JP2002353694A - Part suction device, part mounter and part mounting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a part suction device, a part mounter and a part mounting method by which a plurality of part suction nozzles can be vertically and individually elevated and be made rotatable around the respective axes. SOLUTION: This part suction device is provided with a suction nozzle 10 to suck and hold a part 20, a nozzle rotating device 25 to hold the suction nozzle 10 and rotate it, and a nozzle elevating device 26 that is arranged above the nozzle rotating device 25 and is connected with the suction nozzle 10, and moves vertically the suction nozzle 10 along the axial direction of the suction nozzle 10. A plurality of suction nozzles 10 are individually and vertically elevated, and are rotated around the respective axes.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for adsorbing and holding a component to be mounted on a circuit forming body such as a substrate, and mounting the component to a mounting posture angle of the component before mounting the component on the circuit forming body. A component suction device to be rotated, and a component mounting device including the component suction device, and a component to be mounted on a circuit formed body such as a substrate, which is held by suction, and before mounting the component on the circuit formed body, The present invention relates to a component mounting method for rotating the above component to a component mounting posture angle.

[0002]

2. Description of the Related Art Heretofore, there have been known various kinds of component suction apparatuses of this type. For example, as shown in FIG. 22, there is a component mounting apparatus provided with a mounting head 307 having, for example, ten nozzles 304 and capable of simultaneously rotating and selectively moving up and down, as shown in FIG. The mounting head 307 is moved to the component supply device side to suck and hold the component from the component supply position of each of the component cassettes of the component supply device, and then moves to the recognition device to change the posture of the sucked and held component. After the recognition, the component is moved to a board on which the component is to be mounted, and each component is mounted at a position where the board is to be mounted based on the recognition result.

Here, in the mounting head 307, when rotating each nozzle 304 about its axis to adjust the rotational attitude of the component, one rotating operation motor 311 is used.
Are driven so that the ten nozzles 304,..., 304 are simultaneously rotated by the same angle. Further, when performing component suction and mounting, the ten nozzles 304,..., 3 are driven by driving the cylinder 310 based on the switching of the valve.
04, only a predetermined nozzle 304 is selectively lowered by a predetermined amount to protrude below other nozzles, and then the entire mounting head 307 is lowered by driving the vertical movement motor 312.

[0004]

However, with the above structure, there is a demand for rotating each nozzle in order to further reduce the mounting tact.
That is, when the nozzles are rotated before mounting after component recognition, all nozzles are rotated all at once until the correction angle of the nozzle holding the component to be mounted next, and after mounting with the nozzle, the next mounting is performed. It is necessary to rotate all the nozzles at the same time to the correction angle of the nozzle holding the part to be mounted, and perform mounting with the nozzle, and once for each individual nozzle,
The mounting operation can be performed only after the rotation correction, and all the nozzles cannot be rotated to the respective desired angles at the same timing.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve the above-mentioned problems, and to provide a component suction device capable of individually moving a plurality of component suction nozzles up and down and rotating around each axis.

[0006]

In order to achieve the above object, the present invention is configured as follows.

According to a first aspect of the present invention, there is provided a component sucking apparatus for sucking a component to be mounted on a circuit forming body, and a suction nozzle for sucking and holding the component, and a suction nozzle for holding and holding the suction nozzle. A nozzle rotating device for rotating the nozzle, and a nozzle lifting device arranged above the nozzle rotating device and connected to the suction nozzle to move the suction nozzle up and down along the axial direction of the suction nozzle. The present invention provides a component suction device characterized by the following.

According to a second aspect of the present invention, the nozzle elevating device includes an elevating linear motor that elevates the nozzle rotating device along the axial direction of the suction nozzle, and drives the elevating linear motor. The component suction device according to the first aspect, wherein the suction nozzle is moved up and down along the axial direction of the suction nozzle by raising and lowering the nozzle rotating device.

According to the third aspect of the present invention, the coil is configured to be vertically movable with respect to the magnetic circuit component fixed to the mechanism component of the elevating linear motor, and the support for supporting the coil is provided. The component suction device according to any one of the first to third aspects, in which the nozzle rotating device is fixed to a member.

According to a fourth aspect of the present invention, there is provided a mounting head having a plurality of component suction devices according to any one of the first to third aspects, wherein the nozzle rotating device of the plurality of component suction devices is provided. Are mounted individually and independently, and the nozzle elevating devices of the plurality of component suction devices are individually and independently driven.

According to a fifth aspect of the present invention, there is provided a mounting head having a plurality of component suction devices according to any one of the first to third aspects, wherein the mounting nozzle is provided by the suction nozzle of the plurality of component suction devices. After the components held by suction are rotated by the driving of the nozzle rotating device to the mounting posture angles of the respective components, the postures of the components sucked and held by the suction nozzle and rotated to the mounting posture angles, respectively. And a component mounting apparatus that includes a main controller that controls the operation so that each component is mounted on the circuit forming body after correcting the posture based on the recognition result.

According to a sixth aspect of the present invention, the main controller simultaneously rotates the components suction-held by the suction nozzles by driving the nozzle rotating device up to the mounting posture angle of each component. The component mounting apparatus according to the fourth aspect of the present invention.

According to a seventh aspect of the present invention, a mounting head having a plurality of the component suction devices according to any one of the first to third aspects and the suction nozzles of the plurality of component suction devices respectively. After simultaneously rotating the held components to the mounting posture angles of the respective components by driving the nozzle rotating device, the respective components rotated to the respective mounting posture angles are mounted on the circuit forming body. Provided is a component mounting apparatus having a main controller for controlling operation.

According to an eighth aspect of the present invention, a mounting head having a plurality of component suction devices according to any one of the first to third aspects, and a component being picked up by the suction nozzles of the plurality of component suction devices. Immediately after sucking and holding, by driving the above-mentioned nozzle rotating device of each component sucking device, each component is individually and independently rotated to its mounting posture angle, and then each of the components rotated to each mounting posture angle Provided is a component mounting apparatus including a main controller that controls an operation of mounting a component on the circuit forming body.

According to a ninth aspect of the present invention, there is provided a component mounting method for mounting a component to be mounted on a circuit forming body by suction using a plurality of suction nozzles, and then mounting the component held by suction on the circuit forming body. Then, the components respectively sucked and held by the suction nozzle are individually and independently rotated to the mounting posture angle of the component, and thereafter, the components are sucked and held by the suction nozzle and rotated to each mounting posture angle. In addition, the present invention provides a component mounting method in which the orientation of each component is recognized, the orientation is corrected based on the recognition result, and then each component is mounted on the circuit forming body.

According to a tenth aspect of the present invention, each part sucked and held by the suction nozzle is
When individually and independently rotating up to the mounting posture angle of the component, the ninth configuration is such that the components sucked and held by the plurality of suction nozzles are simultaneously rotated to the mounting posture angle of each component. The component mounting method according to the aspect is provided.

According to an eleventh aspect of the present invention, each of the components sucked and held by the suction nozzle is
When individually and independently rotating up to the mounting posture angle of the component, immediately after the component is sucked and held by the suction nozzle, each component is individually and independently rotated up to its mounting posture angle. A component mounting method according to a ninth aspect is provided.

According to a twelfth aspect of the present invention, there is provided a mounting head having a plurality of the component suction devices according to any one of the first to third aspects, and a component mounting operation which is arranged in a component mounting device main body and controls the component mounting operation. A head controller arranged on the mounting head, connected to the main controller, and performing one-to-one asynchronous communication by serial connection of information on drive control with the main controller; The information related to the drive control with the head controller is arranged and connected to the head controller by serial connection.
A component that is provided with a plurality of servo drivers that perform drive control of the nozzle elevating device of each of the component suction devices based on information related to drive control obtained by the head controller, where many-to-many synchronous communication is performed. Provide a mounting device.

According to a thirteenth aspect of the present invention, the plurality of servo drivers individually have different addresses,
The information related to the drive control includes drive amount information including an address of the servo driver, drive amount information of the nozzle elevating device or the nozzle rotating device, and an operation start that is communicated at a timing different from the drive amount information. After receiving the operation start signal after the servo driver having the address, the servo driver, based on the drive amount information, the nozzle elevating device or the A component mounting apparatus according to a twelfth aspect, wherein control is performed to drive the nozzle rotating device.

According to a fourteenth aspect of the present invention, after the components are sucked and held by the suction nozzles of the plurality of component suction devices, the respective nozzle elevating devices are driven before starting component recognition. Then, the suction nozzle is raised and lowered to provide the component mounting apparatus according to any one of the fourth to eighth aspects, in which the bottom surfaces of the components are aligned.

According to a fifteenth aspect of the present invention, there is provided a component sucking apparatus for sucking a component to be mounted on a circuit forming body, comprising: a drive shaft movable vertically and rotatable around an axis;
A suction nozzle that is attached to the tip of the drive shaft so as to be relatively non-rotatable and relatively non-movable in the vertical direction, and is connected to the upper portion of the drive shaft so as to be relatively movable in the vertical direction and non-rotatable to the upper part of the drive shaft A rotation drive motor that rotates the drive shaft about its axis, and a first connection portion that is connected to the drive shaft so as to be relatively non-movable and relatively rotatable in the vertical direction, and that the first connection portion is vertically And a vertical drive device for driving the drive shaft in the vertical direction by driving in the vertical direction.

According to a sixteenth aspect of the present invention, a plurality of the drive shafts are provided, and the drive shaft and the θ-rotation drive motor are provided for each drive shaft. The arrangement pitch of the θ rotation drive motor is the same as the arrangement pitch of the suction nozzles, and
A component suction device according to a fifteenth aspect, wherein the component pitch of a plurality of component supply units of the component supply device that supplies the component sucked and held by the suction nozzle is the same.

According to a seventeenth aspect of the present invention, there is provided the component suction apparatus according to the fifteenth or sixteenth aspect, wherein the vertical driving device is a linear motor.

According to an eighteenth aspect of the present invention, there is provided the component suction apparatus according to any one of the fifteenth to seventeenth aspects, wherein the θ rotation drive motor is a brushless motor.

According to a nineteenth aspect of the present invention, there is provided the component suction apparatus according to any one of the fifteenth to eighteenth aspects, further comprising a suction control valve for controlling a suction operation of the nozzle.

According to a twentieth aspect of the present invention, in the brushless motor, the rotor is rotatably supported in the axial direction and is magnetized to a plurality of poles in the circumferential direction, and the coil is wound around the teeth winding portion. And a stator in which the tips of the teeth are arranged so as to face the outer periphery of the rotor. In the brushless motor in which the rotor rotates with the rotating magnetic field of the stator, the shape of the tips of the teeth of the stator extends along the outer periphery of the rotor. The component suction device according to the eighteenth aspect is a brushless motor that is formed in an arc surface and each tooth winding portion is formed in parallel with each other.

[0027] According to a twenty-first aspect of the present invention, in the brushless motor, the component suction apparatus according to the twentieth aspect, wherein the stator is formed such that the slot pitch of the arc surface facing the outer periphery of the rotor at the tip of the teeth is symmetrical. I will provide a.

According to a twenty-second aspect of the present invention, in the brushless motor, the stator has a thickness along the axial direction of the rotor, and the shape along the end face of the rotor is 0 degree around the axial center. 9 greater than the first length in the direction connecting
A component suction device according to the twentieth or twenty-first aspect, wherein the component suction device is formed in a flat shape having a long second length in a direction connecting 0 degrees and 270 degrees.

According to a twenty-third aspect of the present invention, in the brushless motor, the first and second stators contact the flat type stator in a direction connecting the above-mentioned 0 degrees and 180 degrees around an axis. A component suction device according to a twenty-second aspect configured by blocks.

According to a twenty-fourth aspect of the present invention, in the brushless motor, each of the first and second stator blocks forms a magnetic path at the base end of the tooth winding. The component suction device according to the twenty-third aspect, comprising a plurality of teeth blocks joined to the component suction device.

According to a twenty-fifth aspect of the present invention, there is provided the component suction apparatus according to the twenty-fourth aspect, wherein the brushless motor comprises the flat stator having a single stator block.

According to a twenty-sixth aspect of the present invention, in the brushless motor, the flat stator is formed by forming a groove serving as a tooth winding portion on the side surface intersecting the first length direction in the thickness direction. A component suction device according to a twenty-fourth aspect, wherein the outermost peripheral surface of the coil formed along the groove and wound around the groove is flush with the side surface or located inside the side surface.

According to a twenty-seventh aspect of the present invention, in the linear motor, a plurality of frame-shaped coils are provided inside the fixed-side cylindrical outer yoke, and the magnetic communication portion is provided at at least one end through the frame-shaped coil. An inner yoke having a plurality of teeth formed is provided, and a magnet is provided on both surfaces of each tooth such that the surface facing the frame type coil has a single pole and the adjacent teeth have different polarities. The magnetic flux radiated from the specific magnet flows through the outer yoke to the adjacent teeth, passes through the magnetic communication portion, flows through the teeth provided with the specific magnet, and recirculates to the specific magnet. The component suction device according to the seventeenth aspect, wherein the movable side including the magnet and the inner yoke moves in the longitudinal direction of the teeth by energizing the frame-shaped coil. Subjected to.

According to a twenty-eighth aspect of the present invention, there is provided the component suction device according to the twenty-seventh aspect, wherein the inner yoke is U-shaped.

According to a twenty-ninth aspect of the present invention, in the above linear motor, the shape of the opening surface of the frame-shaped coil is a rectangle in which the length of the side facing the magnet is longer than the length of the cross section. A component suction device according to a twenty-seventh aspect is provided.

According to a thirtieth aspect of the present invention, the linear motor includes an inner yoke having a plurality of teeth having a magnetic communication portion formed at at least one end, and an outer yoke surrounding the outer sides of the plurality of teeth. On the inside of the outer yoke, magnets are provided on both sides of the teeth so that the surface facing the teeth is a single pole, and the opposite side of the teeth has a different polarity from the surface facing the adjacent teeth. A coil is wound, and a magnetic flux radiated from a specific magnet among the magnets flows to an adjacent tooth via an outer yoke, passes through the magnetic communication portion, and faces a tooth facing the specific magnet. The movable side composed of the magnet and the outer yoke is moved in the longitudinal direction of the teeth by energizing the coil and flowing back to the specific magnet. Providing component suction device according to the twenty-eighth aspect.

According to a thirty-first aspect of the present invention, in the above linear motor, the teeth have a rectangular shape in which the length of the side facing the magnet is longer than the length of the connection side connecting the opposite sides. According to a thirtieth aspect, there is provided a component suction device.

[0038]

Embodiments of the present invention will be described below in detail with reference to the drawings.

As shown in FIG. 1, the component suction device 15 according to the first embodiment of the present invention is a component suction device that suctions a component 20 to be mounted on a circuit forming body, for example, the substrate 2. A suction nozzle 10 for sucking and holding the component 20;
A nozzle rotating device 25 that holds the suction nozzle 10 and rotates the suction nozzle 10; and a nozzle rotating device 25 that is disposed above the nozzle rotating device 25 and is connected to the suction nozzle 10 to connect the suction nozzle 10 to the suction nozzle 10. And a nozzle elevating device 26 that moves up and down along the axial direction.

