be freely liftable and lowerable by head main body <NUM>. Suction nozzle <NUM> is mounted on a distal end portion of nozzle holder <NUM>. Suction nozzle <NUM> has a suction port at a distal end, and picks up component P by a negative pressure supplied from a negative pressure source (not illustrated) to the suction port via pressure adjustment valve <NUM> (refer to <FIG>). Suction nozzle <NUM> is detachable from nozzle holder <NUM>, and is replaced with a nozzle suitable for the pickup of component P according to the type of component P to be picked up.

R-axis driving device <NUM> turns (revolves) multiple nozzle holders <NUM> (multiple suction nozzles <NUM>) in the circumferential direction around a center axis of head main body <NUM>. As illustrated in <FIG>, R-axis driving device <NUM> includes R-axis motor <NUM>, R-axis <NUM> extending in an axis direction from center axis of head main body <NUM>, and transmission gear <NUM> that transmits the rotation of R-axis motor <NUM> to R-axis <NUM>. R-axis driving device <NUM> causes head main body <NUM> to rotate by causing R-axis motor <NUM> to rotationally drive R-axis <NUM> by way of transmission gears <NUM>. Each nozzle holder <NUM> turns in circle (revolves) in the circumferential direction together with corresponding suction nozzle <NUM> as a result of the rotation of head main body <NUM>. In addition, R-axis driving device <NUM> includes R-axis position sensor <NUM> (refer to <FIG>) for detecting the rotational position of R-axis <NUM>, that is, the turning position of each nozzle holder <NUM> (suction nozzle <NUM>).

Q-axis driving device <NUM> causes each nozzle holder <NUM> (each suction nozzle <NUM>) to rotate (spin) around its own center axis. As illustrated in <FIG>, Q-axis driving device <NUM> includes Q-axis motor <NUM>, cylindrical gear <NUM>, transmission gear <NUM>, and Q-axis gear <NUM>. Cylindrical gear <NUM> is inserted into the inside thereof so that R-axis <NUM> is coaxial and relatively rotatable, so that external teeth 62a of spur teeth are formed on an outer peripheral surface thereof. Transmission gear <NUM> transmits the rotation of Q-axis motor <NUM> to cylindrical gear <NUM>. Q-axis gear <NUM> is provided on an upper portion of each nozzle holder <NUM> and slidably meshes with external teeth 62a of cylindrical gear <NUM> in the Z-axis direction (up-down direction). Q-axis driving device <NUM> rotationally drives cylindrical gear <NUM> by Q-axis motor <NUM> via transmission gear <NUM>, so that each Q-axis gear <NUM> meshing with external teeth 62a of cylindrical gear <NUM> can be collectively rotated in the same direction. Each nozzle holder <NUM> rotates (spins) about its own center axis together with suction nozzle <NUM> by the rotation of Q-axis gear <NUM>. In addition, Q-axis driving device <NUM> includes Q-axis position sensor <NUM> (refer to <FIG>) for detecting the rotational position of Q-axis gear <NUM>, that is, the rotational position of each nozzle holder <NUM> (suction nozzle <NUM>).

Each Z-axis driving device <NUM> is configured to be able to individually lift and lower nozzle holder <NUM> at two portions on a turning (revolving) track of nozzle holder <NUM>. Suction nozzle <NUM> mounted on nozzle holder <NUM> lifts and lowers together with nozzle holder <NUM>. In the present embodiment, as illustrated in <FIG>, each Z-axis driving device <NUM> is disposed so as to be able to lift and lower two nozzle holders <NUM> (suction nozzles <NUM>) that pass through center axis O of head main body <NUM> and are located on line L parallel to an arrangement direction (X-axis direction) of feeder <NUM>. In the present embodiment, each Z-axis driving device <NUM> is capable of lifting and lowering a set of suction nozzles 44A and 44E, a set of suction nozzles 44B and 44F, a set of suction nozzles 44C and <NUM>, and a set of suction nozzles 44D and <NUM> among eight suction nozzles 44A to <NUM> mounted on eight nozzle holders <NUM> arranged in the circumferential direction. Since eight suction nozzles 44A to <NUM> constituting these are arranged on the same circumference about center axis O of head main body <NUM>, each nozzle set has substantially the same nozzle-to-nozzle distance.

