JP2008227249A - Electronic circuit component mounter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the practical usefulness of an electronic circuit component mounter that moves forward and backward a suction nozzle in relation to a nozzle holding member by the relative displacement of a rotary head and a forward/backward driving member in an axial direction parallel to the axis of rotation. <P>SOLUTION: A lever driving member rotating around the axis of the rotation of a rotary head is engaged with a turnable lever as the rotary head comes down in a relative phase corresponding to a suction nozzle for receiving an electronic circuit component, thus turning the lever and moving downward the suction nozzle relative to a head body. After the rotary head moves down, the head goes up while rotating, and in synchronization with the rotation, the lever driving member is rotated, thus moving up the suction nozzle while turning it relative to the head body. After the rotary lever has left the lever driving member, the latter is rotated in an inverse direction, which is, then, rotated again in synchronization with the rotary head in a phase corresponding to the suction nozzle for receiving the electronic circuit component, and the suction nozzle comes down while rotating with the decline of the rotary head, thus sucking the electronic circuit component. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electronic circuit component mounting apparatus, and particularly relates to improvement of practicality.

An electronic circuit component mounting apparatus includes an apparatus for mounting an electronic circuit component by a rotary head including a plurality of suction nozzles as described in Patent Document 1 below. The rotary head described in Patent Document 1 includes a nozzle holding member that can rotate and move up and down around a vertical rotation axis, and the nozzle holding member includes a plurality of suction nozzles on a circumference around the rotation axis. Are arranged at equal angular intervals, and the plurality of suction nozzles are sequentially rotated to the component receiving position by the rotation of the nozzle holding member. The plurality of suction nozzles are also held by the nozzle holding member so as to be movable in a direction parallel to the rotation axis thereof, and the nozzle selection device rotates on the nozzle holding member corresponding to each of the plurality of suction nozzles. The levers are rotatably held, and the rotary levers are associated with the respective suction nozzles. The rotating body of the rotating device that rotates the nozzle holding member is provided with a drive member that can rotate relative to the nozzle holding member around the rotation axis of the nozzle holding member, and rotates as the rotary head descends. The lever engages with the driving member and rotates, and among the plurality of suction nozzles, the suction nozzle for receiving or mounting the electronic circuit component is lowered with respect to the nozzle holding member.
JP 2006-261325 A

According to the electronic circuit component mounting device described in Patent Document 1, a large number of electronic circuit components can be collectively received from the component supply device, transported, and mounted on the circuit board. The suction nozzle can be moved up and down with respect to the nozzle holding member, and it is a highly practical device. For example, it is more practical such as shortening the time required for the suction nozzle to receive the electronic circuit component from the component supply device. There is room to raise.
The present invention has been made against the background described above, and the suction nozzle is moved axially relative to the nozzle holding member by the relative movement of the rotary head and the drive member in the axial direction parallel to the rotational axis of the rotary head. It is an object of the present invention to further improve the practicality of an electronic circuit component mounting apparatus of a type that advances and retreats.

The above-mentioned problems are: (a) a component supply device that supplies a plurality of types of electronic circuit components; and (b) a nozzle holding member that can rotate around the rotation axis, and the rotation axis is parallel to the rotation axis. A rotary head provided with a plurality of suction nozzles capable of moving back and forth in the axial direction, and (c) provided in a relative phase corresponding to a selected nozzle selected from the plurality of suction nozzles provided to be rotatable around the rotation axis. An advance / retreat drive member for moving the selected nozzle back and forth in the axial direction; (d) a first rotation drive device for rotating the rotary head about the rotation axis; and (e) an advance / retreat drive member about the rotation axis. A second rotation drive device that rotates separately from the head; and (f) the advance / retreat drive member and the rotary head are moved relative to each other in an axial direction parallel to the rotation axis, An advance / retreat drive device for advancing / retreating the selected nozzle; and (g) controlling the advance / retreat drive device and the first and second rotation drive devices so that each of the plurality of suction nozzles receives the component supply device A mounting control device for an electronic circuit component mounting device including a mounting control device for receiving an electronic circuit component and mounting the electronic circuit component on a circuit board at a mounting position, and rotating the rotary head to a rotation phase in which one of a plurality of suction nozzles is a selected nozzle. The rotary head and the advancing / retreating drive member correspond to the next selection nozzle that is the next functioning suction nozzle from the first relative phase corresponding to the preceding selection nozzle that is the selection nozzle that the advancing / retreating drive function first. Relative to the second relative phase, and the forward / backward drive member and the rotary head in the first relative phase and the second relative phase. It is solved by rotating the to include parallel control unit generating in parallel at least a portion of the relative movement of the axial direction.
The rotation axis of the nozzle holding member may be a vertical axis or an axis inclined with respect to the vertical direction.

The selection nozzle is an adsorption nozzle that is advanced and retracted in the axial direction by the advance / retreat drive member and is ready to receive the electronic circuit component from the component supply device or to be mounted on the circuit board. The “relative phase corresponding to the selected nozzle” is a relative phase at which the advance / retreat driving member can advance and retract the selected nozzle in the axial direction. Therefore, when the advance / retreat drive member advances / retreats the selected nozzle within a relative angle range having a certain extent, the relative phase means the angle range, and the advance / retreat drive member keeps a constant angle unchanged from the selected nozzle. When the selected nozzle is advanced or retracted, the relative phase means a constant angle that does not change.
In general, when a plurality of suction nozzles held by a rotary head are to receive electronic circuit components from, for example, a component supply device, the plurality of suction nozzles are sequentially rotated to the component receiving position and moved back and forth in the axial direction. It is desirable to cause at least a part of the rotation and advance / retreat of the suction nozzle at the same time, that is, to make at least a part of the rotation and advance / retreat parallel to reduce the time required for receiving the parts.
In this regard, in the present invention, at least a part of the rotation and advancement / retraction of the suction nozzle is both in the backward movement of the preceding selection nozzle that is selected first and in the forward movement position, and in the forward movement of the next selection nozzle in the backward movement position. Since it is made parallel, time can be shortened especially effectively, and the practicality of the electronic circuit component mounting apparatus is enhanced. The plurality of suction nozzles are sequentially rotated to a functional position (receiving position or mounting position) to become a selection nozzle that performs a function of receiving or mounting an electronic circuit component, but the advance / retreat driving member moves the preceding selection nozzle backward. After that, the relative rotation is performed from the first relative phase corresponding to the preceding selection nozzle to the second relative phase corresponding to the next selection nozzle, and the next selection nozzle is advanced. At this time, at least a part of the rotation of the suction nozzle (rotary head) and the advance / retreat drive member and the advance / retreat of the advance / retreat drive member in the axial direction are made parallel by the parallel control unit.
One of the plurality of suction nozzles held by the rotary head is selected and becomes a selection nozzle, but the rotation phase at which this selection nozzle performs at least one of receiving and mounting of electronic circuit components is constant. When the suction nozzles are selected in the order of arrangement, the rotary head is rotated by the pitch pitch angle of the suction nozzles. In this case, it is particularly easy to apply the present invention, but it is not limited thereto. In an extreme example, the present invention is applied when any of a plurality of suction nozzles held by a rotary head is selected as an arbitrary order and is received or mounted at an arbitrary rotational phase. It is also possible to do. The mounting order of the electronic circuit components is determined so that the distance between each mounting point on the circuit board and each suction nozzle that sucks the electronic circuit components to be sequentially mounted at the mounting points is as short as possible. In this case, the rotation angle of the rotary head and the rotation angle of the advance / retreat drive member are not constant, but at least a part of the rotation of the suction nozzle and the advance / retreat drive member and the advance / retreat of the suction nozzle are performed in parallel. It is possible to obtain the effect of the present invention.

