JP2813341B2 - Electronic component mounting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
An electronic device that is positioned and electronic components are mounted on a substrate
The present invention relates to a component mounting device. [0002] 2. Description of the Related Art Devices for mounting electronic components on a substrate include:
There are various schemes. Among them, the device of the same type as the present invention
This is disclosed in JP-A-55-24491. [0003] This conventional electronic component mounting apparatus uses an intermittent rotation.
A large number of mounting heads are arranged on the lower surface of the table
Suction of electronic components sent from the supply unit to the mounting head
Then, at the next station, the electrons adsorbed on the mounting head
Parts can be separated from four sides by using multiple claws by mechanical mechanism
Electronic components positioned and positioned at the next station
Was mounted on a substrate. [0004] SUMMARY OF THE INVENTION A mechanical machine
When positioning electronic components in a structure, the burr of electronic components
If there is a shape defect in the taper of the mold,
Troubles such as poor positioning, dropping or breakage of electronic components
May occur. In addition, ceramic components such as chip resistors are used.
Positioning pawls are extremely worn and regularly changed and adjusted
is required. Also, for electronic components with different shapes
Is not compatible with the same nail, so replace the nail each time
A lot of time is wasted. The mounting head has a rotating function.
And one rotation drive source for many mounting heads
Therefore, when changing the mounting position of components, all mounting heads
Electronic components are now being mounted on the board
Can be changed according to the posture of electronic components
You. Therefore, when positioning electronic components,
Direction will be in various directions, positioning of electronic components
Becomes very difficult, and productivity is reduced. Also, generally, a feed mechanism for taping parts.
Are specialized for the type of tape,
Change the mounting pattern even if the feed pitch is the same
Each time (the cross-sectional shape is different),
The inconvenience of having to replace
is there. An object of the present invention is to provide an electronic device in view of the above prior art.
Enables accurate positioning without dropping or breaking child parts
Electronic components that can improve productivity
It is to provide a mounting device. [0009] Means for Solving the Problems To achieve the above object,
In the present invention, a component supply unit for supplying an electronic component
When,It can rotate about a vertical axis of rotation.
Mounting with a suction head at the end for sucking the electronic component
The electronic component is mounted by the head and the suction head.
An XY table for positioning the position of the substrate to be
The position where the attachment head sucks the electronic component and the suction head
A position different from the mounting device that mounts the sucked electronic components on the board
Optical position of the electronic component sucked by the suction head
Visually recognizing unit and image processing of the visual recognizing unit
And extracting a corner portion of the electronic component.
Deviation of the position and direction of the electronic component from the position data
Calculating the relative position and direction of the electronic component and the substrate.
Attitude correcting means for correcting at least one of the electronic part and the electronic part
Product adsorption, visual recognition, posture correction and mounting on the board
Control means for controlling the operation to be performed. In addition,
Extract the corners of the electronic component and position data of the corners
Calculating a first shift in the position and direction of the electronic component from
The second position caused by correcting the displacement in the first direction
Correction of the electronic component by adding the displacement to the first displacement
Amount. [0010] BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
Will be explained. First, FIG. 1 is an electronic component mounting apparatus according to the present invention.
FIG. In the same figure, the section A is a mounting head section.
The table 70 is attached to the lower end of the hollow main shaft.
The table 70 has a plurality of suction
A pad 54 is attached. Part B is taped
Supply of electronic components that are transported below the suction head 54
Department. Part C is the XY direction of the board on which the electronic components are mounted.
And the position under the suction head 54.
An XY table for arranging a substrate at one of the predetermined positions.
You. Section D is a substrate supply section. Section E is the suction head 5
4 for optically monitoring the attitude of electronic components adsorbed on
It is a visual recognition unit. These parts A to E are mounted on a housing 10.
Have been. In addition, as shown in FIG.
Control device (separate housing), image input processing unit, drive system (housing 10
). In the substrate supply unit D, the conveyor 191
The board 8 on which electronic components are mounted is transported to the board supply unit.
XY table C from conveyor 191 with chuck D 'of D
Transferred to the substrate holder. This substrate 8 is an XY table C
Is transported to the lower portion of the mounting head section A by the
Electronic components are sequentially mounted by A. Complete mounting of electronic components
After that, the substrate 8 is again supplied from the XY table C to the substrate supply section D.
And transferred to conveyor 201 by chuck D #
And sent to the next step. On the other hand, the electric
The child component is taped to the component supply
And is stored around the component supply unit B.
Conveyed to just below suction head 54 by tape feed pin
Then, the suction head 54 descends and sucks it to take it up.
You. Next, the suction head 54 is attached to the index unit 1.
Rotated intermittently by 2 and sent to the visual recognition unit E
You. In the visual recognition unit E, the position (absorption) of the electronic component is
Position deviation with respect to the landing head 54)
(ΔX, ΔY, Δθ) is fed back to the controller.
You. [0013] The control device is provided with a program instructed in advance.
Therefore, the position on the substrate 8 where electronic components should be mounted is determined by the mounting position.
Data to be moved to the XY table C
Command. At this time, the electronic component from the visual recognition unit E
Movement data taking into account displacement data (ΔX, ΔY, Δθ)
Data as the command value. XY table based on this command
Le C moves. The suction head 54 is again moved to the index unit.
Unit 12 feeds the electronic part immediately above the substrate 8.
