JP2837474B2 - Image recognition component mounting device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a component mounting apparatus that automatically mounts components on a so-called printed circuit board (hereinafter, simply referred to as a substrate) in particular, and more particularly, grips a component by image recognition and attaches the component to the substrate. The present invention relates to an image recognition component mounting device to be mounted.

BACKGROUND ART A component mounting apparatus that operates by such image recognition randomly (non-aligned) on a conveyor in order to correctly mount electronic components, which have weak terminals and are difficult to align and supply, on a substrate. Electronic components to be supplied and mounted are imaged by a television camera, and the obtained image data is processed so that the shape, position, and orientation of each component are known.
Then, based on the information thus obtained, the electronic components are sequentially and selectively gripped by the component gripping / transporting means, transported to the mounting position on the board, and mounted.

By the way, the conduction state of the terminals of the electronic components mounted on the board is inspected, but conventionally, when it is determined that the terminals of the electronic parts mounted on the board are defective, the operation of the device is performed. It is stopped, and the operator removes the electronic component with poor conduction from the board one by one, and the terminal conduction inspection work and the component mounting work are delayed, which is a problem to be solved in order to improve work efficiency. I was

SUMMARY OF THE INVENTION [Object of the Invention] It is an object of the present invention to provide an image recognition component mounting apparatus that achieves further improvement in electronic component mounting efficiency.

[Configuration of the Invention] In the image recognition component mounting apparatus according to the present invention, component supply means for sequentially supplying electronic components having terminals on the component placement surface, and image signals of the supplied electronic components are generated to generate image signals. An imaging unit, an image data generating unit that processes the image signal to generate image data, and a component that selectively grips the electronic component based on the image data and transports the electronic component to a mounting position of a mounting target to be mounted. An image recognition component mounting apparatus comprising: gripping and transporting means, wherein the component gripping and transporting means is based on the image data, and includes a posture correcting unit that corrects a posture before the mounting of the component; Correction means for correcting the deformation of the terminal of the electronic component; mounting means for gripping the electronic component having passed through the correction means and mounting the electronic component at a mounting position of the mounting target; It has a continuity inspection means for inspecting the continuity state of the terminal at the time of mounting the electronic component, if the result of the inspection is defective, remove the electronic component from the mounting target and supply it to the storage unit, It is characterized in that subsequent electronic components are mounted.

[Operation of the Invention] In the image recognition component mounting apparatus having such a configuration, when the terminal of the electronic component mounted on the board to be mounted is recognized as having poor conduction, the electronic component is gripped and conveyed by the mounted component. By this means, it is detached from the board and stored in the defective electronic component storage section, and the mounting operation of the subsequent electronic component is immediately performed.

Embodiments Hereinafter, an image recognition component mounting apparatus as an embodiment of the present invention will be described with reference to the accompanying drawings.

First, an image recognition component mounting apparatus according to the present invention will be described with reference to FIG.

In the present apparatus, the first control means 1 drives a motor 3 for operating the component supply device 2, and the component supply device 2
Several electronic components on the conveyor from the light emitting element 5 in this case
Are dropped in a random (ie, non-aligned) state. Then, a motor 6 for operating the conveyor 4 is driven, and the dropped light emitting element 5 is brought to a component supply position 9 where an image can be picked up by a television camera 8 as an image pickup means. The image signal generated by the TV camera 8 is A / D
The image data is converted into pixel data via the converter 10 and the first control means 1
Sent to The first control means 1 knows the shape, position and orientation of each light emitting element 5 at the component supply position 9 based on the pixel data and drives the motor 13 for operating the XY table 12 to drive the component transport chuck 14. Then, the light-emitting element first determined to be conveyed is brought to a position where it can be gripped and gripped. Then, the gripped light emitting element 5 is transferred to the front and back reversing device 15, and if the transferred light emitting element is turned upside down, the front and back reversing device 15 is operated to correct the posture so that the light emitting element 5 is always turned upside down. Then, it is transferred to the index chuck 18 on the index table 17. The index table 17 is driven to rotate by the main motor 19 via the cam mechanism 20, and the operation of the cam mechanism 20 is controlled by the first control means 1, thereby causing the index table 17 to rotate.
Rotate intermittently by ゜. The index chuck 18 is placed on the index table 17 at equal intervals (36 ° pitch).
It is provided in the place. The index chuck 18 is provided with mechanical force by index chuck driving devices 23 and 24 which are controlled by the second control means 22 via the cam mechanism 20 at the component supply position by the above-mentioned front / back reversing device 15 and the component discharge position described later. This causes the gripping claw to open. When the mechanical force is released, the gripping claws are closed.

As described above, the index table 17 is intermittently rotated at a pitch of 36 °, but the television camera 26, the terminal handling device 27, An apparatus 28, a television camera 29, and a component mounting chuck 30 are provided. The position where the component mounting chuck 30 is disposed is the above-described component discharge location, and the index chuck 18 holding the light emitting element 5 moves the index chuck driving device at this position.
A mechanical force is applied by 24 to release the gripping state of the light emitting element and deliver it to the component mounting chuck 30.

The above-described index chuck driving devices 23 and 24, the terminal handling device 27, the terminal bending device 28, and the component mounting chuck 30 are driven by the main motor 19 via the cam mechanism 20 and the clutch 21 whose operation is controlled by the second control means 22. Is done. The drive timing of the terminal handling device 27, the terminal bending device 28, and the component mounting chuck 30 is based on a signal from the encoder 31. First, the second control means 22 recognizes the state of the terminal of the light emitting element 5 held by the index chuck 18 based on the image signal from the television camera 26, and activates the terminal handling device 27 in response to the recognition. The terminal 5a of the light emitting element 5 which has been deformed as shown in FIG. 2 due to its presence is handled toward the tip thereof and molded in parallel to each other as shown in FIG. Next, the second control means 22 operates the terminal bending device 28.
To bend the terminal 5a by about 90 ° as shown in FIG.

Thereafter, the second control means recognizes the state of the terminal 5a of the light emitting element 5 based on the image signal from the television camera 29, and
When it is determined that the molding state of 5a is good, the index chuck driving device 24 is operated to
Is released, and the component mounting chuck 30 is used to hold the light emitting element 5. Then, the motor 34 for operating the XY table 33 is driven, and the printed circuit board 35 is brought in so that the light emitting element 5 is mounted.

Thereafter, the second control means 22 rotates the component mounting chuck rotating motor 37 to rotate the component mounting chuck 30 to an appropriate angular position, and determines the angular position of the light emitting element 5 with respect to the printed circuit board 35. Then, the component mounting chuck 30 is lowered, and the light emitting element 5 is mounted on the printed circuit board 35 as shown in FIG. At this time, the terminal 5a of the light emitting element 5 is inserted into the terminal insertion hole 35a formed in the printed board 35, and the tip portion protrudes to the lower surface side of the printed board 35. Second
The control means 22 inspects the continuity of the terminal 5a with a continuity check / terminal cut device 39, and if the continuity is good, the tip of the terminal 5a is subjected to the continuity check / terminal cut device.
Cut by 39 and trim to a predetermined length.

On the other hand, if the second control means 22 recognizes that the terminal continuity inspection result by the continuity check / terminal cutting device 39 is defective, the component mounting chuck 30 is used to remove the light emitting element 5 from the printed circuit board 35, and the This is stored in the defective component storage unit 40 for collection, and the subsequent light emitting element is immediately mounted.

Hereinafter, the above-described series of operations is performed for each light-emitting element to be mounted on the printed circuit board 35.

Next, a specific configuration of the image recognition component mounting apparatus shown in the block diagram in FIG. 1 will be described.

In FIG. 6, reference numeral 61 indicates the whole of the image recognition component mounting apparatus. FIG. 7 is the same as FIG.
It is a figure which shows the VII-VII arrow view. In the drawings, arrow Y indicates forward, arrow X indicates leftward, and arrow Z indicates upward.