Here, the circuit forming body is a resin substrate, paper-
Circuit board such as phenolic board, ceramic board, glass epoxy (glass epoxy) board, film board, circuit board such as single-layer board or multilayer board, component, housing, or object such as frame, etc. Means Further, the component includes an electronic component, a mechanical component, an optical component, and the like.

A general perspective view of a component mounting apparatus having two sets of mounting heads 4 having ten component suction devices 15,... 15 and performing a component mounting operation, and a perspective view of the mounting head 4 are shown in FIGS. 3 is shown. This component mounting apparatus is shown in FIG.
And a rear mounting portion MU2 disposed diagonally to the upper right and a rear mounting portion MU2 disposed diagonally to the upper right. Each mounting portion is independent of each substrate. Component mounting operations such as component suction, recognition, and mounting can be performed. The component mounting operation is, for example,
It means component suction, component transport, component recognition, component mounting operation, and the like.

In FIG. 2, reference numeral 1 denotes a circuit board 2-0.
The substrates at specific positions are designated by reference numerals 2-0, 2-1, 2-2,
Shown as 2-3. ), And 11 is an unloader that unloads the circuit board 2-3. Reference numeral 3 denotes a board transfer and holding device as an example of a circuit formed body holding device for transferring and holding a circuit board 2 loaded from the loader 1 and disposed in each mounting portion, and 4 denotes a component suction device 15 provided in each mounting portion. ,..., 15, mounting heads 5 for replacing a plurality of, for example, ten, component suction nozzles 10 for sucking and holding the component 20 are arranged in each mounting section, and the mounting head 4 is placed in the component mounting work area. An XY robot 7 positioned at a predetermined position in the XY directions, which are two orthogonal directions, is a component supply device 8 in each component mounting work area of each mounting section.
A nozzle station that is disposed near A and accommodates a plurality of types of nozzles 10 suitable for a plurality of types of components 20 and replaces the nozzles with the nozzles 10 mounted on the mounting head 4 as necessary. 8A and 8B are disposed on the front side, that is, the front end and the back side, that is, the rear end of the component mounting work area with respect to the worker, respectively.
A part cassette type having a plurality of component supply cassettes 80 for accommodating the components 20 to be mounted on the carrier tape one by one in the component accommodating recesses of the carrier tape and supplying the components 20 one by one to the component supply position 89, for example. Parts supply device, 8C
Is a tray-type component supply device that is arranged near each component supply device 8B and stores tray components in which components to be mounted on the board 2 are stored and held in a tray shape. Reference numeral 9 denotes each component supply device 8A. This is a two-dimensional or three-dimensional recognition camera that is arranged on the side near the center of the nearby component mounting work area and captures the suction attitude of the component 20 that is sucked by the nozzle 10 of each mounting head 4.

The XY robot 5 is configured as follows. Two Y-axis driving units 6a of the XY robot 5,
6a are fixedly arranged at the front and rear edges of each component mounting work area 200 of each mounting section on the mounting device base 16, and two X-axis driving sections astride these two Y-axis driving sections 6a, 6a. 6
b, 6c are arranged so as to be independently movable in the Y-axis direction and to avoid collision, and furthermore, the X-axis drive unit 6b has a mounting head that moves in a front half mounting area in the component mounting work area. 4 is arranged so as to be movable in the X-axis direction,
The mounting head 4 that moves in the mounting area in the rear half of the component mounting work area is arranged in the X-axis driving unit 6c so as to be movable in the X-axis direction. Each of the Y-axis drive units 6a and each of the X-axis drive units 6b and 6c are screwed together with motors 6y and 6x for XY robots, ball screws driven forward and reverse by the motors 6y and 6x, and members to be moved to the ball screws. Then, the members to be moved by the forward / reverse rotation of the ball screw by the forward / reverse rotation drive of the motors 6y and 6x can advance and retreat, thereby constituting each drive unit. The motors 6y and 6x are controlled by a main controller 1000 to be described later.
The drive is controlled by the Y robot controller 1010.

As shown in FIG. 4, there is provided a main controller 1000 for controlling the above-mentioned substrate loading / unloading, component holding, component recognition, component mounting operation, etc., component supply devices 8A and 8B, component supply cassette 80, mounting The head 4, the recognition camera 9, the substrate transfer and holding device 3, the XY robot 5, the memory 910, the loader 1, the unloader 11, and the like are connected. The memory 910 includes NC data indicating a mounting program such as which component is to be mounted in which position and in which order, an array program such as which component is to be arranged in which component supply member, and array information of each component. A component library of component information related to the shape and height, board information related to the shape of each board, and other information such as the shape of the component suction nozzle and the board transfer position of each board transfer holding device 3 are stored.

The basic operation of the component mounting apparatus is as follows. Under the control of the main controller 1000, the front and rear substrate transfer and holding apparatuses 3 and 3 are driven to move to the center side, and the loader 1 and the unloader 1 are unloaded. After arranging the front and rear substrate transfer holding devices 3 and 3 so as to be connected to the loader 11 in a straight line, the circuit board 2-2 is loaded from the loader 1 and passed through the front substrate transfer and holding device 3. The circuit board 2-1 is loaded into the front substrate transfer and holding device 3 from the loader 1 while the substrate 2-1 is loaded into the rear substrate transfer and holding device 3, and the substrates 2-1 and 2-2 are transferred to the front and rear substrates. After being held by the transfer holding devices 3, 3, by driving the front and rear substrate transfer holding devices 3, respectively, a predetermined position close to the component supply device 8 </ b> A from the substrate loading / unloading position on the center side as shown in FIG. Mounting position In moving.

Next, under the control of the main controller 1000, each of the ten suction nozzles 10,..., 10 is driven by each of the mounting heads 4 based on the driving of each of the XY robots 5, for example, each of ten component supply cassettes 80. Is moved to the suction preparation position above the component supply position 89.

Next, ten suction nozzles 10,...
10 are simultaneously lowered from the suction preparation position toward the corresponding component supply positions 89, and the ten component supply positions 89,
, 89, 10 parts 20, ..., 2 respectively
After simultaneously and individually adsorbing and holding all 0's, the ascent is again raised to the adsorption preparation position.

Next, by driving each XY robot 5,
Move from the suction preparation position toward each recognition camera 9, and
Each of the zero suction nozzles 10,..., 10 moves above the corresponding recognition camera 9 while one of the suction nozzles 10,.
Recognize the position, posture, shape, etc. of the zero components 20,.

Next, after the recognition is completed, based on the recognition result,
Under the control of the main controller 1000, the posture or position of each of the ten parts 20,..., 20 is corrected as needed, by controlling the drive of each mounting head 4 in the XY directions (for the XY robot by the XY robot controller 1010). Drive control of the motors 6y and 6x) or θ rotation drive control of each nozzle 10 (θ-axis motor 25m by the servo driver 1002)
After that, mounting is performed at predetermined mounting positions on the substrate 2.

On the other hand, each of the component suction devices 15 has the same unit as the nozzle rotating device 25 of the suction nozzle 10 and the nozzle elevating device 26, and is configured in detail as follows.

First, the nozzle elevating device 26 shown in FIG.
As shown in (A), the nozzle rotating device 25 is constituted by an elevating linear motor 32 for elevating and lowering the nozzle rotating device 25 along the axial direction of the suction nozzle 10. By moving up and down, the suction nozzle 10 is moved up and down along the axial direction of the suction nozzle 10.

Specifically, the nozzle elevating device 26 is
As shown in FIG. 5 (A), a magnetic circuit component 26a composed of iron and a magnet is fixed on a surface of a plate-like mechanism component 26b made of aluminum alloy or the like. Linear motor coil 2 movable up and down inside
6c is arranged. Movable linear motor coil 2
6c is fixedly supported by being sandwiched between upper portions of a pair of support members 26s, 26s linearly guided in the ascending and descending directions by linear guides 26g, 26g on the surface of the mechanism component 26b. These pair of support members 26
Under the s and 26s, a θ-axis motor 25m is sandwiched from both sides and fixedly supported. Here, the θ-axis motor 2
It is preferable that the center line of 5 m is arranged at the center of the thrust generated by the linear motor 32 to prevent generation of an unnecessary moment during the up-down operation and to prevent vibration due to the up-down operation. Therefore, the elevating linear motor 32 is constituted by the magnetic circuit constituting member 26a and the linear motor coil 26c, and when a current is supplied to the linear motor coil 26c, the linear motor coil 26c is connected to the magnetic circuit 26c. The linear guides 26g and 26g in the constituent member 26a
The linear motor coil 2 moves up and down while being guided by g.
The θ-axis motor 25m connected to the linear motor coil 26c moves up and down integrally with the linear motor coil 26c. 26d is a linear motor 3 for elevating and lowering.
2 cover. Also, the linear motor coil 26c
Alternatively, an elevating / lowering amount detecting sensor for detecting the amount of elevating / lowering of the support member 26s is provided, and the detected amount of elevating is detected by the
2 is fed back to a servo driver 1002, which will be described later, for controlling the driving of the servo driver 100.

Further, the nozzle rotating device 25 shown in FIG.
As shown in (B), the upper and lower bearings 25b, 25b
The suction nozzle 10 is rotatably supported by, and an encoder 25e is provided at the upper end of the suction nozzle 10. The encoder 25e detects the current position with respect to the origin position in the rotation direction of the suction nozzle 10, and detects the detected current position. Feedback is provided to a servo driver 1002 that drives and controls the θ-axis motor 25m. A cylindrical magnet 25r is fixed to an outer periphery of a central portion of the suction nozzle 10, a stator 25s is fixed to a casing 25c of the nozzle rotating device 25, and a θ-axis motor 25m is configured by the cylindrical magnet 25r and the stator 25s. I have. Above the suction nozzle 10, a suction / exhaust chamber 25 sandwiched between packings 25a is provided.
d is formed, and the suction nozzle 10 is provided in the suction and exhaust chamber 25d.
The upper end opening 10c is always in communication and is connected to the supply / exhaust passage 25p via the suction / exhaust chamber 25d. Then, by driving the supply / exhaust device 50 including a vacuum pump and a compressed air supply device connected to the supply / exhaust passage 25p, regardless of the rotational position of the suction nozzle 10,
That is, for example, the suction or exhaust (blow) operation of the suction nozzle 10 can be performed by the opening / closing operation of the valve 90 and the switching operation of the suction or exhaust (blow) shown in FIG.

Next, the ten component suction devices 15,
, 15 will be described. First, a description will be given of a case in which the ten nozzles 10,...

Here, typically, the first component suction device 15-1 and the second component suction device 15 will be described with reference to FIG.
-2 will be described. After performing the component supply from the component supply device 8A or 8B by the suction nozzle 10-1 of the first component suction device 15-1 and the component suction holding operation by the suction nozzle 10-1, the suction nozzle 10-1
-1 is rotated by the θ-axis motor 25m around the above-mentioned axis, for example, the θ-axis along the up-down direction, and the component is rotated to the mounting posture angle. On the other hand, the second component suction device 15
-2 from the component supply device 8A or 8B by the suction nozzle 10-2 and the suction nozzle 10-
After performing the component suction holding operation by the second rotation operation, the rotation operation of rotating the suction nozzle 10-2 by the θ-axis motor 25m to the mounting posture angle is performed, and
When the component rotation operation by the suction nozzle 10-1 of the component suction device 15-1 is started, the component suction holding operation by the suction nozzle 10-2 of the second component suction device 15-2 is started. In this way, when one nozzle 10 is performing a suction operation, another nozzle 10
In this case, the rotation operation can be performed up to the mounting posture angle, and the mounting time can be greatly reduced as compared with the case where the rotation operation is performed up to the mounting posture angle of all the components after the suction operation of all the components.

As another example, ten nozzles 1
., 20 can be simultaneously picked up at 0,..., 10, and the components can be recognized and the components can be mounted. Hereinafter, this will be described in detail with reference to FIGS. In FIG. 6, M is movement, S is scanning operation, D is down, U is up, C is correction, R is origin, CS is component suction, CSOFF is component suction release, B is blow, and CP is recognition processing. Operation.

For reference, the conventional operation will be described first.

Conventionally, as shown in FIG. 22, FIG. 8 and FIG. 9, the mounting head 307 is configured to supply components in predetermined ten component supply cassettes in the X-axis direction and the Y-axis direction or in the X-axis direction or the Y-axis direction. (Step S in FIG. 9)
41), the ten nozzles 304,..., 304 are simultaneously moved down from the movable height position, which is the initial position, to the component adsorbable height position by driving the motor 312 for 1
10 located at the component supply position of 0 component supply cassettes
Each of the components is sucked and held by the ten nozzles 304,..., 304 (step S42 in FIG. 9). After that, the ten nozzles 304,.
04 are simultaneously raised from the component adsorbable height position to the movable height position, that is, returned to the origin position in the height direction (step S43 in FIG. 9). In FIG. 8, M is movement, S is scanning operation, D is down, U is up, C is correction, R is origin, CS is component suction, CSOFF.
Is a component suction release, B is a blow, SL is a selection, and CP is a recognition processing operation.

Then, the head moves to the recognition position in the X-axis direction (step S44 in FIG. 9), and the motor 31 for vertical movement moves.
After the ten nozzles 304,..., 304 are simultaneously moved down from the movable height position to the component-recognizable height position by the drive of step 2 (step S45 in FIG. 9), the upper part of the recognition camera is linearly moved in one direction. Moving to 10 nozzles 30
The operation of recognizing the ten components sucked and held by 4,..., 304 is performed (step S46 in FIG. 9). After that, the ten nozzles 304,
.., 304 are simultaneously raised from the component recognizable height position to the movable height position, that is, returned to the origin position in the height direction (step S47 in FIG. 9).

Next, after the mounting head 307 has moved to, for example, the component mounting position of the component held by the first nozzle 304 (step S48 in FIG. 9), based on the recognition result, the rotation operation motor 311 is driven. The first nozzle 304 is rotated about its axis from the origin position in the rotation direction to the total position of the mounting posture angle and the correction angle to correct the posture angle of the held component (step S4 in FIG. 9).
9) By driving the vertical movement motor 312, only the first nozzle 304 is selected by the cylinder 310, and is lowered from the movable height position to the component mountable height position to the substrate;
The component held by the first nozzle 304 is mounted (Step S50 in FIG. 9). Then, the vertical movement motor 312
Drives only the first nozzle 304 from the component mounting height position to the movable height position. Next, the first nozzle 304 is rotated around its axis to the origin position in the rotation direction by driving the rotation motor 311.

Next, when all components held by the mounting head 307 have not been mounted (step S in FIG. 9).
In 51), the next mounting operation is performed.

In the next mounting operation, the mounting head 30
7 moves to the component mounting position of the component held by the second nozzle 304 (step S4 in FIG. 9).
8) Based on the recognition result, the second nozzle 304 is rotated around its axis from the origin position in the rotation direction to the total position of the mounting posture angle and the correction angle by the driving of the rotation motor 311 and held. The posture angle of the component is corrected (step S49 in FIG. 9), and only the second nozzle 304 is selected by the cylinder 310 by driving the up / down motor 312 and lowered from the movable height position to the component mountable height position. Then, the component held by the second nozzle 304 is mounted on the substrate (Step S50 in FIG. 9). Then, only the second nozzle 304 is raised from the component mounting height position to the movable height position by driving the vertical movement motor 312. Next, the second nozzle is rotated around its axis to the origin position in the rotation direction by driving the rotation motor 311.