Aspects of the Invention

  In the following, the invention that is claimed to be claimable in the present application (hereinafter referred to as “claimable invention”. The claimable invention is at least the “present invention” to the invention described in the claims. Some aspects of the present invention, including subordinate concept inventions of the present invention, superordinate concepts of the present invention, or inventions of different concepts) will be illustrated and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiments, the prior art, and the like. An aspect in which is added, and an aspect in which constituent elements are deleted from the aspect of each item can also be an aspect of the claimable invention.

  In each of the following terms, (1) corresponds to claim 1, (2) corresponds to claim 2, (3) corresponds to claim 3, (5) corresponds to claim 4, (6) corresponds to claim 5 respectively.

(1) a component supply device that supplies a plurality of types of electronic circuit components;
A rotary head in which a plurality of suction nozzles are arranged around a rotation axis so as to be able to advance and retreat in an axial direction parallel to the rotation axis, around the rotation axis;
An advancing / retreating drive member that is rotatably provided around the rotation axis and moves the selected nozzle in the axial direction in a relative phase corresponding to the selected nozzle selected from the plurality of suction nozzles;
A first rotation drive device for rotating the rotary head around the rotation axis;
A second rotation drive device for rotating the advance / retreat drive member around the rotation axis separately from the rotary head;
An advancing / retreating drive device for advancing / retreating the selected nozzle by the advancing / retreating drive member by relatively moving the advancing / retreating drive member and the rotary head in an axial direction parallel to the rotation axis;
By controlling the forward / backward drive device and the first and second rotary drive devices, each of the plurality of suction nozzles receives electronic circuit components from the component supply device at the receiving position and is mounted on the circuit board at the mounting position. And the mounting control device rotates the rotary head to a rotational phase in which one of the plurality of suction nozzles becomes a selection nozzle, and the rotary head and the advancing / retreating drive member, The advancing / retreating drive member functions first (corresponding to the next selection nozzle corresponding to the suction nozzle functioning next from the first relative phase corresponding to the preceding selection nozzle corresponding to the selection nozzle that receives or mounts the electronic circuit component). Two relative phases, and the forward / backward drive member and the rotary head in the first relative phase and the second relative phase. An electronic circuit component mounting apparatus including a parallel control unit that generates at least a part of rotation of the door and relative movement in the axial direction in parallel.
(2) While the parallel control unit makes the rotation of the suction nozzle and the rotation of the advance / retreat driving member based on the rotation of the rotary head parallel with the advancement / retraction of the suction nozzle, the advance / retreat drive member and the rotary head are made the same. The electronic circuit component mounting device according to item (1), including a same-speed rotation control unit that rotates at a speed.
If the same speed rotation control unit is provided, the advancing / retreating drive member and the driven member for advancing / retreating the selected nozzle are relatively moved while the suction nozzle and the advance / retreat driving member are rotated in parallel with the advancement / retraction of the suction nozzle. Without the need for a rolling member such as a roller for allowing relative movement between the two, the configuration of the apparatus can be simplified.
(3) A driven member that is engaged with and driven by the advance / retreat drive member is provided, and the relative movement in the axial direction between the advance / retreat drive member and the rotary head is converted into an advance / retreat movement of the suction nozzle with respect to the nozzle holding member. And the driven member is moved away from the advanced / retracted drive member in a range corresponding to at least the vicinity of the retracted end of the suction nozzle in the axial relative movement stroke range. The electronic circuit component mounting device according to item (1) or (2), wherein the electronic circuit component mounting device is separated and no longer performs the motion conversion function.
In the electronic circuit component mounting apparatus including the motion conversion mechanism according to this section, while the driven member is separated from the advance / retreat drive member, even if the rotary head and the advance / retreat drive member are relatively rotated, No slip occurs between the advancing and retracting drive members. Therefore, using the period during which the driven member is separated from the advance / retreat drive member, the advance / retreat drive member is driven to advance / retreat from the first relative phase corresponding to the preceding selection nozzle to the second relative phase corresponding to the next selection nozzle. If the member and the rotary head are rotated relative to each other, no slip occurs between the advancing / retreating driving member and the driven member, and a rolling member such as a roller for allowing the relative movement of both of them is not necessary.
(4) A biasing device that biases the suction nozzle in the backward direction is included, and the advance / retreat driving member drives the driven member against the biasing force of the biasing device to advance the suction nozzle. The electronic circuit component mounting apparatus according to item (3).
The biasing device may directly bias the suction nozzle, or may indirectly bias the suction nozzle by biasing a member other than the suction nozzle, such as a driven member.
The driven member is separated from the advance / retreat drive member by the urging of the urging device, and the suction nozzle can be kept in the retracted position without being supported by the advance / retreat drive member. If the plurality of suction nozzles are supported from the forward direction by the support member different from the nozzle holding member and are maintained in the retracted position, the state where the suction nozzle is supported by the support member in the retracted position is obtained. Although it is necessary to aim at the timing of the advancement / retraction of the suction nozzle and the rotation of the rotary head, in the electronic circuit component mounting apparatus of this section, the suction nozzle is supported by the nozzle holding member. Relative rotation and the parallel control are facilitated.
(5) The parallel control unit smoothly changes from a synchronous state in which the reciprocating drive member rotates at a speed that matches the rotational speed of the rotary head to a state in which the rotational speed is different when the advance / retreat driving member deviates from the first relative phase. Soft-synchronization disengagement control that shifts to, and soft-synchronization that smoothly transitions from a state in which the rotational speed is different from that of the rotary head to a synchronized state that has the same rotational speed when the advance / retreat driving member reaches the second relative phase. The electronic circuit component mounting device according to any one of (1) to (4), further including a gradual change control unit that executes at least one of transition control.
The advancing / retreating drive member rotates in the same direction as the rotary head in the state of rotating in the first relative phase and in the initial stage of transition from the first relative phase to the second relative phase, and the transition to the second relative phase is performed. In the middle period, it rotates in the opposite direction to the rotary head, and in the latter period of transition to the second relative phase and in the state rotated in the second relative phase, it rotates again in the same direction as the rotary head. The rotation direction is changed twice. At this time, if the gradual change control unit functions in both the separation from the synchronous rotation state and the transition to the synchronous rotation state, the rotation of the advance / retreat driving member is performed. An abrupt change in speed can be satisfactorily avoided, vibration and noise of the electronic circuit component mounting apparatus can be reduced, and the positional accuracy of receiving and mounting the electronic circuit components can be improved.
However, even if the gradual change control unit functions only in one of the departure from the synchronous rotation state and the transition to the synchronous rotation state, a temporary effect can be obtained. For example, when the selection nozzle mounts an electronic circuit component, if the vibration of the electronic circuit component mounting apparatus can be reduced, an effect of improving the mounting position accuracy can be obtained, and the profit is large.
In the soft synchronization separation control and the soft synchronization transition control, it is desirable that the rotational speed is changed with the smallest possible rotational acceleration on condition that the advance / retreat driving member is rotated at a necessary angle within a given time period. It is further desirable that the rotational speed be changed so that the dynamic speed, which is the change speed of the rotational acceleration, is as small as possible.
The transition from the first relative phase to the second relative phase can be smoothly performed by making the position, speed, and acceleration of the advancing / retreating driving member continuous at the start and end of the transition, respectively. If permitted by the capability of the rotary drive, the transition can be made smoothly by only continuing the position or only the position and speed. For example, if the drive source is a motor, the capacity of the second rotary drive device is determined by its capacity, or is determined by the wear resistance of the second rotary drive device.
In addition, at least one of the soft-synchronization separation control and the soft-synchronization transition control is an electric motor that can accurately control the rotation angle, such as a servo motor, as the drive source of the second rotational drive device, and the rotational state of the advance / retreat drive member It can be realized by controlling the electric motor so that the transition is performed smoothly, or the second rotational drive device includes a cam and a cam follower so that the rotational state transition of the advancing / retreating drive member can be performed smoothly. This can also be realized by setting a cam curve.
(6) In the rotary head, the plurality of suction nozzles are arranged at equal angular intervals on a circumference with the rotation axis as a center, and the gradual change control unit includes the first rotation driving device. The rotational speed of the second rotational drive device is smoothly increased and decreased, and the rotary head is rotated by an arrangement pitch angle of the plurality of suction nozzles. The electronic circuit component mounting apparatus according to item (5), which realizes at least one of the soft-synchronization transition control.
In this aspect, electronic circuit components are received or mounted on a plurality of suction nozzles held by the rotary head that have reached a certain rotational phase by intermittent rotation of the rotary head at a constant angle. It is suitable when
Also in this aspect, it is desirable that the rotational speed of the rotary head be changed with as little rotational acceleration as possible and as small as possible as long as the suction nozzle is rotated by the arrangement pitch angle for a given time.
(7) The electronic circuit component mounting device according to (5) or (6), wherein the gradual change control unit performs both the soft synchronization disconnection control and the soft synchronization transition control.
The vibration and noise of the electronic circuit component mounting apparatus can be reduced both in the separation from the synchronous rotation state and in the transition to the synchronous rotation state.

