JP2628626B2 - Parts mounting device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a component mounting device.

BACKGROUND ART When many types of components such as electronic components are mounted on a printed circuit board or the like, manual work is often performed, and the efficiency is particularly low in a production line or the like where a large amount of work is performed. In addition, there is a large inconsistency in the accuracy of component mounting due to manual work, and there is an inconvenience that many defective products such as erroneous mounting and forgetting to be mounted occur.

In order to make up for the drawbacks of such manual work, recently, a component mounting device for mounting components by automatic control has been developed and used. The component mounting apparatus basically includes a component supply unit for sequentially supplying components, and a chuck for gripping the component supplied by the component supply unit, moving the component in one predetermined direction, and mounting the component on a work target (for example, a substrate). And a positioning drive mechanism for positioning and driving the chuck at a component mounting position or the like. More specifically, the component supply means includes a plurality of stick cassettes as a component source for accommodating a plurality of longitudinal sticks each holding a plurality of components in a stacked form, and a component supply path including And a guide means for guiding a component flowing out of the lowermost stick (the lowermost stick) by free fall to a component gripping position by the chuck.

By the way, as for the plurality of sticks stacked in the stick cassette as described above, components are sequentially discharged from the lowermost one. The stick whose parts have been flowed out is ejected out of the stick cassette, and the next following stick is lowered to be positioned at the parts outflow position. In a component mounting device that has been already developed, an exchange mechanism for exchanging the stick is provided outside the stick cassette, so that one stick cassette occupies a large space and many stick cassettes have a small space. It could not be housed inside, and the efficiency of supplying parts could not be improved so much.

In addition, a plurality of operating mechanisms for operating the above-mentioned replacement mechanism for performing the replacement of the stick are individually provided corresponding to each stick cassette, which increases the cost and increases the size of the entire component mounting apparatus. Had been invited.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points,
The aim is to provide high parts supply efficiency,
An object of the present invention is to provide a component mounting device which is inexpensive and can be easily reduced in size as a whole.

A component mounting apparatus according to the present invention includes a component supply unit that supplies a component, a chuck for gripping the supplied component, moving the component in a predetermined direction, and attaching the component to a work target, and a positioning unit that positions and drives the chuck. A drive mechanism, wherein the component supply means has a plurality of longitudinal stick cassettes which can stack and store a plurality of longitudinal sticks each holding a plurality of components and are arranged side by side, wherein the stick cassette is A first supporting means for detachably supporting the lower stick, a second supporting means for detachably supporting a second stick following the lowermost stick, and a stick comprising the first supporting means and the second supporting means. And a driving unit including a driver for driving from outside the cassette between a support position for supporting the support and a support release position for releasing the support. When the first support means moves from the support release position to the support position, the first support means moves from the support position to the support release position, and when the first support means returns to the support position, the second support means An operating mechanism configured to move to the support release position and reciprocally movable along a direction in which the plurality of stick cassettes are juxtaposed to operate the driver; and a stick selected from the operating mechanism. And a drive mechanism for positioning the cassette at a position corresponding to the cassette.

Hereinafter, a component mounting apparatus according to the present invention will be described with reference to the accompanying drawings.

In the drawings, reference numeral 1 indicates the entire component mounting device. As shown in FIGS. 1 to 4, the component mounting apparatus has a work table 2 extending in the left-right direction. However, the left-right direction here refers to a forward direction indicated by an arrow Y, and an arrow X indicates a left direction. The arrow Z direction is upward. A substrate supply device 3 and a substrate recovery device 4 are arranged on both left and right sides of the work table 2. On the substrate supply device 3 and the substrate recovery device 4, a plurality of substrate magazines 7 capable of storing a large number of substrates 5 to be worked in a vertically stacked manner at predetermined intervals are placed.
The substrate magazine 7 placed on the substrate supply device 3 is for accommodating the substrate 5 before mounting electronic components described later, and the substrate magazine 7 placed on the substrate collection device 4 is an electronic device. This is for accommodating the board 5 on which components have been mounted. As shown in FIG. 1, the substrate magazine 7 is formed in a rectangular parallelepiped shape with open lateral sides (in FIG. 1), and the substrate 5 is mounted on the inner surface of the closed front and rear side wall portions. A plurality of track rails (not shown) for holding extend in the left-right direction and are formed at regular intervals in the up-down direction. Each board 5 is held on both front and rear sides by the track rail.

An elevator mechanism 8 is provided at the right end of the substrate supply device 3 so that the substrate magazine 7 moved onto the elevator mechanism can be lowered at a predetermined timing at the above-described intervals for storing the substrates 5. . An elevator mechanism 9 similar to the elevator mechanism 8 is provided at the left end of the substrate collecting device 4.

As shown in FIGS. 2 to 6, fixed rail mechanisms 11 and 12 are provided at both left and right end portions of the worktable 2. Each of the fixed rail mechanisms 11 and 12 is
Has a pair of track rails 11a and 12a, each of which can correspond to a track rail (not shown) formed in the rail. The fixed rail mechanisms 11 and 12 also have a pair of track rails 11a and 12 respectively.
Adjustment mechanisms 11b and 12b for adjusting the interval of a are provided respectively.

A pair of guide shafts 14 and 15 are provided in parallel between the left and right fixed rail mechanisms 11 and 12 on the work table 2. The guide shaft 14 arranged in front of the work table 2
The guide shaft 15 provided at the rear is rotatably attached to the work table 2 at both ends thereof via a bearing mechanism 15a. A table 17 is slidably attached to the guide shafts 14 and 15. A pair of toothed belt wheels 18a and 18b are rotatably provided near both ends of the guide shaft 15 and behind the guide shaft, and a toothed belt 19 is provided between the two toothed belt wheels. Has been erected. A part of the toothed belt 19 is connected to the table 17. Right toothed belt wheel
Reference numeral 18 is connected to the output shaft of the servomotor 21 via the other two toothed belts 20a and 20b. That is, the servo motor
The rotation of 21 causes the toothed belt 19 to operate, whereby the table 17 is reciprocated in the left-right direction.

5 and 6, a movable rail mechanism 23 including a pair of track rails 23a is mounted on the table 17 so as to be movable in the front-rear direction (the direction of the arrow Y and the opposite direction). I have. This track rail 23
a is the track rail 11a, 12 of each of the fixed rail mechanisms 11, 12 described above.
a, and a pair of pulleys 17a are provided at both left and right ends of the table 17 for holding the front and rear both sides of the substrate 5; A wire 17b is provided. A part of the wire 17b is connected to a part of the movable rail mechanism 23 described above.
The wire 17b also has a pair of pulleys 17c attached to the rear end of the table 17 and spline-fitted to the guide shaft so as to rotate with the guide shaft 15.
Around the guide shaft.
With the rotation of 15, the wire operates to move the movable rail mechanism 23.
Reciprocates in the front-rear direction. As shown in FIGS. 3 to 5, a servo motor is provided near the left end of the guide shaft 15 and below the guide shaft.
25 are arranged and fixed to the work table 2. A toothed belt wheel 15b is attached to the left end of the guide shaft 15, and the toothed belt wheel is connected to a servo motor 25 via two toothed belts 26a and 26b and a toothed belt wheel 26c.
Output shaft.

As shown in FIGS. 4 to 6, substrate moving mechanisms 30 and 31 are provided on the work table 2 at both left and right ends. The left substrate moving mechanism 30 pulls out the substrate 5 from a track rail (not shown) formed on the substrate magazine 7 placed on the elevator mechanism 8, and moves the substrate 5 via the fixed rail mechanism 11 to the movable rail mechanism. This is for moving to a substrate holding position by 23 track rails 23a. However,
Substrate magazine 7 positioned on elevator mechanism 8
The substrate 5 (FIG. 1) housed therein is moved by a predetermined amount to the right (counter arrow X direction), which is the substrate transport direction, by an air cylinder mechanism (not shown) attached to the elevator mechanism 8. The substrates 5 are sequentially extruded, and the substrate moving mechanism 30 conveys the extruded substrates 5 onto the movable rail mechanism 23.

On the other hand, the board moving mechanism 31 disposed on the right pulls out the board 5 on which the electronic components have been mounted from the track rail 23a of the movable rail mechanism 23, and pulls the board 5 out of the right fixed rail mechanism 1.
Through 2, it is inserted into a track rail (not shown) formed in the substrate magazine 7 on the elevator mechanism 9. Since the two substrate moving mechanisms 30 and 31 have substantially the same configuration, the configuration of the right substrate moving mechanism 31 will be described in detail here.

As shown in FIGS. 7, 8, and 9 (a) to 9 (c), the substrate moving mechanism 31 has a guide shaft 33 extending in parallel to the substrate driving direction, that is, to the left and right. . The guide shaft 33 is rotatably attached to the work table 2 via a bracket 33a and the like. A slider 34 is attached to the guide shaft 33 so as to freely reciprocate. 7 and 8 show two sliders 34, but this is to show the movement stroke of the sliders, and actually there is only one slider 34. The slider 34 is spline-fitted to the guide shaft 33, and the slider 34b is also rotated by the rotation of the guide shaft. The substrate 5 ( FIG. 1) is provided with a claw member 35 which can be engaged at the distal end thereof. That is, the claw member 35 is detached from the substrate by the rotation of the guide shaft 33. An air cylinder mechanism 3 for rotating the guide shaft via an arm member 33b is provided on the left end side of the guide shaft 33.
3c is provided.

