JP2014160732A - Transfer head, component mounting apparatus and component mounting method using the transfer head - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact transfer head capable of increasing component mounting speed.SOLUTION: A transfer head 10 comprises: a nozzle shaft 16 having a nozzle 12 mounted to one end thereof in a first direction; an actuator 18 having a rod 24 which reciprocates in the first direction; a nozzle unit 14A having a coupling member 60 that coaxially couples the other end of the nozzle shaft 16 with the rod 24 of the actuator 18; a nozzle shaft 16 having the nozzle 12 mounted on the one end in the first direction; an actuator 18 having the rod 24 which reciprocates in the first direction; and a nozzle unit 14B having a coupling member 62 that couples the other end of the nozzle shaft 16 and the rod 24 of the actuator 18 while offsetting at least in a second direction perpendicular to the first direction. The nozzle units 14A and 14B are aligned in a third direction so that the nozzle shafts 16 are aligned at least in a line in the third direction perpendicular to the first and second directions.

Description

  The present invention relates to a transfer head that sucks and conveys components, a component mounting apparatus that uses the transfer head, and a component mounting method.

  2. Description of the Related Art Conventionally, a component mounting apparatus having a transfer head provided with a plurality of nozzles that suck and hold components from above is known. When the mounting head with the nozzle holding the component moves, the component is transported and mounted on the substrate.

  For example, in the component mounting apparatus described in Patent Document 1, a plurality of nozzles are mounted on a transfer head in a state where they are arranged in two rows. Each nozzle is arranged above the nozzle in the vertical direction, and is moved (moved up and down) in the vertical direction by an actuator mounted on the transfer head. Thereby, each nozzle is selectively moved relative to the transfer head in the vertical direction.

JP 2011-82242 A

  Incidentally, in recent years, in order to realize high-speed component mounting, it is desired to increase the number of nozzles mounted on the transfer head and to make the transfer head compact. In order to increase the number of nozzles mounted on a compact transfer head, it is necessary to reduce the horizontal pitch interval of the plurality of nozzles as much as possible. For example, when a plurality of nozzles are mounted on a mounting head in a straight line in two rows, the nozzle pitch interval in the row direction and the pitch interval in the direction in which the two rows are arranged need to be as small as possible. is there.

  However, when the actuator is arranged vertically above the nozzle as in the transfer head described in Patent Document 1, the size of the actuator is larger than the size of the nozzle. Determined by the size of That is, the horizontal pitch interval of the actuator is the nozzle pitch interval. As a result, reducing the horizontal pitch interval of the nozzles as much as possible is limited by the actuator disposed above the nozzles in the vertical direction.

  Accordingly, an object of the present invention is to make the transfer head compact by reducing the horizontal pitch interval between a plurality of nozzles, thereby speeding up component mounting using the transfer head.

In order to solve the above-mentioned problem, according to the first aspect of the present invention,
A transfer head of a component mounting apparatus having a plurality of nozzles for sucking components,
A first nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, a first actuator having a rod that advances and retreats in the first direction, the other end of the first nozzle shaft, and the first A first nozzle unit having a first connecting member that coaxially connects the rod of the actuator;
A second nozzle shaft extending in the first direction and having a nozzle attached to one end thereof; a second actuator including a rod that advances and retreats in the first direction; the other end of the second nozzle shaft; A second nozzle unit having a second coupling member that couples the rod of the actuator in a state offset at least in a second direction orthogonal to the first direction,
The first and second nozzle units are alternately arranged in the third direction so that the first and second nozzle shafts are linearly arranged in at least one line in a third direction orthogonal to the first and second directions. In line, a transfer head is provided.

According to a second aspect of the invention,
The first connecting member is divided in the second direction into a first actuator side connecting portion fixed to the rod of the first actuator and a first nozzle side connecting portion fixed to the other end of the nozzle shaft. Configured and possible
The second connecting member is divided in the second direction into a second actuator side connecting portion fixed to the rod of the second actuator and a second nozzle side connecting portion fixed to the other end of the nozzle shaft. A transfer head according to the first aspect is provided which is configured to be possible.

According to a third aspect of the invention,
The transfer head according to the second aspect is provided in which the first nozzle side connecting portion of the first connecting member and the second nozzle side connecting portion of the second connecting member have the same shape.

According to a fourth aspect of the invention,
The transfer head according to the third aspect is provided in which the first and second nozzle side coupling portions having the same shape are arranged in a line in the third direction in the same posture.

According to a fifth aspect of the present invention,
The plurality of actuators are linear motors,
Each linear motor extends in a first direction and includes a rod having a plurality of magnets arranged in the first direction, and a plurality of each arranged around the rod in a state arranged in the first direction. A coil holder including a coil and an encoder for detecting a first direction position of the rod,
A plurality of linear motors are housed in one housing in a state where one end of the rod and a part of the coil holder are exposed to the outside and the rods are slidable in the first direction, respectively. A transfer head according to any one of the aspects is provided.