  Hereinafter, embodiments of the claimable invention will be described in detail with reference to the drawings. In addition to the following examples, the claimable invention can be practiced in various modifications based on the knowledge of those skilled in the art, including the aspects described in the above [Aspect of the Invention] section. .

  FIG. 1 shows an electronic circuit component mounting system including an electronic circuit component mounting apparatus as an embodiment of the claimable invention. As shown in FIG. 1, the electronic circuit component mounting system includes a substrate transfer device 10, a substrate holding device 12, an electronic circuit component mounting device 14, and a control device 16 (see FIG. 4).

  The substrate transfer device 10 is provided on a bed 30 as a system main body, and includes, for example, a belt conveyor. The substrate transfer device 10 transfers the circuit board 32 in one horizontal direction and carries it into the substrate holding device 12. To do. The substrate transport direction is the X-axis direction, and the direction perpendicular to the X-axis direction in the horizontal plane that is the surface of the circuit board 32 and is parallel to the component mounting surface as the work surface is the Y-axis direction. The substrate holding device 12 is provided with a fixed position, and although not shown in the drawings, the substrate holding device 12 includes, for example, a substrate support device that supports the circuit substrate 32 from below and a clamp device that clamps the circuit substrate 32. The circuit board 32 carried in is held in a horizontal posture.

  As shown in FIGS. 1 and 2, the electronic circuit component mounting device 14 includes a feeder-type component supply device 38, a tray-type component supply device 40, a rotary head 42, a head holding device 44, a head moving device 46, and a head lifting device 48. , The head rotating device 50 and the like. In the present embodiment, the component supply devices 38 and 40 are provided at fixed positions on both sides of the bed 30 separated from each other in the Y-axis direction with respect to the substrate transfer device 10. The feeder-type component supply device 38 includes a feeder support base and a plurality of feeders supported by the feeder support base. Each of the plurality of feeders, for example, stores electronic circuit components in each of a plurality of receiving recesses provided in a row on the component holding tape, and sequentially positions and supplies these electronic circuit components to the component supply unit by a feeder. It is supposed to be. Each feeder holds a large number of one type of electronic circuit components, and a plurality of types of electronic circuit components are supplied by a plurality of feeders. The tray-type component supply device 40 supplies electronic circuit components by trays in which electronic circuit components are respectively stored in a plurality of receiving recesses. A plurality of trays are provided, and a plurality of types of electronic circuit components are supplied.

  In this embodiment, the head moving device 46 is a device that moves the rotary head 42 in the X-axis direction and the Y-axis direction. The rotary head 42, the substrate holding device 12, and the component supply devices 38 and 40 are connected to the substrate. The relative movement device is configured to relatively move in the direction parallel to the component mounting surface of the circuit board 32 held by the holding device 12. The head moving device 46 includes an X-axis direction moving device 54 and a Y-axis direction moving device 56, as schematically shown in FIG. The X-axis direction moving device 54 includes an X-axis slide 60 and an X-axis slide moving device 62 (see FIG. 4) as movable members. The X-axis slide moving device 62 includes an X-axis moving motor 64 (see FIG. 4) as a driving source, and a feed screw mechanism 66 (see FIG. 4) including a ball screw and a nut. The Y-axis direction moving device 56 is provided on the X-axis slide 60, and includes a Y-axis slide 70 and a Y-axis slide moving device 72 (see FIG. 4) as movable members. Similar to the X-axis slide moving device 62, the Y-axis slide moving device 72 includes a Y-axis moving motor 74 (see FIG. 4) and a feed screw mechanism 76 (see FIG. 4) as drive sources. The X-axis moving motor 64 and the Y-axis moving motor 74 are constituted by, for example, a servo motor with an encoder which is a kind of electric motor. The servo motor is an electric rotary motor capable of accurately controlling the rotation angle, and a step motor may be used instead of the servo motor. A linear motor may be used.

  As shown in FIG. 2, the Y-axis slide 70 is provided with the head holding device 44, the head elevating device 48, and the head rotating device 50. The rotary head 42 and the like held by the head holding device 44 include the head elevating device 48 and the head. It is moved together with the rotating device 50 to an arbitrary position on the horizontal plane.

  As shown in FIG. 2, the head holding device 44 includes a shaft-like member 80 that is a main body of the device and a head holding portion 82 that is integrally provided at the lower end of the shaft-like member 80. The shaft member 80 is a spline shaft member having a circular cross-sectional shape and a spline 84 provided on the outer peripheral surface. The head holding portion 82 has a circular cross-sectional shape and a larger diameter than the shaft-shaped member 80.

  The head rotating device 50 is a rotating body as a rotating member that is held by the Y-axis slide 70 at a right angle to the component mounting surface of the circuit board 32 held by the board holding device 12 and is rotatable about a vertical axis. 86 and a rotating body driving device 88 as a rotating member driving device. The rotating body driving device 88 uses a rotation motor 90 (see FIG. 4) as a driving source, and the rotation is transmitted to the rotating body 86 by a rotation transmitting device including a gear 92 fixed to the rotating body 86. Rotated around the axis. The motor 90 for rotation is comprised by the servomotor with an encoder, for example. The rotating body 86 has a cylindrical shape, and a spline 84 of the shaft-like member 80 is fitted to a spline 94 provided on the inner peripheral surface thereof so as to be relatively movable in the axial direction but not relatively rotatable. The shaft-like member 80 is rotated by an arbitrary angle in both the forward and reverse directions around its own vertical axis, and the head holding portion 82 is rotated. The axis of the shaft-shaped member 80 is the rotation axis of the head holding device 44.

  As shown in FIG. 2, the head elevating device 48 includes an elevating member 100 that can be moved up and down on the Y-axis slide 70, an elevating motor 102 (see FIG. 4) as a drive source, and a Y-axis slide 70. A ball screw 104 as a screw shaft provided so as not to be relatively movable in the axial direction and rotatable around a vertical axis, and a feed screw mechanism 108 including a nut 106 fixed to the elevating member 100 are included. The raising / lowering motor 102 is comprised by the servomotor with an encoder, for example. The upper part of the shaft-like member 80 is held by the elevating member 100 so as to be relatively rotatable and incapable of relative movement in the axial direction. When the ball screw 104 is rotated by the elevating motor 102, the elevating member 100 is moved up and down. The head holding device 44 is moved up and down.

  As shown in FIG. 2, the shaft-shaped member 80 is provided with a passage 110 on its axis and an annular passage 112 on the outside thereof. The annular passage 112 is a negative pressure source such as a negative pressure pump. 120. Supply of negative pressure from the negative pressure source 120 to the annular passage 112 is permitted or blocked by the opening / closing device 122. Hereinafter, the annular passage 112 is referred to as a negative pressure supply passage 112.