The position at which the claw member 35 moves leftward (in the direction of the arrow X) is referred to as the most reversing position of the claw member. Called. A pair of pulleys 36a are located near each of the most-moving position and the most-returning position.
36b is arranged, and is rotatably attached to the bracket 33a. A wire 37 as a flexible endless wire is stretched between the pulleys 36a and 36b, and a part of the wire is connected to a claw member 35 via a slider 34. A reversible motor 39 as a driving source is provided near the right end of the guide shaft 33 and below the guide shaft.
Are fixed to the work table 2 via the bracket 39a. A drive pulley 40 is fitted on the output shaft of the reversible motor 39, and the drive pulley is
37 is frictionally engaged.

The pulleys 36a and 36b, the wire 37, the reversible motor 39, and the driving pulley 40 constitute driving means for reciprocatingly driving the claw member 35 in the left-right direction. In addition, near the left and right ends of the guide shaft 33, a claw member 35 is provided.
Are provided with a pair of sensors 42a and 42b for detecting that the first and second positions have reached the above-described forward movement position and the most backward movement position. Another sensor 42c is also provided near the center of the guide shaft 33.
Is arranged.

This is a case where the board 5 on which the electronic components have been mounted is stored in the board magazine 7 placed on the elevator mechanism 9 on the downstream side (in the board transport direction), and the board magazine is still in the board storage position. When it is lowered and not positioned, it is necessary to temporarily stop the substrate movement by the substrate moving mechanism during the movement. Sensor 42c described above
Is for this pause.

Next, supply means for sequentially supplying a plurality of types of electronic components to be mounted on the substrate 5 will be described.

As shown in FIG. 1, FIG. 2, FIG. 4, FIG. 10, and FIG.
The long stick cassettes 44 are arranged in a line in the left-right direction with respect to each other, and are fixed on a support base 46 fixed on the work table 2. The support table 46 and the work table 2 constitute a part of the base of the component mounting apparatus. Each stick cassette is formed in a rectangular parallelepiped shape as a whole, and is provided so as to be inclined downward toward the front. A guide rail 47 is provided on the support base 46, as shown in cross section in FIG. 12, and the stick cassette 44 is engaged with the guide rail in the longitudinal direction and at the lower end. .

As is particularly apparent in FIGS. 11 and 12, a support wall 46a is protruded from the upper surface of the entire end of the support base 46. On the rear surface of the support wall 46a, a pair of positioning pins 48 and 49 projecting apart from each other in the vertical direction and extending in parallel with the guide rail 47 are provided. The stick cassette 44 has these positioning pins at its end in the component outflow direction, that is, at the front end.
48 and 49 are engaged.

The guide rail 47 and the positioning pins 48 and 49 constitute a fixing means for detachably fixing the stick cassette 44 to a support base 46 which is a part of the base. Of the pair of positioning pins 48 and 49, a screw portion is formed on the outer periphery of the pin body of the lower positioning pin 49, and a nut 49a forming a part of the positioning pin is screwed to the screw portion. Have been. That is, by rotating the nut 49a, the engagement position of the stick cassette 44 with respect to the positioning pin is adjusted in the axial direction of the positioning pin. Therefore, the component outlet of the stick cassette can be accurately positioned with respect to the component supply path described.

As shown in FIGS. 13, 14, and 15 (a) to (c), the stick cassette 44 has a case 52 formed of a steel plate or the like in a rectangular parallelepiped shape. Handles 52a, 52b for holding the stick cassette by hand are projected from the upper end and the rear end of the case 52. A plurality of longitudinal sticks 54 each holding a plurality of electronic components 53 (see FIG. 15 (b)) are stacked and stored in the case 52. Each stick 54 includes two partition walls 52 provided in a case 52.
Positions are set so as to be movable only in the vertical direction in FIG. 14, for example, by c, 52d, and the like.

A driver A56 is arranged in the front end of the case 52. Further, it is attached to the case 52 via a pair of pins 56a so as to be slidable in the vertical direction in, for example, FIG. 15 (b). A cam member A57 is attached to the front surface of the partition wall 52c located behind the driver A so as to be movable in a direction parallel to the moving direction of the driver A. A part of the driver A56 is connected to the cam member A57,
Thus, the cam member A57 moves in the same direction as the driver A56 moves. The driver A56
Is formed with an overhang portion 56b.
The overhang 56b projects out of the case 52 so that it can be operated from outside. Below the cam member A57, a pair of gripping lever members 59 are provided so as to face each other, and are each swingably attached to the partition wall 52c via a longitudinal pin 59a. The pair of gripping lever members 59 are used for positioning the component outlet by closely gripping the vicinity of the component outlet of the lowermost stick among the plurality of stacked sticks 54 at its free end. is there.

As shown in FIG. 16 (a), a pair of cam holes 57a are formed at the lower end of the cam member A57, and a pin 59a projecting from the upper end of each gripping lever member 59 is provided with these cam holes. Five
7 is slidably fitted. That is, the grip lever member 59 is operated by reciprocating the cam member A57. However, the cam hole 57a is provided so that the gripping lever member 59 grips the stick 54 closely when the cam member A57 is at the upper movement limit position, and when the cam member A57 reaches the lower movement limit position. A member 59 is formed to drive the grip lever member 59 so as to completely release the grip of the stick 54.

A support lever member A61 is provided near the driver A56 so as to extend in the vertical direction. At its upper end, it is swingably attached to the case 52 via a pin 56a. The free end of the support lever member A61 is bent substantially at right angles toward the rear, and the bent portion 61a can be inserted into the second stick 54 following the above-mentioned lowermost stick, whereby The end of the third stick in the component outflow direction, that is, the front end is supported. As is clear from FIG. 16 (b), a cam hole 56d is formed at the lower end of the driver A56. A pin 61b projecting from the center of the support lever member A61 is swingably fitted into the cam hole 56d. That is, when the driver A56 reciprocates, the support lever member A61 swings. However, when the driver A56 is at the upper movement limit position, the cam hole 56d has a bent portion 61a of the support lever member A61 of two.
As if pulled out of the th stick 54, and
When the driver A56 is at the lower movement limit position,
1a is configured to drive the support lever member A61 so that it is completely inserted into the stick.

As is particularly clear from FIG. 15 (b), a substantially L-shaped lever member A62 is disposed behind the partition wall 52c, and the lever member A62 is turned to the case 52 by a pin 62a at the center thereof. It is movably mounted. Lever member
One end 62b formed on A62 and extending forward is pivotally attached to the driver A56 by a pin 62c. On the other hand, lever member A
A lever member B63, which is formed linearly and extends rearward, is disposed at the rear of 62. The front end of the lever member B is pivotally connected to the other end 62d of the lever member A62 by a pin 63a.

The lever member B63 extends to the rear of the partition wall 52d.
A lever member C65 formed in a T-shape is arranged behind the lever member B63, and is rotatably attached to the case 52 by a pin 65a at the center thereof. A first end 65b formed on the lever member C65 and extending upward is pivotally attached to the lever member B63 at the rear end by a pin 65c. A coil spring 66 is connected to the second end 65d of the lever member C65. Lever member C6
Numeral 5 is urged by the coil spring in the counterclockwise direction in FIG. 15B around the pin 65a.

A rectangular cam member is provided between the lever member C65 and the partition wall 52d.
B68 is arranged, and is movably attached to the case 52 via three pins 68a in the vertical direction (for example, in FIG. 15 (a)). A third end 65f formed on the lever member C65 and extending forward is pivotally attached to the upper end of the cam member B68 by a pin 68b. A support lever member B69 is disposed in the vicinity of the cam member B68 so as to extend in the vertical direction, and is swingably attached to the case 52 via a pin 68a at an upper end thereof. The free end, ie, the lower end, of the support lever member B69 is bent substantially at a right angle toward the front, and the bent portion 69a can support the rear end of the lowermost stick 54.

As shown in FIG. 16 (c), a cam hole 68d is formed at the lower end of the cam member B68, and a pin 69b projecting from the center of the support lever member B69 swings in the cam hole 68d. Fits freely. That is, the support lever member B69 swings as the cam member B68 reciprocates. The cam hole 68d is formed so that the bent portion 69a of the support lever member B69 completely supports the rear end of the lowermost stick 54 when the cam member B68 is at the upper movement limit position, and the cam member B68 is moved downward. The support lever member B69 is formed so as to drive the support lever member B69 so that the bent portion 69a is completely separated from the stick when the movement limit position is reached.

In front of the support lever member B69, another support lever member C71 extending in parallel with the support lever member B is provided, and swings at the upper end of the support lever member B71 via the pin 68a to the case 52. Mounted freely. The lower end, ie, the free end, of the support lever member C71 is bent forward, and the bent portion 71a can be inserted into the rear end opening of the second stick 54 described above.
The rear end of the third stick is adapted to be supported. As shown in FIG. 16 (c), another cam hole 68e is formed next to the cam hole 68d at the lower end of the cam member B68, and a pin protruding from the center of the support lever member C71 is formed. 71a is swingably fitted in the cam hole 68d. That is, when the cam member B68 reciprocates, the support lever member C71 is swung. However, the cam hole 68d is such that the bent portion 71a of the support lever member C71 is pulled out from the rear end opening of the second stick 54 when the cam member B68 is at the upper movement limit position, and The support lever member C71 is driven so that the bent portion 71a is completely inserted into the stick when the cam member B68 reaches the downward movement limit position.