The goods are transported. At this point, the suction head 54 descends,
The child component is mounted on the board 8. Repeat the above steps to
The child component is mounted on the board 8. Hereinafter, each part will be described in more detail. (Regarding Mounting Head A) FIG.
5, FIG. 5 is a view taken along line AA of FIG. 4, and FIG. 6 is a mounting head.
FIG. 7 is a BB cross-sectional view of FIG. 6, and FIG.
It is a CC sectional view similarly. 4 and 5, on the column 11
The index device 12 is fixed. index
The device 12 has a timing pulley 15
If continuous rotation is given via the
The shaft 30 (see FIG. 6) is driven intermittently to rotate. Figure
In 6, the main shaft 34 is fixed to the output shaft 30 with bolts 35
The table 70 is fixed to the lower end of the main shaft 34.
You. The electronic component 1 (see FIG.
2) A mechanism including a suction head 54 for sucking
Are arranged. The center of the main shaft 34 is hollow.
Suction head rotating shaft 72 and suction head
The rotating shaft 55 is doubled, and the main shaft 34 and the suction head
Rotating shaft 72, suction head rotating shaft 72, and suction head
A gap is provided between the rotation shafts 55, and the three
Axes work independently. The outside of the lower end of the suction head rotating shaft 72 is bare.
The gear 66 is fixed to the lower end
I have. The lower end of the suction head rotating shaft 55 is a bush.
64 is rotatably supported, and a gear 67 is provided at the lowermost end.
It is fixed by a socket 65. Also, the suction head rotating shaft 5
5, a gear 56 is fixed to the upper end of the
A gear 59 fixed to a shaft 60 and a timing belt 58
Are connected by On the other hand, the same applies to the upper end of the suction head rotating shaft 72.
Gear 57 is fixed and connected to the timing belt 61
And is interlocked with the pulse motor 63. Note that the index
Output device 30 has a hollow portion from the upper end to the lower end.
This hollow portion is inserted through the suction head rotating shaft 72.
And the suction head rotating shaft 55 passes through. The nozzle holder 43 is guided by a guide 44.
Vertical movement and rotation are freely held. In addition, nozzle nozzle
The rudder 43 is slidably engaged with the bush 52 up and down.
However, the rotation direction is regulated by the key 51. Bush
The shaft 52 rotates through the table 70 and the bearing 50.
It is kept in existence. Gears on the lower outside of the bush 52
53a is fixed. Further, the nozzle holder 4
The compression spring 47 is incorporated in the flange portion of No. 3,
The chil holder 43 is always urged upward.
A compression spring 49 is provided in the hollow portion 48 of the nozzle holder 43.
Is incorporated, and the upper end of the suction nozzle 54a is always
It is pushing down. The suction nozzle 54a is located inside the nozzle holder 43.
Slide up and down freely. The guide 44 is
Cable 70. The gear 53a is a gear 6
6, the rotation of the pulse motor 63 is blocked.
Through the nozzle 52 and the nozzle holder 43
a of the pulse motor 63
An arbitrary rotation angle can be obtained by rotation. Next, a vacuum circuit for adsorbing parts is provided.
The configuration will be described. A groove 36a is provided on the outer periphery of the main shaft 34.
A vertical hole connected to this groove 36a with a wheel 36d cut out
38a is cut below the main shaft 34 (see FIG. 7).
From the position past the lower end of the seal ring 31
It has escaped to the outer periphery of the shaft 34. The seal ring 31
Secured to the frame of the index device 12 by the bolt 32
The inner diameter is rotatably in contact with the main shaft 34.
Therefore, the outer diameter of the main shaft 34 and the inner diameter of the seal ring 31
Has a slight gap to prevent vacuum air leakage
Therefore, the O-ring 37 is mounted on the main shaft 34 side. On the other hand, on the upper outer peripheral portion of the nozzle holder 43,
Is provided with a groove 45, and a hollow portion 48 is formed from a part of the groove 45.
Through the horizontal hole 46 and the pipe 40 at a position corresponding to the groove 45.
a is connected to one end. The other end of the pipe 40a is the main shaft 3.
4 are connected to the vertical hole 38a. This allows the nipple
Connecting 33a to a vacuum pump (not shown)
Groove 36a, vertical hole 38a, pipe 40a, horizontal hole 4
6, through the groove 45, the hollow portion 48, the suction nozzle 54a
An empty circuit is formed, and electronic components are provided at the tip of the suction nozzle 54a.
1 can be adsorbed. Suction noise at the time of suction and mounting of electronic component 1
The vertical movement of the levers 54a to 54d is performed by the pressing levers 22a to 22d.
2b swings and pushes the cap 42 with the cam follower 41a.
Lower the suction nozzle 54a together with the nozzle holder 43.
It is performed by lowering. When ascending, pressurize lever
Oscillating the compression spring 47
The suction nozzle 54a together with the nozzle holder 43
Push up. The operation of the pressure lever 22a is described in FIGS.
As shown in FIG. 5, the operation is performed by the cams 17a and 17b. Addition
The pressure lever 22a is fixed to the shaft 21a, and the shaft 21a is
It is rotatably supported by the bracket 20a. Shaft 21
a is fixed to the lever 19a, and the lever 19a is
The bar 25a is rotatably connected by a rod 18a.
You. Also, a cap fixed to the other end of the lever 25a is provided.
The mu follower 26a is always connected to the cam 1 by the tension spring 28a.