  As shown in FIG. 2, the passage 110 is connected to a positive pressure source 124 such as a compressor and the negative pressure source 120. Supply of positive pressure and supply of negative pressure to the passage 110 are switched by the switching device 126, and positive pressure and negative pressure are alternatively supplied. A state in which the passage 110 is opened to the atmosphere by the switching device 126 is also obtained. Hereinafter, the passage 110 is referred to as a positive pressure / negative pressure supply passage 110.

  As shown in FIG. 3, the head holding portion 82 has a flat surface perpendicular to the axis thereof, and includes a horizontal and downward suction surface 130. The head holding portion 82 is formed with an annular negative pressure chamber recess 132 that opens to the suction surface 130 and has an axis thereof as a center line, and communicates with the negative pressure supply passage 112 through a passage 134. A lower end portion of the positive pressure / negative pressure supply passage 110 is opened to the suction surface 130.

  2 and 3, the rotary head 42 includes a plurality of head main bodies 138 as nozzle holding members, for example, twelve nozzle holding portions 144, and a plurality of, for example, twelve suction nozzles as component holders. 146, a valve device 150 and a nozzle selection device 152 are provided corresponding to each of the plurality of nozzle holding portions 144. The rotary head 42 is configured in the same manner as the rotary head described in JP-A-2006-261325, and will be briefly described.

  The head main body 138 includes a held portion 140. The held portion 140 has a disc shape with a circular cross-sectional shape, and includes an adsorbed surface 156 that is perpendicular to the axis thereof and has a flat surface, as shown in FIG. In the rotary head 42, the suction surface 156 is brought into close contact with the suction surface 130, the negative pressure chamber recess 132 is closed to form the head suction negative pressure chamber 158, and the head suction negative pressure is supplied from the negative pressure supply passage 112. The rotary head 42 is attracted by the head holding device 44 by the negative pressure supplied to the pressure chamber 158 and held concentrically. In a state where the rotary head 42 is held by the head holding device 44, the central axis of the head main body 138 is vertical, and the head rotating device 50 is rotated around the vertical rotation axis. The head rotating device 50 constitutes a first rotation driving device. Further, the head holding device 44 is lowered by the head lifting / lowering device 48, whereby the rotary head 42 is lifted / lowered. The head holding device 44 detachably holds the rotary head 42 and can selectively hold one of a plurality of rotary heads 42 and a single nozzle head including one suction nozzle.

  Each of the plurality of suction nozzles 146 is held by a nozzle holding portion 144, and is arranged at an equiangular interval on the rotary head 42 with an appropriate interval on the circumference of the head body 138 centered on the rotation axis thereof. It is installed. The plurality of nozzle holding portions 144 are similarly configured, and each include a holder hole 170 formed through the head main body 138 in a direction parallel to the rotation axis thereof, as shown in FIG. These holder holes 170 are provided at equal angular intervals on a circumference centered on the rotation axis of the head main body 138, and are respectively fitted with a bottomed cylindrical nozzle holder 172 so as to be relatively movable in the axial direction. At the same time, the suction nozzle 146 is fitted to each nozzle holder 172 so as to be relatively movable in the axial direction and not relatively rotatable, and protrudes downward from the nozzle holder 172 by a compression coil spring 173 as an elastic member which is a kind of biasing means. It is energized in the direction to do. The lowering limit of the suction nozzle 146 by the urging of the spring 173 is such that the engagement protrusion provided as the engagement portion provided in the suction nozzle 146 and the lower side of the elongated hole provided as the engaged portion provided in the nozzle holder 172. It is defined by the engagement with the end face. The axis of the suction nozzle 146 held by the nozzle holder 172 is parallel to the rotation axis of the rotary head 42, and each of the plurality of suction nozzles 146 can advance and retreat in a direction parallel to the rotation axis of the rotary head 42 with respect to the head body 138. And it is arranged so that it can be raised and lowered.

  As shown in FIG. 3, the nozzle selection device 152 includes a rotation lever 174 and a compression coil spring 176 as an elastic member which is a kind of biasing device. The rotation lever 174 has a long plate shape, and is attached to the head body 138 by a shaft 178 so as to be rotatable about a rotation axis that intersects the axis of the suction nozzle 146 at a right angle. Of the pair of arms 180 and 182 of the rotation lever 174, the arm 180 is associated with the upper end portion of the nozzle holder 172 at the tip thereof so as to be relatively rotatable, and the arm 182 is moved out of the head main body 138. It is made to protrude and the to-be-engaged part 184 is provided in the protrusion edge part. By the cooperation of the rotation lever 174, the rotation of the nozzle holder 172 about its own axis, and the rotation with respect to the head main body 138 is prevented.

  As shown in FIG. 3, the spring 176 is disposed between the arm 180 and the head main body 138, and urges the rotating lever 174 to raise the nozzle holder 172. The upper limit of the rotation of the rotation lever 174 due to the bias of the spring 176 and the rise of the nozzle holder 172 or the suction nozzle 146 relative to the head main body 138 causes the nozzle holder 172 to block the opening of the holder hole 170 of the head main body 138. It is defined by contacting the part. The position of the rotation lever 174 in a state where the rotation limit by the bias of the spring 176 is defined is the original position. The peripheral wall of the nozzle holder 172 is formed with an annular groove that opens to the outer peripheral surface and extends in the axial direction, and a radial passage that connects the upper end of the annular groove and the space in the nozzle holder 172. Negative pressure and positive pressure are supplied.

  As shown in FIG. 3, the valve device 150 includes a first valve 200 and a second valve 202. The first valve 200 includes a first valve spool 204, which allows negative pressure to be supplied to the suction nozzle 146 from a negative pressure supply system provided in the negative pressure supply passage 112 and the head body 138. The negative pressure supply passage 110 and the positive pressure supply system provided in the head main body 138 allow or block the supply of positive pressure to the suction nozzle 146. The second valve 202 includes a second valve spool 206, and allows or blocks the supply of negative pressure from the negative pressure supply system to the suction nozzle 146. Each of the first and second valve spools 204 and 206 is fitted to the head body 138 so as to be relatively movable in a direction parallel to the axis of the head body 138 and not to be relatively rotatable, and is provided at each upper end portion. The engaged portions 208 and 210 thus formed are projected outward from the outer peripheral surface of the head main body 138. The first and second valve spools 204 and 206 are provided on the opposite sides with respect to the rotation lever 174 in the circumferential direction around the rotation axis of the rotary head 42, and the engaged portions 208 and 210 are The engaged portion 184 of the rotation lever 174 of the nozzle selecting device 152 and the rotation axis of the rotary head 42 are positioned on the same circumference. As shown in FIG. 3, the positions where the engaged portions 208 and 210 engage with the head main body 138 are the original positions of the first and second valve spools 204 and 206, and the first and second valve spools 204 and In a state where 206 is located at the original position, each lower end portion protrudes downward from the head main body 138. The first valve spool 204 is moved relative to the head main body 138 to be moved from the original position to the positive pressure supply position, and the first valve 200 is switched to the positive pressure supply state. The second valve spool 206 is moved relative to the head main body 138 to move from the original position to the negative pressure supply position, and the second valve 202 is switched to the negative pressure supply state.

