JPH01120897A - Apparatus for mounting component - Google Patents

Abstract

PURPOSE:To prevent the parts breakage by varying the access speed of a vacuum suction unit to the components or substrates, thereby making it possible to select an access speed depending on the type of parts. CONSTITUTION:A component mounting unit 10 varies the operation speed depending on the parts 1 to be handled. For instance, in the case of a component 1 such as an IC bare chip which requires careful handling, a vacuum suction unit 80 slowly accesses to the component 1 and also slowly mounts the component 1 on a substrate 2. The intermediate speed is also slow. For the rise direction, however, the operation time can be shortened by rapid displacement. Such switching of the operation speed is made possible by control of an electric motor 195. Although it is usually sufficient if two speeds, slow and fast, are set, the speed of the electric motor 195 may be controlled in a stepless manner by computer commands so that an appropriate speed setting can be made on the spot depending on the total flow of the line for manufacturing substrates.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field End 1'lJI C. It relates to an apparatus for mounting small parts such as leadless electronic parts on a board.

(b) Conventional technology The mounting device for leadless electronic components is disclosed in Japanese Patent Application Laid-Open No. 62-854.
Examples thereof can be found in Japanese Patent Application Laid-Open No. 114289/1983. By the way, there are various types of leadless electronic components, including ordinary chip-shaped electronic components and I
The mechanical properties of C (including LSI) bare chips are also very different, and the same mounting operation cannot be applied to bare chips. No single wearable device is proposed.

(c) Problems to be Solved by the Invention The present invention provides a component mounting device that can be used to mount components with widely different mechanical properties, such as ordinary chip-shaped components and IC hair chips. The purpose is to

(d) Means for Solving the Problems The apparatus of the present invention has a vacuum suction device that performs a big-and-place operation of components from a component supply device to a substrate on a substrate support device. The vacuum suction device is brought close to the component or substrate by an approach drive device at the component supply station and the component mounting station, but the operating speed of this approach drive device is changed stepwise or steplessly by a control device. did.

(E) When handling a component that is resistant to NA shock, point the vacuum suction device at the component, and then point the vacuum suction device that has suctioned the component toward the board and bring it rapidly closer. In either case, the parts are subjected to impact due to the impact of the vacuum suction device or the substrate, but as long as the impact is not excessively applied, the work can be carried out in a short operating time without any particular problems. In the case of a delicate component such as an IC pair chip, the operating speed of the approach drive device is reduced, the vacuum suction device is slowly approached to the component, and the vacuum suction device that has suctioned the component is slowly approached to the substrate. As a result, although operation time is sacrificed, component mounting can be carried out safely.

Kube) Example Hereinafter, one embodiment will be described based on the drawings.

- Overall configuration □ Figure 2 schematically shows the planar arrangement of the units that make up the component mounting device (10). Unit (13), board loading unit (
14) The mounting unit (11), which is the Ts & unloading unit (15), is a rotary index table type moving device with a plurality of vacuum suction devices arranged around the periphery.The component supply unit (12) is a Ts & unloading unit (15). , a plurality of component supply devices (21) are arranged on a support table (20) that moves linearly, and a device storing a desired component can be selected from among these component supply devices (21). Tape is used as a storage means for one part. The component supply tape (22) shown in FIG. Cover the top with tape (
The basic support unit (13) covers the board ( The substrate loading unit (14) is mainly composed of a two-dimensional movable table type substrate support device (30) that positions and places the substrate 2). A loader (
40) and a loading bridge (41) for transporting the extruded substrate (2) to the substrate support unit (13) by means of a belt (not shown).

The board unloading unit (15) includes an unloading bridge (51) that carries the board (2) with components mounted thereon from the board support unit (13) by a belt (not shown), and an elevator-like system that moves up and down inside. unloading bridge (
It consists of an unloader (50) that takes in the substrate (2) from the substrate (51).