7a. As a result, the displacement of the cam 17a is increased.
The pressure is transmitted to the pressure lever 22a, and the suction nozzles 54a to 54d
Up and down to pick up and mount electronic components (vacuum when mounting)
(The source is turned off and released to the atmosphere). The suction mechanism including the suction head 54 has a 90 ° pitch.
Four are arranged on the table with switches. Each gear 66
It is engaged with the opposing gears 53a and 53b. tooth
The wheel 67 changes its 90 ° position and engages with the gears 53c and 53d.
ing. Also, as shown in FIG.
Position and the mounting position are set at 18
It is arranged at a position facing 0 °. Therefore, the adsorption noise
After mounting the electronic component on the board 8 after sucking the electronic component with the
The required amount of rotation of the pulse motor 63 to mount the electronic components
Is changed, the other suction nozzle 54a is also moved by the same amount.
Rotate. However, the suction nozzle 54a has already
Since there are no child parts, it is irrelevant to the rotation angle (it is already mounted)
Becomes That is, two gears 6 are provided on the lower surface of the table 70.
6 and 67, gears 53a and 53b facing each other
With the gear 66, and the gears 53c and 53d with the gear 6
7 and sequentially driven by two pulse motors 63 and 60.
By giving a rotation angle to an electronic component,
Mounting of required electronic components without accumulation of rotation angle
The power can be controlled arbitrarily. In the component mounting section constructed as described above,
The timing belt 16 shown in FIG.
Via the shaft 15 and the input shaft 13 to the main shaft 34 shown in FIG.
An intermittent rotation force is applied, and the table 70 rotates intermittently.
Turn over. The rotation of the table 70 causes the suction nozzle 5
4a to 54d revolve. On the other hand, the hollow suction head rotating shaft 72 is
Pulse motors 63 and 60 are provided via the
Thereby, the suction nozzles 54a to 54d rotate. This adsorption
Electronic components sucked by the rotation of the nozzles 54a to 54d
Rotate to adjust the posture. Also, electronic components are sucked from the component supply section B.
When mounting electronic components on a board,
a, 17b, the suction nozzle
This is performed by pressing down 54a to 54d. Also, the component supply unit B
The transfer of the electronic component from the suction nozzle 54a to the substrate 8 is performed.
This is performed by the orbit of 54d. Thus, the suction nozzles 54a to 54d
Supply of parts by a combination of revolving, rotating, and vertical movement
The electronic component supplied to the section B is sucked and the electronic component is sucked.
Adjust the posture and mount on the board. (Regarding the part supply unit B)
The feeding section B will be described. Figure 2 shows the outside of the taping part
It is a view. As shown in FIG.
'Is stored in the tape 2 on which the tape reel 3 is formed.
It is wound. FIG. 9 is a side view of the component supply unit, and FIG.
FIG. 11 is a view taken along the line DD in FIG. 9, and FIG.
FIG. 12 is a sectional view taken along a line B ′ in FIG.
3 to FIG. 15 are operation process diagrams of FIG. In FIG. 9, a tape 2 is a tape reel.
3 are set on the reel support 82. Reel support 82
Is fixed to the base 80 via a bar 81. The
The tape 2 from the tape reel 3 to the part supply table B '
It is pulled out to a predetermined position. As shown in FIG. 10, the component supply table B '
Has a structure capable of supplying a plurality of (8 in this example) tapes
Are fixed to the brackets 113 and 114.
Slidably supported on the two guide bars 103
I have. A rack 88 is provided below the component supply table B '.
It is fixed with bolts 132 (see FIG. 12). The bracket 155 is fixed to the base 80.
And a pinion 87 engaged with the rack 88 is rotatably supported.
I have The bracket 155 is fixed to the base 80.
And supports the motor 85. Pinion 87 and motor
85 is connected via a coupling 86. this
Therefore, the rotation of the motor 85 causes the pinion 87 and the rack 8 to rotate.
8, the component supply table B 'has two guide bars.
103 can be moved to any position as a guide,
As a result, the electronic component 1 to be subsequently sucked and mounted is sucked.
Is moved to a position directly below the pad 54. Next, the feeding mechanism of the tape 2 will be described.
I do. As shown in FIG.
1 through the predetermined groove 121a.
It is arranged so as to be directly below the suction nozzle 54b. roller
124a to 124c are pins 153 on the bracket 152.
Freely rotatable on lever 125 rotatably supported via
It is supported by. One end of the tension spring 154 is the lever 1
25, the other end is fixed to a bolt 156, and the lever 1 is always
25 presses the tape 2 by the rollers 124a to 124c.
To prevent the tape 2 from floating from the groove 121a.
I have. A pin-shaped projection 1 engaging with the feed hole 2 '
34 and a pin-shaped member of the same shape.
The feed drive member 150 to which the projection 140 is fixed is
The two pins 140 and 134 are inserted into the feed holes 2 ′ of the tape 2.
It is fixed to match the pitch. The pins 140,
The number of 134 can be set arbitrarily. Also, the feed locking member 1
35 and the feed driving member 150 are not necessarily formed in the same shape.
You may not. In order to guide these members up and down,
The main body is formed in a columnar shape, and a cylindrical
Guides 133 and 149 are provided. On the other hand, the arm 126 is fixed to the table 131.