  The nozzle selection device 152 is driven by a nozzle selection drive device 230 shown in FIGS. 2 and 3, and the suction nozzle 146 is moved up and down with respect to the head main body 138. The nozzle selection drive device 230 includes a lever drive member 232 as an elevating drive member as an advance / retreat drive member and a lever drive member rotation drive device 234 as a second rotation drive device. As shown in FIG. 2, the lever driving member rotation driving device 234 is a rotation provided by the rotating body 86 and a reset member, which will be described later, so that it cannot move in the axial direction and can rotate around the rotation axis of the head holding device 44. A body 236 and a rotating body rotating device 238. The rotating body rotating device 238 includes a lever driving member rotating motor 240 as a driving source, a driving gear 242 rotated by the lever driving member rotating motor 240, and a driven gear 244 provided on the rotating body 236. The lever driving member 232 has a longitudinal shape, and is provided in a state of projecting in parallel with the rotation axis of the lever driving member 232 downward from a portion of the rotating body 236 that is out of the rotary head 42 in the radial direction. When the body 236 is rotated by the rotating body rotating device 238, the lever driving member 232 is arranged around the rotation axis of the head holding device 44 and around the rotation axis of the head main body 138, separately from the rotary head 42. Rotated. The lever driving member rotating motor 240 is constituted by, for example, a servo motor with an encoder, and the lever driving member 232 is rotated at an arbitrary angle in both the forward and reverse directions.

  The lever drive member 232 protrudes from the rotating body 236, and its lower end is bent at a right angle toward the rotary head 42, and a drive unit or engagement unit 246 is provided. The engaging portion 246 includes a driving surface or an engaging surface 248 that is perpendicular to the axis of the suction nozzle 146 and faces upward. In the radial direction of the head main body 138, the engaging portion 246 is outside the lifting path of the head main body 138, The rotating lever 174 of 152 is positioned in the ascending / descending path of the engaged portion 184. Therefore, when the head holding device 44 is lowered by the head lifting / lowering device 48, the rotary head 42 held by the head holding device 44 is lowered with respect to the lever driving member 232, and the engaging portion 246 has the lever driving member 232. Are engaged with the engaged portion 184 of the rotating lever 174 of the nozzle selecting device 152 provided corresponding to the suction nozzle 146 of the relative phase corresponding to the lowering and preventing its lowering. Thereby, as the rotary head 42 is further lowered from the rotation lever engagement height at which the rotation lever 174 engages the lever driving member 232, the rotation axis of the rotation lever 174 is engaged. The pivot lever 174 is pivoted against the urging force of the spring 176 while the pivot lever 174 is pivoted against the urging force of the spring 176, and the linkage section of the arm 180 with respect to the nozzle holder 172 is lowered. Is lowered and moved forward.

  Further, when the head holding device 44 is raised and the rotary head 42 is raised, the rotation lever 174 is rotated by the bias of the spring 176 and the suction nozzle 146 is raised with respect to the head main body 138. It is made to retreat. When the rotary lever 174 is rotated to the original position, the rotary head 42 is further raised with the rotary head 42 as the rotary head 42 is further raised, and the engaged portion 184 is separated from the engaging portion 246. It is done. The turning lever separation height is the same as the turning lever engagement height, and both are referred to as turning lever engagement / separation height. At the time of separation, the turning lever 174 is turned to the original position, and the suction nozzle 146 is moved to the raised position with respect to the head main body 138.

  While the rotary head 42 is moved up and down between the engaging / separating height of the rotating lever and the rising height at the time of receiving and mounting the component a short distance above the height, the engaging portion 246 of the engaged portion 184 Accordingly, the rotation lever 174 is not rotated and the suction nozzle 146 is not moved up and down. In the range corresponding to the vicinity of the rising end of the suction nozzle 146 in the lift stroke range of the rotary head 42 relative to the lever driving member 232, the rotation lever 174 does not perform the motion conversion function.

  As described above, the rotary head 42 is lifted and lowered together with the rotary head 42 and is also lifted and lowered with respect to the head main body 138 and selected from the plurality of suction nozzles 146 to receive or mount electronic circuit components. The nozzle 146 is the selection nozzle 146, and the lever driving member 232 is positioned at a relative phase corresponding to the selection nozzle, and moves the selection nozzle 146 up and down.

  The rotating lever 174 is rotated with the lowering of the rotary head 42 by the arm 182 engaging with the lever driving member 232 and the lower end of the rotating lever 174 being prevented from lowering, so that the suction nozzle 146 is moved to the head main body. When the rotary head 42 is raised, the turning of the turning lever 174 due to the urging of the spring 176 is restricted by the lever driving member 232, and the turning lever 174 is moved in response to the raising of the rotary head 42. The suction nozzle 146 is raised with respect to the head main body 138 by being rotated. Accordingly, it is necessary that the lever driving member 232 be positioned at a relative phase corresponding to the selection nozzle 146 when the selection nozzle 146 is lowered or raised with respect to the head main body 138. Further, the head elevating device 48 is controlled so that the rotary head 42 starts and stops smoothly, and stops, so that the suction nozzle 146 also starts and stops smoothly. In this electronic circuit component mounting device, the head lifting device 48 constitutes an advance / retreat drive device, the turning lever 174 constitutes a driven member, and the shaft 178 and the turning lever 174 of the head body 138 are rotatably supported. In addition to this, it constitutes a motion conversion mechanism that converts the vertical movement of the rotary head 42 relative to the lever drive member 232 into the vertical movement of the suction nozzle 146 relative to the head body 138.

  The engaged portion 184 of the rotating lever 174 and the engaged portions 208 and 210 of the first and second valve spools 204 and 206 are located on the same circumference, and the engaging portion 246 of the lever driving member 232 is located. Can also be engaged with the engaged portions 208 and 210. The engaging surface 248 of the engaging portion 246 is engaged with both the engaged portion 184 and the engaged portion 208 in the rotation direction of the lever driving member 232, or the engaged portion 184 and the engaged portion. 210 and a width that engages both. By selecting the rotation position of the lever driving member 232, the engaging portion 246 engages with the engaged portion 184 and engages with the engaged portion 210 when the rotary head 42 is lowered, and the second valve spool 206 is engaged. The lowering is prevented and the head main body 138 is raised and moved to the negative pressure supply position to switch the second valve 202 to the negative pressure supply state, or engaged with the engaged portion 184 and the engaged portion 208. And the first valve spool 204 is moved to the positive pressure supply position to switch the first valve 200 to the positive pressure supply state. In the present embodiment, the lever driving member 232 also serves as a valve switching member, and the nozzle selection driving device 230 also serves as a valve switching device. The width of the engaging portion 248 can be simultaneously engaged with both one of the engaged portions 208 and 210 and the engaged portion 184, but at a constant and constant relative angle between the lever driving member 232 and the selection nozzle 146. Only when the selection nozzle 146 is moved up and down, it is necessary to keep the relative phase between the lever driving member 232 and the selection nozzle 146 at a phase where a constant and constant relative angle can be obtained. It is. The valve spools 204 and 206 moved to the negative pressure supply position and the positive pressure supply position, respectively, are returned to their original positions by the reset member 250 fixed to the rotating body 86.

  Further, as shown in FIG. 1, the Y-axis slide 70 is provided with a reference mark imaging system 260 that images a reference mark (not shown) provided on the circuit board 32. It can be moved to any position. Further, a component imaging system 262 is provided on the bed 30 so as to image the electronic circuit components held by the suction nozzle 146. For example, the component imaging system 262 fixes the position at the center between each of the component supply devices 38 and 40 and the substrate transfer device 10 in the direction parallel to the substrate transfer direction of the component supply devices 38 and 40. The electronic circuit components held by all the suction nozzles 146 of the rotary head 42 can be collectively imaged.

  As shown in FIG. 4, the control device 16 mainly includes a control computer 310 including a CPU 300, a ROM 302, a RAM 304 and a bus 306 for connecting them, and an input / output unit 312 includes a reference mark imaging system. 260, an image processing computer 318 that processes image data obtained by imaging of the fiducial mark camera 314 and the component camera 316 of the component imaging system, and an encoder 319 of a servo motor with an encoder (one is representatively shown). Etc.) are connected. Various actuators such as an X-axis moving motor 64 are connected to the input / output unit 312 via the drive circuit 320. The ROM 302 stores various programs and data such as a mounting program, a main routine (not shown), a component receiving routine and a component mounting routine shown in the flowchart of FIG.