1 Mounting unit □ The main body of the mounting unit (11) is the moving device (6
0), but its structure will be better understood from Figure 3 and Section 4. The moving device 1t (60) is a rotary index table with one pole, and performs intermittent rotation in a fixed direction.The moving device (60) has an upper rotating body (61) and a lower rotating body (62), which It also has a circular planar shape and is fixed to a vertical index shaft (63). The indexing shaft <63) hangs from the indexing device (72) shown in FIG. 1 and extends from the moving device! (6
The lower part is supported by the bearing part (65) of the support deck (64) which is placed on top of the support deck (64). An air intake passage (66) communicating with a vacuum source (not shown) is formed inside the index shaft (63). Mobile device l: (60)
The road rotates one-eighth of a turn, or 45 degrees at a time, and a total of eight work stations (1)...(■) are arranged around it, as shown in Figure 3. There is. Then, according to the number of work stations, the lower rotating body (62
), a total of eight arms (67) protrude radially at equal intervals. The arm crawler is supported by a slider (68) mounted vertically on the circumferential surface of the lower rotating body (62), and is movable in the vertical direction. The slider (68) has a tension coil spring (69) stretched between it and the upper rotating body (61).
) until it hits a stopper (not shown) fixed to the upper rotating body (61). Slider(
68) has a roller (71) protruding outward, and at a predetermined work stage 5, the elevating body pushes the roller (71) and lowers the slider (68). The elevating body and its operating mechanism will be described later.

□Vacuum suction device - The structure consisting of the member supported by the arm (67) and the arm (67) itself is collectively referred to as the vacuum suction device (80). The detailed structure of the vacuum suction device (80) is as follows. (81> is a turret supported at the tip of the arm (67). The turret (81) has a cylindrical shape,
Fits into the tip of the arm (67) from the outside, and
), i.e., around the horizontal axis. A driven gear (82> is fixed to the outward end face of the turret (81). From the circumferential surface of the turret (81), four types of nozzles (83) (with different standards in size and shape) are installed. 84), (85), and (86) protrude radially at 90" intervals. Each nozzle is connected to a turret.
) can be retracted toward the center of the compression coil spring (87
) is pushed out to the protruding position. Arm (67)
The center of the air intake path (88) is the air intake path (88).
8) communicates with only the one directly below among the nozzles (83), (84), (85), and (86) through the communication hole (89). (90) is a screw plug that secures the end of the intake passage (88), and also serves as a stopper to prevent the turret (81) from being removed.

□Vacuum switching pulp□ The upper rotating body (61) supports the vacuum switching pulp (100). The same number of vacuum switching pulps (100) as arms (67) are provided, and the number of vacuum switching pulps (100) is the same as the number of arms (67).
Connect with. The vacuum switching valve (100) is connected to the hose (10
2) is connected to the intake passage (66), and the intake passage (8
8) The suction is ON-OFF controlled. The vacuum switching pulp (100) is opened and closed by a lever-type actuator (103) having a roller at its tip. That is, the valve is open when the actuator (103) is pressed down, and the valve is closed when it is not pressed down. The actuator (103) is controlled by a presser (10) that is moved up and down by an air cylinder (104) at the work station.
5), at the work stations (V') and (VI), the presser (107) that is moved up and down by the air cylinder (106) is used to move the work station (1) between them.
In (I [[) (IV), the pressing plate (108) fixed to the bearing part (65) is used.
108) also serves as a support member for the air cylinders (104) and (106), and the pressers (105) and (107) are configured so that when they are lowered, their lower surfaces form a plane that is substantially continuous with the lower surface of the press plate (108). It has become. Since each pulp (100) is arranged in a lagging position with respect to the arm (67) to which it belongs, the pressers (105, 107) are also in a position offset from the working station to which it belongs.

-Work Station- The mounting unit (11) configured as described above has a vacuum suction device! ! (80) are intermittently moved from work station to work station, each drawing a circular trajectory. In the work stations (I) to (■), various devices are arranged, including idle stations that do not perform any special work with respect to the vacuum suction device (70). The devices arranged at each work station will be explained below. Note that some work stations are given special names that represent the work content performed at that work station. That is, work station (I) is a parts supply station, work station (I[) is a parts position adjustment station,
The work station (IV) is a parts recognition station,
The work station (V) is named a component mounting station, the work station (VI) is named a parts dumping station, and the work station (■) is named a nozzle selection station. The other work stations (■) (■) become play stations.

The parts supply station (I), the parts position adjustment station (II), the parts recognition station (■), and the parts mounting station (V) are equipped with elevating bodies (11
0). The elevating body (110) is a rond-shaped member supported by the bearing part (111) of the support deck (64), and a pressing head (112) facing the roller (71) of the slider (68) is fixed to the lower end. It is raised and lowered by a cam device which will be described later.

m-1 product supply station The parts supply station (I) is the “overall configuration.

This is occupied by the parts supply unit (12) mentioned in the section above.