According to a sixth aspect of the present invention,
The first and second nozzle shafts are arranged in two rows in a straight line toward the third direction,
A first actuator comprising a rod arranged coaxially with respect to the first nozzle shaft, a second actuator comprising a rod arranged inward in the second direction and arranged offset with respect to the second nozzle shaft Is provided on the outer side in the second direction. A transfer head according to any one of the first to sixth aspects is provided.

According to a seventh aspect of the present invention,
A component mounting apparatus including the transfer head according to any one of the first to sixth aspects is provided.

According to an eighth aspect of the present invention,
A component mounting method for mounting a component using a plurality of nozzles for sucking the component,
A first nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, a first actuator having a rod that advances and retreats in the first direction, the other end of the first nozzle shaft, and the first A first nozzle unit having a first coupling member that coaxially couples the rod of the actuator, a second nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, The second actuator having a rod that advances and retreats in the direction of 1 and the other end of the second nozzle shaft and the rod of the second actuator are connected in an offset state in a second direction orthogonal to the first direction And a second nozzle unit having a second connecting member, and the first and second nozzle shafts are linearly arranged in at least one line in a third direction orthogonal to the first and second directions. Like The first and second nozzle units prepared transfer heads are arranged alternately in the third direction,
A component mounting method is provided in which component mounting is performed by moving the transfer head in the second and third directions and moving the nozzle in the first direction via an actuator.

  According to the present invention, it is possible to make the transfer head compact by reducing the pitch interval of the plurality of nozzles, thereby speeding up component mounting using the transfer head.

The perspective view of a part of transfer head of the component mounting apparatus which concerns on one embodiment of this invention A perspective view of a plurality of nozzle units mounted on the transfer head A perspective view of the first nozzle unit Exploded view of the first nozzle unit Perspective view of the second nozzle unit Exploded view of the second nozzle unit Cross section of actuator unit A perspective view of a part of a transfer head according to another embodiment The exploded view of the 1st nozzle unit of the transfer head of another embodiment The exploded view of the 2nd nozzle unit of the transfer head of another embodiment

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing a part of a transfer head of a component mounting apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the transfer head 10 has a plurality of nozzles 12 that suck and hold components. The transfer head 10 is also mounted on a component mounting apparatus that mounts components on a substrate or the like, and is driven by an actuator (not shown) such as a linear motor in the horizontal X-axis direction and the Y-axis direction (the third direction and the third direction). 2 direction).

  In the component mounting apparatus, the transfer head 10 holds a component supplied from a component supply device (not shown) such as a tape feeder by a nozzle 12, and the component held by the nozzle 12 is located at a predetermined mounting position on the substrate. It moves in the horizontal direction so as to be positioned above, and the nozzle 12 is lowered to mount the component held by the nozzle 12 at a predetermined mounting position on the board.

  In order to lower the nozzle 12, the transfer head 10, as shown in FIG. 1, moves the plurality of nozzles 12 in the vertical Z-axis direction (first direction), as shown in FIG. Units 14A and 14B. Note that the drawings attached to this specification show only the components related to the present invention. Therefore, not all the components necessary for the transfer head 10 are shown in the drawing.

  FIG. 2 is a perspective view of the plurality of first and second nozzle units 14 </ b> A and 14 </ b> B mounted on the transfer head 10. FIG. 3A is a perspective view of the first nozzle unit 14A, and FIG. 3B is an exploded view of the first nozzle unit 14A. FIG. 4A is a perspective view of the second nozzle unit 14B, and FIG. 4B is an exploded view of the second nozzle unit 14B.

  As shown in FIGS. 3A and 3B, the first nozzle unit 14A extends in the Z-axis direction (first direction), and the nozzle 12 is detachably attached to one end (lower end) in the Z-axis direction. It has a nozzle shaft (first nozzle shaft) 16 and an actuator (first actuator) 18 for moving the nozzle shaft 16 in the Z-axis direction.

  Similarly, as shown in FIGS. 4A and 4B, the second nozzle unit 14B is a nozzle that extends in the Z-axis direction (first direction) and has a nozzle 12 removably attached to one end (lower end). It has a shaft (second nozzle shaft) 16 and an actuator (second actuator) 18 for moving the nozzle shaft 16 in the Z-axis direction. In the present embodiment, the nozzle shaft 16 and the actuator 18 of each of the first and second nozzle units 14A and 14B are the same.

  The nozzle shafts 16 of the first and second nozzle units 14A and 14B are supported by the transfer head 10 so as to be movable in the Z-axis direction (first direction).

  In the present embodiment, each of the actuators 18 of the first and second nozzle units 14A and 14B is a linear motor, and is housed and integrated in one housing 20 as shown in FIG. . Thus, an actuator unit 22 is configured that can selectively lift and lower the plurality of nozzles 12 in the Z-axis direction.