Next, the operation will be described.
The rotary head 42 adsorbs the electronic circuit components to all of the suction nozzles 146 held by the nozzle holding unit 144 and then is moved to the substrate holding device 12 so that the plurality of electronic circuit components are sequentially transferred to the components of the circuit board 32. Attach to the attachment point. In this rotary head 42, the position around the rotation axis of the rotary head 42 when the suction nozzle 146 receives the electronic circuit components is set at one location, for example, in the feeder type component supply device 38 in the Y-axis direction. It is the closest position. This rotational position is referred to as a parts receiving position. The rotary head 42 may hold the suction nozzles 146 on all of the plurality of nozzle holding portions 144 or only a part of the suction nozzles 146. However, in some cases, a plurality of suction nozzles may be held. No. 146 is continuously held side by side without a gap. Therefore, the rotary head 42 is rotated by the arrangement pitch angle of the nozzle holding portion 144, and the plurality of suction nozzles 146 are moved to the component receiving position in order. At this time, the rotational speed of the head rotating device 50 is smoothly increased and decreased smoothly, and the rotary head 42 starts and stops rotating with little vibration. Further, in the rotary head 42, the suction nozzle 146 that receives the electronic circuit component is moved by the head moving device 46 above the component supply unit of the feeder that supplies the electronic circuit component to be received among the plurality of feeders. This movement is performed in a state where the suction nozzle 146 is raised and the electronic circuit component is taken out from the feeder.

Based on the component receiving routine shown in FIG. 5, the electronic circuit component receiving operation by the suction nozzle 146 will be described. The case where the rotary head 42 takes out the electronic circuit component from the feeder of the feeder-type component supply device 38 will be described as an example. However, the control is similarly performed when the electronic circuit component is taken out from the tray of the tray-type component supply device 40. Done.
In step 1 of the component receiving routine (hereinafter abbreviated as S1. The same applies to other steps), the suction nozzle 146 that receives the electronic circuit component first is lowered. Among the plurality of suction nozzles 146, the suction nozzle 146 that first receives an electronic circuit component is previously positioned at the component receiving position. The lever driving member 232 is a position corresponding to the component receiving position around the rotation axis of the rotary head 42, and the engaging surface 248 is rotated corresponding to the suction nozzle 146 positioned at the component receiving position. The part 184 is positioned at a component receiving drive position, which is a rotational position engageable with the engaged part 184 of the lever 174 and the engaged part 210 of the second valve spool 206 of the second valve 202 of the valve device 150. The electronic circuit component has not been received yet, is positioned on the most downstream side in the rotation direction of the rotary head 42, and is first rotated to the rotation phase corresponding to the lever driving member 232, and is moved up and down by driving the lever driving member 232. The suction nozzle 146 that receives the electronic circuit component first is the preceding selection nozzle 146, and the suction nozzle 146 adjacent to the upstream side in the rotation direction of the rotary head 42 with respect to the preceding selection nozzle is the next electronic circuit component. The lever driving member 232 is positioned in the first relative phase corresponding to the preceding selection nozzle 146 (here, the first suction nozzle 146).

  In S1, the rotary head 42 is lowered to lower the first suction nozzle 146 located at the component receiving position. During the lowering of the rotary head 42, the engaged portion 184 of the rotating lever 174 corresponding to the first suction nozzle 146 engages with the engaging portion 246 of the lever driving member 232, and the rotary head 42 is lowered. Accordingly, the rotation lever 174 is rotated, and the suction nozzle 146 is further lowered with respect to the head body 138 while being lowered together with the head body 138. When the rotary head 42 is lowered, the engaged portion 210 of the second valve spool 206 of the valve device 150 corresponding to the first suction nozzle 146 is engaged with the engaging portion 246 and is raised with respect to the head main body 138. And moved to the negative pressure supply position to allow the negative pressure to be supplied to the suction nozzle 146.

  The preceding selection nozzle 146 is stopped when the suction tube enters the housing recess of the component holding tape and comes into contact with the electronic circuit component. The rotary head 42 is lowered further from the state. This lowering is allowed by the compression of the spring 173, and the electronic circuit component is reliably sucked by the suction nozzle 146. The lowering of the suction nozzle 146 is stopped by contacting the electronic circuit component. However, if there is no electronic circuit component, the suction nozzle 146 can be further lowered, and the relative phase of the lever driving member 232 with respect to the suction nozzle 146 is reduced. Is the relative phase at which the suction nozzle 146 can still be raised and lowered. For the first suction nozzle 146, as shown in the time chart of FIG. 6, the rotary head 42 is not rotated while the rotary head 42 is lowered from the rising end to the falling end when receiving and mounting the components, and the lever is driven. The member 232 is also stopped at the drive position when receiving the part.

  If the rotary head 42 is lowered to the descending end, S2 is executed, and the electronic circuit component is taken out from the feeder by the rising of the first suction nozzle 146 and the electronic circuit component is sucked by the lowering of the second suction nozzle 146. Done. The electronic circuit component is taken out by the preceding selection nozzle 146 and the electronic circuit component is sucked by the next selection nozzle 146, and the rotary head 42 is sucked by the preceding selection nozzle 146 as shown in the time chart of FIG. If the electronic circuit component is pulled out from the housing recess of the component holding tape and raised to a height above the upper surface of the feeder (this height is referred to as a component removal height), the rotary head 42 starts to rotate. As a result, the preceding selection nozzle 146 starts to move away from the component receiving position, and the lever driving member 232 starts to rotate at the same speed as the rotary head 42. As a result, the lever driving member 232 is maintained in the state of being in the first relative phase, and the rotary lever 174 is engaged with the lever driving member 232 as the rotary head 42 is raised while being rotated. The preceding selection nozzle 146 is rotated with the head main body 138 while being rotated together with the head main body 138 while being rotated.

  As shown in the time chart of FIG. 6, if the rotary head 42 is raised to the turning lever engaging / separating height, the turning lever 174 is separated from the lever driving member 232 and does not perform the motion conversion function. There is no need to rotate the lever driving member 232 in synchronization with the rotary head 42. Therefore, under the control of the lever driving member rotation driving device 234, the lever driving member 232 has a rotational speed different from that of the rotary head 42, and moves away from the first relative phase to the second relative phase corresponding to the next selection nozzle 146. It is rotated toward. At the beginning of the transition from the first relative phase to the second relative phase, the lever driving member 232 is rotated in the same direction as the rotary head 42, but is rotated in the opposite direction in the middle period.

  If the rotary head 42 is raised to the rising end height at the time of receiving and mounting the parts, the rotary head 42 is immediately started to descend. If the rotary head 42 is raised to the component take-out height without waiting until the rotary lever is raised to the engagement / separation height, the rotation is started and the rotation start timing is early. Further, as will be described below, the rotary head 42 is lowered in parallel with the rotation, so that it is not necessary to wait for the next selection nozzle 146 to rotate to near the parts receiving position, so that the rotary head 42 starts to descend earlier. It is possible to start the descent immediately after rising to the rising end height when receiving and mounting the parts. The lever driving member 232 reaches the second relative phase corresponding to the next selection nozzle 146 in a state where the rotary head 42 is lowered to the rotation lever engagement / separation height, and engages with the rotation lever 174. Is rotated as follows. At a later stage of the transition to the second relative phase, the rotation direction of the lever driving member 232 is changed to a direction rotating in the same direction as the rotary head 42, and the rotation speed is changed from a state where the rotation speed is different from that of the rotary head 42. The same synchronization state is set. Therefore, the lever driving member 232 is kept in a relative phase corresponding to the rotation lever 174, the rotation lever 174 is rotated by the lowering of the rotary head 42, and the next selection nozzle 146 is rotated. While being lowered together with the head body 138, the head body 138 is further lowered.