Thereafter, similarly, the components held by the third to tenth nozzles 304,..., 304 are mounted on the board one after another (steps S48 to S5 in FIG. 9).
1) For the next component suction operation, the mounting head 307 moves in the X-axis direction and the Y-axis direction, or the X-axis direction or the Y-axis direction, to a position above the component supply position of the predetermined ten component supply cassettes. (Step S41 in FIG. 9) After that, the above-described component suction, movement to the recognition position, component recognition, movement to the component mounting position, correction of the component posture angle, and component mounting operation in steps S41 to S51 in FIG. 9 are repeated. Like that.

That is, in the prior art, after the component recognition, the position is corrected by rotating only one nozzle 304 for mounting the component next, and then the mounting operation on the substrate is performed. Therefore, the recognition is performed (step S46 in FIG. 9). In each of the subsequent nozzles 304, two operations, that is, rotational position correction (step S49 in FIG. 9) and component mounting (step S50 in FIG. 9) must be performed without fail.

On the other hand, in the first embodiment, as shown in FIGS. 13 and 7, the mounting head 4 is moved by driving the XY robot motors 6y and 6x of the XY robot 5.
In the axial direction and the Y-axis direction, the X-axis direction, or the Y-axis direction, the cassette is moved to above the component supply positions 89,..., 89 of the predetermined ten component supply cassettes 80,.
1), the linear motor 3 for elevating the nozzle elevating device 26
.., 10 are simultaneously lowered from the initial movable position, which is the movable height position, to the component suctionable height position, and are positioned at the component supply position of the ten component supply cassettes. , 20 are simultaneously sucked and held by ten nozzles 10,..., 10 (step S2 in FIG. 7). Then, the ten nozzles 10,..., 10 are simultaneously raised from the component adsorbable height position to the movable height position by driving the nozzle elevating device 26.
That is, it is returned to the origin position in the height direction (step S3 in FIG. 7).

Next, the mounting head 4 is moved to the recognition position in the X-axis direction by the driving of the XY robot 5 (FIG. 7).
Step S4), the nozzles 10 are rotated around the respective axes from the origin position in the rotation direction to the mounting posture angle by driving the nozzle rotating device 25, and the components 20 held by the nozzles 10 are set to the mounting posture ( Step S in FIG.
5).

Next, the ten nozzles 10,..., 10 are simultaneously lowered from the movable height position to the component recognizable height position by driving the nozzle elevating device 26 (step S6 in FIG. 7). Moving linearly in one direction above the recognition camera 9, the recognition operation of the ten parts 20,..., 20 sucked and held by the ten nozzles 10,. ). Then, the ten nozzles 10,...
10 are simultaneously raised from the component recognizable height position to the movable height position, that is, returned to the origin position in the height direction (step S8 in FIG. 7).

Next, while the mounting head 4 is moved to, for example, the component mounting position of the component 20 held by the first nozzle 10 by driving the XY robot 5 (step S9 in FIG. 7), the recognition result is simultaneously obtained. 7, the nozzles 10 are rotated around the respective axes from the mounting attitude angle to the correction position by driving the nozzle rotation device 25 to correct the attitude angle of the component 20 held by each nozzle 10 (FIG. 7).
Step S10). Therefore, when the mounting head 4 is located at the component mounting position of the component 20 held by the first nozzle 10, the correction of the attitude angles of all the nozzles 10,..., 10 has been completed. At this time, the attitude angles of all the nozzles 10,..., 10 may be corrected. However, when mounting with higher accuracy is performed, only the correction of the nozzle 10 immediately before mounting is performed.

Next, only the first nozzle 10 is lowered from the movable height position to the component mountable height position by driving the nozzle elevating device 26, and the components held by the first nozzle 10 are placed on the substrate 2. 20 is attached (step S11 in FIG. 7). Then, only the first nozzle 10 is raised from the component mounting height position to the movable height position by driving the nozzle lifting device 26. Next, 1 is driven by driving the θ-axis motor 25m of the nozzle rotating device 25.
The second nozzle 10 is rotated around its axis to the origin position in the rotation direction.

Next, if the mounting of all the components 20,..., 20 held by the mounting head 4 has not been completed (step S12 in FIG. 7), the process proceeds to the next mounting operation.

In the next mounting operation, the XY robot 5
Drives the mounting head 4 to, for example, the second nozzle 10
At the same time, the second nozzle 10 is mounted around the axis by driving the nozzle rotating device 25 based on the recognition result, while moving to the component mounting position of the component 20 held at the position (step S9 in FIG. 7). The attitude angle of the component 20 held by the second nozzle 10 is corrected by rotating from the attitude angle to the correction position (step S10 in FIG. 7). By driving the nozzle elevating device 26, only the second nozzle 10 is lowered from the movable height position to the component mountable height position, and the component 20 held by the second nozzle 10 is mounted on the substrate 2 ( Step S11 in FIG. 7). Thereafter, only the second nozzle 10 is raised from the component mounting height position to the movable height position by driving the nozzle lifting device 26. Next, by driving the nozzle rotating device 25, 2
The second nozzle 10 is rotated around its axis to the origin position in the rotation direction.

Thereafter, similarly, the components 20,..., 20 held by the third to tenth nozzles 10,..., 10 are sequentially mounted on the substrate 2 (step S1 in FIG. 7).
2) For the next component suction operation, the mounting head 4 is driven by the XY robot 5 so that the predetermined number of component supply cassettes 8 in the X-axis direction and the Y-axis direction, or the X-axis direction or the Y-axis direction.
Move to above the component supply position of 0,.
In step S1), the component suction, the movement to the recognition position, the component recognition, and the movement to the component mounting position in steps S2 to S12 in FIG. .

That is, the movement operation to the component mounting position,
At the same time, by performing the operation of correcting the mounting posture angle, the time for performing only the correcting operation of the mounting posture angle can be eliminated, and the mounting time can be reduced as a whole.

In the first embodiment, as in the conventional case, the blow is performed once in each nozzle 10 immediately after the component 20 is mounted on the substrate 2 so that the component 20 is securely separated from the nozzle 10. I have.

The plurality of component suction devices 15,...
After the component 20 is sucked and held from the component supply device 8A or 8B by the suction nozzles 10 of 15, respectively,
Before the component recognition camera 9 starts component recognition, the main controller 1000 and the head controller 1001 based on the information stored in the memory 910 and the height information of the components sucked and held by each nozzle 10. The servo driver 1002 drives and controls the nozzle elevating device 26 to elevate and lower the respective suction nozzles 10, and as shown in FIG. 10, the bottom surfaces of the components 20 are aligned at a certain height H1, or The bottom surface of each component 20 may be set so as to fall within a certain height range, that is, the depth of field of the recognition camera 9. Specifically, FIG.
As shown in (A), the memory 910 stores information such as an operation, a component database, and component supply cassette array data. As shown in FIG. 11B, in the component database, information on the size (width w, thickness t, depth D) of each component, information on the electrodes of the component (size such as the number of poles, electrode width, position, etc.) ) Is stored. FIG.
As shown in (C), the component supply cassette array data includes continuous component supply cassette numbers, link information between component types corresponding to cassette numbers, link information between component types and model numbers, and the like. Here, the component type is, for example, 1005R (that is, the component size is 1.
0 mm × 0.5 mm resistance), 1608R (ie,
(A part size of 1.6 mm × 0.8 mm resistance). Therefore, for example, as shown in FIG.
The main controller 1000 acquires the suction component information on all the nozzles 10,..., 10 from the memory 910 (step S61).

Next, the main controller 1000
The cassette number is specified from the suction component information while referring to the link information in the memory 910 (step S6).
2).

Next, the main controller 1000
The coordinate position of the cassette in the component mounting apparatus (equipment) is specified from the cassette number while referring to the link information in the memory 910 (step S63).

Next, the XY robot 5 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to move the mounting head 4 to the suction position, and the information (for example, the nozzle Information on the thickness of the parts to be picked up in the cassette, information on the pick-up position of the parts in the cassette, etc.
Is calculated on the basis of (Step S64).

Next, based on the calculated suction height, the main controller 1000 and the head controller 100
1. Nozzle elevating device 26 by servo driver 1002
Is driven to lower each nozzle 10 to the calculated suction height (step S65).

Next, the valve 90 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to perform a component suction operation (step S66).

Next, the main controller 1000 causes the memory 910 to store the suctioned component information for each nozzle (step S67).

Next, the main controller 1000, the head controller 1001, and the servo driver 1002 drive and control the nozzle elevating device 26 to
Is raised to the origin position in the height direction (step S6).
8).

Next, the XY robot 5 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to move the mounting head 4 to the recognition position (step S69).

Next, based on information in the memory 910 (for example, information on the thickness of the component adsorbed to the nozzle), the main controller 1000 controls each nozzle 20 to align the bottom surface of each component 20 to a fixed height H1. A recognition height of 10 is calculated (step S70).

Next, based on the calculated recognition height of each nozzle 10, the main controller 1000, the head controller 1001, and the servo driver 1002 drive and control the nozzle lifting / lowering device 26, thereby setting each nozzle 10 at the origin in the height direction. It is lowered from the position to the above recognition height (step S71). At this time, as shown in FIG.
The bottom surface of each component 20 sucked and held at 0 is fixed to a certain height H1.
Can be aligned.

Next, the XY robot 5 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002, and the mounting head 4 is passed over the recognition camera 9 to perform a recognition operation (step S72).

Next, the nozzle controller 26 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002, and each nozzle 10
Is raised to the origin position in the height direction (step S7).
3).

Next, the XY robot 5 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to move to the mounting position (step S74).

Next, the main controller 1000 calculates the mounting lowering height based on the information in the memory 910 (for example, information on the thickness of a component to be sucked by a nozzle, information on the thickness of a board, etc.) (step S75).

Next, based on the calculated mounting descent height,
Main controller 1000, head controller 10
01, the nozzle elevating device 2 by the servo driver 1002
6 is controlled to lower the nozzle 10 to be mounted to the mounting lowering height (step S76).

Next, the nozzle controller 26 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to lower the nozzle 10 to be mounted to the mounting lowering height, and to maintain the state for a moment. Thereby, the component mounting operation on the substrate 2 is performed (step S77).

Next, the nozzle controller 26 is driven and controlled by the main controller 1000, the head controller 1001, and the servo driver 1002 to raise the nozzle 10 on which the mounting operation has been performed to the original position in the height direction (step S78).

Next, all the nozzles 10 of the mounting head 4
The head controller 1001 and the servo driver 1002 check whether or not the component mounting operation has been performed on the nozzle 10, and the component mounting operation is performed on the nozzle 10 that has not been mounted yet, so the process returns to step S 74 (step S 79). ). Upon completion of the component mounting operation for all the nozzles 10, the process returns to step S61.

In this way, at the time of recognition, the recognition surfaces, for example, the lower surfaces of all the components can be put within the depth of field of the recognition camera 9, and the recognition operation can be performed collectively even for components having greatly different thicknesses. Can be. As a result, it is possible to surely resolve a problem such as the inability to recognize the object because it did not enter the depth of field.

Hereinafter, communication between the main controller 1000 of the component mounting apparatus main body and each mounting head 4 and the head controller 1001 of each mounting head 4, the θ-axis motor 25m, and the linear motor 32 for elevation are described. The control operation and configuration between each servo driver 1002 to be controlled will be described.

In the first embodiment, in order to reduce the increase in the number of wirings between the component mounting apparatus main body and the mounting head 4 due to the increase in the number of actuators and to realize modularization of the mounting head 4, a conventional component mounting apparatus is used. A drive controller for up, down, and rotation operations of each nozzle of the mounting head, which is controlled by the NC board 901 mounted on the control unit of the main body, is a head controller 1001 and a servo driver 1002. The head controller 1001 and the main controller 1000 employ a serial communication method. In order to realize such a method, it is necessary to reduce the amount of communication between the main controller 1000 and the head controller 1001, and therefore, a command method using asynchronous communication is employed. In addition, the communication between the head controller 1001 and each servo driver 1002 is performed by synchronous communication so that the head controller 1001 can perform one-to-many simultaneous transmission between the servo drivers 1002. I have. In addition, each servo driver 1002
And the head controller 1001 are provided with a one-to-one format for switching the communication path in a time-division manner and an interrupt notification. By performing communication using such a full-duplex communication method, it is possible to cope with an increase in the number of actuators, that is, an increase in the amount of communication due to multi-axis.

The above-mentioned method will be described below. The θ-axis motor 25m serving as a servo motor of the nozzle rotating device 25 of the component suction device 15 in the component mounting device and the nozzle elevating device 2
The case of controlling the lifting linear motor 32 will be described in detail.

As shown in FIGS. 13, 14 and 16, the main controller 1000, that is, the equipment control controller (MMC) is mounted on the component mounting apparatus main body, whereas the head controller 1001 and the servo driver 1002 are mounted. Each member or device to be drive-controlled, such as the θ-axis motor 25m and the lifting linear motor 32, is mounted on the mounting head 4.

The main controller 1000 has a function of setting operation specifications. For example, the main controller 1000 sets a moving distance, an acceleration, a maximum speed, and a speed command waveform pattern of a member or a device to be drive-controlled.

The main controller 1000 and the head controller 1001 are connected by a serial connection in which both can be switched to a transmission side and a reception side as necessary, so that one-to-one communication is performed asynchronously. Has become.

In order to reduce the amount of communication here, first, not only communication for individually designating each axis of the nozzle 10 but also simultaneous communication for all axes to all the nozzles 10,. Like that. In addition, in order to enable the operation speed and acceleration of each nozzle 10 to be selected from, for example, eight kinds of designated values, for example, eight kinds of designated values of the speed and acceleration of each nozzle 10 are transmitted to the head controller 1001 in advance. Every, head controller 10
01 as a table. As a result, each nozzle 10 can be operated at a desired speed or acceleration only by transmitting, for example, only one designated value selected from the eight types. Further, by having a command for commanding a suction operation by the nozzle 10 and a command for commanding a mounting operation by the nozzle 10, a series of operations of suction and mounting can be performed simply by sending a movement amount and a bottom dead center time in each operation. To be able to run. That is, for example, information of the suction operation by the nozzle 10 and the mounting operation by the nozzle 10 are stored in the memory 1005 connected to the head controller 1001, and the main controller 1000
When a suction operation command or a mounting command is transmitted to the head controller 1001 from the
By reading the information of the corresponding operation from the memory 1005,
Based on the information of the movement amount and the bottom dead center time, the servo driver 10
02 is performed. Therefore, for example, when the component suction is performed by the ten nozzles 10,..., 10, a command instructing the suction operation by the nozzle 10 to all the ten nozzles 10,.
If a signal including the amount of downward movement for suction for each nozzle 10, the bottom dead center time, and the designated values of the operating speed and acceleration when moving up and down for each nozzle 10 is transmitted from the main controller 1000 to the head controller 1001. Good. Further, for example, when component mounting is performed by the first nozzle 10-1 of the ten nozzles 10,..., 10, the first nozzle 10-1 is replaced with the first nozzle 10-1. 1
A command for instructing the mounting operation by the following, a descending movement amount and a bottom dead center time for mounting the first nozzle 10-1,
The main controller 1000 sends a signal including the operation speed and the designated value of acceleration when the first nozzle 10-1 moves up and down.
May be transmitted to the head controller 1001.