  FIG. 5 is a sectional view of the actuator unit 22 (cross section parallel to the ZX plane). As shown in FIGS. 3A to 5, the actuators 18 of the first and second nozzle units 14 </ b> A and 14 </ b> B extend in the Z-axis direction, which is the direction in which the nozzle 12 moves, and the nozzle shaft 16 (nozzle 12). A rod 24 of the actuator 18 to be connected, a coil holder 28 including a coil 26 for moving the rod 24 back and forth in the Z-axis direction, and an encoder 30 for detecting the position of the rod 24 in the Z-axis direction.

  As shown in FIG. 5, each of the rods 24 of the actuator 18 of the actuator unit 22 (that is, the first and second nozzle units 14A and 14B) has a plurality of magnets accommodated therein in a state aligned in the Z-axis direction. 32. The coil holder 28 has a cylindrical shape, and holds a plurality of coils 26 that circulate around the rod 24 in a state of being arranged in the Z-axis direction. By controlling the current flowing through each of the coils 26 held by the coil holder 28, the position in the Z-axis direction of the rod 24 in which the plurality of magnets 32 are accommodated is controlled.

  The encoder 30 that detects the position of the rod 24 in the Z-axis direction is a linear encoder, and includes a linear scale 34 having a scale, and a rod position detection device that reads the scale of the linear scale 34 and detects the position of the rod 30 in the Z-axis direction. (Not shown). The linear scale 34 of the encoder 30 is held by a bracket 36 attached to the side opposite to the nozzle 12 of the rod 24 that is opposite to the side to which the nozzle 12 is attached with respect to the rod 24. The rod position detection device of the encoder 30 includes, for example, a light emitting element (not shown) that projects light onto the linear scale 34 and a light receiving element (not shown) that receives reflected light from the linear scale 34. As shown in FIG. 1, it is mounted on a linear scale substrate 38 disposed so as to face the linear scale 34. In this embodiment, the rod position detection devices of the encoders 30 of the plurality of actuators 18 are mounted on a common linear scale substrate 38.

  As shown in FIGS. 1 and 5, the housing 20 of the actuator unit 22 that houses the plurality of actuators 18 has two spaces 40 and 42 that are aligned in the Z-axis direction. The two spaces 40 and 42 are independent spaces, and the coil holder 28 of the actuator 18 is accommodated in the lower space 40. On the other hand, the upper space 42 accommodates the encoder 30 of the actuator 18 (the linear scale substrate 38 on which the linear scale 34 and the rod position detection device are mounted). As shown in FIG. 5, a through hole 20 b through which the rod 24 of the actuator 22 passes is formed in the partition wall 20 a of the housing 20 that separates the lower space 40 and the upper space 42.

  Since the coil holder 28 and the encoder 30 of the actuator 18 are separately accommodated in the independent spaces 40 and 42, the encoder 30 is not easily affected by the heat generated from the coil 26 held by the coil holder 28. . As a result, the encoder 30 can detect the position of the rod 24 in the Z-axis direction with high accuracy.

  In order to cool the coil 26 (coil holder 28), the housing 20 of the actuator unit 22 preferably includes an opening 20c that allows the lower space 40 in which the coil holder 28 is accommodated to communicate with the outside. Thereby, the heat generated from the coil 26 can be released to the outside, and the coil 26 can be cooled. Further, when the coil 26 needs to be cooled, a fan (not shown) that blows outside air toward the coil holder 28 may be attached to the opening 20 c of the housing 20.

  As described above, the actuator (linear motor) 18 for raising and lowering the plurality of nozzle shafts 16 (nozzles 12) in the Z-axis direction (first direction) is accommodated in one housing 20 and integrated. The space occupied by the actuator 18 in the transfer head 10 can be reduced as compared with the case where the actuator 18 is provided in the transfer head 10 independently without being integrated.

  Further, when a plurality of actuators (linear motors) 18 are housed and integrated in one housing 20, the plurality of actuators 18 are compared with the case where each actuator 18 is independently provided on the transfer head 10. The pitch interval in the horizontal direction (X-axis direction and Y-axis direction) of the rod 24 can be reduced. Thereby, the horizontal pitch interval of the nozzle shaft 16 connected to the rod 24 can be reduced, and as a result, the horizontal pitch interval of the plurality of nozzles 12 is reduced.

  Such an actuator unit 22 makes the transfer head 10 compact (lightweight) and enables high-speed movement. As a result, component mounting using the transfer head 10 is accelerated.

  One end of the rod 24 of each actuator 18 of the actuator unit 22 (the end opposite to the end on which the encoder 30 is provided) is independent of the housing 20 in the Z-axis direction (first direction). It is exposed to be slidable and connected to the upper end of the nozzle shaft 16.

