JP3036363B2 - Electronic component transfer device and electronic component mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component transfer device and an electronic component mounting device.

[0002]

2. Description of the Related Art As a means for automatically mounting electronic components on a substrate at high speed, an electronic component mounting apparatus using a rotary head having a plurality of nozzles for sucking the electronic components in a circumferential portion is widely used. In the conventional electronic component mounting device, a pick-up operation of picking up the electronic component from the parts feeder, a recognition using an observation device such as a camera to detect whether the electronic component is attracted to the nozzle or to detect a displacement of the electronic component. An operation, a mounting operation of mounting the electronic component sucked by the nozzle on the substrate, and the like are performed. In such an operation, the nozzle is moved up and down, but in order to minimize positional displacement during movement and obtain sufficient positional accuracy, it is desirable that this vertical stroke be performed in the vertical direction.

For this reason, in the conventional electronic component mounting apparatus, the above operations are performed after the rotary head is rotated by the index and the rotation of the rotary head is temporarily stopped. On the other hand, it is necessary to rotate the rotary head at a high speed so that as many electronic components as possible can be mounted on the substrate within a certain time. Therefore, in the conventional electronic component mounting apparatus, rapid acceleration, sudden stop, rapid acceleration,
... was repeated.

[0004]

However, in order to perform the index operation as described above, a drive system such as a motor for driving the rotary head must repeatedly apply large positive and negative accelerations to the rotary head. There is a problem that the burden is extremely large. Also, since the rotary head repeatedly accelerates and stops suddenly,
Each time, a large inertial force acts on the entire apparatus, and there is a problem that severe vibration occurs. Further, since the rotary head is stopped many times, there is a problem that the stop time is long and the tact time of mounting is long.

Accordingly, an object of the present invention is to provide an electronic component transfer device and an electronic component mounting device capable of realizing a smooth and quiet operation while ensuring the operation of vertically moving the nozzle straight up and down.

[0006]

According to the present invention, there is provided an electronic component transfer apparatus comprising: a main rotary table rotatably supported around a vertical main shaft center; A sub-rotary table that is rotatably supported around a parallel sub-axis center and has a nozzle that sucks electronic components at a position eccentric from the sub-axis center, and a main rotary table that rotates in a fixed direction and a sub-rotation Driving means for rotating the table in a direction opposite to the main rotary table, and driving the driving means so that the moving speed of the nozzle becomes apparently zero at the vertex farthest from the center of the main axis in the locus of the nozzle in the horizontal plane. Set the conditions.

[0007]

According to the above arrangement, the moving speed of the nozzle becomes apparently zero at the vertex of the locus. If a pickup operation or the like is performed at this vertex, it is not necessary to completely stop the main rotary table. For this reason, the main rotary table can be rotated smoothly or almost completely continuously, and vibrations due to inertial force and unnecessary loss time can be avoided.

[0008]

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view of an electronic component mounting apparatus according to an embodiment of the present invention, FIG. 2 is an enlarged view of the vicinity of a sub-width according to an embodiment of the present invention, and FIG. FIG.

In FIG. 1, reference numeral 1 denotes a cylindrical box whose lower part is open, 2 denotes a main shaft which is rotatably supported on the box 1 so as to be unable to ascend and descend, and C1 denotes a center of a vertical main shaft. Reference numeral 3 denotes a disk-shaped main rotary table which is coaxially mounted on the lower end portion of the main shaft 2 coaxially with the center C1 of the main shaft, and reference numeral 4 denotes a pulley 5 which adjusts the main shaft 2 to a pulley 5 which is mounted on its output shaft 4a. The main motor rotates through a timing belt 7 and a pulley 6 attached to the upper part of the main shaft 2. Reference numeral 8 denotes a cam cylinder fixed to the upper part of the internal space of the box 1 and through which the main shaft 2 rotatably penetrates. A rib cam 9 for raising and lowering the sub shaft 11 is provided on the peripheral surface thereof, as described later. .
Reference numeral 10 denotes an internal gear having an outer peripheral surface fixed to a lower portion of the internal space of the box 1 and having teeth formed on the inner peripheral surface.

Reference numeral C2 denotes a sub-shaft center parallel to the main shaft center C1, and a plurality of sub-shafts 11 are provided on the circumference of the main turntable 3 as shown in the figure. As shown in an enlarged manner in FIG. 2, a spline 11a is provided at the center of the counter shaft 11.
Is formed on the outer periphery of the spline 11a.
3 is in contact with the outer bearing 15 and the inner bearing 13 fitted in the circumferential portion of the main rotary table 3.
Is interposed. That is, the sub shaft 11 is freely movable up and down and rotatable with respect to the main rotary table 3. Also ring 1
A pinion 16 meshing with the internal gear 10 is rigidly connected to the upper part of the gear 4. Therefore, as shown in FIG. 1, when the main motor 4 is driven to rotate the main shaft 2 in the clockwise direction N1, the main rotary table 3 is moved in the clockwise direction N1 and the sub shaft center C2.
Can be rotated. Further, since the internal gear 10 is thereby rigidly connected to the box 1, the countershaft 11 can be rotated counterclockwise N2 about the countershaft center C2. That is, the motor 4, the internal gear 10, and the pinion 16 correspond to a driving unit. The operation of the driving means will be described later in more detail.