And the guide 13 externally fitted to the feed lock member 135
3 is fixed to this arm 126. This allows feed lock
The member 135 is reciprocally slid in the vertical direction with respect to the tape 2.
You will be guided to the location. Tape feed to the arm 126
The slider 147 is slidable in the direction (XX 'direction).
Guide 1 supported and externally fitted to the feed drive member 150
49 is fixed to the slider 147. With this
The drive member 150 is slidable vertically with respect to the tape 2.
And in the tape feed direction (XX 'direction),
It can slide with the slider 147. The bracket part is attached to the slider 147 described above.
The pin 143 is formed and fixed, and this pin 143 is used as a fulcrum.
And rotatably support a lever 145 configured in a T-shape
I do. Slots 141 and 1 are provided at both ends of the long side of the lever 145.
46, and these elongated holes and the feed locking member 13 are provided.
5. Connect the feed drive member 150 to the pin and the slot, respectively.
You. Thereby, the tip of the vertical side of the lever 145 is moved in the X direction.
When the force in the direction X and the force in the direction X ′ are alternately applied, the lever 1
Numeral 45 denotes a slider 14 reciprocatingly rotating around the pin 143.
7 and reciprocally slide in the XX 'direction. The feed is locked by the rotation of the lever 145.
The member 135 and the feed drive member 150 alternately slide up and down
The pins 134 and 140 fixed to the upper end
The tape 2 is inserted into and removed from the feed hole. Also, the lever 145
Reciprocate parallel movement in the XX 'direction with the slider 147
Can be squeezed. 144, 144 'are the levers 145 described above.
It is a stopper bolt for regulating the rotation angle. This
Adjust the rotation angle of lever 145 with topper bolt
And the pins 134 and 140 respectively feed the tape 2.
The depth of engagement with the hole may be adjusted. The slider 147 slides in the XX 'direction.
Notches 148 are formed in the slider 147 to restrict the
And a ball is formed in the notch groove 148.
Stroke adjustment of structure to press 136 with spring 137
The means 138 is fixed to the arm 126. This stroke
The adjusting means 138 elastically adjusts the position of the slider 147.
Stops and receives a force greater than the locking force.
Allow sliding. The tip of the vertical side of the lever 145 is XX
Dog 90 and cam follower 1
27, and a rod 1 for supporting the cam follower 127.
29 and one end thereof is connected to the lever 145 by the pin 142.
It is pivotally attached to the shaft. 128 is free to slide the rod 129
Bushing, 130 is rod 129 on the right side of the figure
And the cam follower 127 contacts the dog 90
It is a spring to make it. The dog 90 is provided with a bracket 89 as shown in FIG.
Is slidably supported by Lever 100 is a pin
Swings around the fulcrum 92 and one end is fixed to the lower surface of the dog 90
Slidably engages with the locking member 91 having the T-shaped groove formed.
The end is pulled downward by a tension spring 101.
The rod 93 is rotatably engaged with the lever 100.
I have. Thereby, the movement of the rod 93 in the YY ′ direction is
Transmitted to the dog 90 via the lever 100 and the locking member 91.
Then, the rod 129 is moved through the cam follower 127 to XX.
Slide in the 'direction. Next, of the feed mechanism configured as described above,
The operation will be described with reference to FIGS. FIG.
3 shows a state where the rod 129 has moved in the X direction. this
In this state, when the lever 145 rotates counterclockwise in the figure,
Both are drawn to the right with the slider 147
I have. For this reason, the feed locking member 135 rises and the pin 1
34 is engaged with the feed hole 2 ′ of the tape 2. Also,
The feed locking member 135 is a guide fixed to the arm 126.
133, so it does not move in the XX 'direction.
Loop 2 is locked so as not to move in the XX 'direction. FIG. 14 shows that the rod 129 moves in the X 'direction.
It shows the state that it was turned on. In this state, the lever 145 is moved to the right
Pivoting around and lowering the feed locking member 135
In both cases, the feed drive member 150 is raised. This
The pin 134 of the feed locking member 135 is a feed hole of the tape 2.
2 ′, and the pin 140 of the feed drive member 150
It engages with the feed hole 2 ′ of the tape 2. Stopper bolt 14
4 comes into contact with the slider 147 and the rotation of the lever 145 is engaged.
After being stopped, the rod 129 moves further in the X 'direction in the figure.
And the slider 147 moves in the X ′ direction together with the lever 145.
Slide. At this time, the guide fixed to the slider 147
149, the feed drive member 150 is in the X 'direction in the figure.
To move the tape 2 in the X 'direction in the figure.
You. When the rod 129 moves in the X direction again,
As shown in FIG. 15, on the contrary, the feed locking member 135 is
Ascends and stops the movement of the tape 2 in the XX 'direction,
After the drive member 150 descends, it is pulled rightward,
As shown in FIG. 13, the ball 136 is formed by the notch of the slider 147.
Engage with the groove 148 and move the slider 147 in the X direction (right direction).
Sliding is stopped. It is easily understood with reference to FIG.
During the movement of the rod 129 in the X direction,
47, the dog 90 and the cam follower 1 are locked.
A gap is generated between the rods 27 and the rod 129 stops. As described above, the sliding stroke of the slider 147
Measures (balls, springs, notches, etc.)
If provided, the tape 2 can be fed without changing the lift of the dog 90.
Pitch can be adjusted. The operation described with reference to FIGS.