As illustrated in <FIG>, each Z-axis driving device <NUM> includes Z-axis slider <NUM> and Z-axis motor <NUM> that lifts and lowers Z-axis slider <NUM>. In addition, each Z-axis driving device <NUM> also includes Z-axis position sensor <NUM> (refer to <FIG>) for detecting a lifting and lowering position of corresponding Z-axis slider <NUM>, that is, a lifting and lowering position of a corresponding nozzle holder <NUM> (suction nozzle <NUM>). Each Z-axis driving device <NUM> drives Z-axis motor <NUM> to lift and lower corresponding Z-axis slider <NUM>, thereby contacting nozzle holder <NUM> located below Z-axis slider <NUM> to integrally lift and lower nozzle holder <NUM> with suction nozzle <NUM>. Two Z-axis driving devices <NUM> may lift and lower Z-axis slider <NUM> using a linear motor as Z-axis motor <NUM>, or may lift and lower Z-axis slider <NUM> using a rotation motor and a feeding screw mechanism. Each Z-axis driving device <NUM> may lift and lower Z-axis slider <NUM> by using an actuator such as an air cylinder instead of Z-axis motor <NUM>. As described above, mounting head <NUM> according to the embodiment includes two Z-axis driving devices <NUM> each capable of individually lifting and lowering nozzle holder <NUM> (suction nozzle <NUM>), and can individually perform the suction operation of component P by suction nozzle <NUM> using each Z-axis driving device <NUM>. In addition, as illustrated in <FIG>, mounting head <NUM> of the embodiment supplies two components P from corresponding feeder <NUM> so as to be arranged in the X-axis direction (left-right direction) at approximately the same interval as two suction nozzles <NUM> that can be lifted and lowered by two Z-axis driving devices <NUM>, so that two suction nozzles <NUM> can be simultaneously lowered to pick up two components P (simultaneous suction operation).

As illustrated in <FIG>, mounting control device <NUM> is configured as a microprocessor centered on CPU <NUM>, and includes ROM <NUM>, HDD <NUM>, RAM <NUM>, input and output interface <NUM>, and the like in addition to CPU <NUM>. These constituent elements are connected to one another via bus <NUM>. Various detection signals from X-axis position sensor <NUM>, Y-axis position sensor <NUM>, R-axis position sensor <NUM>, Q-axis position sensor <NUM>, Z-axis position sensor <NUM>, and the like are input to mounting control device <NUM>. In addition, image signals and the like from parts camera <NUM> and mark camera <NUM> are also input to mounting control device <NUM> via the input and output interface <NUM>. On the other hand, various control signals are output from mounting control device <NUM> to feeder <NUM>, board conveyance device <NUM>, X-axis motor <NUM>, Y-axis motor <NUM>, R-axis motor <NUM>, Q-axis motor <NUM>, Z-axis motor <NUM>, pressure adjustment valve <NUM>, parts camera <NUM>, mark camera <NUM>, and the like.

Next, an operation of component mounting machine <NUM> of the embodiment configured as described above, particularly, the simultaneous suction operation described above will be described. <FIG> is a flowchart illustrating an example of simultaneous suction processing executed by CPU <NUM> of mounting control device <NUM>.

When the simultaneous suction processing is executed, CPU <NUM> of mounting control device <NUM> first determines whether loading of board S by board conveyance device <NUM> is completed (S100). If it is determined that the loading of board S is not completed, CPU <NUM> determines whether Y-axis direction positional deviation amount δn of each suction nozzle <NUM> has been transmitted (S110), and if not transmitted, collectively transmits Y-axis direction positional deviation amount δn of each suction nozzle <NUM> to each feeder <NUM> (feeder control device <NUM>) that supplies component P to be simultaneously picked up to each suction nozzle <NUM> (S120). <FIG> is an explanatory view for explaining the Y-axis direction positional deviation amount. As illustrated in the drawing, Y-axis direction positional deviation amount δn is a positional deviation amount in the Y-axis direction (feeding direction of component P) of the distal end (suction port) of suction nozzle <NUM> that performs the suction operation with respect to line L passing through center axis O of head main body <NUM> and parallel to the X-axis direction (arrangement direction of feeder <NUM>). Y-axis direction positional deviation amount δn, which will be described later, is used as a correction value when target tape feeding amount αn is set in feeder <NUM> that supplies components P to be simultaneously picked up. The transmission of Y-axis direction positional deviation amount δn is stored HDD <NUM> (storage device) by measuring Y-axis direction positional deviation amount δn for each suction nozzle <NUM> in advance, and is performed by transmitting stored Y-axis direction positional deviation amount δn to feeder control device <NUM> of corresponding feeder <NUM> at the timing during the loading of board S. <FIG> is an explanatory diagram illustrating an example of the Y-axis direction positional deviation amount stored in the storage device. In the present embodiment, among eight suction nozzles 44A to <NUM> (refer to <FIG>), suction nozzles 44A, 44B, 44C, and 44D pick up components P supplied from one feeder <NUM> of two feeders <NUM> that supply components P to be simultaneously picked up. In addition, among eight suction nozzles 44A to <NUM>, suction nozzles 44E, 44F, <NUM>, and <NUM> pick up component P supplied from other feeder <NUM> of two feeders <NUM>. Therefore, Y-axis direction positional deviation amounts δn of suction nozzles 44A, 44B, 44C, and 44D are collectively transmitted to feeder control device <NUM> of the one feeder <NUM>. Y-axis direction positional deviation amounts δn of suction nozzles 44E, 44F, <NUM>, and <NUM> are collectively transmitted to feeder control device <NUM> of other feeder <NUM>. In S110, if it is determined that Y-axis direction positional deviation amount δn has been transmitted, CPU <NUM> skips S120 and waits for the loading of board S to be completed.