11 Part position adjustment station - The component position adjustment station (I [) is equipped with a component position adjustment device (120) (Fig. 1). ), and two pairs of position regulating claws (,122) (
The six pairs are orthogonal to each other, and only one pair is shown in the figure). The rotary table (121) has an edge (123) with a triangular cross section around its periphery, and is engaged with a plurality of support rollers (124>) attached to a support structure (not shown) so that it can rotate around a vertical axis. (125) is an electric motor for rotating the rotary table (121), and a zero position regulating claw (112) is connected to the rotary table (121) by a belt (timing belt) not shown.
is able to slide freely in the centripetal and centrifugal directions with respect to the rotary table (121), and is normally attached to the tension fill spring (126).
) is pulled in the centripetal direction by the zero position regulation claw (
From 122) there are legs (
127> is drooping. (129> is a frusto-conical cam inserted between the opposing rollers (12g>), which is moved up and down by the rotational force 1. (130), and when raised, expands the gap between the position regulating claws (122). (131) ) is its machine that drives a rotating cam (13G).

-One product recognition station □ Part recognition stage 5 (IV) has a parts recognition device (14
0 component recognition device f (1
40) has a visual sensor (141) and a visual sensor support device (142) as main components. Visual sensor support structure! ! (142) is based on the rotating platform (143), which has the same structure as the rotating platform (121), and has an elevator (142) attached to it.
44) The 0-turn table (143) that was installed is
It is rotated by an electric motor (<145) via a belt (timing belt) not shown. Elevator (1)
44) is an electric motor (146) attached to a turntable (143>).
) moves up and down by the screw action by rotating the screw shaft C147>. The congratulatory message sensor (141) is configured as follows. That is, as shown in FIG. 10, two line sensors (148) (149) are placed so that their arrangement directions are orthogonal, and
The irradiation unit (150) <1
51) to create a blank frame. Line sensor (14g>(149) is light receiving window<152)(153)
Inside, a large number of light receiving elements are arranged horizontally. The irradiation unit (150) (151) has a light receiving window (1
52) (153) is irradiated with wide parallel light. Such parallel light is obtained by a combination of a semiconductor laser (154), a concave lens (155), and a convex lens (156), as the concept of the principle is shown in FIG.

One component mounting station - The component mounting station (Vl) is equipped with the board support unit 7 (13) described in the "Overall configuration" section.The board supported by the board support device (30) is is coated with adhesive or solder paste.

Parts dumping station □ Parts dumping station (l is a parts collection box (160
).

□Nozzle Selection Station A nozzle selection device (170) shown in FIGS. 6 and 8 is arranged at the nozzle selection station (■>. ) is the main component.The elevator (171) is attached to a slider (172) that slides in the vertical direction, and is given vertical movement by a lever (173) that transmits the movement of a cam (not shown).Elevator (171) ) is the selector gear (174) at the bottom.
Mobile gear! (60) is supported horizontally so as to face the center of rotation. The selector gear (174) is the elevator (171)
) supported by a motor (175) with a bevel gear (176).
) (177), and when the elevator (171) descends, it engages with the driven gear (82) of the turret (81), transmitting the rotation of the electric am (175) to the driven gear (82). (177) is a stopper that determines the lower limit of descent of the elevator (171).

A lock pin (18G) is attached to the upper surface of the arm (67). The lock pin (180) is held in a holder (181) fixed to the arm (67) so that it can slide parallel to the axis of the arm (67), and is moved toward the turret (81) by a compression coil bar (182). Being pushed. Turret・
A groove (183) for receiving the tip of the lock pin (180) is provided on the end face of the nozzle (83), (84), and (8).
5) Create a total of 4 lines, 1 line each behind (86). At the rear end of the lock pin (180) is a U-shaped lever holder (1g
4) Fix. The lever holder (184) is attached to the support deck (6
4) into which one end of the bell crank type lever (185) supported is inserted. The other end of the lever (185) is connected to the elevator (171) by a four-way tatting rod (186).

□ Approach drive device - (190) is - group of rotating cams (191) (192) (1
93) (194) and an electric motor (19) that rotates them.
5) is an approach drive device (Fig. 1) that includes a 0-rotation cam (
191) (192) (193) (194) are parts supply station (1), parts position adjustment station ([),
The elevating body (110) placed at the component recognition station (EV) and the component mounting station (V) can be raised and lowered directly or openly via appropriate transmission means such as links and levers. .

A control device □ (Zoo) (FIG. 1) is a control device that controls the entire device, including arithmetic processing of various data. X-axis motor (31) and Y-axis motor (3) for driving the substrate support device (30)
2), a driving electric motor (73) for the indexing device (72);
), all of the electric motors described so far can be controlled in speed by the control device (200).