The head controller 1001 has a function of converting commands into commands per unit time. For example, the head controller 1001 calculates the amount of movement per unit time of synchronous communication based on a set value from the main controller 1000, which is the higher order. , And communicates with each servo driver 1002.

The head controller 1001 and the servo driver 1002 are connected by a serial connection, and one-to-many communication is performed by synchronous communication.

In order to improve the communication responsiveness of the communication here,
The head controller 1001 uses a full-duplex communication format.
To the respective servo drivers 1002 and communication from the respective servo drivers 1002 to the head controller 1001 at the same time. The communication from the head controller 1001 to each servo driver 1002 is one-to-many communication in which the communication from the head controller 1001 is simultaneously transmitted to all the servo drivers 1002,..., 1002. That is, the same data and command are communicated to all the servo drivers 1002. Therefore, all the servo drivers 1002 have individually different addresses, and only those addresses in which the order of the transmitted data, commands, and the like match each other are stored in each servo driver 1002.
Take in with 2. Thus, the communication time hardly changes even if the number of servo drivers 1002 increases. On the other hand, conventionally, data and instruction information are communicated to each of the servo drivers 1002 in a time-sharing manner. Therefore, there has been a problem that as the number of the servo drivers 1002 increases, the communication time increases in proportion. Such a problem is solved by simultaneous communication of the information and selection based on an address. Furthermore, each servo driver 1
From 002 to the head controller 1001, the synchronization cycle is divided into five equal parts, and data and the like are transmitted in the divided cycle in order from address 1.

Since the communication responsiveness can be improved by the above configuration, the servo driver 1
Even if the number of 002 increases, the communication time hardly changes. On the other hand, conventionally, data and instruction information are communicated to each servo driver 1002 in a time sharing manner.
As the number of servo drivers 1002 increases, there is a problem that the communication time increases proportionately. Such a problem is solved by simultaneous communication of the information and selection based on an address.

The servo driver 1002 includes a corresponding servo motor (θ-axis motor 25 m) and a linear motor 3
For example, a difference between a given command and a feedback amount from an encoder of a servomotor or an elevation sensor of an elevation linear motor 32 is calculated to match the target position. Thus, the torque of the servo motor or the amount of elevation of the linear motor 32 for elevation is controlled.

Servo driver 1002 and θ-axis motor 2
Each member or device to be drive-controlled, such as the 5 m or the linear motor 32 for elevation, is connected by various electric wires.

As described above, in the first embodiment, the main controller 1000 is mounted on the main body of the component mounting apparatus, whereas the head controller 1001, the servo driver 1002, the θ-axis motor 25m, the linear motor 32 for elevating, etc. Each member or device to be driven and controlled is mounted on the mounting head 4.

On the other hand, conventionally, as shown in FIG. 15, the main controller 900 and the NC board 901
The servo driver 902 of each servo motor 903 is mounted on the control unit of the component mounting apparatus main body, and only each servo motor 903 is mounted on the mounting head 3 shown in FIG.
07. The main controller 900
It has a function of setting operation parameters, and for example, sets the moving distance, acceleration, maximum speed, and speed command waveform pattern of a member or device to be drive-controlled. The main controller 900 and the NC board 901 are connected by a bus connection, and one-to-one communication is performed asynchronously. The NC board 901 has a function of converting commands into commands per unit time. For example, the NC board 901 calculates the amount of movement per unit time of synchronous communication based on a set value from the main controller 900, which is a higher-level device, and calculates a servo driver. 902. The NC board 901 and the servo driver 902 are connected by a serial connection, and one-to-many communication is performed by synchronous communication. The servo driver 902 has a position control function of the corresponding servo motor 903 (the rotation motor 311 and the vertical movement motor 312 in FIG. 22). For example, a given command and feedback from the encoder of the servo motor 903 are provided. The difference from the amount is calculated, and the torque of the servomotor 903 is controlled so as to match the target position. In such a conventional configuration, in order to realize the up-down operation and the rotation correction operation independently for each nozzle 10 as in the first embodiment, the nozzle rotating device 25 and the nozzle The lifting device 26 is mounted. As a result, as compared with the configuration of the conventional mounting head 307 shown in FIG. 22, for example, the number of actuators increases, and the number of servo drivers 902 for controlling the number of actuators increases. Then, conventionally, the servo driver 902 is installed on the fixed part, that is, the component mounting apparatus main body side, and only the actuator (servo motor 903) is mounted on the mounting head 307. However, in the same configuration, the servo driver 902 and the actuator are connected. In the case where the number of wirings to be provided is, for example, 10 nozzles, conventionally, there are two actuators, one vertical movement motor 312 and one rotary operation motor 311, so that a total of two actuators are provided between the servo driver 902. It will be a book wiring,
Alternatively, since there are three actuators, one vertical movement motor 312 and two rotation operation motors (an odd number nozzle rotation operation motor and an even number nozzle rotation operation motor), the servo driver 902 3 in total
It becomes a book wiring. On the other hand, if the actuator is 10
Servo driver 90 for 10 rotation operation motors of 10 nozzles and 10 vertical movement motors in total
2, there are a total of 20 wires. Therefore, the number of wirings becomes seven to ten times the number of wirings in the related art, and wiring becomes practically impossible. Further, since the number of servo drivers increases from 7 to 10 times, the installation area increases, and it becomes difficult to store the servo drivers in the component mounting apparatus. In order to solve such a problem, the first embodiment attempts to solve the problem by reducing the size and weight of the servo driver 1002 and mounting it on the mounting head 4.

That is, first, two actuators are set to 1
It is controlled by one servo driver 1002. Specifically, the two motors of the θ-axis motor 25m and the elevating linear motor 32 are connected to one servo driver 1
002, the servo driver 100
By mounting the high-speed CPU 1002a as a controller for two, servo calculation for a two-axis actuator can be performed by one CPU 1002a, and the mounting area of the controller board constituting the servo driver 1002 is reduced, and the servo driver 1002 The miniaturization can be achieved. On the head controller 1001 side, not one-to-many communication between the conventional NC board 901 and each servo driver 902, but one-to-one communication between the main controller 1000 and the head controller 1001 in the first embodiment. In order to realize a one-to-one communication configuration, a head controller 1001 specialized only for the head control function is mounted on the mounting head 4. Further, by connecting the main controller 1000 and the head controller 1001 by serial communication, one power cable and one communication cable are realized. Further, as described above, the multi-axis control is realized by serial communication by establishing a communication protocol, that is, realizing a protocol for reducing the amount of communication.

Here, an example of a signal transmitted from the main controller 1000 to the head controller 1001 is, for example, that the mounting head 4 is one at the component supply position.
Nozzle 1 selected from 0 nozzles 10,..., 10
Consider a case in which only 0 is raised and lowered to suck a component.
While the mounting head 4 is moving toward the component supply position, the ten nozzle rotating devices 25,..., Ten nozzle rotating devices 25,. 26,..., 26 linear motors 32 for elevation
, 1002, the main controller 1000 transmits a signal including driving amount information to the servo driver 1002 to be selected from the main controller 1000 to the head controller 1001.

As an example of the drive amount information, the address information of the selected servo driver 1002 to receive the drive amount information and the servo driver 100 at that address.
In order to determine the actual preferred lowering amount of the nozzle 10 from the moving or raising and lowering distance design information corresponding to the predetermined lowering amount of the nozzle 10 driven by 2 and the moving or raising and lowering distance design information. , And the check information for checking that the signal of the drive amount information has been correctly received. Therefore, the head controller 1 receiving the drive amount information signal from the main controller 1000
In step 001, first, it is checked that the drive amount information signal has been correctly received, and the check result is transmitted to the main controller 1000 as a check result signal. In the main controller 1000, when the signal including the driving amount information is not correctly received by the head controller 1001, the signal including the driving amount information is transmitted to the head controller 1001 again, and the head controller 1
Wait for a check result signal from 001. When the signal including the driving amount information is correctly received by the head controller 1001, the head controller 1001 calculates the actual movement or elevating distance information from the moving or elevating distance design information and the moving or elevating distance correction information, If necessary,
The information is temporarily stored in the memory 1005.

On the other hand, after the main controller 1000 receives an arrival signal indicating that the mounting head 4 has arrived at the component supply position, the main controller 1000 transmits a signal including an operation start signal to the head controller 1001. An example of the operation start information includes address information of the servo driver 1002 to start the operation and a descending operation start signal of the nozzle 10 driven by the servo driver 1002 at the address.

Thus, the head controller 1001
When the head controller 1001 receives a signal including an operation start signal, the head controller 1001
, 1002, the servo driver 1 to receive the calculated actual movement or elevating distance information and the driving amount information
The motor drive amount signal including the address information 002 is simultaneously transmitted to all the servo drivers 1002,..., 1002. According to the communication from the head controller 1001, only the servo driver 1002 having the address to receive the driving amount information receives the actual moving or elevating distance information, and immediately, based on the actual moving or elevating distance information, the linear motor 32 for elevating. To drive the nozzle 1
By lowering 0, a component suction holding operation is performed.

When the ten nozzles 10,..., 10 are lowered simultaneously to perform the suction operation, all the servo drivers 1002,. Is transmitted from the main controller 1000 to the head controller 1001, and all the servo drivers 1 are transmitted from the head controller 1001.
,..., 1002, each servo driver 10
02 at the same time, a signal including the actual movement or ascending and descending distance information for each servo driver 1002.
Are controlled to be lowered simultaneously.

In other operations (for example, recognition operation, mounting operation, etc.) other than the above-mentioned suction operation, similarly, the member or device to be operated is not moved until the member or device to be operated is located at the operation position. Is transmitted from the main controller 1000 to the head controller 1001 and the actual movement or vertical distance information is transmitted from the main controller 1000 to the head controller 1001.
Calculate in step 1 and wait for an operation start signal. When a member or device to be operated is located at or near the operating position, an operation start signal is output to the main controller 10.
00 to the head controller 1001 so that the head controller 1001
, 1002, the address of the servo driver 1002 to be drive-controlled and the actual movement or elevation distance information are transmitted to the servo driver 1 to be drive-controlled.
The drive control in 002 is performed.

As described above, the signal at the time of communication is divided into a signal including drive amount information and a signal including operation start information.
By transmitting or receiving a signal at an appropriate timing, respectively, the amount of signal transmission can be reduced to about one-third as compared with the case where both are simultaneously communicated.

On the other hand, the communication from the head controller 1001 to the main controller 1000 includes, in addition to the above-mentioned check result signal, address information of each servo driver 1002 and the current position of a member or apparatus which is driven and controlled by each servo driver 1002. The current position information and the status information of the member or the device (for example, information on valve on / off, error information such as stop due to overload, current information, etc.) are sent.

In FIG. 16, reference numeral 1002a denotes a servo driver CPU, and 90 denotes a servo driver CPU1.
A valve for turning on / off the suction or exhaust (blow) operation of the nozzle 10 driven and controlled by 002a, 91 is an interface of a signal from a position detector of the linear motor 32 for elevation inputted to the CPU 1002a for the servo driver, and 92 is a servo. This is an interface for a signal from the encoder of the θ-axis motor 25m input to the driver CPU 1002a. 93 is a servo driver CPU 10
An amplifier for amplifying a drive control current from the motor 02a to the linear motor 32 for raising and lowering. 94 is a servo driver CPU.
An amplifier for amplifying the drive control current from 1002a to the θ-axis motor 25m, 95 is a serial interface, 96 is an interrupt interface, 97 is a CPU of the head controller 1001, 99 is a power supply unit, and 98 is a DCDC converter of a power supply unit 99. is there.

According to the first embodiment, the nozzle 10 sucking the component 20 can be rotated at an arbitrary timing to a desired angle by the nozzle rotating device 25 and the nozzle 10 can be rotated by the nozzle elevating device 26 to the desired angle. It can be raised and lowered at any timing to the height. Therefore, in the mounting head 4 including the plurality of component suction devices 15,..., 15, all the nozzle rotating devices 25,. Can be rotated to the respective desired angles. Therefore, after the components are suctioned and before the recognition, particularly during the movement from the component suction position to the recognition position, the components 20 can be rotated by the respective nozzle rotating devices 25 in the respective nozzles 10 to the mounting posture angle. As a result, it is not necessary to make a large rotation to the mounting posture angle immediately before mounting, so that the rotation operation time can be shortened and the mounting tact can be shortened as a whole.

Further, before mounting, each nozzle 10 can be simultaneously rotated to the respective correction angle by driving each nozzle rotating device 25, so that it is not necessary to rotate the nozzles 10 to the correction angle immediately before each mounting. Can be shortened.

Further, since each nozzle rotating device 25 and each nozzle elevating device 26 can be individually and independently driven and controlled, 1
For example, when one of the nozzles 10 performs a component suction operation or a component mounting operation by descending, the other nozzle 10 can perform a rotation operation of the component held by suction, and the plurality of nozzles 10,... Since the operations can be performed simultaneously, the mounting tact can be shortened.

When the nozzle elevating device 26 is disposed below the nozzle rotating device 25, the nozzle elevating device 26 is driven by the rotation of the nozzle rotating device 25.
Is rotated together with the nozzle 10, which complicates the structure such as wiring of the nozzle elevating device 26. However, in the first embodiment, the nozzle elevating device 26 is placed above the nozzle rotating device 25. Because of the arrangement, the nozzle elevating device 26 does not rotate with the nozzle 10 due to the rotational driving of the nozzle rotating device 25, and the above-described problem does not occur.

More specifically, the following excellent operational effects can be obtained in comparison with the conventional problems.

First, as a conventional problem in the mounting head 307 as shown in FIG. 22, there are the following problems.

Since the load ratio of the motor 312 or 311 is high, that is, the plurality of nozzles 304,..., 304 are operated by one motor 312 or 311,
The motor 12 or 311 has a high operation frequency and requires a high output motor.

It is difficult to improve the throughput. That is, if the operation speed and acceleration of the nozzle 304 are improved to improve the mounting tact (throughput) due to the problem described above, the motor 312 or 311 will be increased in size (increased output), and the mounting head 307 will be increased. Is increased, and the X that operates the mounting head 307 is increased.
The load on other driving devices such as the Y robot increases, and a multi-head configuration cannot be obtained.

When the mounting accuracy is poor, that is, when a large correction angle operation is required depending on the direction of the component (for example,
When the mounting posture angle is, for example, a position rotated by 90 ° or 180 ° with respect to the posture of the component at the component supply position),
Accuracy deteriorates. For example, in the conventional mounting operation, first, the component is sucked, then moved to the recognition position to perform recognition, and then moved to the mounting position and rotated to the mounting posture angle, and the rotation correction operation based on the recognition result. And finally, the mounting operation is performed. In such an operation, the rotation operation up to the mounting posture angle (for example, 90 ° or 180 °) can be performed only after recognition. This is a multi-nozzle 304, ...,
304 is operated by one rotation motor 311,
This is because, if a rotation operation of 180 °, 0 °, 90 °, etc. is performed before the recognition, the throughput decreases. In addition, nozzle 3
When there is an influence of eccentricity, distortion (see FIG. 17B), thermal deformation, etc. of the nozzle 04, if the rotation angle of the nozzle 304 is large,
There is another problem that the error is large.