  Specifically, the rod 24 of the actuator 18 of the first nozzle unit 14A is connected to the nozzle shaft 16 via the first connecting member 60 as shown in FIG. 3A. As shown in FIG. 3A, in the first nozzle unit 14A, the first connecting member 60 is configured to connect the nozzle shaft 16 and the rod 24 of the actuator 18 coaxially.

  On the other hand, the rod 24 of the actuator 18 of the second nozzle unit 14B is connected to the nozzle shaft 16 via the second connecting member 62 as shown in FIG. 4A. As shown in FIG. 4A, in the second nozzle unit 14B, the second connecting member 62 connects the nozzle shaft 16 and the rod 24 of the actuator 18 in an offset state in the Y-axis direction (second direction). It is configured as follows. As described above, the configuration of the second connecting member 62 and the configuration of the first connecting member 60 are different, whereby the first nozzle unit 14A and the second nozzle unit 14B are different.

  The nozzle shaft 16 and the rod 24 of the actuator 18 are connected coaxially via the first connecting member 60 in the first nozzle unit 14A, and offset in the Y-axis direction in the second nozzle unit 14B. The reason for being connected via the second connecting member 62 in the state will be described.

  In a component mounting apparatus that mounts components using the transfer head 10, in order to perform high-speed component mounting, a plurality of nozzles 12 are mounted on the transfer head 10 and the nozzles 12 are arranged in one direction (X (Axial direction) It is preferable to arrange in a line or a plurality of lines linearly.

  Further, in order to move the transfer head 10 at high speed in the horizontal direction (X-axis direction and Y-axis direction), it is preferable that the transfer head 10 is configured as compact as possible. Therefore, it is preferable to make the pitch interval of the plurality of nozzles 12 in the row direction (X-axis direction) as small as possible.

  However, as shown in FIG. 2, the size of the nozzle 12 in the X-axis direction (third direction) is smaller than the size of the actuator 18 in the X-axis direction (third direction), and the first nozzle unit 14A Thus, when the nozzle shaft 16 and the rod 24 of the actuator 18 are connected coaxially, the pitch interval in the X-axis direction of the plurality of nozzles 12 arranged linearly in the X-axis direction is the same as that in the X-axis direction of the actuator 18. Determined by size. That is, the pitch interval in the X-axis direction of the nozzle 12 is made the same as the pitch interval in the X-axis direction of the actuator 18 positioned above the nozzle 12. Therefore, the compact transfer head 10 in which the pitch interval of the nozzles 12 in the X-axis direction is small cannot be realized.

  Therefore, in the case of the present embodiment, as shown in FIG. 2, the first nozzle unit 14 </ b> A in which the nozzle shaft 16 and the rod 24 of the actuator 18 are coaxially connected, and the rod of the nozzle shaft 16 and the actuator 18. The second nozzle units 14 </ b> B connected in a state where they are offset in the Y-axis direction (second direction) are alternately arranged in the X-axis direction (third direction). Thereby, the plurality of nozzles 12 are arranged in two rows in a straight line in the X-axis direction with the pitch interval of the nozzles 12 in the X-axis direction being as small as possible.

  Specifically, as shown in FIG. 2, the actuator is arranged such that a plurality of nozzle shafts 16 are arranged in a straight line in the X-axis direction (third direction) on the positive side in the Y-axis direction (second direction). The first nozzle unit 14 </ b> A in which the 18 rods 24 and the nozzle shaft 16 are coaxially connected, and the rod 24 of the actuator 18 is offset to the Y axis direction (second direction) positive side with respect to the nozzle shaft 16. The second nozzle units 14 </ b> B connected in the connected state are alternately arranged in the X-axis direction (third direction).

  On the other hand, the rod 24 and the nozzle shaft 16 of the actuator 18 are arranged so that the plurality of nozzle shafts 16 are arranged in a straight line in the X-axis direction (third direction) on the negative side in the Y-axis direction (second direction). The first nozzle unit 14 </ b> A connected coaxially and the rod 24 of the actuator 18 are connected to the nozzle shaft 16 in a state of being offset to the negative side in the Y-axis direction (second direction). Nozzle units 14B are alternately arranged in the X-axis direction (third direction).

  Thus, in each nozzle row, when the nozzle shaft 16 of the first nozzle unit 14A and the nozzle shaft 16 of the second nozzle unit 14B are alternately arranged linearly in the X-axis direction (third direction), FIG. As shown in FIG. 2, the actuators 18 of the first nozzle unit 14A and the actuators 18 of the second nozzle unit 14B are arranged in a staggered manner when viewed in the Z-axis direction (first direction).