As shown in FIGS. 6 and 7, the image recognition component mounting apparatus has a work table 62. Although not shown, printed circuit boards to be mounted are provided on both left and right sides of the worktable 62.
A substrate storage magazine capable of storing 35 in a vertically stacked state is provided. Left side of worktable 62 (arrow X
The substrate storage magazine arranged on the right side of the work table 62 stores the printed circuit board before the light emitting element 5 (described above) is mounted. This is for accommodating the printed circuit board on which the mounting is completed. Both board storage magazines are mounted on an elevator mechanism, and are moved up and down by the storage pitch of each of the stored printed boards at a predetermined timing corresponding to the component mounting speed of the image recognition component mounting apparatus.

As shown in FIG. 7, a pair of parallel board guide rails 65 and 66 are provided on the left and right sides of the front of the worktable 62, respectively.
Are extended in the left-right direction (the direction of the arrow X and the opposite direction). In each of the board guide rails 65 and 66, a belt (not shown) for carrying and transporting the printed board 35 is provided, and motors 67 and 78 for driving these belts are provided. ing. That is, the printed board sent from the board storage magazine on the left side of the worktable 62 is guided by the board guide rail 65 by the rotation of the motor 67 and is brought onto the worktable 62, and the mounting of the light emitting element 5 is completed. Printed circuit board is a motor
As the 68 rotates, it is guided by the other substrate guide rail 66 and is stored in the substrate storage magazine on the right side of the worktable 62.

A pair of guide rails 70 and 71 are provided between the two board guide rails 65 and 66 in parallel with the board guide rails. The first table 73 having a rectangular plate shape is slidably supported by the guide rails 70 and 71. The first table 73 is a motor 34a (shown in FIG. 7).
Is moved by the worm 75 which is rotated. On the first table 73, the board guide rail 65
A rectangular plate-shaped second table 76 for carrying the printed circuit board 35 guided and conveyed is provided movably in the front-rear direction (the direction of the arrow Y and the direction opposite thereto). The second table 76 is moved with respect to the first table 73 by a worm 78 driven to rotate by a motor 34b.

The guide rails 70 and 71 described above and the first table 73
An XY table (indicated by reference numeral 33 in FIG. 1) that carries the printed circuit board 35 and moves it two-dimensionally in the left-right direction and the front-back direction by the worm 75, the second table 76, and the worm 78. Is configured. At the front end of the worktable 62, an arm member 80a that engages with the printed board 35 is provided so that the printed board can be moved from the board guide rail 65 onto the second table 76 and from the second table 76 onto the board. A board moving mechanism 80 for moving to the guide rail 66 is provided.

A frame 82 is provided on the worktable 62, and a support plate 83 is mounted on an upper portion of the frame as shown in FIG. Support plate as shown in FIG.
An index boss 84 is fixed to the lower surface of 23, and the index boss 84
Are rotatably supported. As also shown in FIG.
At the lower end of the index shaft 85, an index table 17 (also shown in FIG. 1) as a movable member formed in a disk shape is provided. In addition, the index shaft 85 and the index table 17 are driven to rotate by a driving device described later.

As described above, on the index table 17, ten index chucks 18 as gripping means are provided at equal intervals (angular pitch 36 °) in the circumferential direction of the index table. That is, as is apparent from FIG. 7, each index chuck 18 provided on the index table 17 is indicated by a reference numeral 91 in FIG. 7 by intermittent rotation of the index table at a pitch of 36 °. The angle position is moved by 36 ° clockwise in the figure starting from the angle position to be set, and the angle positions 92 to 100 following the angle position are sequentially passed to the angle position 91 again.
(The starting point).

Here, the configuration of the above-described index chuck 18 will be described in detail. Also, index chuck driving devices 23 and 24 (shown in FIGS. 1 and 6) as mechanical force applying means for applying a mechanical force to the index chuck 18 to make the component gripping claws of the index chuck perform an opening operation. ) Will be described together.

As shown in FIGS. 8 and 9, the index chuck 18 has a guide rail 102 extending in the radial direction of the index table 17, and a slider 103 movable along the guide rail. A pair of gripping claws 104 for gripping the light emitting element 5 to be mounted on the printed circuit board 35 are provided at the tip end of the slider 103, and as shown in FIG. At one end. Although not shown, a coil spring that biases both grip claws 104 in the grip direction is provided. As shown in FIG. 8, a coil spring 105 for applying a biasing force to the slider 103 in the retraction direction is interposed between the guide rail 102 and the slider 103.

Above the slider 103, a lever member 106 formed in a U-shape is swingably attached via a support pin 106a at a central bent portion.

On the other hand, as shown in FIG. 10, a pointed cam member 10 is movably provided in the slider 103 in the moving direction of the slider.
7 is provided, and smoothly engages with a roller 104b provided at the center of both gripping claws 104 at its pointed head. The lower end portion 106b of the lever member 106 is inserted through an opening formed in the cam member 107. A roller 106c is attached to the other end of the lever member 106.

The slider 103 is provided with a projecting portion 103a extending laterally. As shown in FIG. 8, the projecting portion 103a contacts a pair of stop screws 108 provided on the index table 17. The contact makes the movement stroke of the slider 103 defined.

Next, the index chuck driving devices 23 and 24 will be described. The two index chuck driving devices have substantially the same configuration. As shown in FIGS. 8 and 9, the two index chuck driving devices are configured such that a roller 110a abutting on the rear end of the slider 103 of the index chuck 18 is attached to the swinging end of the index chuck 18 in the direction of arrow R and the opposite direction. Press lever member that can swing in the direction
8, a pressing block 111 provided above the lever member 106 and capable of slidingly contacting the roller 106c as shown in FIG.
And a cylinder that supports the pressing block 111 and drives it in the vertical direction (the direction of the arrow Z and the opposite direction).
112. The pressing lever member 110 is operated by applying a driving force by a centralized driving device described later.

The operation of the index chuck 18 and the index chuck driving devices 23 and 24 will be described.

First, in the state shown in FIGS. 8 and 9, the pressing lever member 110 of the index chuck driving device 23 or 24 is swung in the direction of arrow R, and the slider 103 of the index chuck 18 is applied by the coil spring 105. It protrudes from the position shown by the solid line to the position shown by the two-dot chain line against the bias force. Then, the cylinder 112 operates to lower the pressing block 111 (in a direction opposite to the arrow Z), the lever member 106 swings, and the cam member 107 moves forward, as shown by a two-dot chain line in FIG. The gripper 104 performs an opening operation. In this state, the reversing device 15 shown in FIG.
The light emitting device 5 can be received from the device, and the light emitting device is delivered to the component mounting chuck 30 shown in FIG. Thereafter, when the pressing lever member 110 and the pressing block 111 are operated in the opposite direction to the above, the slider 103 is retracted by the coil spring 105 to the position shown by the solid line in FIGS. 104
Performs a closing operation.

That is, the index chuck 18 emits light from the front / back inverting device 15 by temporarily applying a mechanical force to the index chuck 18 serving as a gripping means by the one index chuck driving device 23 at a part supply location by the front / back inverting device 15. The element 5 is gripped, and thereafter, the index table 17 is rotated by 180 °, so that the light emitting element 5 is transported from the component supply location to a component discharge location which is a transfer position to the wiping attachment chuck 30, and the component discharge is performed. The light emitting element 5 is ejected from the index chuck 18 by applying a mechanical force to the index chuck 18 that has reached the position by the other index chuck driving device 24.

With such a configuration, it is not necessary to provide any wiring for driving the index chuck 18 as a gripping means for gripping the light emitting element 5 and the index table 17 as a movable member mounted and rotated. .

Note that the above-described index chuck 18 or gripping means, the index table 17 or movable member,
A component conveying device that conveys the component supplied at the component supply location by the component supply device, that is, the light emitting element 5 to the component discharge location is configured by the driving means for rotating the index table and the index chuck driving devices 23 and 24. Have been. The component transport device, the component transport chuck 14 (illustrated in FIG. 1 and the like), the component mounting chuck 30 (illustrated in FIG. 1 and the like), and the first control means 1 for controlling the operation of these components are provided. A component to be selectively mounted on the conveyor 5 by selectively holding the light emitting elements sequentially supplied from the component supply device 2 based on an image signal obtained by the television camera 26 and transporting the light emitting elements to a mounting position of the printed circuit board 35 to be mounted. A holding and conveying means is configured.