It becomes difficult to collectively pick up components having different component thicknesses. That is, since the multiple nozzles 304,..., 304 are moved up and down by the same vertical motor 312, FIG.
It is impossible to adjust the suction height for each nozzle 304 as shown in FIG. For this reason, as shown in FIGS. 22 and 18, the position of the nozzle 304 is adjusted by absorbing the thickness difference of the component 320 by contracting the spring 360 provided for each nozzle 304 by the thickness difference of the component 320. I have to. However, due to the spring 360, the component 320
There is a limit to the force acting on the part, and it is not possible to cope with a large part thickness difference. In addition, control (load control) cannot be performed according to the component thickness, and the recognition height H01 cannot be adjusted at the time of component recognition, as shown in FIG.

For example, if the rotation angle is large, such as 90 ° or 180 °, if the rotation operation is performed after the recognition, the throughput decreases as a whole mounting operation.

In the first embodiment, all of the various conventional problems as described above can be solved as follows.

That is, an actuator capable of vertical movement and rotation correction, that is, a nozzle elevating device 26 and a nozzle rotating device 25 is provided for each suction nozzle 10, so that the load on one actuator can be reduced. The mounting head 4 equipped with such an actuator can be used without increasing the size of the motor.
It is possible to achieve an improvement in the operation acceleration. As a result, the throughput can be improved, and the above-mentioned conventional problem can be solved.

Further, since each nozzle 10 can independently rotate around the θ axis at an arbitrary timing by the respective nozzle rotating devices 25, the nozzle 10 can be rotated with respect to the attitude angle of the component at the component supply position. Wearing posture angle is 9
Even in the case of components that are significantly different, such as 0 ° and 180 °, the nozzle rotating device 25 should be driven to rotate the nozzle 10 in advance to the mounting posture angle after the components are sucked and held by the nozzle 10 and before the components are recognized. Can be. As a result, since all the components are located at the mounting posture angle before the component recognition, the rotation amount for the correction after the recognition is reduced, and the mounting posture angle can be adjusted with high accuracy by that much. it can.

Further, the influence of distortion (see the difference between the solid line nozzle 304 and the dotted line nozzle 304 in FIG. 17B) generated due to the thermal change of the nozzle 10 can be minimized, Accuracy can be improved. That is, when the nozzle 10 is not affected by heat or the like,
As shown in FIG. 23A, the center 9p of the square image 9i of the recognition camera 9 and the center 10p of the nozzle 10 coincide with each other and are located at the position of [Xn, Yn] of the XY coordinates. The center 20c of the rectangular parallelepiped component 20 adsorbed by the nozzle 10 is displaced from the center 10p so that [X
p, Yp]. In this state,
When the nozzle 10 is rotated around the nozzle axis by θ = 45 degrees, the center 20 c of the component 20 adsorbed by the nozzle 10 becomes X
Assume that it is located at the position [Xp ', Yp'] of the Y coordinate. At this time, [Xp ′, Yp ′] of the XY coordinates of the center 20 c of the component 20 after being rotated by 45 degrees is obtained by the following equation (Equation 1).

[0135]

(Equation 1)

Next, when the nozzle 10 is affected by heat or the like, the center 9p of the square image 9i of the recognition camera 9 and the center 10p of the nozzle 10 do not match as shown in FIG. , The XY coordinates of the center 9p of the image 9i [Xn, Y
n], the nozzle 10 is distorted due to the influence of heat or the like, and the center 10p of the nozzle 10 is positioned at the [Xn ′,
Yn ']. Then, the center 20c of the rectangular parallelepiped component 20 adsorbed by the nozzle 10 is set to the center 10p of the nozzle 10 by [Xp, Y
p]. In this state, when the nozzle 10 is rotated around the axis of the nozzle by θ = 45 degrees, when there is no influence of heat, the center 20c of the component 20 adsorbed to the nozzle 10 is moved to the XY coordinates as in FIG. [X
p ', Yp']. However, since the nozzle 10 is actually affected by heat, the XY coordinate of the actual rotation center 10p of the nozzle 10 is [Xn, Y
n] to [Xn ′, Yn ′], the XY coordinates [Xn ′, Y] of the actual rotation center 10p of the nozzle 10
The XY coordinates [Xp ', Yp'] of the calculated position of the center 20c of the component 20 with respect to n '] can be obtained by the equation (2).

[0137]

(Equation 2)

The calculated rotation center position, that is,
When the center 9p of the image 9i is set to [Xn, Yn] of the XY coordinates, the XY coordinates [Xp of the actual position of the component center 20c are set.
_R ', Yp_r'] is obtained by the equation (Equation 3).

[0139]

(Equation 3)

Accordingly, the XY coordinates of the calculated position of the center 20c of the component 20 and the XY coordinates of the actual position of the component center 20c
The deviation from the coordinates is the mounting position deviation, and this mounting position deviation is obtained from the equations (2) and (3) by the equation (4).

[0141]

(Equation 4)

In the equation (Equation 4), when the nozzle 10 is not rotated, that is, when the rotation angle θ = 0, the error becomes zero, and the mounting position shift does not occur. On the contrary,
When the nozzle 10 is rotated, that is, the rotation angle θ ≠
At 0, an error occurs, and the smaller the rotation angle θ, the smaller the error. Therefore, before the recognition, the component 10 is rotated to the mounting posture angle by rotating the nozzle 10 to perform the recognition, and the rotation angle can be reduced if the component 20 is rotated by the correction amount after the recognition, so that the influence of heat or the like can be reduced. Can be reduced.

Therefore, the above-mentioned conventional problem can be solved.

The control of the main controller 1000, the head controller 1001, and the servo driver 1002 based on the information on the nozzles 10 stored in the memory 910 and the thicknesses of the parts to be sucked by the nozzles 10 allows the respective nozzles 10 to be controlled. By adjusting the amount of elevation of each nozzle 10 by the nozzle elevating device 26 in consideration of the thickness of the component to be sucked, the plurality of components 20 by the plurality of nozzles 10,. , 20 do not damage the components 20,..., 20. Further, based on the information on the nozzles 10 and the thickness of the parts to be sucked by the nozzles 10 stored in the memory 910, the suction is performed for each nozzle 10 under the control of the main controller 1000, the head controller 1001, and the servo driver 1002. By adjusting the height of each nozzle 10 with the nozzle elevating device 26 so that the height of the lower surface of the part is made uniform to a certain height or within a certain range,
Collective recognition of parts having greatly different heights becomes possible. Therefore, the above-mentioned conventional problem can be solved.

Further, as a result of controlling the drive of the θ-axis motor 25m under the control of the main controller 1000, the head controller 1001, and the servo driver 1002, each nozzle 10 independently rotates around the θ-axis at an arbitrary timing. The mounting posture angle is 90 ° or 1 ° with respect to the posture angle of the component 20 at the component supply position.
Even if the component 20 has a large difference such as 80 °, the nozzle 20 is driven to rotate the nozzle 20 in advance to the mounting posture angle after the component 20 is sucked and held by the nozzle 10 and before the component 20 is recognized. Accordingly, it is possible to prevent a reduction in mounting tact as compared with a case where a rotating operation is performed after recognition and before mounting. Therefore, the above-mentioned conventional problem can be solved.

In each component suction device 15, the nozzle rotating device 25 of the suction nozzle 10 and the nozzle elevating device 26
In the same unit, the nozzle rotating device 2
5, the θ-axis motor 25m is arranged below the linear motor 32, which is the elevating motor of the nozzle elevating device 26, and the center line of the θ-axis motor 25m is arranged at the center of the thrust generated by the linear motor 32. Unnecessary moments can be prevented from occurring during operation, and run-out due to vertical movement can be prevented.

The above-mentioned nozzle elevating device 26 has a structure in which the magnetic circuit component 26a and the mechanism component 26b are divided, and only the magnetic circuit component 26a is made of steel.
The materials can be divided and combined so that the mechanism component 26b is made of an aluminum alloy or the like, and the weight and thickness can be reduced.

The main controller 1000 is provided in the main body of the component mounting apparatus.
1 and the servo driver 1002 are mounted on the mounting head 4 side, and in the communication from the main controller 1000 to the servo driver 1002 via the head controller 1001, the information of the driving amount is transmitted together with the address of the servo driver 1002. Nozzle 10,
,.., 1002 can perform the same simultaneous communication. Each servo driver 1002 can control only the motors 32 and 25m without malfunction by fetching only the information that matches the own address and ignoring the other information. The communication volume and communication time can be reduced as compared with the case where communication is performed every 902.

Further, from the main controller 1000,
For example, eight kinds of designated values of the speed and acceleration of each nozzle 10 are transmitted to the head controller 1001 in advance,
Memory 1 connected to head controller 1001
005 is stored as a table. As a result, 8
By transmitting only one designated value selected from among the types, for example, each nozzle 10 can be operated at a desired speed or acceleration, and compared with the case of transmitting specific information of speed or acceleration. Thus, the communication volume and communication time can be reduced.

Further, the command for instructing the suction operation by the nozzle 10 or the command for instructing the mounting operation by the nozzle 10, the movement amount and the bottom dead center time in each operation are transmitted from the main controller 1000 to the head controller 1001.
To the corresponding motor 32 or 25 from the head controller 1001 via the servo driver 1002.
By controlling the driving of m, the suction or mounting operation can be executed, and the communication amount and the communication time can be reduced as compared with the case where information on the suction or mounting operation is transmitted.

The present invention is not limited to the above embodiment, but can be implemented in various other modes.

For example, in the above-described embodiment, simultaneous suction, simultaneous recognition, and the like have been described for the ten nozzles 10,..., 10 at the same time, but the ten nozzles 10,.
If only five nozzles 10,..., 10 are used for the mounting operation even if 0 is mounted, 1
0 nozzles 10,..., 10 are replaced with five nozzles 10,.
It can be read as 10. That is, suction, rotation, recognition, and the like can be simultaneously performed on the plurality of nozzles 10 to be mounted.

The component mounting apparatus provided with the component suction device is not limited to the first embodiment, but can be applied to other component mounting devices.

For example, as shown in FIGS. 19, 20, and 21, the component mounting apparatus according to the second embodiment of the present invention is not limited to the one in which the mounting head 4 moves in the XY directions. The present invention can also be applied to a component mounting apparatus in which the board holding device 3A that moves only in the X direction and holds the board 2 moves only in the Y direction. That is, the substrate holding device 3A includes a Y table that advances and retreats only in the Y-axis direction, and includes an X-axis driving device 5A that extends in the X-axis direction orthogonal to the Y-axis direction. In the X-axis driving device 5A, each mounting head 4A is independently driven only in the X-axis direction. In such a component mounting apparatus, similarly to the component mounting apparatus of the first embodiment, the nozzle 10 that has sucked the component 20 can be rotated at an arbitrary timing to a desired angle by the nozzle rotating device 25, The nozzle 10 can be moved up and down to a desired height by the nozzle elevating device 26 at an arbitrary timing. Therefore, for example, after the component suction operation in the component supply cassette 8D, the nozzles 10 can be simultaneously rotated to the respective mounting posture angles by driving the nozzle rotating devices 25. Further, before mounting, the nozzles 10 can be simultaneously rotated to the respective correction angles by driving the respective nozzle rotating devices 25. In FIG. 20, 1A is a loader,
11A is an unloader.

As shown in FIGS. 24 and 25, the component suction device according to the third embodiment of the present invention comprises a drive shaft 500 movable vertically and rotatable around an axis. A suction nozzle 10A, which is attached to a lower end of the drive shaft 500 so as to be relatively non-rotatable and non-movable in the vertical direction and capable of adsorbing and holding the component 20, is connected to an upper portion of the drive shaft 500 so as to be relatively movable in the vertical direction and non-rotatable. Rotating drive motor 2 for rotating the drive shaft 500 about its axis
5A and a first cylindrical connecting portion 501 that is connected to the drive shaft 500 so as to be relatively immovable and relatively rotatable in the vertical direction.
And a vertical driving device 26A for driving the first connecting portion 501 in the vertical direction to drive the driving shaft 500 in the vertical direction, the θ rotation driving motor 25A and the vertical driving device 26A, respectively. It is configured to include a driver 1002A for independently controlling the drive and a suction control valve 580 for controlling the suction operation of the nozzle 10A. A plurality of component suction devices having such a configuration are provided side by side on the mounting head 4C.

As shown in FIGS. 26 and 27, a spline shaft portion 500a having a pair of concave portions 521 at an interval of, for example, 180 degrees is provided at the upper portion of the drive shaft 500. Outside the spline shaft portion 500a, there is a pair of protrusions 520 that engage with a pair of recesses 521 of the spline shaft portion 500a, and the second connection portion 502 is cylindrical so as to be relatively movable in the vertical direction and not to rotate relatively. Are fitted. A lower end of a long cylindrical third connecting portion 25C further non-rotatably connected to a key 503 fitted in a key groove 523 of the second connecting portion 502 further outside the second connecting portion 502. Are fitted. The upper end of the third connection portion 25C is fixed to the rotation shaft 540 of the θ rotation drive motor 25A.

Therefore, when the rotation shaft 540 of the θ rotation drive motor 25A is rotationally driven, the third connection portion 25C, the second connection portion 502 connected to the third connection portion 25C so as to be relatively non-rotatable, The drive shaft 500 having the spline shaft portion 500a non-rotatably connected to the second connection portion 502, and the nozzle 10A fixed to the lower end of the drive shaft 500 rotate integrally.

The cylindrical first connecting portion 501, which is connected to the drive shaft 500 so as not to be vertically movable and relatively rotatable, is connected to the vertical drive device 26A via a drive arm 510. And the vertical driving device 2
By the drive of 6A, the drive arm 510, the first connection portion 501 connected to the drive arm 510, the drive shaft 500 connected to the first connection portion 501 in a vertically immovable manner, the drive shaft The nozzle 10A fixed to the lower end of 500 moves integrally in the vertical direction. The moving distance is between the upper end position H0 and the lower end position H1, as shown in FIGS. 29 and 30, for example, about 20 mm.

As described above, the vertical drive unit 26A is not arranged coaxially with the drive shaft 500, but is driven by the drive shaft 500A.
Of the drive shaft 500 via the drive arm 510
Is moved up and down, it is difficult to transmit the heat accompanying the up and down movement of the up and down driving device 26A to the drive shaft side, so that the drive control of the drive shaft 500 can be enhanced and the entire structure can be simplified. Can be done.