  Specifically, in order to reduce the pitch interval of the plurality of nozzles 12 in the Y-axis direction, as shown in FIG. 2, the actuator 18 of the first nozzle unit 14A is located above the nozzles 12 and in the Y-axis direction (first In the Y direction (second direction) with respect to the actuator 18 of the first nozzle unit 14A. On both outsides, the actuators 18 of the second nozzle unit 14B are arranged in a straight line in the X-axis direction (third direction). In addition, when viewed in the Z-axis direction (first direction), the actuator 18 of the first nozzle unit 14A is outside the Y-axis direction (second direction) of each actuator 18 and in the offset direction (Y-axis direction). When viewed in the above, the actuator 18 of the second nozzle unit 14B is arranged so as to overlap the actuator 18 of the first nozzle unit 14A.

  Thus, the first nozzle unit 14A in which the nozzle shaft 16 and the rod 24 of the actuator 18 are coaxially connected, and the nozzle shaft 16 and the rod 24 of the actuator 18 are in the Y-axis direction (second direction). By alternately arranging the second nozzle units 14B connected in an offset state in the X-axis direction (third direction), the respective nozzles 12 can be moved to the X-direction without being restricted by the actuator 18. In a state in which the pitch interval of the nozzles 12 in the axial direction is made as small as possible, or in a state in which the intervals between the actuators 18 arranged in a row in the X-axis direction (third direction) are made as small as possible, a straight line toward the X-axis direction Can be arranged in two rows. Thereby, the pitch interval of the plurality of nozzles 12 in the X-axis direction can be reduced as compared with the case where only the first nozzle units 14A are arranged linearly in the X-axis direction. Further, the size of the housing 20 of the actuator unit 22 that accommodates the plurality of actuators 18 in the X-axis direction can be reduced. As a result, the transfer head 10 having a plurality of actuators 18 can be made compact, and component mounting using the transfer head 10 can be speeded up.

  Of course, the first connecting member 60 of the first nozzle unit 14A and the connecting member 62 of the second nozzle unit 14B are also arranged in two lines in a straight line in the X-axis direction. Therefore, in order to make the pitch interval of the nozzle 12 in the X-axis direction as small as possible, it is preferable to make the size of the first and second connecting members 60 and 62 in the X-axis direction as small as possible.

  From here, the first and second connecting members 60 and 62 of the first and second nozzle units 14A and 14B will be described.

  As shown in FIG. 3A, in the first nozzle unit 14A, the first connecting member 60 removably connects the nozzle shaft 16 and the rod 24 of the actuator 18 in a coaxial manner. Specifically, as shown in FIG. 3B, the first connecting member 60 includes an actuator side connecting portion 60 a fixed to the rod 24 of the actuator 18 and a nozzle side connecting portion 60 b fixed to the nozzle shaft 16. It can be divided in the Y-axis direction.

  For example, as shown in FIGS. 3A and 3B, in the first nozzle unit 14A, the actuator-side connecting portion 60a and the nozzle-side connecting portion 60b of the first connecting member 60 have shapes that can be engaged with each other in the Y-axis direction. Prepare. Moreover, the nozzle side connection part 60b is fixed to the Y-axis direction with respect to the actuator side connection part 60a of the 1st connection member 60, for example with a volt | bolt (not shown).

  Similar to the first connecting member 60 of the first nozzle unit 14A, as shown in FIG. 4A, in the second nozzle unit 14B, the second connecting member 62 includes the nozzle shaft 16 and the rod 24 of the actuator 18. Are detachably connected in the Y-axis direction. Specifically, as shown in FIG. 4B, the second connecting member 62 includes an actuator side connecting portion 62 a fixed to the rod 24 of the actuator 18 and a nozzle side connecting portion 62 b fixed to the nozzle shaft 16. It can be divided in the Y-axis direction.

  With such first and second connecting members 60 and 62, the nozzle shaft 16 can be attached to and detached from the rod 24 of the actuator 18 in the Y-axis direction in each of the first and second nozzle units 14A and 14B. it can. Thereby, for example, the nozzle shaft 16 of the first nozzle unit 14A can be attached and detached without being interfered with the second nozzle unit 14B adjacent to both sides in the X-axis direction of the first nozzle unit 14A. As a result, the nozzle 12 can be easily replaced.

  In the case of this embodiment, as shown in FIG. 2, the nozzles 12 are arranged in two lines in a straight line in the X-axis direction. Therefore, the first and second nozzle units 14A and 14B corresponding to the Y-axis direction positive side nozzle row are alternately arranged in the X-axis direction so that the nozzle shaft 16 can be removed to the Y-axis direction positive side. On the other hand, the first and second nozzle units 14A and 14B corresponding to the Y-axis direction negative side nozzle row are alternately arranged in the X-axis direction so that the nozzle shaft 16 can be removed to the Y-axis direction negative side. That is, the postures of the first and second nozzle units 14A and 14B corresponding to the Y axis direction positive side nozzle row, and the first and second nozzle units 14A and 14B corresponding to the Y axis direction negative side nozzle row. These postures are symmetrical with each other in the ZX plane.