-Overall operation□ The above device operates as follows. Figure 1 shows a parts supply station (I), a parts position adjustment station (II),
0 showing the status of operations applied to the vacuum suction device (80) at the component recognition station (mV), component mounting station (V), and component dumping station (■)
The vacuum suction device (
In the illustrated case, the nozzle (80) stops with the nozzle (83) facing downward. At the time of arrival, the presser (105) is in the raised position, and the vacuum suction device <80) is not generating suction force. Here, the elevating body (110) descends to push down the slider (68) and press the nozzle (83) against the component <1). At this time, the air cylinder (104) lowers the presser (105) in response to a control signal from the control device (200), the vacuum switching valve (100) is opened, and the nozzle (83) attracts the component (1).

Vacuum suction bag that suctioned part (1)! (80) is the elevating body (
110) and is transported from the component supply station (I) to the component position adjustment station (IF) by the intermittent rotation of the moving device (60);
Vacuum switching valve (10G> actuator (103)
continues to be pressed by the suppression plate (108), and the suction of the component (1) is not interrupted.

At the component position adjustment station (1[), a pair of position adjustment claws (122) are waiting with the distance between them being pushed apart by a cam (129). When the vacuum suction device (80) arrives at this station and is lowered by the elevating body (110) to the point where the component (1) enters between the direction adjusting claws (122), the cam (129) is lowered to adjust the direction. The claws (122) come close to each other and grip the component (1) from the sides. After completing the centering of the component (1) with respect to the nozzle (83) in this way, the control bag is removed!
Based on the control signal from (200), the electric motor (125) rotates (or does not rotate) the turntable (121>) and orients the component (1) at a specified arrangement angle on the board relative to the component. match.

In this case, of course, the component placement station (
After the direction adjustment is completed, the cam (129) is raised and the positioning claw (122) is aligned with the part (1) so that the angle of the part (1) matches the specified arrangement angle when it arrives at the part (1). (1), and the vacuum suction device (80) removes the rising part (1) from between the position regulating claws (122), and then the cam <129) descends and the roller (1)
2B), the electric motor (125) is moved away from the rotary table (121>
is returned to the standby position angle, the cam (129) rises again, and the direction adjustment claw (12
2>Push open.

Vacuum suction device leaving the component positioning station (TI)! ! (80) arrives at the component recognition station (mV) via the work station (II), and the elevating body (110)
This allows the robot to descend to a certain height. In this case, since the lifting stroke of the lifting body (110) is fixed, it is constant, and the vacuum suction device! The height of the nozzle end, which is the tip of t(80), is not kept constant.Due to the lowering of the vacuum suction device (80), the part 1) is placed just above the part recognition area of the visual sensor (141). rush inside. Part recognition area, i.e. irradiation unit (
150) is directed toward the line sensor (14g), and the irradiation unit (151) is directed toward the line sensor (149), and the component (1) that has entered the area where parallel light is irradiated is as shown in FIG. , line sensor (14g) (149
), cast your silhouette (indicated by parallel diagonal lines). for visual sensor < 141), i.e. licensor (1
Since the planar positional relationship of the nozzle with respect to 4g>(149) is assumed to remain constant, the line sensor (148
) (149), it becomes possible to measure the amount of positional deviation of the component (1) with respect to the nozzle (83).Depending on the type of component, the position adjustment claw (122)
) must be stopped one step before it is completely clamped, and full positional deviation measurement is effective for such items. Measurement data is sent to the control device (200)
can be conveyed to.

In addition, in order to accurately know the amount of positional deviation of component (1) in the X and Y directions, it is necessary to but,
It is desirable that they match, or in other words, be parallel.For this reason, the visual sensor (141) is connected to the component <1) in advance.
It is waiting with its orientation aligned with the orientation of . That is, depending on how the angle of the component (1) is set at the component position adjustment station (II), a corresponding direction control command is given from the control device (200) to the electric motor (ias), and the electric motor (145) is visual sensor support device 1i
(142) is rotated by a predetermined angle. Visual sensor (14
It is sufficient for the direction change range of 1) to be 90 degrees, and there is no need to make it larger than that.

In this way, the measurement results with the line sensors (148) (149> placed parallel to the sides of the component (1) are transmitted to the control device (200), and based on this, the results are transmitted to the control device (200).
00) calculates how to correct the movement amount of the substrate support bag ff(30). After the measurement is completed, the vacuum and loading fl<80) are raised and the visual sensor (141) orients the elevator (144) accordingly in preparation for the next arriving part (1). This will be done as necessary.