As shown in FIG. 6, the component supply device 2 includes a hopper formed in a substantially cylindrical shape, and the hopper is swingable around a center of the cylinder by a gantry 116 arranged behind the index table 17. Attached to. Then, the motor 3 is oscillated by a motor 3 disposed above the toothed belt wheels 118 and 119 and the toothed belt 120 so as to reciprocate between predetermined angles. The component supply device 2 has a replenishing port 2a for replenishing components, that is, the light emitting elements 5, into the inside thereof, and a discharge unit 2b for discharging several light emitting elements 5 each time the component supply device swings once. ing.

The light-emitting elements 5 dropped from the component supply device 2 by several pieces are scattered on the conveyor 4. As shown in FIG. 7, for example, three conveyors are provided, and each of them is driven via a speed reduction mechanism 123 by a motor (also shown in FIG. 1) shown in FIG.

Each light-emitting element 5 transferred to the component supply position 9 at the front end of the conveyor by the conveyor 4 is transported two-dimensionally by an XY table (indicated by reference numeral 12 in FIG. 1). It is selectively held by the chuck 14. Here, X-
The Y table will be described.

As shown in FIG. 6, the component carrying chuck 14 is supported by a second table 125 having a rectangular plate shape. 2nd table 1
Reference numeral 25 is movably attached to the lower surface of the first plate 126 having a rectangular plate shape via a pair of guide rails 127 in the left-right direction (the direction of the arrow X and the opposite direction). The second table 125 is moved relative to the first table 126 by a worm 128 rotated by a motor (not shown). The first table 126 is movably attached to the lower surface of the support plate 83 fixed to the frame 82 in the front-rear direction (the direction of the arrow Y and the opposite direction), and is supported by the worm 129 which is rotated by the motor 13b. Is moved against.

The first table 126, the second table 125, the guide rail 127, and the worms 128 and 129 constitute an XY table that two-dimensionally drives the component transport chuck 14 in the left-right direction and the front-back direction. Have been.

The configuration of the component transport chuck 14 will be described with reference to FIGS. 11 to 14. FIG. 12 shows the XI related to FIG.
FIG. 13 is a view taken along arrow I-XII, and FIG.
FIG. 14 is a sectional view taken along the line XIV-XIV in FIG.

As shown in FIG. 11 to FIG.
Has a base 131 fixed to the lower surface of the second table 125. A cylindrical boss 133 is rotatably attached to the lower end of the base portion 131 via a bearing 132,
The hollow nozzle shaft 134 is slidably supported by the boss 133. The boss 133 is driven to rotate by a motor 135 via toothed belt wheels 136 and 137 and a toothed belt 138. An arm member 140 is attached to the side surface of the base portion 131 at one end thereof via a support pin 140a so as to be vertically swingable. A roller 140b as a cam follower is provided at an intermediate portion of the arm member 140, and a base portion is provided below the arm member via a support pin 141a.
Outer peripheral cam surface 14 of a cam member 141 swingably provided on 131
The roller 104b is in sliding contact with 1b. Another roller 140c is also provided near the other end of the arm member 140, and the rollers 140c of the plunges 142 of both flanges fitted near the upper end of the nozzle shaft 134 are in sliding contact. As shown in FIG. 11, between the end portion of the arm member 140 and the base portion 131, the cam is provided to press a roller 140b as a cam follower on the arm member toward the outer peripheral cam surface 141b of the cam member 141. A coil spring 143 for urging the member is interposed. The coil spring 143 also applies a downward pressing force to the nozzle shaft 134 via the roller 140c and the flange 142.

As shown in FIGS. 11 and 12, a cylinder 145 is pivotally supported on a second table 125 carrying the component transfer chuck 14 via a support pin 145a. The tip of the output rod of the cylinder 145 is pivotally attached to the swinging end of the cam member 141 by a pin 145c. That is, this cylinder
By actuating 145, the cam member 141 swings,
The nozzle shaft 143 is moved up and down via the arm member 140.

On the other hand, a boss 133 that slidably supports the nozzle shaft 134
A grip portion 147 having a plurality of gripping claws 147a and 147b for gripping the light emitting element 5 and a coil spring 147e for urging each of these gripping claws in the opening direction is provided at a lower end portion.
Each of the gripping claws 147a to 147d is moved in the opening direction by the nozzle shaft 134 when the nozzle shaft 134 performs a descending operation.

A nipple 148 is provided at the upper end of the nozzle shaft 134, and the nozzle shaft 134 passes through the nipple 148.
The negative pressure is supplied to the inside, and the light emitting element 5 is
Is adsorbed at the lower end.

As shown in FIG. 11, in addition to the cam surface 141b formed on the outer peripheral surface of the cam member 141, a second cam surface
141d is formed. A roller 150b provided via a block 150a at the upper end of a pair of slidable slide shafts 150 provided on the base 131 in parallel with the nozzle shaft 134 is in sliding contact with the cam surface 141d. A ring member 151 formed so as to surround the grip 147 is attached to the lower end of the slide shaft 150.
Further, as shown in FIG. 13, the ring member 151 and the base 1
A coil spring 152 for applying a downward biasing force to the ring member 151 is interposed between the coil spring 152 and the ring member 151.
That is, the ring member 151 is moved up and down in synchronization with the nozzle shaft 134 moved up and down by the swing of the cam member 141.

The operation of the component transport chuck 14 will be described.

First, when each light-emitting element 5 supplied on the conveyor 5 is imaged by the television camera 8 arranged above the light-emitting element 5, and the first light-emitting element to be conveyed among these light-emitting elements is determined based on the information. XY table described above
The component 12 is operated, and the component transport chuck 14 is brought directly above the foremost light emitting element. In this state, a negative pressure is supplied to the nozzle shaft 134 of the component transport chuck 14, and at the same time, the output rod of the cylinder 145 is protruded, and the nozzle shaft 134 descends, and its tip comes into contact with the light emitting element 5 to be transported. Therefore, the light emitting element is connected to the nozzle shaft 13
Adsorbed to 4. The lowering of the nozzle shaft 134 opens the gripping claws 147a to 147d of the gripper 147. After that, the output rod of the cylinder 145 is retracted, and the nozzle shaft 134 is raised, whereby each gripper 1
47a to 147d perform the closing operation, and the light emitting element 5 is gripped by the gripping claws.

In this state, the XY table 12 is operated again, and the component transport chuck 14 is brought directly above the front / back reversing device 15. During this transfer, the gripper 147 is rotated by rotating the motor 135 as needed, and the following reverse device 1
The angular position of the light emitting element 5 with respect to the grip portion 5 is corrected. Thereafter, the output rod of the cylinder 145 is protruded, the gripping claws 147a to 147d are opened, and the nozzle shaft 134 having the light-emitting element 5 adsorbed at the tip is lowered.
Thus, the light emitting element 5 is transported to the gripping position by the front / back reversing device 15. Here, the supply of the negative pressure to the nozzle shaft 134 is cut off, and the light emitting element 5 is separated from the nozzle shaft 134 and delivered to the front / back inverting device 15.

Next, FIG. 15 shows a front / back inverting device 15 for receiving the light emitting element 5 from the component transport chuck 14, holding the light emitting element 5, and correcting the front / back posture of the light emitting element to transfer the light emitting element to the above-described index chuck 18. This will be described in detail with reference to FIG. FIG. 16 is a view taken along the arrow XVI-XVI of FIG.

As shown in FIG. 6, the front / back reversing device 15 is provided on a worktable 62, and between the conveyors 4 and corresponding to an angular position 91 which is the starting point of the rotation of the index table 17, as shown in FIG. It is arranged.