  Further, as shown in FIGS. 3B and 4B, the nozzle side connection portion 60b of the first connection member 60 of the first nozzle unit 14A and the nozzle side connection of the second connection member 62 of the second nozzle unit 14B. It is preferable that the part 62b is the same shape. For example, in the case of the present embodiment, the nozzle side connecting portion 60b of the first connecting member 60 and the nozzle side connecting portion 62b of the second connecting member 62 are L-shaped blocks.

  Thereby, the nozzle 12, the nozzle shaft 16, and the nozzle side connection part 60b (62b) can be handled as a common unit. Thereby, the nozzle shaft 16 (nozzle 12) can be managed without distinguishing between the first nozzle unit 14A and the second nozzle unit 14B. In addition, since the nozzle shaft 16 can be attached to both the first and second nozzle units 14A and 14B, the replacement of the nozzle 12 is simplified.

  Furthermore, as described above, the nozzle-side connecting portion 60b of the first connecting member 60 of the first nozzle unit 14A and the nozzle-side connecting portion 62b of the second connecting member 62 of the second nozzle unit 14B have the same shape. In the case of the configuration, as shown in FIG. 2, it is preferable that the nozzle side connecting portions 60b and 62b are arranged in a straight line in the X-axis direction in the same posture. That is, in order to realize this, it is preferable to configure the actuator side coupling portions 60a and 62a that engage with the nozzle side coupling portions 60b and 60a, respectively.

  Thereby, for example, the first connection member 60 of the first nozzle unit 14A is interfered by the nozzle side connection portion 62b of the second connection member 62 of the second nozzle unit 14B adjacent to both sides in the X-axis direction. The nozzle-side connecting portion 60b can be attached to and detached from the actuator-side connecting portion 60a of the first connecting member 60 of the first nozzle unit 14A. As a result, the nozzle 12 can be replaced more easily.

  According to the present embodiment, the transfer head can be made compact by reducing the pitch interval of the plurality of nozzles 12 in the horizontal direction (X-axis direction and Y-axis direction), thereby using the transfer head 10. Component mounting can be speeded up.

  Although the present invention has been described with reference to the above-described embodiments, the present invention is not limited to the above-described embodiments.

  For example, in the above-described embodiment, the plurality of nozzles 12 are linearly arranged in two rows in the X-axis direction, but the present invention is not limited to this. For example, the plurality of nozzles 12 may be aligned in a straight line in the X-axis direction.

  Further, in the case of the above-described embodiment, the actuator 18 for raising and lowering each of the plurality of nozzles 12 in the vertical direction (Z-axis direction) is a linear motor and is housed in one housing 20 and integrated. However, the present invention is not limited to this. The present invention may be an actuator provided with a rod that can advance and retreat in the extending direction of the nozzle shaft in a broad sense.

  For example, in the transfer head 110 according to another embodiment shown in FIG. 6, the plurality of actuators 118 for raising and lowering each of the plurality of nozzles 12 in the Z-axis direction are, for example, air cylinders and integrated. Without being mounted on the transfer head 110 separately. The rod 124 of the air cylinder 118 is coaxially connected to the nozzle shaft 16 via the first connecting member 60 in the first nozzle unit 14A, and to the nozzle shaft 16 in the second nozzle unit 14B. The second connection members 62 are connected in an offset state in the Y-axis direction.

  Further, in the case of the above-described embodiment, the nozzle shaft 16 and the rod 24 of the actuator 18 are coupled in the second nozzle unit 14B while being offset only in the Y-axis direction, whereby the first nozzle unit 14A. The actuators 18 of the second nozzle unit 14B are arranged in a staggered manner as viewed in the Z direction, but the present invention is not limited to this.

  For example, in the second nozzle unit 14B, the nozzle shaft 16 and the rod 24 of the actuator 18 are connected in an offset state in the X-axis direction and the Y-axis direction, whereby the first nozzle unit 14A and the second nozzle The actuators 18 of each unit 14B may be arranged in two lines in a straight line in the X-axis direction. That is, in a broad sense, the second nozzle unit of the present invention includes at least the other end of the nozzle shaft that extends in the first direction (for example, the Z-axis direction) and has the nozzle attached to one end and the rod of the actuator. What is necessary is just to be connected in the state offset in the 2nd direction (for example, Y-axis direction) orthogonal to a 1st direction.

  Furthermore, in the case of the above-described embodiment, in the first nozzle unit 14A, the nozzle shaft 16 and the rod 24 of the actuator 18 are connected coaxially, but the nozzle shaft 16 and the rod 24 are substantially connected. What is necessary is just to be connected coaxially. For example, when viewed in the Z-axis direction, which is the forward / backward direction of the rod 24, the actuator 18 and the nozzle shaft 16 overlap with each other in a state where the Y-axis direction (second direction) positions of the respective axes are different. If it exists, the effect similar to the case where the rod 24 and the nozzle shaft 16 are connected coaxially, ie, the transfer head 10 can be made compact similarly.