When it is determined that the loading of board S is completed, CPU <NUM> initializes variable n to value <NUM> (S130), and controls head moving device <NUM> so that an n-th set of two suction nozzles <NUM> moves to above the component supply position to which two components P to be simultaneously picked up are supplied (S140). Subsequently, CPU <NUM> transmits a component supply command to feeder control devices <NUM> of two feeders <NUM> that supply two components P to be simultaneously picked up (S150). CPU <NUM> performs the simultaneous suction operation of causing two suction nozzles <NUM> of the n-th set to simultaneously pick up components P (S160). The simultaneous suction operation is performed by controlling two Z-axis driving devices <NUM> so that two suction nozzles <NUM> of the n-th set lower, and controlling pressure adjustment valve <NUM> so that a negative pressure is supplied to the suction ports of two suction nozzles <NUM>. If the simultaneous suction operation is performed, CPU <NUM> determines whether the pickup of components P to all the sets of suction nozzles <NUM> is completed (S170). If it is determined that the pickup of all the sets is not completed, CPU <NUM> increments variable n by value <NUM> (S180), returns to S140, and repeats the simultaneous suction operation of causing two suction nozzles <NUM> of the next n-th set to pick up components P. If it is determined that the pickup of all the sets is completed, CPU <NUM> terminates the component pickup processing. When the component pickup processing is terminated, CPU <NUM> shifts to component mounting processing (not illustrated).

When the processing shifts to the component mounting processing, CPU <NUM> controls head moving device <NUM> so that mounting head <NUM> moves above parts camera <NUM>, and images component P picked up by suction nozzle <NUM> by parts camera <NUM> from below. Subsequently, CPU <NUM> processes the captured image to calculate the positional deviation amount (suction deviation amount) of component P picked up by each suction nozzle <NUM>, and corrects the mounting position of board S based on the calculated positional deviation amount. Next, CPU <NUM> controls head moving device <NUM> so that component P picked up by suction nozzle <NUM> to be mounted this time is located above the corrected mounting position. Then, CPU <NUM> controls corresponding Z-axis driving device <NUM> so that suction nozzle <NUM> lowers, and controls pressure adjustment valve <NUM> so that the supply of the negative pressure to the suction port of suction nozzle <NUM> is canceled. Therefore, component P is mounted on the mounting position of board S. In addition, if any component P that has not been mounted remains in any of multiple suction nozzles <NUM> of mounting head <NUM>, CPU <NUM> repeats the mounting operation of mounting suction nozzle <NUM> to be mounted next to the mounting position of board S until all components P are mounted.

Next, an operation of feeder <NUM> for supplying components P to be simultaneously picked up will be described. <FIG> is a flowchart illustrating an example of component supply processing executed by microcomputer 28a (CPU) of feeder control device <NUM>.