As shown in FIGS. 15 and 16, the front / reverse device 15 has a rectangular base 157. A cylindrical boss 159 is rotatably mounted on the upper portion of the base 157 via a bearing 158, and the boss 159 supports a connecting shaft 160 slidably. The boss 159 is rotationally driven by a motor 162 via toothed belt wheels 163 and 164 and a toothed belt 165. Note that an encoder 167 for detecting the rotation angle of the motor 162 is provided. Behind the connecting shaft 160, a receiving member 160a
There is provided a cylinder 169 for pushing forward through the. Further, between the receiving member 160a and the boss 159, the rear side of the connecting shaft 160 (the direction opposite to the arrow Y direction).
Coil spring 170 that applies bias force toward
Is interposed.

On the other hand, a boss 159 for slidably supporting the connecting shaft 160 is provided.
A plurality of gripping claws 171a for gripping the light emitting element 5
171b and urging means (not shown) such as a coil spring for urging each of these gripping claws in the closing direction.
171 is attached. Each of the gripping claws 171a and 171b is formed in a substantially U-shape, and a pin 171c is provided at the center thereof.
And 171d so that the light emitting element 5 can be gripped at one end thereof. Rollers 171e and 171f are provided at the other end of both grip claws 171c and 171d, and a roller pusher 160c fitted to the front end of the connection shaft 160 is in contact with each of these rollers.

The grip part 171 also includes claws 171g and 171 for receiving the light emitting element 5.
have h. A pressing lever 173 for pressing the light emitting element 5 toward the receiving claws 171g and 171h is swingably attached to the base 157 via a support pin 173a. The holding lever 173 is swung by a cylinder 174.

 The operation of the front / back reversing device 15 having the above configuration will be described.

First, when the above-described component transfer chuck 14 is positioned immediately above the gripping portion 171 of the front / back reversing device 15, the cylinder 1
The 69 output rod 169 is pulled, and the connecting shaft 160 is retracted by the bias force applied by the coil spring 170. Therefore, both grip claws 171a and 171b are opened. In addition, the output rod of the cylinder 174 is pulled,
Is swung to the position shown by the two-dot chain line in FIG.

In this state, the nozzle shaft 134 of the component transport chuck 14 is lowered, and the light emitting element 5 is brought to the gripping position by the gripper 171 of the front / back inverting device 15. After this, cylinder 16
The output rods 9 and 174 are protruded, and the light emitting element 5
Is held by the holding claws 171a and 171b, the receiving claws 171g and 171h, and the holding lever 173, and the light emitting element 5 is delivered to the front / back reversing device 15 from the nozzle shaft 134 of the component conveying chuck 14. Then, if necessary, the motor 162 of the front / back reversing device 15 is rotated to drive the gripping portion 171 to correct the angular position of the light emitting element 5 when the light emitting element 5 is transferred to the index chuck 18 described above. That is, all the light emitting elements 5
Are delivered in the same posture.

As shown in FIG. 7, it corresponds to the angular position 92 of the index table 17, that is, the position rotated by one pitch (36 °) from the angular position 91 at which the index chuck 18 receives the light emitting element 5 from the above-mentioned reversing device 15. Then, a television camera 26 is provided. As described above, the television camera 26 captures an image of the state of the terminal 5a of the light emitting element 5 gripped by the index chuck 18 at the angular position 91, and the captured image signal obtained by this captures the second signal shown in FIG.
It is sent to the control means 22.

Similarly, as shown in FIG. 7, in order to correspond to angular positions 93 to 95 following the angular position 92 where the television camera 26 is arranged,
A terminal cutting device 27, a terminal bending device 28, and a television camera 29 are arranged in this order. As described above, the terminal punching device 27 handles the terminal 5a of the light emitting element 5 which is gripped by the index chuck 18 and transported along the component transport path, and forms it straight. In addition, the terminal bending device 28 bends the terminal 5a thus handled straight at about a middle portion thereof by about 90 °. And tv camera
29 captures an image of the state of the terminal 5a thus formed and sends an image signal to the second control means 22.

The configuration of the terminal handling device 27 as the above-described terminal forming means will be described in detail with reference to FIGS. 17 to 20. FIG. 18 is a view on arrow XVIII-XVIII in FIG. 17, and FIG. 19 is a view on arrow XIX-XIX in FIGS. 17 and 18. FIG. 20 shows a view on arrows XX-XX relating to FIGS. 17 and 18.

As shown in FIGS. 17 to 19, the terminal handling device 27 has a base 181. As is apparent from FIGS. 17 to 19, the guide member 182a is provided near the lower end of the side of the base 181.
(The guide member 182a is not shown in FIG. 18), and the carrier, ie, the slider 182b is supported by the guide member 182a so as to be movable in the horizontal direction (the direction of arrow D and the opposite direction). .

As shown in FIGS. 17 and 18, a U-shaped rotating lever member 183 is arranged above the slider 182b,
In addition, the base portion at the bent portion via the support pin 183a
It is rotatably mounted on the side surface of 181 in the vertical plane. At the rear end of the slider 182b, a block 184 is fixed so as to extend upward.
A roller 183b provided at one end of the block 83 smoothly contacts the front end surface of the block 184. A rod for rotating the rotating lever member is provided at the other end of the rotating lever member 183.
186 is pivoted. That is, the rotation lever member 183 is rotated, and the slider 182b is moved rearward (the direction opposite to the direction of the arrow D).

On the other hand, as shown in FIG. 18 and FIG.
, A coil spring 187 for applying a forward (in the direction of arrow D) biasing force to the slider is arranged. That is, when the rod 186 is pulled upward, the slider 182b moves rearward (the direction opposite to the arrow D), and when the pulling force of the rod 186 is released, the slider 182b is moved forward by the urging force of the coil spring 187. It is made to move to. The rod
The 186 is appropriately driven by a centralized driving device described later together with other rods described later.

As shown in FIGS. 17 and 18, a stopper 189 having a U-shaped cross section is provided on the side of the slider 182b, and a protrusion 182c protruding from the slider 182b is attached to the stopper 189. The engagement defines the movement stroke of the slider 182b.

As shown in FIGS. 17 and 18, a swing arm member 190 is attached to the upper end of the slider 182b by a support pin 190a so as to be swingable in a horizontal plane. A guide member 192a is attached to a free end of the swing arm member 190, and a slider 192b is guided by the guide member 192a in the vertical direction (the direction of the arrow Z and the opposite direction). As shown in FIG. 20, a rod 193 for driving the slider 192b is pivotally mounted on the upper end of the slider 192b. An insertion pin 194 that can be inserted between, for example, a pair of terminals 5a of the light emitting element 5 is provided at a lower end of the slider 192b. The insertion pin 194 moves together with the slider 192b between an insertion position that can be inserted between the terminals 5a and a non-insertion position that rises a predetermined distance from the insertion position and pulls out from between the terminals 5a. As is apparent from FIG. 20, each terminal 5 is disposed at the tip of the slider 192b so as to sandwich the insertion pin 194.
A tapered portion 194a for shifting the width a is provided.

On the other hand, as shown in FIG. 17 to FIG.
A bracket 196 extending in the horizontal direction is fixed to the upper part of the bracket, and a guide member 197a is attached to the lower surface of the bracket, and the slider 197b is moved by the guide member 197a in the horizontal direction (the direction of the arrow E and the opposite direction). It is freely supported. A joint plate 198 is attached to a lower surface of the slider 197b. A motor 199 is provided on an end of the bracket 196, and a cylindrical cam 200 fitted to an output shaft of the motor is connected to a joint plate 198.
Roller 198a as a cam follower provided on the end of the
And sliding smoothly. As shown in FIG. 17, a coil spring 201 for urging the joint plate 198 (the direction opposite to the direction of arrow E) so that the roller 198a is pressed against the cylindrical cam 200 is connected to the joint plate 198. . As shown in FIGS. 17 to 19, a roller 190c is provided near the swing end of the swing arm 190 described above, and the end face of the joint plate 198 is
Contacting c smoothly. Note that an encoder 202 for detecting the rotation angle of the motor 199 is provided.