By the time the vacuum suction device (80) arrives at the component mounting station (V), the substrate support device (30) has already attached the substrate (
2) and the nozzle (83) where the part (1) should be installed.
It is positioned directly below and is waiting. Of course, in this case, the positional deviation data of the component (1) has already been incorporated into the commands given from the control device (200) to the XIIIk electric motor (31) and the Y-axis heavy machine (32), and
is stopped at a position that has been corrected by an amount commensurate with the positional deviation. Here, the elevating body (110) is vacuumed and installed! fj (80
) is lowered and the component (1) is pressed onto a predetermined position on the substrate (2) at a predetermined angle. The presser (107) is in the lowered position when the vacuum suction device (80) arrives at the component mounting station (V) and maintains suction of the component (1). 2) When it is pressed against the adhesive or solder paste above, it rises as shown in Fig. 1 and cuts off the suction of the nozzle (83).Therefore, when the vacuum suction device (8o) rises, the part (1) remains on the surface of the substrate (2) due to the viscosity of the adhesive or solder paste.

Vacuum suction device (3) leaving the component mounting station <V)
0) passes through the parts dumping station (VI) and reaches the nozzle selection station (■). Nozzle selection station (
■) Vacuum suction device! (80> arrives, the selector gear (174) is shifted to the driven gear (174) as shown in FIG.
82), and the tip of the lever (175) is inserted into the lever receiver (174). Lock pin (18
G) is engaged with the groove (ts3) as shown in FIG. 7, and firmly fixes the turret (81). Here, when it becomes necessary to change the nozzle to be used from (83) to another, the elevator (171) descends as shown in Fig. 8 and engages the selector gear (174) with the driven gear (82). . As the elevator (171) descends, the lever (175) also rotates, causing the lock pin (1″80) to slide against the compressed fill spring (182).The lock pin (180) is thereby removed from the groove (183). out, and the turret (81) becomes rotatable. In this state, the electric motor (
175) to rotate the turret l-(81) by a predetermined angle. When the elevator (171) is raised after changing the angle of the turret (81), the lever (185) returns to its old position and the lock pin (180) is moved back into the groove (183).
) to lock the turret (81).

The vacuum suction device (80) is a parts supply device! The part (1) is sucked up from the part (21), but sometimes due to the feeding movement of the component supply tape (22), the part (1) jumps up. Sometimes we get drawn to aspects of ourselves that we are not. The part (1) picked up in an abnormal position must be removed without being attached.The visual sensor (141) determines whether the part (1) is in a normal or abnormal position. Determine from measurement data. When the silhouette of the part (1) is projected onto the line sensors (148) (149) as shown in FIG. 12, the position and length of the silhouette can be obtained as measurement data. Based on this length data, the control device 1
! (200) allows the circumferential length (horizontal direction) of component (1) to be determined. In the case of the normal posture shown in FIG. 13 and the case of the abnormal posture shown in FIG.
Since there is a noticeable difference in the results obtained, it is easy to determine whether the results are normal or abnormal. The difference between the circumferential length in normal posture and the circumferential length in abnormal posture is small.
In other words, since there are almost no examples of parts with a shape close to a cube, this determination method is effective.9 If the calculation result that the part posture is abnormal is obtained, the control device (20
0) excludes the component (1) from being mounted. That is, a command is issued to the drive mechanism of the elevating body (110) arranged at the component mounting station (V) and the air cylinder (106), and the vacuum suction device (80) arrives at the component mounting station (V). However, this vacuum suction device (
The presser (107) remains in the lowered state until the vacuum suction device (80) is moved to the parts dumping station (■), and the vacuum suction device (80) that has arrived at the parts mounting station (V) takes its place.
0) is subjected to the normal mounting operation, and the presser (107
) rises and releases the suction on the component (1) attached to the board 2), the component dumping station (Vl)
Component attachment was also released in , and the component was in an abnormal position (1)
is dumped into the parts collection box (160). For the part (1) that failed to be mounted, the mounting program is immediately changed and the part (1) is removed by the vacuum suction device (80) or another vacuum suction bag! (80) may be used, but direct V recovery measures are taken by attaching the same type of component (1) to the specified location.

The board (2) on which all the parts (1) have been mounted is sent from the unloading bridge (51) to the unloader (50). Then, it is subjected to necessary post-processes such as adhesive curing, soldering, or wire bonding for IC pair chips.