  In addition, FIGS. 7 and 8 show that the first and second nozzle units 114A and 114B in the transfer head of another embodiment configured to rotatably hold the nozzle shaft 16 about its axis. Is shown.

  When the transfer head is configured so that the posture (orientation) of the component held by the nozzle can be changed, the nozzle shaft to which the nozzle is attached is an axis extending in the Z-axis direction (first direction). The transfer head is provided so as to be rotatable about the center.

  In the case of the first and second nozzle units 114 </ b> A and 114 </ b> B shown in FIGS. 7 and 8, the first and second connecting members 160 and 162 that connect the rod 24 of the actuator 18 and the nozzle shaft 16 are connected to the nozzle shaft 16. It is comprised so that it can rotate centering | focusing on the axial center extended in the Z-axis direction (1st direction).

  For example, as shown in FIGS. 7 and 8, the nozzle shaft 16 of each of the first and second nozzle units 114A and 114B can rotate around an axis extending in the Z-axis direction (first direction). Are held by a bearing 170. Specifically, the inner ring 170a of the bearing 170 is attached to the end side of the nozzle shaft 16 opposite to the end to which the nozzle 12 is attached.

  The nozzle-side connecting portions 160b and 162b of the first and second connecting members 160 and 162 in the first and second nozzle units 114A and 114B are, for example, U-shaped, U-shaped, V-shaped grooves ( In this embodiment, it has a U-shaped groove) and is configured to hold the bearing 170 attached to the nozzle shaft 16 in a detachable manner.

  Specifically, the nozzle-side coupling portions 160b and 162b of the first and second coupling members 160 and 162 in the first and second nozzle units 114A and 114B project in the Y-axis direction to cause the outer ring 170b of the bearing 170 to move. It has four gripping claws 160c and 162c that grip in the Z-axis direction. By accommodating the bearing 170 in the Y-axis direction between the four gripping claws 160c, the nozzle shaft 16 is held by the nozzle-side coupling portions 160b and 162b of the first and second coupling members 160 and 162, As a result, the nozzle shaft 16 is connected to the actuator 18. Further, the nozzle-side coupling portions 160b and 162b of the first and second coupling members 160 and 162 hold the nozzle shaft 16 via the bearing 170, so that the nozzle shaft 16 has its Z-axis direction (first axis It is possible to rotate around an axis extending in the direction).

  Reason why the first and second nozzle units 114 </ b> A and 114 </ b> B are configured so that the nozzle side coupling portions 160 b and 162 b of the first and second coupling members 160 and 162 can be attached to and detached from the nozzle shaft 16 in the Y-axis direction. Will be described.

  When the nozzle shaft 16 is rotated around an axis extending in the Z-axis direction, a nozzle shaft rotating mechanism (not shown) for rotating the nozzle shaft 16 is provided in the transfer head. For example, a nozzle shaft rotating mechanism is constituted by a pulley fixed coaxially with respect to each nozzle shaft 16, an endless belt that is suspended by the pulley and rotates the pulley, and a motor that drives the endless belt. . When such a nozzle shaft rotation mechanism is provided in the transfer head, the nozzle shaft 16 can be easily removed in the Y-axis direction, similarly to the first and second nozzle units 14A and 14B shown in FIGS. Can not. Therefore, the nozzle side connecting portions 160 b and 162 b of the first and second connecting members 160 and 162 are configured to be detachable from the nozzle shaft 16.

  For example, when the nozzle shaft 16 of the first nozzle unit 114A is removed from the transfer head, the nozzle side connecting portion 160b of the first connecting member 160 is connected to the actuator side connecting portion 160a as shown in FIG. The nozzle shaft 16 is removed in the Y-axis direction (second direction). As a result, the connection between the nozzle shaft 16 and the actuator 18 is released.

  Next, the nozzle shaft 16 in a state where the connection with the actuator 18 is released is removed from the nozzle shaft rotating mechanism (not shown). For example, as described above, when the nozzle shaft rotating mechanism includes a pulley, an endless belt, and a motor, the nozzle shaft 16 cannot be removed in the Y-axis direction by the endless belt. Removed in the negative direction).

  When the nozzle shaft 16 is removed from the transfer head in the first and second nozzle units 114A and 114B shown in FIGS. 7 and 8, the nozzle side connecting portions 160b and 162b of the first and second connecting members 160 and 162 are used. Is separated from the actuator side connecting portions 160a and 160b, but is not limited thereto. For example, the nozzle side coupling portions 160b and 162b may be held so as to be slidable in the Y-axis direction with respect to the actuator side coupling portions 160a and 160b.