In the component supply processing, microcomputer 28a first waits for collective reception of Y-axis direction positional deviation amounts δn of all the sets of suction nozzles <NUM> collectively transmitted by mounting control device <NUM> in S120 of the simultaneous suction processing described above (S200). If it is determined that Y-axis direction positional deviation amounts δn of all the sets are collectively received, microcomputer 28a sets target tape feeding amount αn for each set using Y-axis direction positional deviation amount δn for each set as the correction value (S210). Target tape feeding amount αn for each set is set by correcting reference feeding amount β common to each set for supplying component P to the component supply position using Y-axis direction positional deviation amount δn for each set as the correction value. Specifically, target tape feeding amount αn for each set is set by adding Y-axis direction positional deviation amount δn of the corresponding set to reference feeding amount β.

Next, microcomputer 28a initializes variable n to value <NUM> (S220), and waits for receiving the component supply command transmitted from mounting control device <NUM> in S150 of the simultaneous suction processing described above (S230). If it is determined that the component supply command is received, microcomputer 28a drives and controls feeding motor 24a so that tape <NUM> is fed by target tape feeding amount αn of the n-th set (S240). Therefore, component P accommodated in tape <NUM> is fed to the component supply position. Since target tape feeding amount αn is reference feeding amount β when Y-axis direction positional deviation amount δn is value <NUM>, component P accommodated in tape <NUM> is exactly located at the component suction position by feeding tape <NUM> by target tape feeding amount αn. On the other hand, when Y-axis direction positional deviation amount δn is a positive predetermined value (when the distal end of suction nozzle <NUM> deviates behind in the component feeding direction), tape <NUM> is fed by target tape feeding amount αn, so that component P accommodated in tape <NUM> is located behind (back) the component supply position by the predetermined value. In addition, when Y-axis direction positional deviation amount δn is a negative predetermined value (when the distal end of suction nozzle <NUM> deviates ahead in the component feeding direction), tape <NUM> is fed by target tape feeding amount αn, so that component P accommodated in tape <NUM> is located ahead (front) of the component supply position by the predetermined value. Therefore, even if there is a positional deviation of suction nozzle <NUM> in the component feeding direction (Y-axis direction), component P can be picked up at a correct position by using suction nozzle <NUM>.

Microcomputer 28a determines whether the supply of components P is completed in all the sets (S250). If it is determined that the supply of component P is not completed in all the sets, microcomputer 28a increments variable n by value <NUM> (S260), returns to S230, and repeats the operation of supplying component P of the next n-th set by driving and controlling feeding motor 24a by target tape feeding amount αn of the next n-th set when the next component supply command is received. Then, in S250, if it is determined that the supply of component P has been completed for all the sets, microcomputer 28a terminates the component supply processing.

Here, a correspondence relationship between main elements of the embodiment and main elements of the present disclosure described in the scope of claims will be described. That is, suction nozzle <NUM> of the embodiment corresponds to the pickup member of the present disclosure, mounting head <NUM> corresponds to the head, head moving device <NUM> corresponds to the moving device, feeder <NUM> corresponds to the feeder, and mounting control device <NUM> corresponds to the control device. In addition, board conveyance device <NUM> corresponds to the board conveyance device. In addition, head main body <NUM> corresponds to the rotation body, and mounting head <NUM> corresponds to the rotary head.

The present disclosure is not limited to the embodiments described above, and it is needless to say that various forms can be implemented within the technical scope of the present disclosure.

For example, in the above-described embodiments, mounting control device <NUM> transmits Y-axis direction positional deviation amount δn of all the sets to feeder <NUM> so that feeder <NUM> (feeder control device <NUM>) collectively receives the same during the conveyance (during loading) of board S. However, mounting control device <NUM> may transmit Y-axis direction positional deviation amount δn of all the sets to feeder <NUM> so that feeder <NUM> (feeder control device <NUM>) collectively receives the same during the mounting operation. That is, mounting control device <NUM> may transmit the same to feeder <NUM> so that feeder <NUM> collectively receives the same at a timing other than during the simultaneous suction operation.

In the above-described embodiments, mounting head <NUM> is configured as a rotary type head in which multiple nozzle holders <NUM> are arranged in the circumferential direction with respect to head main body <NUM>. However, as illustrated in <FIG>, mounting head <NUM> may include a parallel type mounting head <NUM> having multiple sets of multiple suction nozzles <NUM> arranged at the same pitch as multiple components P supplied from feeder <NUM> along the arrangement direction (X-axis direction) of feeder <NUM>, and respectively individually liftable and lowerable.