  As shown in the time chart of FIG. 6, the rotation of the rotary head 42 and the rotation of the lever driving member 232 are just finished in a state where the rotary head 42 is lowered to the component extraction height, and the next selection nozzle 146 receives the component. Reach the position. Therefore, when the rotary head 42 is further lowered, the suction pipe of the suction nozzle 146 does not hit the side surface of the feeder or the holding recess of the component holding tape. Then, the rotary head 42 is lowered to the lower end, and the suction nozzle 146 comes into contact with and sucks the electronic circuit component. When the lever driving member 232 is rotated to the relative phase corresponding to the next selection nozzle 146 and rotated in synchronization with the rotary head 42, the next selection nozzle 146 is lowered with respect to the head body 138. The selection nozzle 146 becomes the preceding selection nozzle 146 with respect to the suction nozzle 146 to be the next selection nozzle, and it can be considered that the relative phase of the lever driving member 232 to the suction nozzle 146 is the first relative phase. It can also be considered that the nozzle 146 becomes the pre-selection nozzle 146 when it is lifted after picking up the electronic circuit components.

  As is clear from the time chart of FIG. 6 and the above description, the suction head of the suction nozzle 146 and the electronic circuit parts sucked by the suction nozzle 146 do not interfere with the feeder, and the rotary head 42 can be rotated. The timing at which the lever driving member 232 can raise and lower the suction nozzle 146 is limited by the elevation height (position in the height direction) of the rotary head 42, and the lever driving member at each of the first and second relative phases. 232 and the rotary head 42 and the rotary head 42 are partly lifted and lowered at the same time, and the suction nozzle 146 is rotated and partly lifted and lowered in parallel. Is shortened.

  Conventionally, when the electronic circuit component is received by the suction nozzle 146, the lever driving member 232 remains in the driving position when the component is received and cannot be rotated, so that the suction nozzle 146 is moved up and down by the action of the lever driving member 232. In addition, the rotary head 42 cannot be rotated while being raised and lowered, and as shown in the time chart of FIG. 7, the rotary head 42 is raised and lowered at different times. Therefore, in order to start the rotation of the rotary head 42, it is necessary to wait for the rotation lever to rise to the engagement / separation height, and to start the lowering, the next selection nozzle 146 is rotated by the rotation of the rotary head 42. However, the lever driving member 232 and the rotary head 42 are moved in parallel with the raising and lowering of the rotary head 42 as in the electronic circuit component mounting apparatus of this embodiment. By rotating the rotary head 42, the rotation of the rotary head 42 can be started without waiting for the rotary head 42 to rise to the turning lever engaging / separating height, and the next selection nozzle 146 moves to the component receiving position. The rotary head 42 can start to descend without waiting until just before it reaches, and the time required for receiving the electronic circuit components It is shrinking.

The lever drive member rotation drive device 234 shifts from a synchronized state in which the lever drive member 232 rotates in a state coincident with the rotation speed of the rotary head 42 when the lever drive member 232 leaves the first relative phase to a state in which the rotation speed is different. And the transition from the state in which the rotational speed at the time of reaching the second relative phase is different to the synchronization state are performed by continuously changing the position, speed and acceleration at the time of transition and smoothly connecting them. Be controlled. The rotational position S, the rotational speed V, and the rotational acceleration A of the lever driving member 232 for the soft synchronization release control and the soft synchronization transition control can be set according to the following equations (1) to (3), for example. In these equations, time t = 0 at the start of the first relative phase departure, time t = T at the arrival of the second relative phase, position Sstart at the first relative phase departure start, position Send at the second relative phase arrival , First relative phase departure start speed Vstart, second relative phase arrival speed Vend, first relative phase departure start acceleration Astart, and second relative phase arrival acceleration Aend.
S = at ⁵ + bt ⁴ + ct ³ + dt ² + et + f (1)
V = dS / dt = 5 at ⁴ +4 bt ³ +3 ct ² +2 dt + e (2)
A = dV / dt = 20 at ³ +12 bt ² +6 ct + 2d (3)
From the above conditions and equations (1) to (3), coefficients a to f are obtained as follows.
a = {T ² (Aend−Astart) / 2−3T (Vend + Vstart) +6 (Send−Start)} / T ⁵
b = {− T (Aend + Astart) / 2 + Vend−Vstart + 5aT ⁴ } / (− 2T ³ )
c = (Aend-Astart-20aT ³ -12bT ² ) / 6T
d = Astart / 2
e = Vstart
f = Sstart

  If the second suction nozzle 146 is lowered to suck the electronic circuit component and the rotary head 42 is lowered to the lower end, S3 is executed, and all the suction nozzles 146 that are currently held by the rotary head 42 are performed. It is determined whether or not the electronic circuit component has been received. If not completed yet, execution of the routine returns to S2, the rotary head 42 is raised and lowered, the lever driving member 232 is rotated, the preceding selection nozzle 146 is rotated while being raised, and the next selection is performed. The nozzle 146 is lowered while being rotated, and the electronic circuit components are taken out and sucked. If the last suction nozzle 146 is lowered to suck the electronic circuit component, the determination result in S3 is YES, S4 is executed, the rotary head 42 is raised, and the last suction nozzle 146 is raised. The electronic circuit component is taken out and the control ends. During this time, as shown in the time chart of FIG. 6, neither the rotary head 42 nor the lever driving member 232 is rotated, and the suction nozzle 146 is raised at the component receiving position.

  As described above, the rotary head 42 takes out the electronic circuit component from the feeder-type component supply device 38 and then moves to the substrate holding device 12 to mount the electronic circuit component on the circuit board 32. During the movement, all the electronic circuit components held by the rotary head 42 are collectively imaged by the component camera 316, and the holding position error of the electronic circuit components by the suction nozzle 146 is calculated based on the image data, and the circuit board is calculated. It is corrected together with the position error of 32 component mounting points. The holding position error includes the position error in the X-axis direction and the Y-axis direction, which is a position error in a direction parallel to the moving direction of the electronic circuit component held by the suction nozzle 146, and the position error about the axis of the electronic circuit component. And rotational position error. In addition, the positional error of the component mounting point includes the positional errors in the X-axis and Y-axis directions, which are positional errors in the direction parallel to the component mounting surface, and the rotational position, which is a positional error around the axis perpendicular to the component mounting surface. Error. In the rotary head 42, the suction nozzle 146 is provided so as not to rotate around its own axis, and these rotational position errors cause the rotary head 42 to rotate and the suction nozzle 146 to rotate around the rotation axis of the rotary head 42. It is corrected by changing the orientation of the circuit components. The rotary head 42 is also rotated so that the mounting posture of the electronic circuit component (position around its own axis at the time of mounting) becomes a set posture. Each position error in the X-axis and Y-axis directions is corrected by controlling the movement position of the suction nozzle 146. At this time, the movement position of the suction nozzle 146 is controlled in consideration of the correction of the rotational position error of the electronic circuit component and the change of the position of the suction nozzle 146 due to the rotation of the rotary head 42 for changing the posture. It is rotated with its own center line as the axis of rotation, and the electronic circuit component is rotated, as if it was moved onto the component mounting point.

  When the electronic circuit component is mounted on the circuit board 32, the lever driving member 232 moves the rotation lever 174 of the nozzle selection device 152 corresponding to the suction nozzle 146 on which the electronic circuit component is mounted and the first valve spool 204 of the valve device 150. The phase corresponds to the engaged portion 208 and is rotated to the drive position at the time of mounting the component, and the engaged portion 184 of the rotating lever 174 and the engaged state of the first valve spool 204 as the rotary head 42 is lowered. Engage with the joint portion 208 and drive them, the suction nozzle 146 is lowered with respect to the head main body 138 to mount the electronic circuit components, and the negative pressure supply is cut off and the positive pressure is supplied to the electronic circuit. The parts are actively released.

