Component mounter and component mounting method
An interference-prevention Q-axis rotation height position is set as a height position at an intermediate point of raising operation of suction nozzle, and a height position at which the component does not interfere with central protruding member on the lower surface of rotary head. Performed is control of large component interference prevention mode, in which, after picking up the component using suction nozzle at a component pickup height position that is the lower limit height position of lowering operation, the direction of the component is corrected by raising the suction nozzle to the interference-prevention Q-axis rotation height position that is a height position at an intermediate point of raising operation of suction nozzle and then rotating the component held by suction nozzle by Q-axis driving operation, and subsequently raising suction nozzle to a maximum height position of the raising operation, and then moving rotary head in the XY direction.
1. A component mounter comprising:
a rotary head rotatable around an R axis that extends in a vertical direction;
multiple suction nozzles configured to pick up a component, the suction nozzles being provided on the rotary head in a lowerable manner at predetermined intervals in a circumferential direction of the rotary head;
an R-axis driving mechanism configured to revolve the multiple suction nozzles in a circumferential direction of the rotary head by rotating the rotary head around the R-axis;
a Q-axis driving mechanism configured to correct a direction of the component that is being held by one of the suction nozzles by rotating the component by performing Q-axis rotation operation of rotating the one of the suction nozzles around a center axis of the one of the suction nozzles;
a Z-axis driving mechanism configured to raise and lower the one of the suction nozzles;
a head moving mechanism configured to move the rotary head;
a central protruding member provided protruding downwards on a central portion of a lower surface of the rotary head; and
a control device configured to control operations of the R-axis driving mechanism, the Q-axis driving mechanism, and the Z-axis driving mechanism, the control device being provided with a function to perform control of a large component interference prevention mode, in which, after lowering the one of the suction nozzles using the Z-axis driving mechanism to a component pickup height position that is a lower limit height position of lowering operation of the one of the suction nozzles and picking up the component with the suction nozzle, raising the one of the suction nozzles to an interference-prevention Q-axis rotation height position that is a height position at an intermediate point of raising operation of the one of the suction nozzles, then rotating the component held by the one of the suction nozzles by Q-axis driving operation of the Q-axis driving mechanism so as to correct the direction of the component, and subsequently raising the one of the suction nozzles to a component transport height position that is a maximum height position of the raising operation, and then moving the rotary head using the head moving mechanism,
wherein
the interference-prevention Q-axis rotation height position is set as a height position at which interference does not occur between the picked up component and the central protruding member even when another larger size component is picked up by the one of the suction nozzles and rotated.
2. The component mounter according to claim 1 , wherein
the central protruding member is one of a background member, a light reflecting member, or an illumination source that is used when imaging the component picked up by the one of the suction nozzles from the side using an imaging device.
3. The component mounter according to claim 1 , wherein
the control device determines whether it is necessary to prevent interference with the central protruding member based on at least one of a size of the component picked up by the one of the suction nozzles or a pickup orientation of the component, and, in a case in which it is determined that it is necessary to prevent interference with the central protruding member, performs control of the large component interference prevention mode, and, in a case in which it is determined that it is not necessary to prevent interference with the central protruding member, performs control of a normal mode, in which, after component pickup operation, the one of the suction nozzles is raised to the component transport height position by the Z-axis driving mechanism and then Q-axis rotation operation is performed by the Q-axis driving mechanism.
4. The component mounter according to claim 1 , wherein
the Q-axis driving mechanism is configured to rotate the multiple suction nozzles simultaneously, and the control device is configured to, in a case of performing control of the large component interference prevention mode, pick up a component with only one of the multiple suction nozzles, and to not pick up a component with the other suction nozzles.