The component mounting device (10) changes its operating speed depending on the component (1) being handled. Looking at the lifting and lowering of the vacuum suction device (80), the part (1) that is resistant to impact follows a time-displacement curve as shown in Figure 15(a), whereas the part (1) that is resistant to impact follows a time-displacement curve as shown in Figure 15(a). In the case of parts (1) that require careful handling, the time shown in Figure (b)
Follow the displacement curve. By moving as shown in FIG. 15(b), the vacuum suction device (80) slowly approaches the component (1),
Also, the component (1) is slowly placed on the board (2). (Z+ represents the maximum approach distance, in other words, the maximum descent distance.) The acceleration on the way is also gradual. However, in the upward direction, the displacement can be made rapidly as shown by the broken line, and the operation time can be shortened. Such switching of the operating speed is possible by controlling the electric motor (195).In normal cases, it is sufficient to set two slow and slow speeds,
The speed of the electric motor (195) may be controlled steplessly by computer commands so that an appropriate speed can be set at any given time according to the overall flow of the board manufacturing line.

Also in the component position adjustment device (12G), in the case of a delicate component (1) such as an IC pair chip, the approach speed of the position adjustment claw (122) is made slow so as not to apply a shock to the component (1). . If the time-displacement curve in Figure 15(a) is the positioning operation for the component (1) that is resistant to impact, then the positioning operation for the IC pair chip is the 0 position adjustment as shown in Figure 15(b). In the direction in which the claw (122) leaves the component (1), it may be moved rapidly as shown by the broken line. This change in operating speed is caused by the electric motor (131).
> brought about by control.

Vacuum suction device f (80> and component position adjustment device 1i (1
20), it is necessary to extend the work takt time. Therefore, the electric motor Ia (73) is controlled and the operating curve of the indexing device (72) is changed as shown in (a) to (b) in Fig. 16. change to (z2 is the amount of movement for one time. Reducing the speed of the moving device (60) is also effective when mounting large parts that are easily blown away by centrifugal force.

) Board support equipment! (30), the movement of the component supply device (21), and the feeding of the component supply tape (22) are also slowed down (because there is no point in moving only these things at high speed). parts (1)
, the movement of the entire component mounting device (10) will be slowed down until the mounting is completed.

(G) Effects of the Invention In a component mounting device that performs pick-and-place work of components using a vacuum suction device, it is always attempted to increase the operating speed of the vacuum suction device as much as possible in order to improve production capacity. It is. Therefore, when discussing damage to parts,
In many cases, the impact force caused by a sudden collision is more of a problem than the size of the compressive force applied by the vacuum suction device, but in the present invention, it is possible to Since the speed is varied and the approach speed can be selected according to the type of part, it is possible to avoid parts being damaged due to the pursuit of higher speeds.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 shows the progress of processes at the main work stations; FIG. 3 is a plan view of the moving device; FIGS. 4 and 5 are vertical cross-sectional views with one portion left unsectioned at different work stations; FIG. 6130 is a side view of the nozzle selection device; FIG. The figure is a plan view of the vacuum adsorption device related to Fig. 6, Fig. 8 is a side view of the nozzle selection device similar to Fig. 6, but in a different operating state, and Fig. 9 is the vacuum adsorption device related to Fig. 8. A plan view of the device, FIG. 10 is a perspective view of the visual sensor,
Figure 11 is a schematic explanatory diagram of the visual sensor irradiation unit, Figures 12, 13, and 14 are diagrams explaining the measurement status of the visual sensor, and Figures 15 (a) and (b) are the vacuum suction device or component positions. FIGS. 16(a) and 16(b) are diagrams for explaining the operating speed of the regulating device, and FIGS. 16(a) and 16(b) are diagrams for explaining the operating speed of the moving device. (1)... Parts, (2>... Board, (10)...
Component placement device, (1)...Component supply station, (
21)...Component supply device, (V)...Component mounting station, (30)...Board support device, (80)...
・Vacuum suction device, (60)...Movement device, <190>
... Approach drive device, (200) ... Control device.

Claims (1)

[Claims] 1) A component mounting device comprising the following components. (a) A component supply device disposed at a component supply station; (b) A board support device disposed at a component mounting station; (c) A device for picking and placing components from the component supply device to the board on the board support device. (d) A moving device that moves the vacuum suction device from work station to work station; (e) An approach drive that brings the vacuum suction device close to a component or substrate at a component supply station and a component mounting station; Device (f) A control device that changes the operating speed of the approach drive device stepwise or steplessly.