As shown in FIG. 18, a pair of holding members 203 are provided at the front end of the slider 182b as a carrier so as to oppose each other in a direction parallel to the moving direction of the insertion pin 194 described above. Both holding members 203 are swingably attached to the slider 182b so that the tips thereof are close to and away from each other.
The terminal 5a of the light emitting element 5 can be clamped. As shown in FIGS. 17 to 19, the slider 182b is provided with a guide member 204a near the holding member 203.
Are guided by the guide member 204a in the vertical direction (the direction of the arrow Z and the direction opposite thereto). Slider 20
A rod 206 for driving the slider is pivotally mounted on the upper end of 4b. Also, as shown in FIGS. 18 and 19, there are provided coil springs 207 and 208 for applying a bias force downward (in a direction opposite to the arrow Z direction) to the slider 204b. When the rod 206 is pulled upward and the slider 204 is raised, the two holding members 203
Pinches the terminal 5a of the light emitting element 5 close to each other,
When the pulling force of 206 is released, the opposite movement is performed, and the holding state of the terminal 5a by the holding member 203 is released.

As shown in FIGS. 17 and 18, another guide member 210a is provided at the front end of the base portion 181.
0b is guided in the vertical direction by the guide member 201a. A rod 211 for driving the slider 210b is pivotally attached to the upper end of the slider 210b. At the lower end of the slider 210b, a holding member 212 for holding the light emitting element 5 is provided.

 The operation of the terminal handling device 27 having the above configuration will be described.

When the light emitting element 5 is brought into the terminal handling device 27 while being held by the above-described index chuck 18, the rod 211 is lowered and the light emitting element 5 is pressed by the pressing member 212. Then, the rod 193 is lowered and the rod 206 is raised. This allows
An insertion pin 194 is inserted between two terminals 5a (illustrated in FIG. 2 and the like) of the light emitting element 5, and a base portion of the terminal is held by a holding member 203. Subsequently, the rod 186 is raised, and the carrier or slider 182b is moved in the direction opposite to the arrow D, that is, in the direction of the tip of the terminal 5a.

By the above-mentioned operation, the terminals 5a which have been deformed into a disturbed state as shown in FIG. 2 are handled (laddered) in the same direction, and are formed straight and parallel to each other as shown in FIG. In addition,
Prior to the lowering operation of the insertion pin 194, the motor 199 is rotated to rotate the cylindrical cam 200, the swing arm member 190 is slightly swung through the joint plate 198, and the insertion pin 194 for the terminal 5a is moved. The position is corrected.

When the handling of the terminal 5a is completed, each of the above members is returned to the original stationary position by following the reverse process.

Next, as shown in FIG. 4, a terminal bending device 28 which bends the terminal formed by the above-mentioned terminal handling device by 90.degree.
The configuration will be described in detail with reference to FIGS. 21 to 24. FIG. 22 shows a XXII-XXII cross section with respect to FIG. 21, and FIG. 23 shows XXIII-XXI with respect to FIG. 12 and FIG.
FIG. 24 is a view taken in the direction of the arrow II.
Shown by arrows IV-XXIV.

As shown in FIGS. 21 to 24, the terminal bending device
28 has a base member 281 having a substantially rectangular plate shape. As shown in FIGS. 21 and 22, the slider 2 is placed on the base member 218.
19 is movably attached in the horizontal direction (the direction of arrow F and the opposite direction). As shown in FIGS. 21 and 22, a bracket 220 is fixedly mounted on the base member 218 in the vicinity of the rear part of the slider 219, and a substantially L-shaped rotating lever member is provided at the upper end of the bracket. 221 is rotatably mounted in a vertical plane at a bent portion thereof via a support pin 221a. A block 222 having a U-shaped cross section is fixed to the rear end of the slider 219, and a roller 221 provided at one end of the rotating lever member 221 is provided.
b smoothly engages with the block 222. A rod 224 for pivoting the pivot lever member is pivotally attached to the other end of the pivot lever member 221. That is, rod 2
When the lever 24 is pulled upward, the rotating lever member 221 is moved to the second position.
It is configured to rotate counterclockwise in FIG. 2 and move the slider 219 backward (the direction opposite to the direction of arrow F).

As shown in FIGS. 21 and 22, a pin plate 226 is attached to the front end of the slider 219 by a support pin 226a so as to be swingable in a horizontal plane. Pin plate
A support pin 226b is provided at the distal end of the light-emitting element 226 to horizontally support the terminal 5a of the light-emitting element 5 when bending the terminal 5a.

On the other hand, as shown in FIG. 23, a bracket 227 is disposed near the rear portion of the pin plate 226, and is fixed to the base member 218. A substantially L-shaped rotating lever member 228 is attached to the upper end of the bracket so as to be rotatable in a vertical plane at a bent portion thereof via a support pin 228a. A pressing pin 228b is attached to one end of the rotating lever member 228, and the pressing pin 228b contacts a roller 226c provided at a rear end of the pin plate 226. Further, a rod 229 for rotating the rotating lever member is connected to the other end of the rotating lever member 228. That is, as the rod 229 is raised, the rotating lever member 228 rotates counterclockwise in FIG.
226 is configured to swing from the position indicated by the solid line in FIG. 21 to the position indicated by the two-dot chain line. In addition,
When the pin plate 226 is at the position shown by the solid line, the support pin 226b implanted therein can support the base of the terminal 5a of the light emitting element 5. Further, as shown in FIG. 21, a coil spring 230 for urging the pin plate 226 counterclockwise in FIG. 21 is provided.

As shown in FIGS. 21, 22, and 24, two guide members 231a and 232a are provided at the front end of the base member 281 to guide the sliders 231b and 232b in the vertical direction, respectively. . A lower die 233 and an upper die 234 for holding the terminal 5a of the light emitting element 5 in the vertical direction and bending the terminal 5a in cooperation with the support pin 226b are attached to the lower ends of the sliders 231b and 232b. I have. As is apparent from FIG. 24, the lower die 233 is formed in a pointed shape so as to be inserted between the pair of terminals 5a of the light emitting element 5, and the upper die 234 is formed in a forked shape so as to hold both terminals. I have. Rods 235 and 236 for moving the respective sliders up and down are connected to upper ends of the respective sliders 231b and 232b.

The operation of the terminal bending device 28 having the above configuration will be described.

Before the light emitting element 5 held by the index chuck 18 reaches the processing position by the terminal bending device 28, the rod 224 is raised and the slider 2
Reference numeral 19 denotes a retreat position (a movement limit position in the direction opposite to the arrow F direction). The rod 229 is also raised, and the pin plate 226 is swung to the retracted position shown by the two-dot chain line in FIG.

When the index chuck 18 holding the light emitting element 5 to bend the terminal 5a reaches the angular position 94 shown in FIG.
4 is lowered. Therefore, the slider 219 moves forward (in the direction of arrow F). Thereafter, the rod 229 is lowered, the pin plate 226 is brought to the position shown by the solid line in FIG. 21, and the support pin 226b provided at the tip of the pin plate 226 pushes the base of the terminal 5a from below. support. And
The rod 235 is raised by a predetermined distance and the rod 236 is lowered by a predetermined distance, and the terminal 5a is clamped by the lower die 233 and the upper die 234. Thereafter, the rods 235 and 236 are both lowered, and the lower mold 233 and the upper mold 234 are simultaneously lowered, and the terminal 5a
Is bent about 90 ° at the portion supported by the support pin 226b, and is formed as shown in FIG. When the bending of the terminal 5a is completed, the terminal bending device 28 is operated to follow the reverse process, and is returned to the original stationary state.

Here, a centralized driving device for applying a driving force to the index chuck driving devices 23 and 24, the terminal handling device 27, and the terminal bending device 28 will be described with reference to FIGS. 25 and 26.

As shown in FIG. 6, the centralized driving device 241
It is provided on the upper surface side of the support plate 83 attached to 2. FIG. 25 is a view taken along the line XXV-XXV of FIG. 6, and FIG. 26 is a view taken along the line XXVI-XXVI of FIG.