The width of the component suction device, ie, θ
The arrangement pitch of the rotary drive motor 25A, the arrangement pitch of the rectangular vertical driving device 26A, the rectangular driver 100
The nozzles 10A are arranged so that the width of 2A is a pitch interval corresponding to the arrangement pitch of a plurality of component supply units of the component supply device, for example, a part cassette and a tray.
As a result, it is possible to position the plurality of nozzles 10A above the plurality of parts cassettes and trays and then lower the nozzles 10A for simultaneous simultaneous suction. Thus, the nozzle 10A
Motors 25A and 26A according to the arrangement pitch of
And the width of the rectangular driver 1002A, the width of the mounting head 4C can be minimized. Further, when a rectangular motor or driver is mounted on the mounting head 4, since it is rectangular, it can be fixed in contact with each other, and in this case, rigidity can be improved.

The θ rotation drive motor 25A is provided with an encoder 25B on its upper part so that the rotation angle of the rotation shaft 540 can be detected. The output from the encoder 25B is input to the driver 1002A, and the drive of the θ rotation drive motor 25A is controlled by the drive shaft 500 based on the rotation angle based on the rotation angle position of the nozzle 10A.

The vertical driving device 26A is constituted by a voice coil motor as an example. As shown in FIG. 26, a movable magnet 511 that is movable in the vertical direction by a pair of linear guides 513 along the vertical direction and has the drive arm 510 fixed thereto, and four coils 512
And a linear scale 514 for accurately detecting the vertical position of the movable magnet 511. The vertical position information obtained by the linear scale 514 is input to the driver 1002A, and the driving of the vertical driving device 26A is controlled based on the position information.

The features of the third embodiment are as follows.

1. A horizontally opposed θ motor 25A, which is an example of a θ rotation drive motor 25A, which can be independently controlled, is attached to the plurality of nozzles 10A.

[0165] 2. In the first configuration, the nozzle 10A can move up and down via the spline shaft 500.

3. In the above configuration 1, the nozzle 10A
Is vertically movable by a thin voice coil motor (VCM) 26A as an example of a vertical driving device.

4. In the above configurations 1 and 3, the motor 2
A driver 1002A that controls the 5A and 26A is mounted near the above configuration, and the head controller is mounted on the movable part by a method of operating by serial communication from the host, thereby reducing wiring.

[0168] 5. In the above configurations 1 to 4, the motor 2
5A, 26A and the driver 1002A are thinned to have a feature that matches the width of the parts cassette as an example of the parts supply unit (10 nozzles 10A and the minimum parts cassette pitch. The head controller is a movable part. Mounted to reduce the size and weight in line with the minimum cassette pitch.) As a result, the weight of the entire mounting head 4C can be reduced by half, and the vibration generated due to the movement can be greatly reduced.

6. In the above configuration 5, the nozzle 10A
The suction opening / closing valve is attached to each nozzle 10A so that components can be sucked and mounted independently or simultaneously. That is, the head controller is mounted on the movable part, and high-speed maneuver is executed by several I / Os.

[0170] 7. The configuration of the above 1 is characterized in that the life of the bearings 530, 531, 532, 533 and the like is prolonged by rotating one time after the component is sucked and mounted. That is, before the suction is completed and before proceeding to the next step, the nozzle 10A is rotated once to extend the life.

This will be described below.

First, as in the case of a conventional device, when the device is sucked and recognized and then rotated by θ together with vertical movement when mounted, two operations of vertical movement and θ rotation are performed, so that tact-up is impossible. It is. In other words, since a plurality of nozzles are rotated by a single θ motor, individual nozzles cannot be recognized after being rotated θ to the position of the respective mounting state. Can not expect. However, according to the third embodiment, after the suction, the nozzles can be rotated by θ to the respective mounting state positions during the movement to the recognition position for recognition, and thereafter, during the movement to the mounting position. After the correction rotation of the θ rotational position is performed, mounting only by vertical movement can be performed, and the tact time can be increased. In addition, since the recognition can be performed after adjusting the mounting direction, that is, the θ rotation position, for each nozzle 10A, the mounting accuracy can be improved.

Next, in the case of a conventional device in which a head driving actuator is mounted in a mounting head, and a driver as a controller is mounted on the equipment main body, when the number of head driving axes is increased, the head is driven. The number of wirings connecting the power supply and the equipment body increases. However, as in the third embodiment, a motor (a horizontally opposed θ motor 25A as an example of a θ rotation drive motor) and a thin voice coil as an example of an up-down direction drive device are used in accordance with the pitch of the nozzles 10A of the mounting head 4C. A conventional NC controller is mounted on the mounting head 4C such that the motor 26A) and its motor driver are mounted on the mounting head 4C, and communication between the equipment body and the driver controller is made by wire or wirelessly. As a result, even if the number of nozzle axes of the mounting head 4C increases, the number of wires between the equipment body and the mounting head 4C does not increase.

Next, in the conventional apparatus, the θ motor cannot be coaxial with the center axis of the nozzle, and a rotational force is generated on the center axis of the nozzle by a rack and pinion or a timing belt. However, error factors such as backlash are large. That is, if the pitch of the nozzles is to be adjusted to the minimum pitch of the parts cassette, a θ motor cannot be arranged for each nozzle, and θ
The rotation is going on. Therefore, there is a large rotation error such as gear backlash. On the other hand, according to the third embodiment, the horizontally opposed θ motor 25 is coaxial with the nozzle 10A.
A is arranged so that rotation is transmitted by the spline shaft 500. That is, by arranging the horizontally opposed θ motor 25A functioning as a thin servomotor coaxially with the center axis of each nozzle 10A, the rotational force in the θ direction can be directly transmitted to the nozzle 10A, and the rotation error can be reduced. can do.

In the conventional configuration, as shown in FIG. 35, the return rotation when the nozzle 10 is rotated θ from the initial angular position ORG to the mounting angular position X1 and then returned to the initial position is performed in order to increase the tact time. As shown in FIG. 36, when the direction of rotation (θ rotation) to the mounting angular position X1 is opposite and the rotation is the same angle (−θ), the same part of the bearing,
The same ball is loaded and the life of the bearing is shortened. Further, when the nozzle is moved by the correction rotation at the time of 0 ° mounting, fretting tends to occur in the bearing, and the life of the bearing is shortened. On the other hand, in the third embodiment, as shown in FIG. 37 and FIG.
The return rotation for returning 0A to the initial position after rotating θA from the initial angle position to the mounting angle position by rotating it by an angle of (360 ° −θ) in the same rotation direction as the rotation to the mounting angle position (θ rotation). If the ball is returned to the initial angular position, the ball is always rotated by 360 °, and all the balls of the bearings 530, 531, 532, 533 are used as shown in FIG. As a result, the bearings 530, 5
31, 532 and 533 make one rotation at all times, so that the load is equally applied to all the balls, and the bearing 53
The life of 0,531,532,533 is prolonged. In addition,
The bearings 530 and 531 rotatably support the upper and lower portions of the rotation shaft 540 of the θ rotation drive motor 25A. The bearings 532 and 533 are connected to the third connecting portion 25C.
These bearings rotatably support the upper and lower parts of the motor.

Hereinafter, a θ rotation drive motor 25A according to a third embodiment of the present invention will be described with reference to FIGS.

First, before describing the θ rotation drive motor 25A according to the third embodiment, problems of a conventional brushless motor will be described as an example.

In a conventional brushless motor, a rotor 101 is disposed at the center as shown in FIG.
Is configured so as to surround an annular stator 102. The rotor 101 is magnetized to a plurality of poles in the circumferential direction. A coil 103 is wound around each of the teeth 102a to 102f of the stator 2, and each of the teeth 102a to 102f is wound.
The tip of f is close to the outer periphery of the rotor 101 with a gap δ.

Here, the case of three phases (UVW) is shown, and the position of the rotor 101 is detected by another sensor (not shown). The rotating magnetic field is controlled by controlling the current supply timing
02 and is configured to rotationally drive the rotor 101.

Conventionally, when miniaturization is required, FIG.
As shown in FIGS. 6A and 6B, an air-core coil 103 is arranged around the rotor 101, and a stator yoke 104 is arranged around the outer periphery of the coil 103, and a rotating magnetic field is generated in the same manner as in FIG. There is a coreless motor configured to rotate and drive the rotor 101.

However, the above-described coreless motor can be reduced in size as compared with the ordinary brushless motor shown in FIG. 45, but has a problem in that since it has no iron core, its magnetic efficiency is poor and a high torque output cannot be realized. Further, even if a small amount of torque is to be obtained, the degree of freedom in design is low at present, simply by increasing the length of the rotor 101 and the length of the coil 103 in the axial direction (Y-axis direction) of the rotor 101. is there.

(First Example) Therefore, as a first example of the θ rotation drive motor 25A according to the third embodiment of the present invention, the size can be reduced more than the brushless motor shown in FIG. It is an object of the present invention to provide a brushless motor capable of achieving a high torque output.

FIGS. 39 to 42 show a brushless motor according to a third embodiment of the present invention.

As shown in FIG. 39, the brushless motor according to the third embodiment of the present invention comprises a rotor 101 and first and second substantially flat stator blocks 105a and 105a.
The main part of the holder b, the holder main body 106 and the holder plate 107 is assembled as shown in FIG.

The rotor 101 is magnetized to a plurality of poles in the circumferential direction. First and second stator blocks 105a, 105
As shown in FIG. 41, each of 5b is formed by laminating a plurality of magnetic steel sheets punched into a substantially E shape and has three teeth 108a, 108b, and 108c. The shape of each tooth tip is formed on an arc surface along the outer periphery of the rotor 101. Teeth 108a, 108b, 10
Each of the coils 8c is wound with a coil 103, and a portion of the tooth around which the coil 103 is wound is referred to as a tooth winding portion 109. A winding groove 110 is formed in the tooth winding portion 109 of each of the teeth 108a and 108c.

As shown in FIG. 41, the specific tips of the teeth 108a to 108c are formed such that the slot pitch of the arc surface facing the outer periphery of the rotor is symmetrical at 60 degrees.

The electric circuit detects the position of the rotor 101 with another sensor (not shown) such as a magnetic sensor,
The rotor 101 is configured to rotate by rotating the magnetic field from the stators 105a and 105b by controlling the timing of energizing the coils of each phase of UVW in accordance with the position of 01.

As described above, the stator has a thickness in which the magnetic steel plates are laminated along the axial direction of the rotor 101 (the Y direction in FIG. 41), and the teeth 108a to 108c are parallel to each other, and The direction along the axis connects 90 ° and 270 ° with respect to the first length L1 in the direction connecting the 0 ° and 180 ° around the axis (X axis direction shown in FIG. 41) (the Z axis shown in FIG. 41). Since the second length L2 in the (direction) is formed in a long flat shape, the size is smaller than that of the conventional brushless motor shown in FIG. 45, and since it is not coreless, the magnetic efficiency is good.

Further, when increasing the output torque, the teeth winding portions 10 of the teeth 108a to 108c can be used.
9 is extended in the Z-axis direction shown in FIG. 41 to enhance the field, or the rotor 101 and the stator block 105a,
105b is formed in the Y-axis direction as shown in FIG. 41 by performing at least one of them. The degree of freedom of design of the conventional coreless motor shown in FIG.
In contrast to the single axial direction, in the third embodiment, the degree of freedom in design can be given in two directions, the Y-axis direction and the Z-axis direction. Can output the required torque.

Further, as described above, the winding groove 110 serving as the tooth winding portion 109 is formed on the side surface 111 intersecting the first length direction of the first and second stator blocks 105a and 105b in the thickness direction ( (The Y-axis direction) and the outermost peripheral surface 112 of the coil 103 wound around the winding groove 110.
Of the brushless motor in the X-axis direction can be further reduced in size by being arranged so as to be flush with the side surface 111 or inside the side surface 111.

(Second Example) FIG. 43 shows a brushless motor according to a second example of the θ rotation drive motor 25A according to the third embodiment of the present invention.

The flat type stator of the brushless motor according to the second example has the above-mentioned 0 degree around the axis and 180 degrees.
The first and second stator blocks 105a and 105b abut against each other in the direction connecting the degrees.
The first example is different from the first example only in that it is constituted by a single stator block 112 as shown in FIG. 43.

(Third Example) FIG. 44 shows a brushless motor according to a third example of the θ rotation drive motor 25A of the third embodiment of the present invention.

The first and second brushless motors according to the third example
Each of the second stator blocks 105a and 105b is formed by forming three teeth 108a to 108c in one block. However, as shown in FIG. 44A, the tooth blocks 113a, 113b and 113c are
As shown in (b), the tooth winding portion 109 may be configured to be brought into contact with the base end portion so as to form a magnetic path and to be joined at the joining portion 114. Others are the same as the third embodiment.

In this case, the operation of winding the coil around the tooth winding portion 109 becomes easy.

As described above, according to the brushless motor as the θ rotation drive motor 25A according to the third embodiment of the present invention, the shape of the tip of each tooth of the stator is formed on an arc surface along the outer periphery of the rotor. Since the tooth windings are formed in parallel with each other, the brushless motor shown in FIG. 45 can be smaller in size than the conventional brushless motor configured to surround the rotor with an annular stator, and moreover than the coreless motor. This also has good magnetic efficiency and can realize high torque output.

A vertical driving device 26A according to a third embodiment of the present invention will be described below with reference to FIGS.

First, before describing the vertical driving device 26A according to the third embodiment, problems of a conventional voice coil type linear motor will be described as an example.

FIG. 53 shows a basic voice coil type linear motor.

This is achieved by disposing magnets 201a and 201b as fixed sides on the lower side, and magnets 2
01a and 201b with a gap provided between them.
53 are arranged movably in the left-right direction in FIG. The magnet 201a has its N-pole magnetized on the surface facing the frame coil 202. The surface of the magnet 201b facing the frame coil 202 is magnetized to the S pole.

When the frame coil 202 is energized in the direction of the arrow, the magnetic field generated in the vertical section 202v of the frame coil 202 and the magnetic action of the magnets 201a and 201b cause the movable frame coil 202 to move to the magnets 201a and 201b.
1b is driven rightward by a distance Y here.

FIG. 54 shows a case of three-phase (UVW), in which the upper surface is fixed to the N-pole magnet 201 on the fixed side.
a, a magnet 201b magnetized to the S pole, a magnet 201c magnetized to the N pole, and a magnet 201d magnetized to the S pole are arranged at predetermined intervals, and a gap is provided above the magnets 201a to 201d. In FIG. 54, the frame-shaped coils 202a, 202
02b and 202c are arranged.

Frame type coils 202a, 202b, 202c
, The movable side is driven in the horizontal direction here by the same magnetic action as described above.

As another conventional example, as shown in FIG.
a and 201b are attached, and a yoke 204 is provided so as to surround the outer periphery thereof.
Is arranged. The magnetic field generated by energizing the frame coil 205 and the magnetic field A generated by the magnets 201a and 201b
The movable side moves in a direction perpendicular to the plane of FIG.

In such a conventional configuration, in any of the configurations, the cross section X of the frame-shaped coils 202a to 202c and 205
Does not contribute to thrust and is a loss. Further, in the type shown in FIG. 55, there is a problem that the magnetic flux is concentrated on the center pole 203 and magnetic saturation easily occurs, and a high torque output cannot be obtained.

The vertical driving device 26A according to the third embodiment of the present invention aims at providing a linear motor having a higher thrust than the conventional one. That is, the vertical driving device 26A according to the third embodiment is a linear motor in which the fixed side and the movable side, which are disposed to face each other, are slid and driven in a direction in which the gap does not change due to the action of magnetism. .