As is clear, the feed locking member 135 is
Slide only in the vertical direction and feed the pin 134 to the tape 2.
It is inserted and removed straight from the hole 2 '. In addition,
Similarly, the moving member 150 is connected to the pin 140 by the feed hole of the tape 2.
2 'is inserted and removed straight. The feed driving member 150 is moved in the XX 'direction.
Movement, but until the lowering of the feed locking member 135 is completed.
(That is, until the feed drive member 150 is lifted).
), The slider 147 has the ball 136 and the notch groove 148
The pin 140 is locked by the feed hole 2 ′.
There is no oblique invasion. The reason is that
The clockwise rotation of the bar 145 causes the stopper bolt 14
4 before the slider 147
Overcoming the locking force of the rule 136 and the notch 148
This is because it does not receive a sliding force in the X 'direction. As described above, the feed drive member 150
Is securely inserted into the feed hole 2 'of the tape 2.
Then, only a predetermined stroke is performed by the feed drive member 150.
At other times, the feed is stopped by the feed lock member 135.
Since the tape 2 is locked, the feed pitch of the tape 2 is correct.
It can be kept exactly constant. Further, the feed locking member 135 and the feed driving member
150 moves up and down in the vertical direction and
Adjust the vertical stroke with the
Can be adjusted, depending on the type of tape 2
Adjust the stroke of the direction to correspond to various tapes 2
be able to. The tape 2 is fed by the operation described above.
However, the electronic part stored in the tape 2 as shown in FIG.
It is necessary to peel off upper tape 4 to take out product 1
There is. Peeling off and winding up the upper tape 4
The mechanism will be described. In FIG. 12, the upper tape 4 is
From the point past the guide 156a,
Is pulled from the tape 2 by being pulled in the opposite direction.
Separated. The peeled upper tape 4 is taken up by the take-up reel 11.
Winded by 1. This take-up reel 111 is shown in FIG.
As shown in FIG.
The pin 105 is attached to the bracket 104 so as to abut on two points.
Rotatably supported by lever 106, which is swingably supported by
Pressed by the pressed pressing roller 107.
You. As shown in FIG.
The fixed bracket 117 has the drive roller 110
The body 115 is rotatably supported via a bearing 118
Have been. The rotation of the motor 112 (see FIG. 10)
Roller body via the pling shaft 116 and bush 119
115. Therefore, as mentioned earlier,
When the motor 131 slides left and right by the motor 85
In this case, the bracket 117 naturally slides in the left-right direction.
Therefore, the relationship between the spline shaft 116 and the bush 119
Transmits only rotation, and can be freely moved in the axial direction.
And Set for one drive roller 110
The take-up reels 111 are in contact with the number of the tapes 2 thus obtained. this
Therefore, the space between the drive roller 110 and the take-up reel 111 is always
When slipping, when tape 2 is sent, tape 2
Operation to wind up the upper tape 4 by the length of the tape
I do. Further, as shown in FIG.
Is fixed to the base 7 via the bracket 95 and the support 94.
The movable cutter 96 is at a fixed distance from the fixed cutter 97.
While maintaining the gap, the pitch is fed by the vertical movement of the rod 98.
The tapes 2 to be cut are sequentially cut and dropped. (About XY table C)
8 so that the component 1 is mounted at a predetermined position.
The XY table C that moves in the XY directions will be described.
You. FIG. 16 is a plan view of the XY table, and FIG.
FIG. 18 is a sectional view taken along line GG of FIG. 16. In the figure, a support fixed on a base 7 is shown.
The side blocks 160a, 1
60b are disposed, and the slide shafts 161a, 161
b is held. Connected by a pair of guides 169 and 170
Frame 162 is a slide shaft 161a,
161b is movably supported in the YY 'direction.
A rack 164 is fixed to the frame 162.
You. Supported on base 7 via bracket 167
The coupling 168 is attached to the rotating shaft of the
Through a pinion 165 meshing with the rack 164
Are combined. Therefore, the motor 166 is rotated.
And the table 163 is in the YY ′ direction via the rack 164.
Move in the direction. On the sub base 177, rollers 174,
174 ', 189, 189' 260, 260 '
173 so as to be rotatable. However,
Rollers 174, 174 held by the rack 173
', 189, 189' 260, 260 'in both the XY directions
I can't move. Block fixed on sub-base 177
At 180, a slide block 179 extends in the X-X 'direction.
It is movably supported. This slide block 17
9 on a pair at a predetermined interval via a bracket 178.
Roller 175 is rotatably supported. Also,
A rack 181 is fixed to the ride block 179.
I have. The motor 182 is provided on the lower surface of the sub base 177.
Supported by a motor bracket 147 fixed to the
You. Turn around the bearing 188 so as to mesh with the rack 181.
The rotatably supported pinion 187 is connected via a shaft 148
The motor 182. Therefore, the motor 18
2 is rotated, the slide block
The hook 179 moves in the X-X 'direction. XX 'direction in the guides 169 and 170
On both sides of the table 163 movably supported,
Via stays 186, 186 'projecting downward
Thus, the guide bar 171 is fixed. This guide bar
-171 are the rollers 174 and 174 ', 189 and 1
89 '260 and 260' movable
175 from the XX 'direction. Therefore, the table 163 is
Moves in the YY ′ direction by the operation of
XY table that moves in the XX 'direction by movement
doing. A jig 251 is fixed on the table 163.