Here, the first supporting means for detachably supporting the lowermost stick 54 by the pair of gripping lever members 59, the supporting lever member B69, and small peripheral members such as pins related thereto is provided. It is configured. The support lever member A61, the support lever member C71, and the peripheral small members related thereto constitute second support means for detachably supporting the second stick 54 described above. Further, the above-described driver A56, cam member A57, lever member A62, lever member B63, lever member C65,
By the coil spring 66, the cam member B68, and the peripheral small members related thereto, the first support means and the second
Drive means for driving the support means from outside the cassette between a support position for supporting the stick and a support release position for releasing the support is provided. The first support means moves from the support position to the support release position when the second support means moves from the support release position to the support position, and the first support means moves to the support position. The timing is set so that the second support means moves to the support release position when the second stick returns to the position of the second stick. The descent to the lower stage is performed. Further, when the second support means moves from the support position to the support release position, the mutual distance between the stick gripping surfaces of the pair of gripping lever members 59 included in the first support means is the thickness of the stick 54: t ( It is set to be slightly larger than (FIG. 15 (c)). With this configuration, the second stick released from the support by the first support means smoothly descends to the support position by the first support means, particularly, the density grip position by the grip lever member 59. It is.

As shown in FIGS. 14 and 15 (a) to (c), a shutter 73 capable of closing the component outlet of the lowermost stick 54 is provided in the case 52 of the stick cassette 44. ing. The shutter 73 is the front partition 52
extending vertically in the rear of c, and
It is movably attached to the partition 52c in the vertical direction via a pair of pins 73a (see FIG. 15 (b)). The shutter 73 closes the component outlet at its lower end 73b. As shown in FIGS. 15 (a) and (c), a shutter driver A7 is provided inside the case 52 and at the front end.
5 is arranged in parallel with the shutter 73, and the pin 7
It is movably attached to the partition wall 52c in the vertical direction via 5a. An overhang portion 75b is projected from an upper end portion of the shutter driver A75, and the overhang portion is connected to the shutter 73. That is, the shutter 73 moves in the same direction together with the shutter driver A by moving the shutter driver A75. The shutter driver A75 has another overhang portion 75d.
(See FIG. 15 (a)), and the overhang portion 75d projects out of the case 52 so that the shutter driver A can be operated from outside the case 52.

On the other hand, a pin 62a that rotatably supports the lever member A62 has another lever member D76 formed by bending in a U-shape like the lever member A rotatably at the center thereof. Installed. One end 76a formed on the lever member D76 and extending forward is in contact with the upper end of a pin 73c protruding from the side of the shutter 73. Lever member D76
Another shutter driver B77, which is formed linearly and extends rearward, is disposed at the rear of the shutter driver B. The front end of the shutter driver B is pivotally connected to the other end 76b of the lever member D76 by a pin 76c. I have.

The shutter driver B77 extends to the rear and outside of the case 52, and its rear end is located near the handle 52b. When activating the shutter driver B77, this can be performed with the thumb or the like of the hand holding the handle 52b.

Note that the shutter driver B77 is the shutter driver B
A bias force toward the outside of the case 52 is applied by a coil spring 78 (shown in FIG. 14) provided in the vicinity of the rear end. Further, a shutter 73 and a shutter driver A75 are provided by coil springs 7 arranged near them.
For example, the upward bias force in FIG. 15 (c) is applied by 9,80.

Next, a description will be given of an operating mechanism for operating the driver A56 for stick ejection and replacement provided on the stick cassette 44 and a driving mechanism for positioning the operating mechanism at a position corresponding to the selected stick cassette.

For example, as shown in FIGS. 11, 17, and 18,
Below the plurality of stick cassettes 44 arranged in parallel, a pair of guide shafts 83 extending parallel to each other in the direction in which the stick cassettes are arranged, that is, in the left-right direction, are arranged.
In addition, both ends are fixed to the support base 46. As shown in FIG. 19, sliders 84 are slidably mounted on these guide shafts. Second
As shown in FIG. 5 and FIG. 5, a pair of toothed belt wheels 85a and 85b are disposed near both ends of the above-described guide shaft 83, and these are attached to the support base. A toothed belt 86 is bridged between the both toothed belt wheels 85a and 85b, and a part of the toothed belt is connected to the slider 84. The right toothed belt wheel 85b is connected to an output shaft of a servo motor 87 disposed near the toothed belt wheel via another toothed belt 88. That is, the slider 84 reciprocates as the servomotor 87 rotates.

As is apparent from FIG. 18, the slider 84 has 3
The air cylinder mechanisms 90, 91 and 92 are arranged side by side in the left-right direction. On the other hand, as shown in FIGS. 11, 12, and 17, a support wall provided at the front end of the support base 46 is provided.
Along the front surface of 46a, forty pairs of operating lever members 94
And 95 are reciprocally movable. Each pair of these operating lever members 94 and 95 reacts with one of the 40 stick cassettes 44 provided. The upper end portion 94a of the left operating lever member 94 of the pair of operating lever members 94 and 95 can be brought into contact with the upper end portion of the overhang portion 56b of the stick discharge and replacement driver A56 provided in the stick cassette 44. It has become. Further, as is particularly clear from FIG. 20, the lower end 94b of the operating lever member 94 can be engaged with the relay members 90b, 91b fixed to the operating rods 90a, 91a of the air cylinder mechanisms 90 and 91. Has become. That is, when the operating rods 90a, 91a of the air cylinder mechanisms 90, 91 are pulled, the operating lever member 94 moves downward, whereby the driver A56 of the stick cassette 44 is operated, and the ejection and replacement of the stick is performed. That is how it is done. However, the air cylinder mechanism 90 is for moving the driver A56 to the lower movement limit position,
The operating rod 90a of the air cylinder mechanism has a large operating stroke. The operation stroke of the operation rod 90a is adjusted by a stroke adjustment screw 90c attached to the relay member 90b. In addition, when the second support means (described above) in the stick cassette 44 moves from the support position for supporting the stick (described above) to the support release position, the air cylinder mechanism 91 performs the first support means (described above).
Are set so that the mutual distance between the stick gripping surfaces of the pair of gripping lever members 59 included in the above is slightly larger than the thickness t of the stick 54 (shown in FIG. 15 (c)). For this reason, the operating rod 91a of the air cylinder mechanism 91
Is set smaller than the operation stroke of the operation rod 90a of the air cylinder mechanism 90.
The adjustment of the operating stroke of the operating rod 91a is also performed by a stroke adjusting screw 91c (shown in FIG. 20) of the same type as the stroke adjusting screw 90c for the operating rod 90a.

As shown in FIG. 12, another upper end portion 95a of the operating lever member 95 provided on the right side of the operating lever member 94 includes:
Shutter driver A7 provided on stick cassette 44
It is configured to be able to contact the upper end of the overhang 75d of No. 5.
Also, as is apparent from FIG. 20, this operating lever member
The lower end 95b of the 95 is connected to the operating rod 92a of the air cylinder mechanism 92.
And can be engaged with the relay member 92b fixed to the connector. That is, when the operating rod 92a of the air cylinder mechanism 92 is pulled, the operating lever member 95 moves downward, whereby the shutter driver A75 is operated,
The component outlet of the lowermost stick 54 in the stick cassette 44 is closed. The relay member 92
b and the two relay members 90b, 91b described above are arranged in a line in the moving direction of each air cylinder mechanism 90, 91, 92. The operation stroke of the operation rod 92a is adjusted by a stroke adjustment screw 92c attached to the relay member 92b.

As shown in FIG. 17, below the slider 84, three detection sensors 97 are juxtaposed along the moving direction of the slider 84, and a part of the support base 46 is provided via a bracket 97a. Each is attached. However, FIG. 17 shows only one detection sensor 97. One of these three detection sensors serves for left overrun, one for right overrun, and one for origin detection. By using each detection sensor 97, the slider
Positioning corresponding to each of the 84 stick cassettes 44 is performed by numerical control. At the lower end of the slider 84, a detection piece 84a that can pass through the detection slit 97b of each of the detection sensors 97 is fixed.

The slider 84, the air cylinder mechanisms 90, 91, and 92 including the relay members 90b, 91b, and 92b, and small peripheral members related thereto, are capable of reciprocating along the direction in which the plurality of stick cassettes 44 are juxtaposed. Driver A56 for stick discharge and replacement provided in the stick cassette 44
An actuating mechanism for actuating the. The malfunctioning mechanism is selected by the toothed belt wheels 85a and 85b, the toothed belt 86, the servomotor 87, the toothed belt 88, the detection sensor 97, and the peripheral small members related thereto. A drive mechanism for positioning at a position corresponding to the stick cassette 44 is configured.

As shown in FIG. 4, FIG. 10 and FIG.
Ten component guide members 100 are arranged on a line 46 in front of each stick cassette 44 in the left-right direction. The component guide member 100 is fixed to the support base 46 at the same inclination angle as the stick cassette 44.
As is clear from the above number (10), one component guide member 100 is provided for each of the four stick cassettes 44.