(First Example) FIGS. 47 to 50 show a third example of the present invention.
5 shows a linear motor of a first example of a vertical driving device 26A according to the embodiment. Note that the linear motor actually used is composed of four coils 512 in order to increase the thrust, but in the following description, the explanation is made with two coils. Also, in the following description, the coil 512 is
Correspond to the teeth 209a and 209b. The pair of linear guides 513 correspond to the guide rails 214a and 214b. The movable member (for example, the outer yoke 206) corresponds to the movable magnet 511.

The linear motor according to the first example is a magnet-embedded linear motor, and frame coils 207a and 207b are provided inside the fixed outer yoke 206. Guide rails 214a,
214b, and guide rails 214a,
Sliders 208a and 208b are movably engaged with 14b. One end of each of the sliders 208a and 208b has a support arm 210 of an inner yoke 209 which is movable.
48a and 210b are attached by screws 215a as shown in FIG. 48, and the inner yoke 209 is slidably supported in a direction penetrating the cylindrical outer yoke 206 (directions of arrows J1 and J2). Also, the sliders 208a, 208
A back yoke 216 is attached to the other end of b by screws 215b.

The inner yoke 209 is made up of the first and second teeth 2
The first tooth 209a has a U-shape in which the base teeth 09a and 209b are connected by a magnetic communication part B at the base end.
9, the first and second magnets 211a, 211a,
The upper and lower surfaces of the second teeth 209b are provided with third and fourth magnets 211c and 211d on the upper and lower surfaces, respectively. And the upper and lower surfaces are S poles.

The frame type coil 207a is provided inside the outer yoke 206 so as to surround the outside of the first teeth 209a with a gap therebetween.
It is provided inside the outer yoke 206 so as to surround the outside of the second teeth 209b with a gap.

[0211] Further, the first and second teeth 209a,
209b is connected to the back yoke 2 as shown in FIG.
After being inserted into the sixteen recesses 217a and 217b, the screw 2
Locked by 15c, the back yoke 216 is assembled so as to act as the magnetic communication portion B.

With this configuration, as shown in FIG. 50, the magnetic flux φ1 radiated from the N pole of the first magnet 211a flows through the outer yoke 206 toward the adjacent second tooth 209b, Flows into the S pole of the second magnet 211c, flows into the second tooth 209b from the N pole of the third magnet 211c, and
09b via the magnetic communication part B to the first teeth 209
a, and reaches the south pole of the first magnet 211a, and the magnetic flux φ1 circulates.

Similarly, the magnetic flux φ2 radiated from the N pole of the second magnet 211b flows through the outer yoke 206 toward the adjacent second teeth 209b, flows into the S pole of the fourth magnet 211d, and 4 magnets 21
1d, flows into the second tooth 209b from the N pole, flows from the second tooth 209b to the first tooth 209a via the magnetic communication part B, reaches the S pole of the second magnet 211b, and the magnetic flux φ2 circulates. ing.

In this state, the frame type coils 207a, 207b
When current flows in the direction shown in FIG.
The magnetic fields generated by a and 207b act on the magnetic fluxes φ1 and φ2, and the inner yoke 209 moves in the direction of arrow J1.

Here, the shape of the opening surface of the frame type coils 207a and 207b is a rectangle in which the length L1 of the side facing the magnet is longer than the length L2 of the crossing section X, and a large thrust is obtained. Since the inner yoke 209 generates a driving force at two of the first and second teeth 209a and 209b, a larger thrust is obtained than the conventional type shown in FIG.

Further, the first and second teeth 209a,
In 209b, the tendency of magnetic saturation as seen in the configuration of FIG. 55 is small, and a thrust that varies almost proportionally in a wide range of the strength of the magnetic field generated by the frame coils 207a and 207b can be obtained. More specifically, in FIG. 55 showing the conventional example, the magnetic fluxes A1 and A2 flow from the yoke 204 to the small side surface 213 of the center pole 203 and circulate, and are magnetically saturated. As shown at 50, the first and second teeth 209a, 209
Since the magnetic fluxes φ1 and φ2 actively flow into the upper and lower surfaces (the surfaces on which the first to fourth magnets are attached) having a larger area than the side surface of 9b, the above-described magnetic saturation can be significantly reduced.

In this first example, the first and second teeth 2
Although the magnetic communication portions B are provided at both ends of the first and second teeth 09a and 209b, the first and second teeth 209a and
The magnetic communication portion B may be provided only at the base end of the 209b, and the other end may be opened.

(Second Example) FIGS. 51 and 52 show a third example of the present invention.
7 shows a linear motor of a second example of the vertical driving device 26A according to the embodiment.

The linear motor of the second example is a magnet-encased linear motor, and the outer yoke 206 is
To move against.

The inner yoke 209 having the first and second teeth 209a and 209b whose both ends are connected to each other by the magnetic communication portion B is provided with the first and second teeth 209a and 209b.
An outer yoke 206 surrounding the outside of 209b is slidably supported in the longitudinal direction (the direction of arrow J) of the first and second teeth 209a, 209b with a gap.

Inside the outer yoke 206, the surface facing each tooth is a single pole, and the first, second, and second surfaces are opposed to both surfaces of the tooth so as to have a different polarity from the surface facing the adjacent tooth. Third and fourth magnets 211a, 211
b, 211c, 211d are provided.

More specifically, as shown in FIG.
The first and second magnets 211a and 211 are disposed on the inner surface of the first tooth 209a on the opposite side of the first tooth 209a so that the side of the first tooth 209a becomes one of the N poles.
b, and attach the second pole inside the outer yoke 206.
The second tooth 20 is provided on the opposite surface of the tooth 209b.
The third and fourth poles are set so that the 9b side is the S pole which is the other pole.
Of the magnets 211c and 211d.

The first teeth 209a have coils 212
a is concentrated and wound, and the coil 212b is aligned and concentrated around the second teeth 209b.
Between the first and second magnets 211a and 211b, the coil 212b and the third and fourth magnets 211c and 21c.
A gap δ is formed between 1d.

With this configuration, the magnetic fluxes φ1 and φ2 radiated from the N poles of the first and second magnets 211a and 211b transfer the first teeth 209a to the magnetic communication section B.
Flows from the second teeth 209b into the S poles of the third and fourth magnets 211c and 211d,
From the N poles of the third and fourth magnets 211c and 211d via the outer yoke 206, the first and second magnets 211 are formed.
The magnetic fluxes φ1 and φ2 reach the south poles a and 211b, respectively.

When the coils 212a and 212b are energized in this state, the magnetic fields generated by the coils 212a and 212b act on the magnetic fluxes φ1 and φ2, and the inner yoke 209 moves in the direction of the arrow J according to the direction of energization.

Note that the first and second teeth 209a, 209
09b is changed to the first to fourth magnets 211a to 211b.
The length L3 of the side opposite to 11d is a rectangle longer than the length L4 of the connection side connecting the opposite side, and the coil 21 wound around the first and second teeth 209a and 209b.
The cross section X can also be relatively short for 2a and 212b, and a larger thrust than the conventional type shown in FIG. 55 can be obtained as in the first example.

In this second example, teeth 209a, 209
Although both ends of b are connected by the magnetic communication part B, one end may be opened.

In each of the above examples, the inner yoke 209 has two teeth, the first and second teeth 209a and 209b. However, three or more teeth are provided in parallel to form the same. It can also be configured.

As described above, according to the linear motor of the vertical driving device 26A according to the third embodiment of the present invention, the inner yoke having a plurality of teeth and the magnet attached to each tooth, the frame type coil, By combination with the outer yoke to which is attached, higher thrust than before can be realized.

Further, according to the linear motor of the vertical driving device 26A according to the third embodiment of the present invention, the inner yoke having a plurality of teeth and the coils wound around each tooth, and the magnet are attached. By combination with the outer yoke, higher thrust than before can be realized.

By combining any of the various embodiments described above as appropriate, the effects of the respective embodiments can be achieved.

[0232]

According to the present invention, it is possible to provide an actuator capable of vertical movement and rotation correction, ie, a nozzle elevating device and a nozzle rotating device, for each component suction device, that is, for each suction nozzle. The load on the actuator can be reduced, and the mounting head on which such an actuator is mounted can improve the operation acceleration without increasing the size of the motor.
As a result, the throughput can be improved.

Further, since each nozzle can independently rotate around the axis at an arbitrary timing by the respective nozzle rotating device, the mounting posture is different from the posture angle of the component at the component supply position. 90 degrees or 18
Even in the case of a component having a large difference such as 0 °, the nozzle rotating device can be driven and rotated to the mounting posture angle in advance before the component is recognized after the component is sucked and held by the nozzle. As a result, since all the components are located at the mounting posture angle before the component recognition, the rotation amount for the correction after the recognition is reduced, and the mounting posture angle can be adjusted with high accuracy by that much. it can. In addition, the influence of distortion generated due to a thermal change of the nozzle or the like can be minimized, and the mounting accuracy can be improved.

Further, based on the information on the nozzles and the thicknesses of the components to be sucked by the nozzles, the amount of elevation of each nozzle by the nozzle elevating device is adjusted in consideration of the thickness of the components to be attracted for each nozzle. Even when the component thicknesses are significantly different, even if a plurality of components are collectively sucked by a plurality of nozzles, the components are not damaged. Also, based on the information of the nozzle and the thickness of the component to be sucked to the nozzle, the height of the lower surface of the component sucked for each nozzle is adjusted to a certain height, or the nozzle elevating device is moved so as to fall within a certain range. By adjusting the amount of elevation of each nozzle, it is possible to collectively recognize components having greatly different heights.

Further, since each nozzle can independently rotate around the axis at an arbitrary timing, the mounting attitude angle is 90 °, 180 ° or the like with respect to the component attitude angle at the component supply position. Even in the case of components that differ greatly, the nozzle rotating device is driven and rotated to the mounting posture angle in advance before performing component recognition after suction-holding the component with the nozzle, so that after recognition and before mounting As compared with the case where the rotating operation is performed at a time, it is possible to prevent the mounting tact from lowering.

When the nozzle elevating device is disposed below the nozzle rotating device, the nozzle elevating device rotates together with the nozzle due to the rotational driving of the nozzle rotating device. Although the structure such as becomes complicated, in the present invention, since the nozzle elevating device is disposed above the nozzle rotating device, the nozzle elevating device is rotated together with the nozzle by rotating the nozzle rotating device. There is no rotation, and the problems described above do not occur.

When the nozzle elevating device has a structure in which the magnetic circuit component and the mechanism component are divided, only the magnetic circuit component is made of a steel material, and the mechanism component is made of an aluminum alloy or the like. Therefore, the materials can be divided and combined so that the weight and thickness can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a component suction device according to a first embodiment of the present invention.

FIG. 2 is an overall schematic perspective view of a component mounting apparatus on which the component suction device according to the first embodiment of the present invention is mounted.

FIG. 3 is a perspective view of a mounting head of the component mounting apparatus provided with the component suction device.

FIG. 4 is a block diagram illustrating a relationship between a main controller, which is a control unit of the component mounting apparatus, and another device or member.

FIGS. 5A and 5B are an exploded perspective view of a nozzle elevating device of the component suction device and a partial sectional view of a nozzle rotating device.

FIG. 6 is a timing chart of movement of the mounting head in the XY directions, elevating (up and down) operations and rotation operations of each nozzle in the component mounting apparatus of the first embodiment.

FIG. 7 is a flowchart of a mounting operation such as a movement of a mounting head in the XY directions, a raising / lowering (up / down) operation and a rotation operation of each nozzle in the component mounting apparatus of the first embodiment.

FIG. 8 is a timing chart of the movement of the mounting head in the XY directions, the raising / lowering (up / down) operation and the rotation operation of each nozzle in the conventional component mounting apparatus.

FIG. 9 is a flowchart of a mounting operation such as a movement of a mounting head in the XY directions, a raising / lowering (up / down) operation and a rotation operation of each nozzle in a conventional component mounting apparatus.

FIG. 10 is an explanatory view showing a state in which the bottom surfaces of the components sucked and held by ten nozzles in the component mounting apparatus of the first embodiment are aligned at a certain height.

FIGS. 11A, 11B, and 11C are a main controller, a head controller, a servo driver,
FIG. 3 is an explanatory diagram showing a relationship between a motor and a memory, an explanatory diagram of information stored in a component database, and an explanatory diagram of component supply cassette array data.

FIG. 12 is a flowchart of another example of the mounting operation such as the movement of the mounting head in the XY directions, the raising / lowering (up / down) operation and the rotation operation of each nozzle in the component mounting apparatus of the first embodiment.

FIG. 13 is an explanatory diagram of a control portion including a main controller, a head controller, a servo driver, and the like in the component mounting apparatus of the first embodiment.

FIG. 14 is a schematic explanatory view of a control portion including a main controller, a head controller, a servo driver, and the like in the component mounting apparatus of the first embodiment.

FIG. 15 is a schematic explanatory diagram of a control portion including a main controller, an NC board, a servo driver, and the like in a conventional component mounting apparatus.

FIG. 16 is a detailed explanatory diagram of a control portion including a head controller and a servo driver in the component mounting apparatus of the first embodiment.

FIGS. 17A and 17B are explanatory diagrams showing a state in which the recognition height H01 cannot be adjusted at the time of component recognition of the mounting head in the conventional component mounting apparatus, and a solid line nozzle and a dotted line nozzle, respectively. FIG. 4 is an explanatory diagram showing distortion generated due to a thermal change of a nozzle.

FIG. 18 is an explanatory view showing a state in which a spring provided for each nozzle of a mounting head in a conventional component mounting apparatus is contracted by a component thickness difference to absorb the component thickness difference.

FIG. 19 is an overall schematic perspective view of a component mounting apparatus on which a component suction device according to a second embodiment of the present invention is mounted.

20 is a partial perspective view of the component mounting apparatus of FIG.

FIG. 21 shows the movement of the mounting head in the X direction and the movement of the Y table in the Y axis direction in the component mounting apparatus of the second embodiment;
It is a flowchart of mounting operation such as raising / lowering (up / down) operation and rotation operation of each nozzle.

FIG. 22 is a perspective view of a conventional mounting head.

FIGS. 23A and 23B are explanatory diagrams for explaining a mounting position shift of a component when the nozzle is rotated when the nozzle is not affected by heat or the like and when the nozzle is rotated.

FIG. 24 is a front view of a mounting head including ten component suction devices according to a third embodiment of the present invention.

25 is a perspective view of the component suction device of FIG.

26 is a partial cross-sectional side view of the component suction device of FIG.

FIG. 27 is a front view of a drive shaft of the component suction device of FIG. 24.

FIG. 28 is a sectional view of a spline shaft portion of a drive shaft of the component suction device of FIG.

FIG. 29 is a partial sectional side view of the component suction device at the upper end position of a nozzle of the component suction device of FIG. 24;

FIG. 30 is a partial cross-sectional side view of the component suction device at a lower end position of a nozzle of the component suction device of FIG. 24;

FIG. 31 is a front view of a voice coil motor of the component suction device of FIG. 24;

FIG. 32 is a left side view of the voice coil motor of the component suction device of FIG. 31.