The reference rollers 252a to 252d are attached to the jig 251.
Are arranged along two orthogonal sides. Jig 2
51, pinions 254 and 256 are integrally fixed, respectively.
A fixed pair of levers 255 are swingably supported, and
A spring 259 extends between the bars 255.
Further, each lever 255 has a pressing roller
257 and 258 are rotatably supported. In such a configuration, the position of the substrate 8 is determined.
First, the substrate was supplied with the lever 255 opened.
Then, in the direction to close the lever 255 by the force of the spring 259
Oscillating and pressing the substrate by pressing rollers 257 and 258
8 against the reference rollers 252a through 252d.
Is performed by After positioning the substrate 8 on the XY table,
The Y table moves to the work position (the position of arrow P).
In the working position P, the motor 182 is rotated to
Table integrated with the guide bar 171 through the
The substrate 8 is moved by moving the bull 163 in the X direction.
It can be positioned at any position. Further, the wafer is largely moved in the Y direction to move the substrate supply position.
When moving to the position Q, first, in the X direction of the XY table,
Position the guide bar 171 on the rollers 174, 174 '
Move to the guided position, then move in the Y direction.
Then, the guide bar 171 separates from the roller 175 and is sequentially
After passing through the fixed rollers, the fixed rollers 260 and 260 '
And reaches the substrate supply position Q. Where the position in the Y direction
As long as it is fixed, the X direction is already fixed roller 260,
X 'required for substrate supply since it is positioned at 260'
The positioning of the Y table is completed. With the configuration as described above, both the XY directions
Each motor 182 and 166 for movement is
Can be fixed on the base 177 and the work position P
Even if a long stroke to the supply position Q is moved,
The dover 171 may be relatively short. This is a table
Small inertia when moving, small size and high speed operation
This is very advantageous when Next, the substrate supply section D will be described.
FIG. 19 is a plan view of the substrate supply unit D, and FIG.
H sectional view, FIGS. 21 and 22 show the substrate chuck of FIG.
It is a figure which shows the detail of a part D ', D' '. In the figure, the substrate is an XY table of the C section.
Is held in. The substrate supply side conveyor 191 includes:
The board guides 192, 192 'and the stopper 193 are
It is attached. Board discharge side conveyor 201
Drive in the direction. The substrate chuck portions D ′ and D ″ are shown in FIG.
Are connected by a connection plate 205 as shown in FIG. The sub base 194 has a bracket 195
a, the guide shaft 200 is supported via the 195b
ing. Block 210a and block 210b are connecting plates
205, and slides on the guide shaft 200.
It is supported. Shafts 203 and 212 can slide
It is supported by. Bracket fixed to sub base 194
The cylinder 198 attached to 197
Is connected to the block 210a via the L bracket 199
Have been. Therefore, operating the cylinder 198
, Block 210a and block 210b are XX
Slides in the 'direction. The stopper bolts 196a and 196b are
The rack 21 is provided on the rackets 195a and 195b,
0a and the moving end of the block 210b. shock
The absorbers 213 and 214 move the cylinder 198 forward,
Block 210a and block 210b at the retreat end and strike
Mitigates the impact caused by collision of pad bolts 196a and 196b
I do. At the upper end of the shaft 203, a plate 190a is provided.
Plates 190b are fixed to the upper end of the shaft 212, respectively.
The plates 190a and 190b are connected by the connection plate 208.
Are connected to each other. The center of the connecting plate 205
The cylinder 207 is mounted on the cylinder 207.
The pad is fixedly connected to the connection plate 208. Therefore,
By actuating the holder 207,
Plate 190a, 190b can be moved up and down
You. As shown in FIG. 21 and FIG.
At a predetermined interval, the shafts 206a, 206b
Is fixed, and a gear 209 is attached to the shafts 206a and 206b.
a, 209b are rotatably supported so as to mesh with each other.
Have been. Also, the gears 209a and 209b have
The levers 204a and 204b are fixed integrally.
The cylinder 202 has one end via a block 217.
The other end is supported by the plate 190a so as to be swingable.
b. The pair of claws 215 are formed on the plate 190a.
It is fixed between a pair of brackets 211 arranged on the lower surface.
Shafts 218 are slidably supported by springs 216
It is biased in the approaching direction. Each claw 215 has
Each of the long holes formed in the plate 190a is
Slidably through the levers 204a, 204b
Are fixed. Accordingly, the cylinder 202 operates and its lock is
Levers 204a and 204b open when door retracts
In the direction indicated by the arrow in FIG.
219 in the direction away from each other,
The claws 215 are opened against the tensile strength. The cylinder
When the rod 202 projects, the levers 204a,
04b rotates in the closing direction, and the tension of the spring 216 causes
In the direction to close the claw part 215 (to hold the substrate 8).
Move. The plate 190b has the same configuration as above.
Substrate chuck mechanism. Next, the substrate supply operation will be described. FIG.
Indicates a state immediately before the substrate is supplied and discharged. sand
That is, the substrate flowing on the supply-side conveyor 191 is
It has been stopped by the topper 193. On the other hand, XY
The board on the table (the one on which the electronic component 1 has been mounted)
When the clamp lever 262 hits the stopper 261,
Is open. In addition, the claw portion 215 is
It is kept open by the Linda 202. In the above condition
The chuck portions D ′ and D ″ are respectively lowered by the cylinder 207.