As is clear from FIGS. 21, 22, and 23, each of the component guide members 100 is provided with an electronic component 53 (see FIG. 15 (b)) sequentially flowing out of the four stick cassettes 44. There are formed four component supply paths 100a for supplying the component to the component gripping position. Each of these component supply paths 10
0a, that is, the right end in FIG.
It is inserted through an opening 46b formed in the support wall 46a shown in the drawing, further inserted into the component outlet of the stick cassette 44, and matched with the component outlet of the lowermost stick 54 in the stick cassette. ing. As shown in FIG. 21, each component supply path 100a has a straight portion 100b and a curved portion 100c, and the head of the curved portion is larger than the head of the straight portion 100b. The bottom surface of the curved portion 100c is inclined so as to be lower toward the center of curvature of the curved portion.

As shown in FIG. 24, an arm member 101 is disposed near the open end of each component supply path 100a formed in the component guide member 100, that is, near the end in the component supply direction.
One end is pivotally attached to the component guide member 100 via 01a. The free end of the arm member 101 is biased by a spring member 102 fitted on the pin 101a in a direction approaching the open end of the component supply path 100a. A part supply path 100 is provided at the free end of the arm member 101.
A stopper 103 is provided which abuts on the earliest one of the plurality of electronic components 53 supplied through a and stops the earliest component at a component gripping position by a chuck described later.
When the arm member 101 is swung by hand or the like so that the free end of the arm member is separated from the open end of the component supply path 100a, the stop positioning state of the electronic component 53 by the stopper 103 is released, and Electronic component 53 to component supply path 10
It can flow out from inside 0a at once.

Here, the stopper 103 is provided with a screw portion 103a, and the stopper 103 is provided with a nut 103b which is screwed into the free end of the arm member 101, and which is screwed to the screw portion. By tightening the arm member 101
Attached to. Therefore, by appropriately changing the tightening positions of these nuts 103b, the position of the stopper 103 is adjusted in the moving direction of the earliest electronic component. With this configuration, even when electronic components having different dimensions flow through one component supply path, the electronic components of each dimension can be accurately positioned at the component gripping position by the chuck and stopped. It is.

The above-described component guiding member 100, stopper 103, and peripheral small members related thereto constitute guide means for guiding the electronic components flowing out of the stick cassette 44 as a component source to the component gripping position of the chuck. I have.

Further, the guide means, the stick cassette 44, the fixing means for fixing the stick cassette to the support base 46 as a base, the operating mechanism including the air cylinder mechanisms 90, 91, 92, and the like, The above-described drive mechanism, which includes the attached belt 86 and moves the malfunction mechanism, and peripheral small members related thereto constitute a component supply means for sequentially supplying at least two types of electronic components.

Next, a description will be given of a chuck for gripping the electronic component supplied by the component supply unit, moving the electronic component in a predetermined direction, and attaching the electronic component to the work substrate 5 (first illustration).

As shown in FIGS. 2 to 4, on the work table 2 and in front of the support table 46, a housing 10 made of a steel plate or the like is provided.
7 are provided, and a frame 108 is provided in the housing. The frame 108 includes a pair of horizontal frames 109 and 110 extending in the left-right direction and vertically separated.

As is particularly clear from FIGS. 25 and 26, a boss 112 extending in the vertical direction is fixed to the lower horizontal frame 110. A total of ten bosses 112 are provided, each of which is arranged corresponding to the component guide member 100. A cylindrical shaft 113 is provided in each boss 112, and is rotatably attached to the boss 112 via a ball bearing 113a. At the lower ends of these shafts 113, brackets 114 are fixed. As is apparent from FIG. 27, the bracket 114 is formed so as to have a U-shaped cross section, and the chucks 117 are respectively arranged in the U-shape of each bracket. That is, the chuck 117 is rotatable about the center axis of the boss 112 as a fixed shaft. Also, the chuck 117
Is attached to the bracket 114 by a pin 118 so as to be swingable at its upper end and in a plane including the vertical center axis of the chuck. Lever on pin 118
Coil spring 119 is connected via 118a,
The chuck 117 uses the coil spring 119 to move the pin 11
For example, a clockwise bias in FIG. 26 centered at 8 is applied.

As shown in FIGS. 28 (a) to (e) and FIG. 29, the chuck 117 has a frame 121. A pin 121a projects from the center axis of the frame 121, and an outer casing wire 122 is connected to the pin 121a.
The pin 118 for swingably supporting the frame 121 is offset from the center axis of the frame by a distance: L, so that the outer casing wire 122 is pulled upward, so that the entire frame 121, and thus the entire chuck 117, is pulled. It swings about the pin 118 in the counterclockwise direction in FIG. The outer casing wire includes a flexible tube and a core wire inserted through the flexible tube, and refers to a wire rod for driving an object by operating the core wire.

A slider 124 is slidably provided in the frame 121 in the vertical direction. An outer casing wire 125 for driving the slider is provided at the upper end of the slider 124.
Are connected. A coil spring 126 for urging the slider downward is connected to the slider. A pair of claw members 128 for gripping the electronic component 53 are provided at the lower end of the slider 124 so as to face each other in the left-right direction, and swing between the gripping position and the non-grip position in the direction facing each other. At a substantially central portion for movement, it is swingably attached to the slider 124 via a pin 128a. Both claw members are urged toward the non-gripping position by a coil spring 129 interposed between the claw members. As shown in FIG. 29, a small slider 130 is slidably provided in the slider 124 within a predetermined range in the vertical direction. The slider 124 also includes a coil spring 132 for applying a downward biasing force to the small slider. An outer casing wire 133 for moving the small slider upward is connected to the small slider. On the other hand, the upper end of each claw member 128 is bent in a direction approaching each other, and a miniature ball bearing 134 rotatably and rotatably attached to the small slider 130 is provided on the opposing surfaces of the both bent portions. Is in contact. That is, when the outer casing wire 133 is pulled upward, the small slider 130 moves, whereby the pair of claw members 128 swing toward the above-described gripping position where the electronic component 53 is gripped. .

As shown in FIGS. 28 (b), (c), (d) and (e), a sub-frame 136 is attached to the left side surface of the frame 121 by screws 137. A pair of guide shafts 138 extending parallel to the front-rear direction and separated in the vertical direction are attached to the sub-frame 136. A pair of claw members 139 for gripping the electronic component 53 are slidably attached to the guide shaft 138. In other words, the two claw members 139 can grip the electronic component 53 in a direction perpendicular to the component gripping direction by the electronic component gripping claw member 128 described above. A pair of lever members F140 and G141 are provided on the left side surface of the sub-frame 136 so as to face each other in the left-right direction, and swing at the center of the sub-frame 136 via the pins 140a and 141a. Mounted freely. These lever members F140
Each upper end of the lever member G141 is a coil spring 143.
The upper ends of the lever members are biased by the coil spring 143 in a direction in which the lever members approach each other. The lower ends of the lever member F140 and the lever member G141 are pivotally attached to pins 139a protruding from the both claw members 139. A slider 144 extending in the up-down direction is disposed between the lever member F140 and the lever member G141, and
It is attached to the sub-frame 136 so as to be swingable in the vertical direction. An outer casing wire 145 for pulling the slider upward is connected to the upper end of the slider 144. As shown in FIG. 28 (c), a pin 144a protrudes from the lower end of the slider 144. The pin 144a is located near the upper end of the lever member G141 and faces the lever member F140. Can be engaged with the projection 141b protruding from the front end. The tip of the projection 141b can be engaged with a tapered portion 140b formed at the upper end of the lever member F140.
That is, when the outer casing wire 145 is pulled upward, the lever member F140 and the lever member G141 are caused to swing in a direction in which the lower end portions of the both lever members are close to each other, whereby the both claw members 139 are moved. The electronic component 53 is gripped.

Each of the above-mentioned chucks 117 is located at a position indicated by a solid line in FIG. 26, that is, a component attachment position at which the electronic component 53 is mounted on the substrate 5 (first illustration) to be worked, and a position indicated by a two-dot chain line in FIG. That is, it moves between the component supply area of the component supply means described above.

Next, any one of the above-described chucks 117 is
A description will be given of a positioning drive mechanism that drives the electronic component 53 in such a manner as to be positioned in the component supply area and the component mounting position and detached from the electronic component 53.

For example, as shown in FIG. 25 and FIG.
108 has a vertical frame 150 at the rear thereof, and a bracket 150a extending parallel to the horizontal frames 109 and 110 is attached to the front surface of the vertical frame. As is apparent from FIG. 26, a shaft 151 extending in the vertical direction is disposed behind the boss 112, and the bracket 150a
And the lower horizontal frame 110 is rotatably mounted at both ends thereof via ball bearings 152.
A toothed belt wheel 153 is rotatably attached to a substantially intermediate portion of the shaft 151 via a ball bearing 154.
Above the toothed belt wheel 153, an electromagnetic clutch 155 for transmitting the rotational force of the toothed belt wheel to the shaft 151 is provided. Another toothed pulley 157 is attached to the shaft 151 below the toothed pulley 153, and the toothed pulley 157 is fitted on a cylindrical shaft 113 rotatably mounted on the boss 112. Are connected by the toothed belt wheel 158 and the toothed belt 159. An electromagnetic brake 160 for stopping rotation of the shaft is provided at the lower end of the shaft 151.