In the above embodiment, mounting head <NUM> includes two Z-axis driving devices <NUM> that individually lift and lower the two nozzle holders <NUM> (suction nozzle <NUM>) at predetermined positions. However, mounting head <NUM> may include three or more Z-axis driving devices, or may be configured to simultaneously lower three or more suction nozzles by three or more Z-axis driving devices, so that three or more components P are simultaneously picked up by each suction nozzle.

As described above, the gist of the present disclosure is a component mounting machine as defined in the independent claim <NUM>.

According to the component mounting machine of the present disclosure, it is possible to appropriately execute the pickup even in a case where the positional deviation occurs in the feeding direction of the component in the multiple pickup members. Here, the head may have multiple sets of the multiple pickup members, and multiple feeders may be provided as the feeder.

In such a component mounting machine according to the present disclosure, the component mounting machine may further include a board conveyance device configured to convey a board, and the predetermined timing may be a timing during conveyance of the board. Alternatively, the predetermined timing may be a timing during a mounting operation of mounting the component picked up by the pickup member on the board. The feeder collectively receives the correction values for the number of sets at a timing different from the timing at which the components are to be supplied to set the target feeding amount, whereby it is possible to suppress the occurrence of a delay in the supply of the components due to a communication delay or the like.

In the component mounting machine of the present disclosure, the head may be a rotary head having a rotation body and having multiple sets of the multiple pickup members on the same circumference about a rotation axis of the rotation body.

Further, in the component mounting machine of the present disclosure, the component mounting machine further includes a moving device for moving the head, the multiple pickup members is arranged to be liftable and lowerable at a predetermined interval in an orthogonal direction orthogonal to the predetermined direction, the feeder includes multiple feeders arranged at approximately the same interval as the predetermined interval in the orthogonal direction, and the control device executes a simultaneous suction operation of controlling the moving device and the head so that the components fed from the multiple feeders are picked up by the multiple pickup members at substantially the same time. According to such a configuration, in the component mounting machine including a mounting head that has the multiple pickup members capable of picking up the components supplied from the multiple feeders at substantially the same time, it is possible to appropriately execute simultaneous pickup even in a case where the positional deviation occurs in the feeding direction (predetermined direction) of the components in the multiple pickup members. In this case, the control device collectively transmits the correction values to the multiple feeders at a timing other than during the execution of the simultaneous suction operation as the predetermined timing.

The present disclosure can be applied to a manufacturing industry of a component mounting machine or the like.

Claim 1:
A component mounting machine (<NUM>) configured to pick up a component (P) and mount the component (P) on a board (S), the component mounting machine (<NUM>) comprising:
a head (<NUM>, <NUM>) having a plurality of sets of pickup members (44A-H, <NUM>), wherein each set comprises a plurality of pickup members (44A-H, <NUM>) arranged so as to be liftable and lowerable at a predetermined interval in an orthogonal direction orthogonal to a predetermined direction;
a moving device for moving the head (<NUM>, <NUM>);
a plurality of feeders (<NUM>) configured to receive correction values for the plurality of sets of pickup members (44A-H, <NUM>), set a target feeding amount for each of the plurality of sets based on the received correction values, and sequentially feed components for the plurality of sets in the predetermined direction with each set target feeding amount, wherein the plurality of feeders (<NUM>) are arranged at approximately the same interval as the predetermined interval in the orthogonal direction; and
a control device (<NUM>) configured to acquire a positional deviation amount of the multiple pickup members (44A-H, <NUM>) in the predetermined direction for each set and to execute a simultaneous suction operation of controlling the moving device and the head (<NUM>, <NUM>) so that the components fed from the plurality of feeders (<NUM>) are picked up by the plurality of pickup members (44A-H, <NUM>) at approximately the same time,
characterized in that
the control device (<NUM>) is configured to transmit, as the correction values for the plurality of sets, the positional deviation amount for the plurality of sets to the plurality of feeders (<NUM>) so that the plurality of feeders (<NUM>) collectively receive the correction values for the plurality of sets at a predetermined timing, wherein the positional deviation amount is measured in advance for each of the plurality of pickup members (44A-H, <NUM>) and stored in a storage device, and the control device (<NUM>) is configured to transmit the stored positional deviation amount for each of the plurality of pickup members (44A-H, <NUM>) to a feeder control device (<NUM>) of a corresponding one of the plurality of feeders (<NUM>), and wherein the predetermined timing is a timing during conveyance of the board (S) or a timing during a mounting operation of mounting the component (P) picked up by the pickup member (44A-H, <NUM>) on the board (S).