FIG. 33 is a sectional view of the voice coil motor of the component suction device of FIG. 31 taken along the line BB of FIG. 31;

FIG. 34 is a sectional view of the voice coil motor of the component suction device of FIG. 31 taken along the line AA of FIG. 32;

FIG. 35 is a perspective view of a conventional mounting head for describing the life of a bearing.

36 (A) and (B) are explanatory views of the rotation operation of the nozzle of the conventional mounting head for explaining the life of the bearing.

FIG. 37 is a perspective view of a mounting head according to a third embodiment for explaining the life of a bearing.

FIGS. 38A and 38B are explanatory views of the rotation operation of the nozzle of the mounting head according to the third embodiment for describing the life of the bearing.

FIG. 39 is an exploded perspective view of a mechanical part of a brushless motor of a first example of a θ rotation drive motor according to a third embodiment of the present invention.

40 is a perspective view of the assembled brushless motor of the first example of FIG. 39.

FIG. 41 is an enlarged sectional view of the brushless motor of the first example of FIG. 39;

42 is an enlarged sectional view showing a specific example of the shape of the brushless motor of the first example in FIG. 39.

FIG. 43 is a perspective view of a stator of a brushless motor as a second example of the θ rotation drive motor according to the third embodiment of the present invention.

FIGS. 44A and 44B are an exploded perspective view of a stator block of a brushless motor as a third example of the θ rotation drive motor according to the third embodiment of the present invention and an enlarged sectional view of the third example, respectively. .

FIG. 45 is an explanatory diagram of a conventional brushless motor.

FIGS. 46A and 46B are explanatory views of a conventional coreless brushless motor.

FIG. 47 is an exploded perspective view of a linear motor of a first example of a vertical driving device according to a third embodiment of the present invention.

FIG. 48 is a perspective view showing an assembled state of the linear motor of the first example.

FIG. 49 is an enlarged sectional view of a main part showing an assembled state of the linear motor of the first example.

FIG. 50 is an explanatory diagram showing a state of a magnetic flux of the linear motor of the first example.

FIG. 51 is an external perspective view of a linear motor of a second example of the up-down direction driving device according to the third embodiment of the present invention.

FIG. 52 is an explanatory diagram showing a state of a magnetic flux of the linear motor of the second example.

FIG. 53 is a plan view of a conventional voice coil type linear motor.

FIG. 54 is a plan view of a three-phase type of the conventional example.

FIG. 55 is a side view of another conventional example.

[Explanation of symbols]

1,1A: loader, 2,2-0,2-1,2-2,2
-3 ... substrate, 3 ... substrate carrying and holding device, 4, 4A, 4C ...
Mounting head, 5 ... XY robot, 6a ... Y axis drive unit, 6
b, 6c: X-axis drive unit, 6x, 6y: XY robot motor, 7: nozzle station, 8A, 8B, 8C, 8
D: parts supply device, 9, 9A: recognition camera, 10, 10
A: suction nozzle, 10c: upper end opening, 11, 11A: unloader, 15: component suction device, 20: component, 25 ...
Nozzle rotating device, 25A ... θ rotation drive motor, 25a ...
Packing, 25b ... bearing, 25c ... casing,
25d: suction and exhaust chamber, 25e: encoder, 25m: θ
Shaft motor, 25p ... supply / exhaust passage, 25r ... cylindrical magnet, 2
5s: stator, 26: nozzle elevating device, 26A: vertical driving device, 26a: magnetic circuit component, 26b: mechanism component, 26c: linear motor coil, 26d: cover, 26g: linear guide, 26s: support member , 32
... Linear motor for raising and lowering, 50. Supply / exhaust device, 910. Memory, 1000. Main controller, 1001. Head controller, 1002, 1002A. Servo driver, 1005. Memory, 1010. Controller for XY robot, 101. Coil, 105
a, 105b: First and second stator blocks, 106
... Holder body, 107 ... Holder plate, 108a, 10
8b, 108c: teeth, 109: teeth winding portion,
110: winding groove, 206: outer yoke, 207a, 207b
... Frame-shaped coil, 208a, 208b ... Slider, 209
a, 209b: first and second teeth, 209: inner yoke, 211a to 211d: first to fourth magnets, 2
12a, 212b ... coils wound around teeth of inner yoke 209, 214a, 214b ... guide rails, 21
5a to 215c: screw, B: magnetic communication portion, L1: length of side of frame type coils 207a, 207b facing the magnet, L2: crossing section X of frame type coils 207a, 207b
, L3: length of the side of the tooth facing the magnet, L4: length of the connection side connecting the length L3 of the opposite side of the tooth.

Continued on the front page (72) Inventor Hideo Sakon 1006 Kazuma Kadoma, Osaka Pref. Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoichi Makino 1006 Oji Kadoma Kadoma, Osaka Pref. ▲ Taka ▼ Ken 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture F-term in Matsushita Electric Industrial Co., Ltd. (reference) 5E313 AA03 CC03 CD06 EE01 EE02 EE03 EE24 EE25 EE37 EE38 FF24

Claims (31)

[Claims] A component (2) to be mounted on a circuit forming body (2).
A suction nozzle (10) for sucking and holding the component, a nozzle rotating device (25) for holding the suction nozzle and rotating the suction nozzle, and a nozzle rotating device. A component suction device further comprising a nozzle elevating device (26) disposed above and connected to the suction nozzle to move the suction nozzle up and down along the axial direction of the suction nozzle. 2. The nozzle elevating device (26) includes an elevating linear motor (32) for elevating and lowering the nozzle rotating device (25) along the axial direction of the suction nozzle. The component suction device according to claim 1, wherein the suction nozzle is moved up and down along the axial direction of the suction nozzle by driving the nozzle rotation device to move up and down. 3. A magnetic circuit component (26) fixed to a mechanism component (26b) of the lifting linear motor (32).
The coil according to any one of claims 1 to 3, wherein the coil (26c) is configured to be vertically movable with respect to a), and the nozzle rotating device is fixed to a support member (26s) supporting the coil. The component suction device described in the above. 4. A mounting head (4) having a plurality of component suction devices (15) according to any one of claims 1 to 3, wherein the nozzle rotating device (25) of the plurality of component suction devices is provided. )
Is a component mounting apparatus which is individually and independently driven, and wherein the nozzle elevating devices (26) of the plurality of component suction devices are individually and independently driven. 5. A mounting head (4) having a plurality of component suction devices (15) according to any one of claims 1 to 3, wherein the suction nozzles of the plurality of component suction devices respectively suction. After rotating the held components to the mounting posture angles of the respective components by driving the nozzle rotating device (25), each of the components sucked and held by the suction nozzle and rotated to the respective mounting posture angles is rotated. After performing posture recognition, correct the posture based on the recognition result, and then
A component mounting apparatus including a main controller (1000) that controls operation so that each component is mounted on the circuit forming body (2). 6. The main controller (1000)
5. The component mounting apparatus according to claim 4, wherein the component mounting device controls the components held by the suction nozzles to be simultaneously rotated by driving the nozzle rotating device (25) to a mounting posture angle of each component. . 7. A mounting head (4) having a plurality of component suction devices (15) according to claim 1.
And simultaneously rotating the components sucked and held by the suction nozzles of the plurality of component suction devices to the mounting posture angles of the respective components by driving the nozzle rotating device (25). A component mounting apparatus comprising a main controller (1000) for controlling the operation of mounting each component rotated to the circuit forming body (2). 8. A mounting head (4) having a plurality of component suction devices (15) according to claim 1.
Immediately after the components are sucked and held by the suction nozzles of the plurality of component suction devices, the respective components are individually and individually independent up to their mounting posture angles by driving the nozzle rotating device (25) of each component suction device. A component mounting apparatus comprising: a main controller (1000) for controlling the operation of mounting each component rotated to each mounting posture angle after mounting and rotating the component to the circuit forming body (2). 9. A component (2) to be mounted on the circuit forming body (2).
A component mounting method for mounting the component held by suction on the circuit forming body after suction-holding the component (0) by a plurality of suction nozzles (10). The components are individually and independently rotated up to the mounting posture angle, and then the postures of the components sucked and held by the suction nozzle and rotated to the respective mounting posture angles are recognized. A component mounting method in which a posture is corrected based on the position, and then each component is mounted on the circuit forming body (2). 10. When each of the components sucked and held by the suction nozzle is individually and independently rotated up to the mounting posture angle of the component, the component sucked and held by the plurality of suction nozzles is The component mounting method according to claim 9, wherein the components are simultaneously rotated to the mounting posture angle. 11. When each of the components sucked and held by the suction nozzle is individually and independently rotated up to the mounting posture angle of the component, each component is sucked and held immediately by the suction nozzle. The component mounting method according to claim 9, wherein the components are individually and independently rotated up to respective mounting posture angles. 12. A mounting head (4) having a plurality of component suction devices (15) according to claim 1.
A main controller (1000) arranged on the component mounting apparatus main body to control a component mounting operation; and a drive controller arranged on the mounting head and connected to the main controller (1000) to drive control between the main controller and the main controller. One-to-one information by serial connection
Controller (1001) that performs asynchronous communication
One-to-many synchronous communication is performed by serially connecting information on drive control with the head controller, which is arranged on the mounting head and connected to the head controller, and a drive obtained from the head controller. A component mounting apparatus comprising: a plurality of servo drivers (1002) for drivingly controlling the nozzle elevating device (26) of each of the component suction devices based on information on control. 13. The plurality of servo drivers individually have different addresses. The information on the drive control includes an address of the servo driver, information on a drive amount of the nozzle elevating device or the nozzle rotating device, and And the operation start signal communicated at a different timing from the drive amount information, and after the information on the drive control is received by the servo driver having the address, the operation start signal 13. The component mounting apparatus according to claim 12, wherein the servo driver performs control to drive the nozzle elevating device or the nozzle rotating device based on the driving amount information when receiving. 14. After suction-holding a component by each of the suction nozzles of the plurality of component suction devices and before starting component recognition, the respective nozzle lifting devices are driven to raise and lower the suction nozzle. The component mounting apparatus according to any one of claims 4 to 8, wherein the bottom surfaces of the components are aligned by pressing. 15. A component suction device for sucking a component (20) to be mounted on a circuit forming body (2), wherein the drive shaft (500) is movable vertically and rotatable around an axis. A suction nozzle (10A) which is attached to the tip of the drive shaft so as to be relatively non-rotatable and relatively non-movable in the vertical direction, and is capable of suction-holding the above-mentioned components; A rotation drive motor (25A) connected to the drive shaft to rotate the drive shaft around the axis, and a first connection portion (501) connected to the drive shaft so as to be relatively immovable and relatively rotatable in the vertical direction. And the first
And a vertical drive device (26A) for driving the connecting portion in the vertical direction to drive the drive shaft in the vertical direction. 16. The apparatus according to claim 16, further comprising: a plurality of the drive shafts, wherein the drive shaft and the θ-rotation drive motor are provided for each drive shaft, and an arrangement pitch of the vertical drive and the θ-rotation drive motor is different. The component suction according to claim 15, wherein the component pitch is the same as the arrangement pitch of the suction nozzles and is the same as the arrangement pitch of a plurality of component supply units of a component supply device that supplies the component sucked and held by the suction nozzle. apparatus. 17. The component suction device according to claim 15, wherein the vertical driving device is a linear motor. 18. The component suction device according to claim 15, wherein the θ rotation drive motor is a brushless motor. 19. A suction control valve (580) for controlling a suction operation of the nozzle.
The component suction device according to any one of the above. 20. The brushless motor, comprising: a rotor rotatably supported in an axial direction and magnetized to a plurality of poles in a circumferential direction; and a tooth tip having a coil wound around a tooth winding portion. The brushless motor in which the rotor rotates in accordance with the rotating magnetic field of the stator, the shape of the tip of each tooth of the stator is formed on an arc surface along the outer periphery of the rotor, 19. The component suction device according to claim 18, wherein the component suction device is a brushless motor having winding portions formed in parallel with each other. 21. The component suction device according to claim 20, wherein in the brushless motor, the stator has a slot pitch of a circular arc surface facing the outer periphery of the rotor at the tip end of the teeth symmetrical. 22. The brushless motor, wherein the stator has a thickness along the axial direction of the rotor, and the shape along the end face of the rotor is a first direction in a direction connecting 0 ° and 180 ° around the axial center. 22. The component suction device according to claim 20, wherein the component suction device is formed in a flat shape in which a second length in a direction connecting 90 degrees and 270 degrees is longer than one length. 23. The brushless motor according to claim 22, wherein the flat-type stator is constituted by first and second stator blocks that abut on a direction connecting the 0 ° and 180 ° around an axis. The component suction device described in the above. 24. The brushless motor, comprising a plurality of tooth blocks in which each of the first and second stator blocks is joined to form a magnetic path at a base end of the tooth winding. The component suction device according to claim 23, wherein the component suction device is configured. 25. The component suction device according to claim 24, wherein in the brushless motor, the flat-type stator is configured by a single stator block. 26. The brushless motor, wherein a flat stator is formed on a side surface intersecting the first length direction with a groove serving as a tooth winding portion along the thickness direction. The component suction device according to claim 24, wherein the outermost peripheral surface of the wound coil is flush with the side surface or located inside the side surface. 27. The linear motor, comprising: a plurality of frame-shaped coils provided inside a fixed-side cylindrical outer yoke; and a plurality of teeth having a magnetic communication portion formed at least at one end through the frame-shaped coil. An inner yoke is provided, and a magnet is provided on both sides of each tooth such that the adjacent surface to the frame type coil has a single pole and adjacent teeth have different polarities, and is radiated from a specific magnet among the magnets The magnetic flux flows to the adjacent teeth via the outer yoke, passes through the magnetic communication portion, flows through the teeth provided with the specific magnet, and recirculates to the specific magnet. The movable side comprising the magnet and the inner yoke is moved in the longitudinal direction of the teeth by energization.
8. The component suction device according to 7. 28. The linear motor, wherein the inner yoke is U
The component suction device according to claim 27, wherein the component suction device is shaped like a letter. 29. The component suction device according to claim 27, wherein in the linear motor, the shape of the opening surface of the frame-shaped coil is a rectangle in which the length of the side facing the magnet is longer than the length of the cross section. . 30. The linear motor, comprising: an inner yoke having a plurality of teeth each having a magnetic communication portion formed at at least one end; an outer yoke surrounding the outer sides of the plurality of teeth; A magnet is provided on both sides of the tooth so that the surface facing the tooth has a single pole and has a different polarity from the surface facing the adjacent tooth, and a coil is wound around each tooth of the inner yoke. The magnetic flux radiated from the specific magnet among the above flows to the adjacent teeth via the outer yoke, passes through the magnetic communication portion, flows through the teeth facing the specific magnet, and returns to the specific magnet. 29. The part according to claim 28, wherein the movable side including the magnet and the outer yoke moves in the longitudinal direction of the teeth by energizing the coil. Goods adsorption device. 31. The component suction device according to claim 30, wherein the teeth of the linear motor have a rectangular shape in which a length of a side facing the magnet is longer than a length of a connection side connecting the opposite sides. .