  Further, the nozzle shaft 16 is moved in the Y-axis direction (second direction) with respect to a nozzle shaft rotating mechanism (not shown) for rotating the nozzle shaft 16 about the axis extending in the Z-axis direction. When there is a space for attachment / detachment and the attachment / detachment is possible, as shown in FIGS. 7 and 8, the nozzle-side connecting portions of the first and second connecting members 160 and 162 for connecting the nozzle shaft 16 and the actuator 18. The 160b and 162b are not necessarily configured to be detachable from the nozzle shaft 16.

  For example, a nozzle shaft rotating mechanism (not shown) in which the nozzle shaft 16 can be attached and detached in the Y-axis direction integrally with the nozzle side connecting portions 160b and 162b of the first and second connecting members 160 and 162 is a nozzle shaft. A pinion gear fixed coaxially to each of the sixteen, a rack gear extending in the X-axis direction (third direction) in which the nozzle shaft 16 is linearly aligned in a row and meshing with the pinion gear, and the rack gear as the X-axis And a linear motion mechanism that advances and retracts in the direction (third direction). The nozzle shaft 16 is removed in a direction in which the engagement between the pinion gear and the rack gear is released. In the nozzle shaft rotating mechanism having such a configuration, the nozzle side connecting portions 160b and 162b of the first and second connecting members 160 and 162 for connecting the nozzle shaft 16 and the actuator 18 are not necessarily provided in the nozzle shaft 16. However, it is not necessary to be detachable.

  The present invention is applicable to any transfer head in which a plurality of nozzles that suck and hold components from above are mounted in a linear state.

DESCRIPTION OF SYMBOLS 10 Transfer head 12 Nozzle 14A 1st nozzle unit 14B 2nd nozzle unit 16 Nozzle shaft (1st, 2nd nozzle shaft)
18 Actuators (first and second actuators)
60 First connecting member 62 Second connecting member

Claims (8)

A transfer head of a component mounting apparatus having a plurality of nozzles for sucking components,
A first nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, a first actuator having a rod that advances and retreats in the first direction, the other end of the first nozzle shaft, and the first A first nozzle unit having a first connecting member that coaxially connects the rod of the actuator;
A second nozzle shaft extending in the first direction and having a nozzle attached to one end thereof; a second actuator including a rod that advances and retreats in the first direction; the other end of the second nozzle shaft; A second nozzle unit having a second coupling member that couples the rod of the actuator in a state offset at least in a second direction orthogonal to the first direction,
The first and second nozzle units are alternately arranged in the third direction so that the first and second nozzle shafts are linearly arranged in at least one line in a third direction orthogonal to the first and second directions. The transfer heads are lined up. The first connecting member is divided in the second direction into a first actuator side connecting portion fixed to the rod of the first actuator and a first nozzle side connecting portion fixed to the other end of the nozzle shaft. Configured and possible
The second connecting member is divided in the second direction into a second actuator side connecting portion fixed to the rod of the second actuator and a second nozzle side connecting portion fixed to the other end of the nozzle shaft. The transfer head according to claim 1, wherein the transfer head is configured to be possible.   The transfer head according to claim 2, wherein the first nozzle side connecting portion of the first connecting member and the second nozzle side connecting portion of the second connecting member have the same shape.   The transfer head according to claim 3, wherein the first and second nozzle-side coupling portions having the same shape are arranged in a line in the third direction in the same posture. The plurality of actuators are linear motors,
Each linear motor extends in a first direction and includes a rod having a plurality of magnets arranged in the first direction, and a plurality of each arranged around the rod in a state arranged in the first direction. A coil holder including a coil and an encoder for detecting a first direction position of the rod,
5. The plurality of linear motors are housed in one housing in a state in which one end of the rod and a part of the coil holder are exposed to the outside and the rod is slidable in the first direction. The transfer head according to any one of the above. The first and second nozzle shafts are arranged in two rows in a straight line toward the third direction,
A first actuator comprising a rod arranged coaxially with respect to the first nozzle shaft, a second actuator comprising a rod arranged inward in the second direction and arranged offset with respect to the second nozzle shaft The transfer head according to claim 1, wherein the transfer head is disposed outside in the second direction.   The component mounting apparatus provided with the transfer head as described in any one of Claim 1 to 6. A component mounting method for mounting a component using a plurality of nozzles for sucking the component,
A first nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, a first actuator having a rod that advances and retreats in the first direction, the other end of the first nozzle shaft, and the first A first nozzle unit having a first coupling member that coaxially couples the rod of the actuator, a second nozzle shaft extending in the first direction and having a nozzle attached to one end thereof, The second actuator having a rod that advances and retreats in the direction of 1 and the other end of the second nozzle shaft and the rod of the second actuator are connected in an offset state in a second direction orthogonal to the first direction And a second nozzle unit having a second connecting member, and the first and second nozzle shafts are linearly arranged in at least one line in a third direction orthogonal to the first and second directions. Like The first and second nozzle units prepared transfer heads are arranged alternately in the third direction,
A component mounting method for mounting components by moving a transfer head in second and third directions and moving a nozzle in a first direction via an actuator.

Images