  Even when the electronic circuit component is mounted on the circuit board 32, although not shown, a component mounting routine configured in the same manner as the component receiving routine shown in FIG. 5 is executed, and parallel control is performed as in the case of receiving the electronic circuit component. Is done. When the suction nozzle 146 mounted with the electronic circuit component is lifted, the lever driving member 232 is rotated in synchronization with the rotary head 42, the suction nozzle 146 is lifted while rotating, and the lever driving member 232 is separated from the rotating lever 174. After that, it was rotated in the opposite direction, and rotated from the first relative phase to the second relative phase corresponding to the suction nozzle 146 to which the electronic circuit component is mounted next, and provided corresponding to the suction nozzle 146. It is engaged with the rotation lever 174 of the nozzle selection device 152 and rotated again in synchronization with the rotary head 42, and the suction nozzle 146 is lowered while rotating as the rotary head 42 is lowered. Time required for mounting circuit components is reduced.

  In the rotary head 42, the electronic circuit components are mounted in the order in which the suction nozzles 146 held by the head main body 138 are arranged. The posture of the electronic circuit components is determined by the rotation of the rotary head 42 so that the suction nozzle 146 moves to the rotary head 42. The rotation position at the time of mounting changes for each suction nozzle 146 according to the mounting posture of the electronic circuit component, the rotation position error, and the rotation position error of the component mounting point. The rotation angles of the rotary head 42 and the lever driving member 232 are changed. Further, at the time of component mounting, the rotation of the rotary head 42 is allowed in a height region equal to or higher than a position away from the component mounting surface of the circuit board 32 by a certain distance. This is to avoid interference between the electronic circuit component previously mounted on the circuit board 32 and the electronic circuit component held by the suction nozzle 146 or the suction nozzle 146. Based on the allowable rotation height of the rotary head 42, the mounting position of the preceding selection nozzle 146, and the mounting position of the next selection nozzle 146, each time the suction nozzle 146 to which the electronic circuit component is mounted is changed, the soft synchronization separation control and the soft synchronization are performed. The rotational position, speed, and acceleration of the lever driving member 232 for the transition control are calculated, and the two-direction change of the lever driving member 232 is smoothly connected. Further, the rotary head 42 is moved in the X-axis and Y-axis directions in order to position the suction nozzle 146 for mounting the electronic circuit component next at the component mounting point. The rotary head 42 does not rotate in a region lower than the allowable rotation height, and is only in a state where it is raised and lowered.

  As is apparent from the above description, in the electronic circuit component mounting apparatus, the control unit 16 performs the control corresponding to S2 and the control corresponding to S2 at the time of component mounting, both the soft synchronization separation control and the soft synchronization transition control. The gradual change control unit and the same speed rotation control unit that perform the above are configured, and a parallel control unit is configured.

  In the present invention, each of the plurality of suction nozzles is rotatably held around its own axis by the nozzle holding member, and is rotated around the rotation axis of the nozzle holding member by the rotation of the nozzle holding member. The present invention can also be applied to an electronic circuit component mounting apparatus having a rotary head that can be rotated.

It is a top view which shows roughly the electronic circuit component mounting system containing the electronic circuit component mounting apparatus which is one Example of claimable invention. It is side surface sectional drawing which shows the rotary head of the said electronic circuit component mounting apparatus with a head raising / lowering apparatus etc. It is side surface sectional drawing which shows the said rotary head. It is a block diagram which shows notionally the control apparatus which controls the said electronic circuit component mounting system. It is a flowchart which shows the components reception routine memorize | stored in ROM of the computer which comprises the main body of the said control apparatus. It is a time chart explaining the timing of rotation of the said rotary head, raising / lowering, and rotation of a lever drive member. It is a time chart explaining the timing of rotation and raising / lowering of the conventional rotary head.

Explanation of symbols

  14: Electronic circuit component mounting device 16: Control device 32: Circuit board 38: Feeder type component supply device 40: Tray type component supply device 42: Rotary head 44: Head holding device 46: Head moving device 48: Head lifting device 50: Head rotation device 138: Head main body 146: Adsorption nozzle 152: Nozzle selection device 174: Rotating lever 176: Compression coil spring 184: Engagement portion 232: Lever drive member 234: Lever drive member rotation drive device

Claims (5)

A component supply device for supplying multiple types of electronic circuit components;
A rotary head in which a plurality of suction nozzles are arranged around a rotation axis so as to be able to advance and retreat in an axial direction parallel to the rotation axis, around the rotation axis;
An advancing / retreating drive member that is rotatably provided around the rotation axis and moves the selected nozzle in the axial direction in a relative phase corresponding to the selected nozzle selected from the plurality of suction nozzles;
A first rotation drive device for rotating the rotary head around the rotation axis;
A second rotation drive device for rotating the advance / retreat drive member around the rotation axis separately from the rotary head;
An advancing / retreating drive device for advancing / retreating the selected nozzle by the advancing / retreating drive member by relatively moving the advance / retreat drive member and the rotary head in an axial direction parallel to the rotation axis;
By controlling the forward / backward drive device and the first and second rotary drive devices, each of the plurality of suction nozzles receives electronic circuit components from the component supply device at the receiving position and is mounted on the circuit board at the mounting position. And the mounting control device rotates the rotary head to a rotational phase in which one of the plurality of suction nozzles becomes a selection nozzle, and the rotary head and the advancing / retreating drive member, The advancing / retreating drive member rotates relative to the second relative phase corresponding to the next selected nozzle that is the next functioning suction nozzle from the first relative phase corresponding to the preceding selected nozzle that is the functioning selection nozzle, and these At least the rotation of the advance / retreat driving member and the rotary head and the relative movement in the axial direction in the first relative phase and the second relative phase An electronic circuit component mounting apparatus including a parallel control unit that also generates a part of them in parallel.   While the parallel control unit rotates the suction nozzle based on the rotation of the rotary head and the advance / retreat drive member in parallel with the advance / retreat of the suction nozzle, the advance / retreat drive member and the rotary head rotate at the same speed. The electronic circuit component mounting apparatus according to claim 1, further comprising a same speed rotation control unit.   A motion conversion comprising a driven member that is driven by engaging with the advance / retreat drive member, and converts the relative movement in the axial direction between the advance / retreat drive member and the rotary head into an advance / retreat motion of the suction nozzle with respect to the nozzle holding member. The driven member is separated from the advance / retreat drive member in a range corresponding to at least the vicinity of the retracted end of the suction nozzle in the stroke range of the relative movement in the axial direction. The electronic circuit component mounting apparatus according to claim 1, wherein the electronic circuit component mounting device does not perform a motion conversion function.   When the advance / retreat drive member deviates from the first relative phase, the parallel control unit smoothly shifts from a synchronous state in which the rotational drive member rotates at a speed matching the rotational speed of the rotary head to a state in which the rotational speed is different. Soft-synchronization separation control, and soft-synchronization transition control that smoothly transitions from a state where the rotational speed is different from that of the rotary head to a synchronous state where the rotational speed is the same when the advance / retreat driving member reaches the second relative phase. The electronic circuit component mounting apparatus according to claim 1, further comprising a gradual change control unit that executes at least one of the above.   The rotary head is configured such that the plurality of suction nozzles are arranged at equal angular intervals on a circumference around the rotation axis, and the gradual change control unit is configured to rotate a rotation speed of the first rotation driving device. The rotary head is rotated in increments of pitch angles of the plurality of suction nozzles, and the soft synchronous separation control and the soft rotation are controlled by controlling the rotational speed of the second rotary drive device. The electronic circuit component mounting apparatus according to claim 4, wherein at least one of the synchronous shift control is realized.

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