As shown in FIG. 30, the right side of the bracket 150a,
At the center and left end of the bracket, a toothed belt wheel 163,
164, 165 and 166 are arranged respectively. A pair of toothed belt wheels 163 and 164, and a pair of toothed belts 165 and 165 are provided with a timing belt 167 as a timing belt. The toothed belt 167 is engaged with each of ten toothed belt wheels 153 arranged side by side. Further, another toothed belt is provided on the toothed belt wheels 164 and 165 provided at the center of the bracket 150a.
168 are erected. In the vicinity of the toothed belt wheel 163 disposed to the right of the bracket 150a, a pulse motor 169 (third
(Shown), and a toothed belt 171 is installed on the toothed belt wheel 170 and the toothed belt wheel 163 fitted to the output shaft of the pulse motor. That is, the pulse motor 1
By rotating 69, shaft 151, shaft 11
Third, the chuck 117 is designed to rotate. However, a total of ten electromagnetic clutches 155 provided at the upper end of each shaft 151 are alternatively provided with the toothed belt wheel 1
53 and, therefore, are engaged with the toothed belt 167. That is, the ten chucks 117 are driven one by one.

As shown in FIG. 26, the upper end of the shaft 113 supporting the chuck 117 has a disk member 174 coaxially with the shaft.
Is attached. As shown in FIG. 31 and FIG. 32, the main surface of the disk member 174 is formed with alternately long holes at regular intervals (for example, 90 °) in the circumferential direction of the disk member.
174a and a round hole 174b are formed concentrically. In the vicinity of the disk member 174, a pair of photosensors 175, 17 as a transducer that generates an electric signal corresponding to the long hole 174a and the round hole 174b as a predetermined shape change in cooperation with the disk member 174.
6 are located.

As is apparent from FIG. 32, when an angle between two straight lines connecting the same circumferential ends of the long hole 174a and the round hole 174b and the rotation center of the disk member 174 is α, the center of each optical axis of the photosensors 175 and 176 is determined. The angle between two straight lines connecting the rotation center of the disk member 174 to the center of rotation is also α. The diameter of the round hole 174b is small, and the photo sensor 176 can detect the rotation angle of the disk member 174 even if it is shifted by one pulse of the pulse motor 169. In addition, the long hole 174a is
However, the photo sensor 175 is turned on even if the pulse motor 169 is displaced in the counterclockwise direction by, for example, 5 pulses from the rotation angle position where the round hole 174b and the optical axis of the photo sensor 176 coincide.

FIG. 3, FIG. 4, FIG. 25 and FIG. 26, FIG. 33, FIG.
As is apparent from FIG. 34, one shaft 178 extending in the left-right direction is disposed on the horizontal frame 109 of the frame 108, and is rotatably mounted on the horizontal frame 109 via a bearing mechanism 179. Installed. As shown in FIGS. 3 and 4, this shaft 178 is driven to rotate by a three-phase induction motor 181 disposed at the lower end of the worktable 2 and via two toothed belts 182 and 183. . A total of eleven toothed belt wheels 184 are rotatably mounted on the shaft 178 at positions corresponding to the chucks 117 described above. However, the toothed belt wheel 184 on the leftmost side is for a rectangular-section wire rod mounting device which is erroneously described. On the right side of each toothed belt wheel 184, there is provided an electromagnetic clutch 18 for selectively transmitting the torque of the shaft 178 to each toothed belt wheel.
6 are provided. Further, another toothed belt wheel 187 is fixed to the left side surface of each toothed belt wheel 184.

Below the horizontal frame 109, each toothed belt wheel 1 described above
A total of ten toothed belt wheels 188 are arranged at positions corresponding to 84, respectively, and are rotatably attached to the frame 108 by pins 188a. The toothed belt wheel 184 and the toothed belt wheel 188 are connected by a toothed belt 189. Each of the toothed belt wheels 188 has a substantially disc-shaped cam member 1.
91 is mounted coaxially.

As is particularly clear from FIGS. 25 and 26, each cam member
Above 191 is a pair of lever members H192 and I19.
3 are arranged extending parallel to each other in the front-rear direction,
Also, at each rear end of the frame 1 via a pin 194.
It is attached to 08 to be able to swing freely. Each bar member
A ball bearing 195 as a cam follower is attached to the center of H192 and I193, and the ball bearing is in contact with the outer periphery of the cam member 191.

Near the free ends of the lever member H192 and the lever member I193, connecting pieces 192a and 193a are mounted, respectively. It is connected to. However, the right connecting piece 193a is connected to the outer casing wire 122, and the left connecting piece 192a
Is connected to the outer casing wire 125. Here, each connecting piece 192a and 193a is movable along the axial direction of each of the lever members H192 and I193.
The working stroke of each outer casing wire 122 and 125 may be adjusted. That is, each of the connecting pieces 192a and 193a functions as an adjusting mechanism for adjusting the operation stroke of the outer casing wires.

As shown in FIGS. 25 and 26, each lever member H1
Near the free ends of 92 and I193, a pair of air cylinder mechanisms 200 and 201 extending vertically are arranged. A pair of sliders 200a and 201a guided by a guide shaft 202 extending in a vertical direction is attached to an operating rod of each air cylinder mechanism. These sliders 200a and 201a are connected to outer casing wires 133 and 145 for driving the chuck 117 described above.
However, the right slider 201a is the outer casing wire 13.
The left slider 200a is connected to the outer casing wire 145.

4, 34 and 35, another toothed pulley 187 rotatably mounted on the shaft 178 together with the toothed pulley 184 is provided in front of the toothed pulley. Are connected by a toothed belt wheel 204 and a toothed belt 205 which are arranged at the same time. The rotating support shaft 206 of the toothed belt wheel 204 has seven disk members 207a, 207b, 207c, 207d, 207e, 207f and 2 having a predetermined shape change in the circumferential direction.
07g is fitted in a line. Seven photo sensors 208a, 208b, 208c, 208d, 208e, 208 corresponding to these disc members
f and 208g are provided. Each of these photosensors cooperates with each of the disk members 207a to 207g to generate an electric signal corresponding to the change in the predetermined shape to a control device described later. The photosensors 208a, 208b, and 208c are respectively used for inserting the electronic component 53 into the substrate 5 by the chuck 117, bending the terminals of the electronic component by a clinch device described later, and forming an anvil (described later) of the clinch device. This is for issuing a timing signal for vertical movement. Further, the photo sensors 208d, 208e and 208f respectively hold and release the electronic component 53 by the chuck 117, rotate the chuck to the component mounting position and rotate the anvil accompanying this, the component supply area of the chuck. This is for issuing a timing signal for turning to the right. In addition, the rightmost photo sensor 208g is the other photosensor 208g except for the disk member 207g.
This is for detecting the origin of the rotation angle of the disk members 207a to 207f.

The above-described boss 112, shaft 113, and bracket 114
, Coil spring 119 and outer casing wire 1
22,125,133,145, shaft 151,178, toothed belt wheel 1
53,157,158,163,164,165,166,170,184,187,188,204,
Electromagnetic clutch 155, toothed belt 159,167,168,171,182,1
83,189,205, electromagnetic brake 160, pulse motor 169
And disk members 174, 207a, 207b, 207c, 207d, 207e, 207f, 207g
And photo sensors 175, 176, 208a, 208b, 208c, 208d, 208e,
208f, 208g, 3-phase induction motor 181 and electromagnetic clutch 186
, A cam member 191, a lever member H192, and a lever member I19.
3, coil spring 197, air cylinder mechanism 200, 20
1 and the peripheral small members associated therewith, to position any one of the above-mentioned chucks 117 in the above-described component supply area and component mounting position, and to drive the electronic component 53 by detaching and mounting the same. A drive mechanism is configured. In addition, as is clear from the above explanation,
The positioning drive mechanism is provided with a plurality of component supply paths 10.
The chuck 117 is positioned at the open end of the component supply path selected from 0a (shown in FIG. 21). As shown in FIGS. 21 and 22, the open ends of the component supply paths are arranged on a spherical surface centered on the rotation center axis of the chuck 117.

Next, a clinch device for clinching the terminals of the electronic component 53 inserted into the substrate 5 will be described.

As shown in FIG. 3, the above-mentioned 10
A total of ten anvils 221 are arranged corresponding to each of the chucks, and
It is mounted to be rotatable about the same axis as the rotation center axis of 117. Although not shown, each anvil 22
1 is driven to rotate by a mechanism substantially similar to the mechanism for driving the chuck 117 as shown in FIG. Further, it is reciprocated vertically by another mechanism (not shown).

As shown in FIGS. 36 (a) to (c) and FIG. 37, the main body 221a of each anvil 221 has
A pair of lever members 222 for clinching, ie, bending, 3a (shown in FIG. 36) are provided facing each other. Each lever member 222 is attached to the main body 221a of the anvil 221 via a pin 222a at the center thereof so as to swing in the opposite direction.

The lower end of each lever member 222 is bent in a direction away from each other. In addition, both lever members clinch the terminals 53a of the electronic component 53 at the upper ends thereof. The angular position of each lever member 222 shown in FIG. 36 (b), that is, the position where the upper ends of both lever members are bound is referred to as the non-clinch position of the lever members. On the other hand, the angle position of the lever member when each upper end is opened and the terminal 53a of the electronic component 53 is clinched is referred to as a clinch position. Each lever member 222 swings between the clinch position and the non-clinch position. Each lever member 222 is urged toward the above-mentioned non-clinch position by a pair of spring members 222b fitted to the pins 222a.