As shown in FIGS. 25 and 26, the centralized driving device 241 has a main motor 19, and the output of the main motor is supplied to each of the above devices via a cam mechanism.

The output of the main motor 19 is output from the coupler 243 or gearbox 2
Main shaft 24 via the speed reduction mechanism and cam mechanism in 44
It is transmitted to 5. Note that the index table 1
An index shaft 85 (shown in FIGS. 6 and 7) directly connected to 7 extends downward from the vicinity of the main shaft 245 and is driven to rotate by the main motor 19.

The output transmitted to the main shaft 245 is transmitted through the toothed belt wheels 247 to 251 and the toothed belts 253 and 254 to 3
It is transmitted to the sub shafts 256 to 258 of the book, and drives these sub shafts to rotate. Reference numerals 259 and 260
Denotes a tension pulley for applying a predetermined tension to both toothed belts 253 and 254.

Two disc-shaped cam members 263a and 264a are provided on the first sub-shaft 256 disposed near the main shaft 245.
Is fitted. A pair of lever members 263b and 264b are provided on the gear box so as to be swingable in a vertical plane via support shafts 263c and 264c. Double lever member 263b
And one end of 264b is a roller 263d as a cam follower
And 264d, respectively, and each of the cam members 26
It is in contact with the cam surface of 3a and 264a. A coil spring 263e that biases both lever members in the counterclockwise direction in FIG. 26 is provided at the other end portions of both lever members 263b and 264b.
264e are connected. Rods 263f and 264f are connected to the lever members near these coil springs, respectively. Each of the rods 263f and 264f extends downward, and is connected to the movable portion of each of the index chuck driving devices 23 and 24 described above. That is, the rotation of the cam members 263a and 264a that rotate together with the sub shaft 256 causes the lever members 263b and 264d to swing,
This causes the rods 263f and 264f to move up and down,
Each of the index chuck driving devices 23 and 24 is configured to perform the above-described predetermined operation.

Note that both lever members 263b and 2
Roller 2 as a cam follower by pushing up the end of 64b
A cylinder 266 is provided which has a clutch function for pushing up the ends of 63d and 264d upward to disengage rollers 263d and 264d as cam followers from the cam surfaces of cam members 263a and 264a.

On the other hand, as shown in FIG.
Are fitted with nine disk-shaped cam members 271a to 279a. As shown in FIG. 26, of these cam members, for example, a lever member 272b is provided corresponding to the cam member 272a, and the lower end portion of the cam member 272a is supported by a support shaft 272c. Is mounted so as to swing freely. A roller 272d as a cam follower is provided at the center of the lever member 272b, and is in contact with the cam surface of the cam member 271a. A coil spring 272e for urging the lever member in the counterclockwise direction in FIG. 26 is connected to the upper end of the lever member 272b. Lever member
One end of a horizontal rod 272f extending horizontally to the right (the direction opposite to the arrow X) is connected to the upper end of the 272b. And a columnar member is on the right side of the lever member 272b.
272 g are provided, and a support pin is provided at the upper end of the columnar member.
The other end of the rod 272f is pivotally attached to one end of a rotation lever member 272i rotatably mounted in a vertical plane via 272h. A vertical rod 272j is connected to the other end of the rotating lever member 272i. The vertical rod 272j extends downward, and is connected to the rod 211 of the four rods 186, 193, 206, and 211 for operating the terminal handling device 27 described above. That is, the rotation of the cam member 272a that rotates together with the sub-shaft 257 causes the lever member 272b to swing, whereby the horizontal rod
The driving force is applied to the rod 211 via the 272f, the rotating lever member 272i, and the vertical rod 272j.

Although the power transmission system for the cam member 272a has been described above, the power transmission systems attached to the other eight cam members 271a and 273a to 279a are configured similarly to the power transmission system of the cam member 272a. , Lever members 271b to 279b, rollers 271d to 279d as cam followers, coil springs 271e to 279e, horizontal rods 271f to 279f, rotating lever members 271i to 279i, and vertical rods 271j to 27l.
9j.

The vertical rods 271j, 273j, and 274j correspond to the vertical rod 2 described above.
Like 72j, it is connected to the rods 186, 206 and 193 of the terminal handling device 27. The remaining five vertical rods 275j to 279j are connected to the respective rods 224, 229, 235 and 236 for operating the terminal bending device 28 described above.

FIG. 27 is a view taken along the line XXVII-XXVII of FIG. 26. As is clear from FIG. 27, the upper ends of the lever members 271b to 279b have blocks 271k to 279k.
Are provided respectively. Then, two comb members 282 and 283 extending in the direction in which these lever members are arranged are provided. The two comb-shaped members 282 and 283
The levers 285 to 288 are swingably mounted on support bases 285a to 288a on a base 284 provided on the base 3 respectively, and are pivotally mounted by pins 285b to 288b to two ends of the lever members 285 to 288, respectively. Two cylinders 290 and 291 for applying a driving force to the lever members 286 and 288, respectively, and coil springs 292 and 293 for applying a clockwise bias force to both lever members are provided. A stopper 295 for defining a swing range of the lever members 286 and 288 is also provided.
And 296 are provided. That is, the cylinder 290 and
The two comb-shaped members 282 and
283 is configured to move along the arc in the direction of arrow G and in the opposite direction. Each of the comb members 282 and 283
Rollers 282c and 283c are provided at the tips of the respective teeth, and smoothly contact the above-mentioned blocks 271k to 279k on the lever members 271b to 279b, respectively. In such a configuration, the comb-shaped members 282 and 283 move in the direction opposite to the arrow G as the output shafts of the cylinders 290 and 291 protrude. Therefore, each roller 282c and 283c
1k to 279k are pressed, and the rollers 271d to 279d as cam followers shown in FIGS. 25 and 26 are separated from the cam surfaces of the cam members 271a to 279a. Therefore, the supply of power to the terminal handling device 27 and the terminal bending device 28 is cut off, and it is a kind of clutch.

In turn, the configuration around the third sub shaft 258 will be described.

One disk-shaped cam member 299 is mounted on the sub-shaft 258. As shown in FIG. 26, a columnar member 230 is provided near the cam member 299, and a lever member 301a is provided at an upper end of the columnar member at one end thereof with a support pin 301b.
Is mounted to be swingable in the vertical plane via A roller 301c as a cam follower is provided at the center of the lever member 301a, and is in sliding contact with the cam surface of the cam member 299. A coil spring 301b for urging the lever member counterclockwise in FIG. 26 is connected near the other end of the lever member 301a. That is, the lever member 301a is configured to swing by the rotation of the cam member 299.

On the other hand, to the left of the lever member 301a, another lever member 303a is swingably supported in a vertical plane by a support pin 303b. A roller 303c is provided at the other end of the lever member 303a, and is provided with the roller 303c.
Slidably in contact with the tapered surface 301e formed at the swing end.
A cylinder 304 is disposed below the lever member 303a, and an output rod of the cylinder is pivotally attached to a central portion of the lever member 303a. These lever member 303a and cylinder
The clutch is constituted by 304. That is, when the output rod of the cylinder 304 projects, the lever member 3
03a is swung upward, whereby the lever member 301a is swung clockwise in FIG. 26, and the roller 301c as a cam follower is separated from the cam surface of the cam member 299. Note that this lever member 301a
Is for operating a component mounting chuck 30 described later.

Next, as described above, the component mounting chuck 30 for receiving the light emitting element 5 conveyed while being molded with the terminal 5a from the index chuck 18 and mounting it on the printed circuit board 35.
Will be described in detail with reference to FIGS. 28 and 29. In addition,
FIG. 29 shows a section taken along the line XXIX-XXIX of FIG.