Descend. When the cylinder 202 operates at the lower end, the claw
215 is a substrate on supply side conveyor 191 and
The substrates on the XY table are simultaneously chucked. Next,
Cylinder 207 operates to raise chuck parts D 'and D "
Let it. Thereafter, the cylinder 198 moves forward and the chuck portion
D 'is on the XY table and chuck D' is on the discharge side.
It moves on the conveyor 201. Here again the cylinder 207
Operates and lowers the chuck portions D 'and D' '.
The claw portion 215 is opened by the Linda 202 and each
Set the board on the XY table and on the other
The substrate is discharged onto the discharge-side conveyor 201. in this way
By simultaneously supplying and discharging the board,
We are trying to shorten it. (Regarding the visual recognition unit E)
The recognition unit E will be described. FIG. 23 shows the entire visual recognition unit.
FIG. 24 is an enlarged side view of the illumination part.
FIG. 25 is a plan view showing the state of the electronic component, and FIG.
Is an explanatory diagram shown to explain electronic component detection.
You. The suction head 54 in the component supply section B described above is used.
Descends and sucks the electronic component 1 stored in the tape 2
Thereafter, the suction head 54 moves up, and
When indexed more, the electronic component 1 is sent to the visual recognition unit E.
Comes out. Electronic component 1 is stored in tape 2
FIG. As is clear from this figure,
The component 1 is stored in the recess 6 of the tape 2 with a gap
Therefore, it is in a state where it can freely move inside the concave portion 6. Follow
Thus, the posture of the electronic component 1 sucked by the suction head 54 is maintained.
Become different. Therefore, it is mounted on the board in this state
In such a case, a positional shift occurs and a connection failure or the like occurs. Therefore, the configuration shown in FIG.
The attitude of the component 1 is detected, and the component 1 is mounted after correction. Electric
The mirror 23 is located below the suction nozzle 54d that has sucked the child component 1.
Reflector 231 having an optical system 2
Of the lens barrel 234. At the other end of the lens barrel 234
The camera 239 is connected, and the entire detection system is mounted on the bracket 23.
It is fixed to the base 7 by 8. This detection system
The image of the electronic component 1 is reflected by the mirror 232 and
6, 237 and reaches the camera 239.
Image processing device (not shown) using computer
The position and shape of the electronic component 1
Understand. Based on this data, the next mounting position
While indexing, adjust the angle so that the specified rotation angle is obtained.
The correction amount is given to the pulse motors 63 and 60 shown in FIG.
To rotate the suction head 54 and simultaneously position the substrate 8
XY table C motors 166 and 182
Send the amount of deviation in the direction and position to the position where the correction amount is added.
Then, the electronic component 1 is mounted at a predetermined position on the substrate 8. As shown in FIG. 24, the nozzle holder 43
The back plate 230 is installed on the lower surface, and the lamp 235
a and 235b are respectively obliquely below the back plate 230.
The back plate 23 is installed and does not directly illuminate the electronic component 1.
By illuminating the lower surface of the electronic component 1
C. Thus, the solder surface of the electronic component 1
Clear image without halation due to metallic or glossy surface
Is obtained. Next, the image input to the camera 239
Is converted into a voltage signal and sent to the image processing unit. image
In the processing unit, as shown in FIG.
The image of article 1 (the four corners are a, b, c, d)
When the screen is inserted, the scanning direction of the screen is
Scan from the next upper side. White background, image of electronic component 1
Point a where black starts to appear when black is displayed in binary, black disappears
Point c, the point at which black starts is discontinuous, that is,
The points b and d at which the tone increase or the monotone decrease change are obtained, and this 4
The points are the four vertices of the electronic component 1 and the position of the electronic component 1
Is calculated. The correction amount is obtained based on this result. Now, the point O should be originally in the image of the electronic component 1.
Position, and the sides of the image of the electronic component 1 are parallel to the X and Y axes
It should be. The coordinates of a, b, c, and d at this time are represented by a
(X₁, Y₁), B (x_Two, Y_Two), C (x_Three, Y_Three), D
(X_Four, Y_Four), The slope Δθ is [0091] (Equation 1)Or [0093] (Equation 2) Is obtained. Next, the rotation center (= the image of the suction head 54)
Rotate by Δθ around O) to correct the rotation angle
, The coordinates P of the image center of the electronic component 1
(X₀, Y₀) Is P (x₀´, y₀Move to ´). x₀´,
y₀´ [0096] (Equation 3) [0097] (Equation 4) [0098] (Equation 5) ## EQU10 ## Where x₀, Y₀Is [0100] (Equation 6) [0101] (Equation 7) Is obtained. From the above, Δθ, x₀´, y₀´ correction value
As data to the control microcomputer
Δθ is applied to the pulse motors 63 and 60 shown in FIG.
x₀´, y₀'Are supplemented to the motors 182 and 166 shown in FIG.
Commands are issued from the microcomputer as positive values.
When the electronic component 1 is operated by the correction amount, the electronic component 1 is mounted at a correct position.
Will be posted. The thus configured visual recognition unit E
Of the electronic component 1 being sucked by the suction head 54
Optically recognizes and converts the recognized data to electrical signals
Then, the suction head 54 is rotated by the electric signal to
Adjust the attitude of the slave part 1 and adjust the position of the XY table.
By performing alignment, the electronic component 1 can be accurately
On the substrate 8. [0105] As described above, the electronic component mounting of the present invention is described.