The inside of the main body 221a of the anvil 221 is a so-called cylinder, into which a piston 223 is fitted. A drive rod 224 for pressing and driving a lower end portion of each lever member, that is, a bent portion, is attached to an upper surface of the piston 223 so that each lever member 222 swings toward the clinch position. Drive rod 2
A ball bearing 225 is attached to the upper end of 24, and the engagement between the upper end of the drive rod and the bent portion of the lever member 222 is smooth.

Ten anvils 221 including the lever members 222 and the like described above
A mechanism for rotationally driving each anvil, a mechanism for sending compressed air into a cylinder formed in the anvil, and peripheral small members associated therewith, and the like. A clinch device for clinching the terminal 53a of the electronic component 53 is provided.

Next, a description will be given of a mounting device for fitting a test terminal for checking a circuit provided on the substrate 5 into a hole formed in the substrate 5 for mounting. However, the test terminal is made of a rectangular cross-section wire.

As shown in FIG. 3, a part of the mounting device 228 is provided further to the left of the leftmost chuck 117 among the total of ten chucks 117, and is fixed to the frame 108 as a whole. .

38, 39, 40 (a) to (c) and FIG.
As shown in FIG. 41, the mounting device has a bracket 229 fixed to a frame 108 as a base. The slider 229 is movable on the bracket 229 in the vertical direction.
30 are installed. A pair of coil springs 231 for applying an upward biasing force to the slider 230 is connected to the slider 230. As is apparent from FIG. 42, a head portion 233 is swingably attached to the lower end of the slider 230 via a pair of cantilevered support shafts 234. The head portion 233 is provided with a test terminal 235 (third terminal) made of a rectangular cross-section wire having a predetermined length sequentially supplied from a supply unit described later.
9) for gripping the test terminal in a predetermined direction to fit it into a round hole (not shown) formed in the substrate 5 to be worked, the center axis of which is set to a slider.
It is attached to the slider so as to coincide with the moving direction of 230, that is, the vertical direction. The pair of support shafts 234 protrude from each other at positions symmetric with respect to the center axis of the head portion. That is, the head section 23
Reference numeral 3 denotes a test terminal 23 which is movable in the direction of the central axis and is swingable in a plane including the central axis.
5 is moved in the direction of the central axis and fitted into the substrate 5.

For example, as shown in FIG. 39, the head portion 233 is attached to the head portion 233 around the support shaft 234, for example, as shown in FIG.
The wire 236 for swinging and driving in the counterclockwise direction is connected. A coil spring 237 biasing clockwise in FIG. 40 (b) about the support shaft 234 is connected to the head portion 233. Wire 236 as described above
Has reached a control mechanism arranged above the head section 233 to control the head section. The control mechanism utilizes a part of the positioning drive mechanism (servo motor 181 or the like) for positioning and driving each of the chucks 117 described above, and includes a plurality of chuck positioning electromagnetic clutches 186 ( 3), the toothed belt wheel 184 provided at the leftmost side but further leftward,
It has electromagnetic clutches 186 and 186, a toothed belt wheel 187, and the like. In addition, the control mechanism operates these toothed belt wheels 184.
And a drive mechanism 239 (third illustration) having the same structure as the air cylinder mechanisms 200 and 201 and the lever members 192 and 193 shown in FIGS. 25 and 26. The above-mentioned wire 236 is pulled upward by this driving mechanism. That is, the control mechanism for controlling the head unit 233 is configured substantially in the same manner as a part of the positioning drive mechanism for the chuck 117.

For example, as shown in FIG. 39, another wire 241 is connected to the slider 230, and the control mechanism drives the slider, and thus the head unit 233, in the central axis direction of the head unit via the wire. . However, the wire 241 is connected to the slider 230 after being mounted on a pulley 242 that is rotatably provided on the bracket 229, so that the wire 241 is pulled upward to resist the biasing force of the coil spring 231. Thus, the head unit 233 moves downward.

For example, as shown in FIGS. 40 (a), (b) and FIG. 42, the lower end of the main body 233a of the head portion 233 and the test terminal 235 is held on the central axis of the head portion 233. A pair of claw members 243 are provided to face each other. Each claw member 243 is attached to the main body 233a of the head portion 233 via a pin 243a at the center thereof so as to swing in the opposite direction. A ball bearing 243b is attached to the upper end of each claw member 243. Each claw member grips the test terminal 235 at its lower end. The angular position of each claw member 243 shown in FIG.
The position where the lower ends of the claw members are closed is referred to as the terminal gripping position of the claw members. On the other hand, the angular position of the claw member when each of the lower ends is most open is referred to as a non-gripping position. Each claw member 243 swings between the terminal holding position and the non-holding position. Each claw member is urged toward the non-gripping position by a small coil spring (not shown).

The inside of the main body 233a of the head portion 233 is a so-called cylinder, into which a piston 245 is fitted. However, the cylinder is located on the central axis of the head section 233. Each claw member 2 is on the lower surface of the piston 245.
A drive rod 246 for pressing and driving the upper end of each claw member, that is, the portion of the ball bearing 243, is attached so that the 43 swings toward the terminal gripping position described above. The piston 245 is biased upward by a coil spring 247 provided in the cylinder.

As shown in FIG. 39, behind the head 230,
A roll 251 formed by spirally winding a long rectangular cross-section wire 250 is provided, and is rotatably supported by a support shaft 251a. A bracket 252 is fixedly provided in front of the roll, and five vertical guide pulleys 253 and five horizontal guide pulleys 254 are provided at the rear end and the center of the bracket, respectively. Further, guide members 255 and 256 are disposed behind and in front of the respective guide pulleys. As is apparent from FIG. 38, the outer peripheral surfaces of the vertical guide pulley 253 and the guide pulley 254 have V-shaped grooves 253a and 254 respectively engaging with the four ridges of the rectangular cross-section wire rod 250.
a is formed. Each V-shaped groove is formed by an inner wall having an angle equal to an angle formed by two surfaces forming each ridge of the rectangular cross-section wire rod 250. Also, the guide member 25
5 and 256 are formed with rectangular guide holes (not shown) slightly larger than the cross-sectional dimensions of the rectangular cross-section wire 250,
The rectangular cross-section wire is inserted through the guide hole.

A slider 259 is disposed at the front end of the bracket 252, and is attached to the bracket movably in the front-rear direction. A coil spring 260 for applying a rearward biasing force to the slider 259 is connected to the slider 259. Further, a wire 261a for driving the slider forward is connected to the slider 259. The wire 261a is connected to a drive mechanism 239 (third illustration) via a pulley 261b. As is apparent from FIG. 43, a pair of claw members 262 for gripping the rectangular cross-section wire 250 are provided at the front end of the slider 259 so as to face each other in the left-right direction. Each claw member 262 is pivoted in a direction opposite to each other by a pin 262a at a central portion thereof to move the slider 25
9 is attached. A ball bearing 262b is attached to the upper end of each claw member 262. Each claw member grips the rectangular cross-section wire rod 250 at its lower end. the 4th
The angular position of each claw member 262 shown in FIG. 3, that is, the position where the lower ends of both claw members are closed is referred to as the wire gripping position of the claw members. On the other hand, the angular position of the claw member when each of the lower ends is most open is referred to as a non-gripping position. Each claw member 262 swings between the wire holding position and the non-holding position. Each claw member 262 is urged toward the non-gripping position by a small coil spring 263 provided between each claw member.

A slide pin 264 is arranged between the two claw members 262, and is attached to the slider 259 so as to be vertically movable. The slide pin 264 is used to press and drive the upper end of each claw member, that is, the ball bearing 262b, with its upper end taper so that each claw member 262 swings toward the wire gripping position. Things. An outer casing wire 265 for pulling up the slide pin upward is connected to the upper end of the slide pin 264. This outer casing wire 265 is also pulled by the above-described drive mechanism 239 (third illustration).

The vertical guide pulley 253 and the horizontal guide pulley 254 described above
And guide members 255 and 256, slider 259, coil springs 260 and 263, claw member 262, slide pin 264,
With the peripheral small members related to these, the rectangular section wire rod
A feeding means for feeding the 250 at a predetermined length and at a fixed angle is provided. In addition, since the angle of the rectangular section wire 250 is adjusted by the vertical guide pulley 253 and the horizontal guide pulley 254, etc., accurate square adjustment is possible, and these guide pulleys are inexpensive, so that cost is reduced. Is cheaper.

As shown in FIGS. 38 and 39, a sub-bracket 268 is arranged on the wire feeding direction side of the above-mentioned feeding means, and is fixed to the bracket 252. No. 44
As is particularly clear from FIGS. (A) and (b), the sub-bracket 252 has a rectangular cross-section wire 2 fed by the feeding means.
A pair of cutters 270 for cutting 50 are attached. The pair of cutters 270 is fed with a square cross-section wire 2
50 are arranged so as to sandwich them from the left and right directions, and reciprocate in directions perpendicular to the feed direction of the rectangular cross-section wire rod 250, in this case, in opposite directions in the left and right directions. Note that both cutters 270 are provided with a biasing force in a direction separating from each other by a coil spring 271 provided in the cutters.