As shown in FIGS. 28 and 29, the component mounting chuck 30 has a hollow flange 311 as a base portion fixed to the support plate 83 described above. As shown in FIG. 29, a cylindrical boss 313 is rotatably provided in the flange 311 via a bearing 312. A stroke shaft 315 is slidably provided in the boss 313. The boss 313 and the stroke shaft 315 are moved by the motor 37 (provided on the support plate 83) shown in FIG.
It is rotationally driven via the toothed belt wheels 318 and 319 and the toothed belt 320. Flanges 322 of both flanges are fitted to the upper end of the stroke shaft 315, and the lever member 3 driven by the rotation of the third sub shaft 258 described above.
A roller 301f provided at the end of 01a is smoothly fitted in the flange 322. That is, the stroke shaft
315 is moved up and down by a cam mechanism including the lever member 301a.

As shown in FIGS. 28 and 29, a disc-shaped bush 324 is integrally attached to the upper ends of the boss 313 and the stroke shaft 315. On the lower surface of the bush 324, a plurality of mortar-shaped holes 324a are formed at predetermined positions along the circumferential direction. A cylinder 325 is arranged below the bush 324, and the tip of an output rod 325a of the cylinder is formed in a pointed shape. Therefore, by appropriately projecting the output rod of the cylinder 325 and fitting it into the hole 324a of the bush 324, the stroke shaft 315 is fixed at a predetermined angular position. Note that an encoder 326 for detecting the rotational angle position of the stroke shaft 315 is provided via a bracket 327.

A grip 329 for gripping the light emitting element 5 is attached to the lower end of the stroke shaft 315. Gripping part 3
29 is a gripping claw 330a for gripping the main body of the light emitting element 5,
A piston 330b for opening and closing the gripping claw 330a, and an auxiliary claw 331a that is attached to the terminal 5a of the light emitting element 5 to prevent its displacement.
A piston 331b for opening and closing the pawl 331a,
A pusher 332a, which pushes down the light emitting element 5 and is mounted on the printed circuit board 35 (shown in FIG. 1 and the like), and a piston 332b for vertically moving the pusher 332a are incorporated. Also,
Nipples 333 and 334 for supplying compressed air into the cylinder to operate each piston 330b, 331b and 332b
have.

The operation of the component mounting chuck 30 having the above configuration will be described together with the operation of the XY table for positioning the printed circuit board 35.

Terminals by the aforementioned terminal handling device 27 and terminal bending device 28
When the index chuck 18 holding the light emitting element 5 having completed the molding of 5a is brought to a position corresponding to the component mounting chuck 30 by rotating the index table 17, the first
The index chuck driving device 24 shown in FIGS. 2 and 3 is operated, and the lever member 110 of the index chuck driving device shown in FIGS. Therefore, the slider 103 of the index chuck 18 moves forward, and the light emitting element 5 is moved to the component mounting chuck 30.
In the vicinity of the grip portion 329. At the same time, the opening operation of the grip portion 329 is performed. When the light emitting element 5 reaches the gripping position by the gripper 329, the gripping operation of the gripper 329 is performed. Then, the pressing block 111 of the index chuck driving device 24 (the ninth
The index chuck 18 (shown in the figure) is lowered.
Is applied, the gripping state of the light emitting element 5 by the index chuck 18 is released, and the light emitting element 5 is transferred to the grip portion 329 of the component mounting chuck 30.

Thereafter, the motors 34a and 34b shown in FIGS. 6 and 7 are rotated to operate the XY table, and the printed circuit board 35 is mounted on the light emitting element at a right angle to the above-mentioned gripping portion 329. Are conveyed two-dimensionally and positioned so that When the positioning of the printed circuit board 35 is completed, the stroke shaft 315 of the component mounting chuck 30 is lowered. At the same time, the gripping part 329 is operated to release the gripping state of the light emitting element 5 by the gripping part, and the pusher 332a of the gripping part descends, so that the light emitting element 5 is attached to the printed circuit board 35 as shown in FIG. Be attached. At the same time, the terminal 5a of the light emitting element 5 is also inserted into the terminal insertion hole 35a formed on the printed circuit board 35. At the time of this component mounting, the motor 37 shown in FIG.
Is determined, and the mounting angle of the light emitting element 5 with respect to the printed circuit board 35 is determined.

With respect to the terminal 5a of the light emitting element 5 mounted on the printed circuit board 35, the conduction state is inspected by the conduction check / terminal cutting device 39 arranged on the lower surface side of the printed circuit board 35, and the conduction state is recognized as good. In this case, the tip of the terminal 5a is cut by the device to adjust its length. Hereinafter, the continuity check and terminal cut device 39 will be described in detail with reference to FIGS. 30 to 32.

As shown in FIG. 30, the continuity check / terminal cut device 39
Has a hollow flange 340 as a base fixed to the work table 62. Bearing inside flange 340
A cylindrical boss 342 is rotatably provided via 341. A stroke shaft 343 is slidably provided in the boss 342. Boss 342 and stroke shaft 343
Is rotationally driven by a motor (not shown) via a toothed belt 345 and a toothed belt wheel 346. An output rod of a cylinder 349 is connected to a lower end of the stroke shaft 343 via a bearing 347 and a block 348, and the stroke shaft 343 is moved up and down by operation of the cylinder.

A disk-shaped bush 351 is integrally mounted near the lower end of the stroke shaft 343. Bush 351
A plurality of mortar-shaped holes 351a are formed at predetermined positions in the circumferential direction on the lower surface of the. A cylinder 352 is disposed below the bush 351 and an output rod 352 of the cylinder is provided.
The tip of a is formed in a pointed shape. Therefore, the output rod 352a of the cylinder 352 is appropriately protruded to
By inserting it into the hole 351a of the
343 is fixed at a predetermined angular position. The terminal 5a of the light emitting element 5 is provided at the upper end of the stroke shaft 343.
And a head portion 354 for cutting the terminal.

As shown in FIGS. 31 and 32, the head unit 453 has a continuity check unit 355 through which the end 5a of the light emitting element 5 is inserted, and a cutter unit 356 for cutting the end of the terminal 5a. ing. Further, the cutter section 356 is operated via cam means 359 by a piston 358 which is operated by supplying compressed air from a nipple 357.

The operation of the above-described continuity check / terminal cut device 39 will be described.

First, the cylinder 349 is operated with the cutter unit 356 of the head 354 opened, and the stroke shaft 343 is raised, so that the head unit 344 approaches the light emitting element 5. As a result, the terminal 5a is inserted into the continuity check unit 355, and the quality of continuity is inspected. When it is recognized that the conduction state of the terminal 5a is good, the cutter unit 356 is operated and the tip of the terminal 5a is cut. Thereafter, the stroke shaft 343 descends. When the stroke shaft 343 is raised, the stroke shaft 343 is rotated by a predetermined angle, and the angular position of the head unit 354 with respect to the angular position of the light emitting element 5 to be subjected to the continuity test is performed.

On the other hand, if the result of the continuity test of the terminal 5a by the above-described continuity chuck / terminal cutting device 39 is recognized to be defective, the light emitting element 5 is operated by the aforementioned component mounting chuck 30 in the same manner as described above. It is extracted from the printed circuit board 35. Then, in order to collect the light emitting device, FIG. 33 and FIG.
It is dropped into a box-shaped storage section 40 shown in FIG. Storage section 40
Is attached to the output rod of a cylinder 363 attached to the lower surface of the support plate 83 via a bracket 362, and is moved in the horizontal direction.
The light-emitting element 5 is appropriately moved between a position immediately below the light emitting element 30 and a position retracted from the position. Further, a mechanism is provided above the cylinder 363 for causing the grip portion 329 of the component mounting chuck 30 to temporarily release the light emitting element 5 that has failed the continuity test and drop the light emitting element. . As shown in FIG. 33, the mechanism includes a lever member 364 which is swingably mounted on a bracket 362 via a support pin 364a in a vertical plane, and a coil for urging the lever member clockwise in the figure. Spring 365
And a cylinder for pushing down one end of the lever member 364 to swing the lever member counterclockwise in the figure.
366. Roller 364a at the other end of lever member 364
Is provided. That is, when the output rod of the cylinder 366 is pulled and the lever member 364 is urged clockwise, the roller releases the gripping portion 329 from the gripping state.