According to the mounting device, the components supplied from the component supply unit are
This part, which has been sucked by the suction head and picked up, is visually recognized.
Optically recognizes with the adsorption head based on the recognized data.
Rotate the head to adjust the position of the parts, and
The position of the
Components can be accurately mounted on the board without contact.
Defective positioning due to burrs or defective shape of parts
Components can be mounted on the board accurately without any
And no parts fall or break. Further, since there is no contact, a conventional nail
No periodic inspection, adjustment or replacement of parts is required
So there is no time to spend on them and productivity is greatly increased
Could be improved. In the component supply section B, the vertical
Moving feed locking member and feed driving member,
Through the tape feed stroke and the vertical
Can be adjusted for various tapes (parts).
It is possible to make it necessary to replace the parts supply unit.
As a result, productivity was greatly improved. Further, in the mounting head section A, the table
The suction head rotating shaft is provided concentrically with the main shaft that rotates
Rotate a pair of suction heads to rotate the parts
Be adjusted, and the suction
The parts are revolved and the parts are relocated.
Adjustment and transfer are performed quickly, greatly improving productivity.
I was able to do it. Also, the drive motor for the XY table is fixed.
By mounting it on a board to reduce the weight of the XY table
Then, one of the X and Y directions of the XY table is
Side is fixed and the receiving of the substrate is facilitated.
Not only can the table move faster,
Easier board alignment, greatly improving productivity
I was able to. In the visual recognition unit E, the parts are
Because it was captured as an image, the solder surface of the component and the metallic luster
Clear images are obtained without halation due to surface
And can be applied to various parts.
Accurate component orientation is obtained, so component positioning is
More accurate.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an external view of an electronic component mounting apparatus according to the present invention. FIG. 2 is an external view of an electronic component. FIG. 3 is a sectional view taken along line LL of FIG. 2; FIG. 4 is a front view of a mounting head unit. FIG. 5 is an arrow view taken along line AA of FIG. 4; FIG. 6 is a vertical sectional view of a mounting head. FIG. 7 is a sectional view taken along the line BB of FIG. 6; FIG. 8 is a sectional view taken along line CC of FIG. 6; FIG. 9 is a side view of the component supply unit. FIG. 10 is an arrow view taken along line DD in FIG. 9; FIG. 11 is a sectional view taken along line EE of FIG. 10; FIG. 12 is a sectional view taken along the line B ′ in FIG. 10; FIG. 13 is an explanatory view of the operation process of FIG. 12; FIG. 14 is an explanatory diagram of the operation process of FIG. 12; FIG. 15 is an explanatory diagram of the operation process of FIG. 12; FIG. 16 is a plan view of an XY table. FIG. 17 is a sectional view taken along line FF of FIG. 16; FIG. 18 is a sectional view taken along line GG of FIG. 16; FIG. 19 is a plan view of a substrate supply unit. 20 is a sectional view taken along line HH of FIG. 21 is a partially enlarged plan view of a portion D ′, D ″ shown in FIG. 19. FIG. 22 is a longitudinal sectional view of FIG. 21. FIG. Fig. 24 is an enlarged side view showing an illumination part, Fig. 25 is a plan view showing a state of a component, and Fig. 26 is a description shown to explain component detection. [Description of References] 1 ... parts, 2 ... tape, 3 ... tape reel, 8 ... substrate,
12 index device, 30 output shaft, 34 hollow main shaft, 53, 66, 67 gear (transmission mechanism), 54
Suction heads, 54a to 54d: suction nozzles, 55: suction head rotating shaft, 72: hollow suction head rotating shaft, 23
0: Back plate, 231: Reflector, 232: Mirror, 2
39: Camera, A: Mounting head part, B: Component supply part, C
... XY table, D ... substrate supply part, E ... visual recognition part.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-56-118392 (JP, A) JP-A-57-164310 (JP, A) JP-A-58-23449 (JP, A) 105593 (JP, A) Japanese Utility Model Showa 57-148875 (JP, U) Japanese Utility Model Showa 58-40898 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) H05K 13/04

Claims (1)

(57) [Claims] A component supply unit for supplying electronic components, and a rotatable shaft about a vertical axis of rotation;
A mounting head having a suction head for sucking the electronic component.
And a substrate on which the electronic component is mounted by the suction head.
An XY table for positioning the position, a position at which the suction head sucks the electronic component,
Unlike a mounting device that mounts electronic components adsorbed on a board on a substrate
At which position the electronic component is sucked by the suction head
A visual recognition unit for optically recognizing the electronic component, and in the image processing of the visual recognition unit,
The electronic part is extracted from the position data of the corner part.
Calculate the deviation of the position and direction of the component, and
A figure that corrects at least one of the relative position and direction to the plate
Force correction means , suction, visual recognition, and posture compensation of the electronic components.
Control means for performing control so as to perform mounting on the substrate and the substrate
An electronic component mounting device , comprising: 2. The visual recognition unit of the electronic component mounting device according to claim 1
Then, a corner portion of the electronic component is extracted, and the position data of the corner portion is extracted.
The first deviation of the position and direction of the electronic component from the data
And the second direction caused by correcting the shift in the first direction.
Of the electronic component by adding the position shift of the electronic component to the first position shift.
An electronic component mounting apparatus characterized in that the correction amount is used.