Above each cutter 270, a pair of lever members 272 are provided to face each other in the left-right direction. Each lever member 272 is attached to the sub-bracket 268 by a pin 272a at the center thereof so as to swing in the opposite direction. A ball bearing 272b is attached to the upper end of each lever member 272. In addition, the lower end of each lever member is attached to each of the cutters 270 with the pins 270a.
Has been pivoted through. That is, both cutter members 270 are rotated by the lever members 272 swinging in opposite directions.
Reciprocate in opposite directions. No.
The angular position of each lever member 272 shown in FIGS. 44 (a) and (b), that is, the position where both cutters 270 can cut the rectangular cross-section wire 250, is referred to as the wire cutting position of the lever member. On the other hand, the angular position of each lever member when the lower end of each lever member is opened most is referred to as a non-cutting position. Each lever member 272 swings between the wire cutting position and the non-cutting position.

A slide pin 274 is disposed between the lever members 272, and is attached to the sub-bracket 268 so as to be capable of reciprocating vertically. This slide pin 27
Reference numeral 4 denotes an upper end portion of each lever member, that is, a portion of the ball bearing 272b, which is pressed and driven by the upper end taper portion so that each lever member 272 swings toward the wire cutting position. A wire 275 for lifting the slide pin upward is connected to the upper end of the slide pin 274. The upper end of the wire 275 is connected to the drive mechanism 239 described above.
(Third illustration) and is pulled by the drive mechanism. In addition, as is clear from FIG.
Is biased downward by a small coil spring 277.

Here, the feeding means, the cutter 270 and the like constitute a feeding means for producing and supplying a square cross-section wire rod cut to a predetermined length, that is, a test terminal 235.

As shown in FIGS. 45 (a) and (b), the rectangular cross-section wire rod 250 has two cutters 2 in the diagonal direction of its cross section.
The angles are adjusted so that 70 are cut close to each other.
Therefore, as shown in FIGS. 46 (a) to (c),
The cross section at the end of the test terminal 235 obtained by cutting has two inclined surfaces 235a joined to each other on a diagonal surface of the terminal.

A control device including a microprocessor or the like is provided at a predetermined position of the component mounting device.

FIG. 47 shows the relationship between the control device 280 and the photosensors 208a to 208g also shown in FIG. As described above, the detection circuits 281 to 290 that supply a timing signal indicating the state of each chuck 117 to the control device 280 are configured by the photosensors 208a to 208g. Obviously, the total number of the detection circuits is ten in total. Power supply voltage is supplied through the relay switch rl ₁ ¹ and rl ₁ ² The detection circuit 281. In addition, the detection circuit 290
Is supplied with a power supply voltage via relay switches rl ₁₀ ¹ and rl ₁₀ ² , and the other detection circuits 282 to 289 are similarly supplied with voltages via relay switches. A total of 20 relay switches rl ₁ ¹ to rl ₁₀ ²
It relay coil RL ₁ not of the present by supplying a current to each of the RL _10, for example, a pair each on-state as rl ₁ ¹ and rl ₁ ^2. That is, each of the relay switches rl ₁ ¹ to rl ₁₀ ² is a selective power supply switch for selectively supplying a power supply voltage to the plurality of detection circuits 281 to 290. As described above, the timing signal generated from each of the detection circuits 281 to 290 is transmitted to the control device 280, and the control device operates the positioning drive mechanism 291 in response to the timing signal, and thereby the selected chuck 117 Are positioned and driven.

Next, the operation of the component mounting apparatus having the above-described configuration will be briefly described in accordance with the component mounting procedure with reference to FIGS. 48 to 52 (b).

When a command signal for mounting components is issued, one board 5 is pushed out onto the work table 2 by a predetermined amount from the upstream board magazine 7 shown in FIG. Next, the substrate moving mechanism 30 shown in FIG. 5 moves the extruded substrate 5 onto the movable rail mechanism 23 on the table 17. Then, the servo motor 21 and the servo motor 25 rotate, and the board is moved in the X-Y direction, and the test terminal is moved.
235 (eg, shown in FIG. 46) is conveyed directly below a mounting device 228 (third illustration) for mounting to the substrate.

Simultaneously with the operation of positioning the substrate 5 directly below the mounting device, the wire 236 shown in FIG. 39 is pulled and the head portion 233 of the mounting device is swung to a position where the test terminal supplied with the test terminal is gripped. Can be Thereafter, the piston 245 shown in FIG.
3 holds the test terminal 235. When the claw member 243 grips the test terminal, the wire 236 is loosened, and the head portion 233 returns to a position perpendicular to the main surface of the substrate 5. Here, the movement of the table 17 is completed, that is, the substrate 5
Check that positioning of is completed. If this is not completed, the routine waits without engaging the electromagnetic clutch 186. When the positioning of the substrate 5 is completed, the wire shown in FIG.
241 is pulled, and the test terminal 235 is fitted into a round hole (not shown) formed in the substrate 5. When the test terminal 235 is fitted, the grip state of the test terminal by the claw member 243 is released, and at the same time, the wire 241 is loosened. Thus, the fitting of the test terminals 235 into the substrate 5 is completed.

Next, the control device described above drives the table 17 and the movable rail mechanism 23 (see FIG. 5 and the like) again to start the movement of the substrate 5 directly below the desired chuck 117. Then, the control device selects the chuck and engages the electromagnetic clutch 155 corresponding to the selected chuck. Next, the electromagnetic clutch 186 (illustrated in FIG. 33) corresponding to the chuck is engaged. At this time, the shaft 178 has already rotated, whereby the seven disk members 207a to 207g shown in FIGS. 34 and 35 rotate. Then, first, the pulse motor 169 rotates by a desired amount, so that the bracket 1
The chuck 117 selected by rotating 14 is rotated so that the swingable direction of the chuck is backward, that is, the direction of the component guide member 100. When the chuck 117 is rotated by a predetermined angle, the above-described engagement state of the electromagnetic clutch 186 is temporarily released, and thereafter, the electromagnetic clutch 155 and the 31st
The rotation angle of the chuck 117 is accurately corrected by the disk member 174 and the pair of photosensors 175 and 176 shown in FIGS. Here, the rotation angle correction of the chuck 117 will be described in detail. The photo sensor 176 is for accurately determining the rotation angle position of the chuck 117, and the photo sensor 175 detects whether the chuck is displaced clockwise or counterclockwise from the regular position. It is for doing.

First, the control device 280 (shown in FIG. 47) checks whether the round hole 174b is aligned with the optical axis of the photosensor 176, that is, whether the photosensor 176 is on.
If the photo sensor 176 is on, the chuck 117
Is not corrected. Due to the backlash between the toothed belt 167 and the toothed belt wheel 153 for rotating the chuck 117, the chuck 117 is driven by the pulse motor 169.
For example, when the clock is shifted clockwise or counterclockwise in FIG. 32 by three pulses, the above-described control device confirms this direction by the photo sensor 175 and the long hole 174a. If it is shifted clockwise, the photosensor 175 is off, and if it is counterclockwise, the photosensor 176 is on. The control device thereby confirms the rotational direction deviation. When the direction of the rotational deviation is confirmed, the pulse motor 169 is rotated one pulse at a time in the direction to correct the deviation, and this is continued until the photosensor 176 is turned on.

When the rotation of the chuck 117 toward the component guide member 100 is completed, the electromagnetic clutch 186 is engaged again to
Each of the disk members 207a to 207g shown in FIG. 35 and FIG. 35 is rotated again. As a result, first, as shown in FIG. 26, the chuck 117 is swung rearward about the pin 118, and the claw member 128 of the chuck shown in FIG. Reach a position where you can. In addition,
The swing of the chuck 117 is performed, for example, by pulling the outer casing wire 122 shown in FIG. 28 (b). At this time, the claw member 128 is in the open state, that is, in the non-gripping position. Next, the outer casing wire 125 also shown in FIG. 28 (b) is loosened, the slider 124 protrudes toward the electronic component 53 by the urging force of the coil spring 126, and the claw member 128 reaches the electronic component gripping position. Further, the outer casing wire 133 for gripping the electronic component is pulled, and the electronic component 53 is gripped by the claw member 128. Thereafter, the outer casing wire 125 is pulled, the slider 124 is housed in the frame 121, and the wire 145 is pulled at this position, and the claw member 128 is moved by the claw member 139.
Gripping in a direction perpendicular to the gripping direction, that is, positioning. Further, the outer casing wire 122 is loosened, and the chuck 117 returns to the position shown by the solid line in FIG.

Next, the pulse motor 169 rotates by the desired amount, so that the bracket 114 rotates and the chuck 117 is rotated. At this time, the rotation of the anvil 221 shown in FIG. 36 is also performed at the same time.

Next, the outer casing wire 145 is loosened, and the gripping state of the electronic component 53 by the claw member 139 is released. Thereafter, the engagement state of the electromagnetic clutch 186 is temporarily released,
Electromagnetic clutch 155, disk member 174, photo sensors 175 and 1
Accurate rotation angle correction of the chuck is performed by 76. At the same time, it is confirmed that the movement of the table 17 to the desired position is completed. If the movement has not been completed, wait for the movement to be completed.