When the above-mentioned defective components have been dropped, mounting operations for subsequent light emitting elements are performed one after another, and the printed circuit board 35 on which all components have been mounted is sent to the next processing step.

In the above embodiment, the light emitting element 5 is described as an electronic component to be mounted on the printed circuit board 35 to be mounted, but other electronic components mounted on the printed circuit board include an IC, a transistor or a resistor. Various things are mentioned.

Further, in the above embodiment, the transport of the light emitting element 5 as an electronic component is performed by the rotation of the disk-shaped index table 17, but the present invention is not limited to such a configuration, and for example, on an endless linear transport conveyor. A large number of index chucks 18 may be arranged in a row, and the electronic components may be gripped and transported by the index chucks.

FIGS. 35 and 36 show another example of a component supply device for randomly supplying the light emitting elements 5 (described above) onto the conveyor 4. FIG. As shown in the figure, the component supply device has a hollow disk-shaped component storage section 370 rotatably supported by support pins 370a above the conveyor 4. The component storage section 370 is provided with an opening 370b, and a light emitting element is refilled into the component storage section 370 through the opening 370b. An opening / closing mechanism 371 for discharging several light-emitting elements onto the conveyor 4 by several pieces is provided on the outer peripheral portion of the component storage section 370, and a cylinder 372 for operating the opening / closing mechanism is provided. In addition, another cylinder 373 is swingably attached to the frame 116 supporting the component storage section 370 by the support pin 373a,
The tip of the output rod of the cylinder is pivoted by a pin 373b at a position deviated from the center of rotation of the component storage section 370.

In the component supply device having such a configuration, the cylinder 373
, The component storage section is rotated by a predetermined angle, the component discharge port of the component storage section is brought directly above the conveyor 4, and the opening and closing mechanism 371 is opened and closed by the operation of the cylinder 372. Each light emitting element is supplied onto the conveyor 4.

As described in detail above, in the image recognition component mounting apparatus according to the present invention, the electronic component is mounted on the board to be mounted by the component gripping / transporting means, and at the same time, the continuity of the terminals of the electronic component is checked for continuity. The electronic component is removed from the board by the component gripping / transporting means and then supplied to a predetermined storage section for collection, and immediately thereafter, when the inspection result is recognized as defective, Is mounted.

This eliminates the need to manually stop the operation of the device and manually remove the poorly-connected electronic component from the board, thereby preventing the terminal continuity inspection work and the component mounting work from being interrupted, and improving the electronic component mounting efficiency. It is.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall configuration of an image recognition component mounting apparatus according to the present invention, and FIGS. 2 to 4 show light emitting elements mounted on a printed circuit board by the image recognition component mounting apparatus shown in FIG. Perspective view showing a state of processing applied to the terminal,
FIG. 5 is a side view showing a state in which the light emitting elements shown in FIGS. 2 to 4 are mounted on a printed circuit board, and FIG. 6 includes a partial cross section of the image recognition component mounting apparatus shown in FIG. FIG. 7 is a view taken in the direction of arrows VII-VII in FIG. 6, and FIGS. 8 and 9 are index chucks and index chuck driving devices included in the image recognition component mounting apparatus shown in FIGS. 6 and 7. 10 is a plan view and a side view of a part of FIG. 10, FIG. 10 is a view for explaining the operation of the index chuck shown in FIG. 8 and FIG. 9, and FIG. 11 and FIG. FIG. 13 is a sectional view taken along the line XIII-XIII of FIG. 12, FIG. 14 is a sectional view taken along the line XIV-XIV of FIG. 12, FIG. 15 and FIG. FIG. 6 is a plan view including a partial cross section of each of the front / reverse devices included in the image recognition component mounting device shown in FIG. 17 and 18 are a plan view including a partial cross section and a side view including a partial cross section of each of the terminal handling devices included in the image recognition component mounting device illustrated in FIG. 6, and FIG. XIX-X for FIGS. 17 and 18
IX arrow view, FIG. 20 is a plan view of the terminal bending device included in the image recognition component mounting device shown in FIG. 6, FIG. 21 and FIG. FIG. 23 is a side view including a diagram and a partial cross section, and FIG.
XXII arrow view, FIG. 24 is XXIV-related to FIG. 21 and FIG.
XXIV view, FIG. 25 is a plan view including a partial cross section and a plan view including a partial cross section of the centralized driving device included in the image recognition component mounting apparatus shown in FIG. 6, and FIG. 26 is FIG. About XXVI
-XXVI arrow view, FIG. 27 is a XXVII-XXVII arrow view related to FIG. 26, FIG. 28 is a front view including a partial cross section of the component mounting chuck included in the image recognition component mounting device shown in FIG. 6, 29 is a sectional view taken along the line XXIX-XXIX of FIG. 28, FIG. 30 is a longitudinal sectional view of a continuity check and terminal cut device included in the image recognition component mounting device shown in FIG. 6, FIG. 31 and FIG. FIG. 30 is an enlarged view of a part of the continuity check / terminal cut device shown in FIG. 30,
33 and 34 are front and side views, respectively, of the defective component storage mechanism included in the image recognition component mounting apparatus shown in FIG.
FIG. 36 and FIG. 36 are a front view and a side view, respectively, of another embodiment of the component supply device. Description of Signs of Main Parts 1 ... First control means 2 ... Part supply device 3,6,13,34,67,68,74,77,135,162,199,317 ... Motor 4 ... Conveyor 5 ... Light emitting element 8,26, 29 TV camera 9 Component supply position 12,33 XY table 14 Component chuck 15 Front / reversing device 17 Index table 18 Index chuck 19 Main motor 20 ... Cam mechanism 21 ... Clutch, 22 ... Second control means 23,24 ... Index chuck driving device 27 ... Terminal handling (ladder) device 28 ... Terminal bending device 30 ... Component mounting chuck 35 ... Printed circuit board (to be mounted) 39 ... Continuity check / terminal cut device 40 ... Defective component storage unit 62 ... Work table, 80 ... Board transfer mechanism 192b ... Slider (carrier) 194 ... Pinning pin, 203 ... Clamping member 233: Lower mold, 234: Upper mold

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yasuhiko Mizutani 25-1, Nishimachi, Yamada-ji, Kawaji-shi, Saitama Prefecture Inside the Pioneer Corporation Kawagoe Plant (72) Tetsuya Ishiguro 25-1, Nishimachi, Yamada-ji, Kawaji-shi, Saitama Pioneer Inside the Kawagoe Factory, Inc. (72) Inventor Yoshito Tachibana 25-1, Nishimachi, Yamada, Kawaji-shi, Saitama Prefecture Pioneer Corporation Kawagoe Factory (56) References JP-A-63-306700 (JP, A) JP-A-1- 138800 (JP, A) JP-A-1-182210 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) H05K 13/08

Claims (2)

(57) [Claims] A component supply unit for sequentially supplying electronic components having terminals to a component mounting surface; an imaging unit for capturing an image of the supplied electronic component to generate an image signal; and processing the image signal. An image recognition component mounting apparatus comprising: image data generating means for generating image data; and component gripping and transporting means for selectively gripping the electronic component based on the image data and transporting the electronic component to a mounting position of a mounting target for mounting. Wherein the component gripping / transporting unit is configured to correct a posture on the component mounting surface based on the image data, and a correcting unit correcting a deformation of a terminal of the electronic component that has passed through the posture correcting unit. And mounting means for gripping the electronic component having passed through the correcting means and mounting the electronic component at a mounting position of the mounting target,
Continuity inspection means for inspecting the continuity of the terminal when the electronic component is mounted by the mounting means, and when the result of the inspection is defective, the electronic component is detached from the mounting target and stored in the storage section. An image recognition component mounting apparatus for mounting a subsequent electronic component after supplying the electronic component. 2. The component gripping / transporting means mounts the electronic component on the mounting object in a predetermined direction, and the storage portion is provided movably in a plane substantially perpendicular to the predetermined direction. 2. The image recognition component mounting apparatus according to claim 1, further comprising storage unit driving means for moving the storage unit.