Then, the ascent operation of the anvil 221 shown in FIG. 36 is performed. At the same time, the outer casing wire 125 is loosened, and the slider 124 projects in the direction approaching the substrate 5,
As shown in FIG. 36 (b), the terminal 53a of the electronic component 53
Are fitted into terminal holes (not shown) of the substrate 5. Thereafter, the terminal 53a of the electronic component 53 is clinched by the anvil 221 as shown in FIG. Next, the outer casing wire 133 is loosened, the gripping state of the electronic component 53 by the claw member 128 is released, and the electronic component is attached to the board 5. Thereafter, the anvil 221 is lowered, the engagement state of the electromagnetic clutch 186 is released, and the rotation of the disk members 207a to 207g shown in FIG. 35 and the like is stopped. However, at this time, the rightmost disk member 20 of the respective disk members
By 7g, each disk member is stopped at its origin position.

Thereafter, the above operation is repeated for each electronic component.

The board 5 on which all the electronic components are mounted is conveyed to, for example, the vicinity of the downstream fixed rail mechanism 12 shown in FIG. It is stored in the magazine 7.

Thereafter, the above operation is repeated for each board, and accordingly, the elevator mechanisms 8, 9 shown in FIG.

Next, the ejection and replacement of the sticks 54 stacked and stored in the stick cassette 44 as the component source shown in FIG. 14, for example, will be described.

When all the electronic components 53 have flowed out of the lowermost stick among the plurality of stacked sticks 54 and the sticks are empty, the above-described control device detects this by the predetermined detecting means, and The slider 84 shown in the figure is moved to a position corresponding to the stick cassette 44 containing the stick. Thereafter, for example, the air cylinder mechanisms 90 to 92 shown in FIG. 18 operate. As a result, the shutter 73 shown in FIG. 15 is closed, and at the same time, as shown in FIGS. 49 (a) to (d) and FIGS. 50 (a) to 52 (b), A discharge exchange is performed.

The rotation angle correction of the chuck 117 described above does not include a large number of holes such as the long hole 174a and the round hole 174b in the disk member 174 (FIGS. 31 and 32). It is also possible to provide only the hole 174c (shown in FIG. 32). The rotation angle correction in this case will be described.

First, the control device 280 (described above) causes the disk member 174, and thus the chuck 117, to drive the photosensor 17 by the pulse motor 169.
6 or at high speed in the counterclockwise direction until the hole 174c coincides with the optical axis of the photo sensor 175. For example, when the hole 174c coincides with the optical axis of the photosensor 176 and the photosensor is turned on, the disk member 174 is stopped. However, even if the pulse motor 169 is stopped immediately after the photo sensor 176 is turned on, the stop position of the chuck 117 is shifted from the normal rotation angle position by several pulses due to the operation delay of the driving force transmission system and the inertial force. . Therefore, the pulse motor 169 is rotated one pulse at a time in a direction to correct the deviation, and this is continued until the photosensor 176 is turned on again. Also, when the hole 174c coincides with the optical axis of the photo sensor 175 due to the above-described high-speed rotation in the counterclockwise direction,
The control device 280 rotates the disk member 174 in the clockwise direction by a predetermined angle, that is, an angle larger by several pulses than the separation angle between the photo sensors 175 and 176. Thereafter, the above procedure is repeated to correct the rotation angle.

As described in detail above, in the component mounting apparatus according to the present invention, the first support means for detachably supporting the lowermost stick (54) in the stick cassette (44), and the lowermost stick Second support means for detachably supporting a second stick following the first step, and a cassette release position for supporting the first support means and the second support means between a support position for supporting the stick and a support release position for releasing the support. And a driving means including a driving element (56) for driving.
The first support means moves from the support position to the support release position when the support means moves from the support release position to the support position, and the second support means moves when the first support means returns to the support position.
The support means moves to the support release position.

As described above, since the exchange mechanism for ejecting and exchanging the stick is internally provided in the stick cassette body, the entire stick cassette can be made compact, and a large number of stick cassettes can be arranged in a narrow space. This improves the efficiency of parts supply.

Further, in the component mounting apparatus according to the present invention, the stick replacement driver (56) is provided so as to be reciprocally movable along the direction in which the plurality of stick cassettes are arranged.
Operating mechanism (air cylinder mechanism 90, 9
1,92 etc.) and a drive mechanism (toothed belt) for positioning the operating mechanism at a position corresponding to the selected stick cassette.
86 etc.). Therefore, the cost is lower than that of the component mounting device in which a plurality of operating mechanisms for operating the replacement mechanism for performing the stick replacement are individually provided corresponding to the respective stick cassettes, and the entire component mounting device is provided. This makes it easier to reduce the size.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of the entire component mounting apparatus according to the present invention, FIG. 2 is a plan view of the entire component mounting apparatus, and FIGS. 3 and 4 show the internal structure of a main part of the component mounting apparatus. FIGS. 5 and 6 are a plan view and a front view, respectively, of the working table, FIGS. 7 to 44 (a) and (b) are partial detailed views of the internal structure, and FIGS. FIGS. 46 (a) and 46 (b) show a cutting state of a rectangular cross-section wire rod, and FIGS. 46 (a) to 46 (c) are plan views, front views and side views of test terminals, respectively.
FIG. 47 is a block diagram showing the input / output switching function of the control system of the component mounting device, and FIGS. 48 to 52 (a) and (b) are diagrams for explaining the operation of the component mounting device. Description of reference numerals of main parts 1 ... part mounting device 2 ... work table 3 ... substrate supply device 4 ... substrate recovery device 5 ... substrate 7 ... substrate magazine 8,9 ... elevator mechanism 11,12 ... Fixed rail mechanism 14,15,33,83,138,202 …… Guide shaft 15b, 18a, 18b, 27,85a, 85b, 153,157,158,163,164,165,16
6,170,184,187,188,204 ... Toothed belt wheel 17 ... Table 19,20a, 20b, 26a, 26b, 86,88,159,167,168,171,182,183,1
89,205… Toothed belt 21,25,87… Servo motor 23… Movable rail mechanism 30,31… Substrate moving mechanism 33c, 90,91,92,200,201 …… Air cylinder mechanism 34,84,124,144,200a, 201a, 230,259… ... Slider 35,128,139,243,262 ... Claw member 37,236,241,275 ... Wire 39 ... Reversible motor 40 ... Drive pulley 42a, 42b, 42c ... Sensor 44 ... Stick cassette 46 ... Support base 46a ... Support wall 47 ... Guide rail 48, 49 Positioning pin 52 Case 52a, 52b Handle 53 Electronic component 53a Terminal 54 Stick 56 Driver A 57 Cam member A 59 Grip lever member 61 ... Support lever member A 62 ... Lever member A 63 ... Lever member B 65 ... Lever member C 66,78,79,80,119,126,129,132,143,197,231,237,247,26
0,263,271,27 Coil spring 68 Cam member B 69 Support lever member B 71 Support lever member C 73 Shutter 75 Shutter driver A 76 Lever member D 90b, 91b, 92b … Relay member 77… Shutter driver B 94,95… Operation lever member 97… Detection sensor 100… Component guide member 100a… Component supply path 100b… Linear portion 100c… Bending portion 101… Arm member 102 Spring member 103 Stopper 107 Housing 108 Frame 109, 110 Horizontal frame 112 Boss 113, 151, 178 Shaft 114, 229, 252 Bracket 117 Chuck 121 Frame 122, 125, 133, 145, 265 Outer casing wire 130 … Small slider 136 …… Sub frame 140 …… Lever member F 141 …… Lever member G 150 …… Vertical frame 155,186 …… Electromagnetic clutch 160 …… Electromagnetic brake 169 …… Pulse motor 174,207a, 207b, 207c, 207d, 207e, 207f, 207g Disc member 174a Slot 174b Round hole 174c Hole 175, 176, 208a, 208b, 208c, 208d, 208e, 208f, 208g Photo sensor 179 Bearing mechanism 181 Three-phase induction motor 191 Cam member 192 Lever member H 192a, 193a Connecting piece 193 Lever member I 206 Rotating support shaft 221 Anvil 222 Lever member 223,245 Piston 224, 246 Drive rod 228 Mounting device 233 Head 234 Cantilever support shaft 235 Test terminal 235a Slope 239 Drive mechanism 250 Square wire 253 Vertical guide pulley 253a, 254a V-groove 254 Horizontal guide pulley 255, 256 Guide member 264, 274 Slide pin 268 Sub-bracket 270 Cutter 272 Lever member 280 Controller 281, 282, 283, 284, 285, 286, 287, 288, 289, 290 Detection circuit 291 … Positioning drive mechanism

Claims (1)

(57) [Claims] 1. A component supply means for supplying a component, a chuck for gripping the supplied component, moving the component in a predetermined direction, and attaching the component to a work target, and a positioning drive mechanism for positioning and driving the chuck. Wherein the component supply means includes a plurality of longitudinal stick cassettes which can stack and store a plurality of longitudinal sticks each holding a plurality of components and are arranged side by side, wherein the stick cassette is a lowermost stick. First support means for detachably supporting the second stick, second support means for detachably supporting a second stick following the lowermost stick, and sticks for the first support means and the second support means. A drive unit including a driver for driving from outside the cassette between a support position and a support release position for releasing the support, wherein the second support means is configured to release the support. The first support means moves from the support position to the support release position when the first support means moves from the support position to the support position, and the second support means moves to the support release position when the first support means returns to the support position. And an operating mechanism for reciprocating along the direction in which the plurality of stick cassettes are juxtaposed to operate the driver, and the operating mechanism corresponds to the selected stick cassette. A component mounting device comprising: a drive mechanism for positioning the component at a position.