In FIG. 2, reference numeral 12 denotes a disk-shaped auxiliary rotary table which is coaxially rigidly connected to a lower portion of the auxiliary shaft 11, and reference numeral 21 denotes a second rotational radius r2 from the auxiliary shaft center C2 of the auxiliary rotary table 12.
These nozzles are rotatably and vertically movable with respect to the sub-rotating table 12 at positions that are eccentric. Nozzle 21
Has a flange portion 21a, and a spring 22 is interposed between the flange portion 21a and the upper surface of the auxiliary rotary table 12. The spring 22 applies its spring force upward to the flange portion 21 a to maintain the height of the lower end of the nozzle 21. 23 is the auxiliary rotary table 1
2 is a nozzle motor provided downward, and the nozzle motor 23 is provided with a pulley 2 mounted on its output shaft 23a.
4. The nozzle 21 is rotated in the direction of arrow M via the timing belt 25 and the pulley 26 which rotates integrally with the nozzle 21 to change the package of the electronic component adsorbed to the lower end of the nozzle 21. . Here, the distance from the spindle center C1 to the nozzle center C3 is referred to as a first radius of rotation r1.

When the main motor 4 is driven to rotate the main shaft 2 clockwise (arrow N1) around the main shaft center C2,
The counter shaft center C2 rotates as shown by the circle S in FIG. Also, at this time, the countershaft center C2 itself rotates counterclockwise (arrow N2) by the internal gear 10 and the pinion 16. As a result, the nozzle 21 located at a position eccentric from the sub-axis center C2 by the second radius of rotation r2 draws a locus R that forms a cycloid curve as shown by a broken line in FIG. 3 in a horizontal plane. The trajectory R has four vertices farthest from the main shaft center C1, and at these vertices, the velocity component of the nozzle 21 in the radial direction is zero. As described above, the rotation directions of the main turntable 3 and the sub turntable 12 are opposite,
Among the circumferential speed components of the nozzle 21, a speed component V1 due to the rotation of the main shaft 2 and a speed component V2 due to the rotation of the sub shaft 11
Act on the vertices in directions 180 degrees different from each other and cancel each other. Here, assuming that the angular speed of the main shaft 2 is ω1 and the angular speed of the sub shaft 11 is ω2, V1 = r1
ω1, V2 = r2ω2, and in this means, in particular, V1 +
The driving conditions in the driving means are set so that V2 = 0. In this embodiment, both the main shaft 2 and the sub shaft 11 are
The internal gear 10 is rotated by the common main motor 4, and the ratio of the number of teeth between the internal gear 10 and the pinion 16 is set so that V1 + V2 = 0. Of course, the driving means of the present means is not limited to the example shown in the figure.
1 can be driven by separate motors, and various changes can be made such as determining the rotational speed ratio of these motors so that V1 + V2 = 0. With this configuration, the moving speed of the nozzle 21 becomes apparently zero at the vertex of the trajectory R, and the nozzle 21 can be vertically moved straight up and down at the vertex while the main motor 4 is continuously driven. Therefore, in the present means, among these vertices, S1 was adopted as a pickup station, S2 as a recognition station, S3 as a mounting station, and S4 as a spare station.

In FIG. 1, reference numeral 30 denotes a pick-up station S1, a parts feeder for supplying an electronic component P to the nozzle 21, 31 an observing device for checking the presence or absence of the electronic component P at a recognition station S2, and T a mounting station. It is a positioning device such as an XY table that positions the substrate 32 in accordance with the position of the nozzle 21. In addition,
Reference numeral 27 denotes a vertical lifting rod provided above the pickup station S1 and the mounting station S3 of the box 1 and raised and lowered by a lifting means (not shown); 28, an arm horizontally projecting from the lower end of the lifting rod 27; 28 is a contact portion such as a bearing provided at the distal end of the pickup station S1,
When reaching the mounting station S3, the lifting rod 27 is lowered, the contact part 29 pushes down the flange part 21a at the upper end of the nozzle 21, and the nozzle 21 is lowered straight down.

[0014]

According to the present invention, there is provided an electronic component transfer apparatus comprising: a main rotary table rotatably supported around a vertical main shaft center; and a sub-shaft parallel to the main shaft center on a circumferential portion of the main rotary table. A sub-rotary table that is rotatably supported around its center and has a nozzle that sucks electronic components at a position eccentric from the center of the sub-axis, and a main rotary table that rotates in a fixed direction, and a sub-rotary table that rotates main A driving means for rotating the table in the opposite direction is provided, and the driving condition of the driving means is set so that the moving speed of the nozzle is apparently zero at the vertex farthest from the center of the main axis in the locus of the nozzle in the horizontal plane. The nozzle can be raised and lowered in the vertical direction without stopping the main turntable at all, not only reducing the load on the driving means but also minimizing vibration and loss time. It can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view of an electronic component mounting apparatus according to an embodiment of the present invention.

FIG. 2 is an enlarged view of the vicinity of a sub-width in one embodiment of the present invention.

FIG. 3 is an explanatory diagram of a locus of a nozzle according to an embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 3 Main rotary table 4 Main motor 10 Internal gear 12 Sub rotary table 16 Pinion 21 Nozzle 30 Parts feeder 31 Observation device C1 Main shaft center C2 Sub shaft center R Locus P Electronic component T Positioning device S1 Pickup station S2 Recognition station S3 Mounting station

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) H05K 13/04

Claims (2)

(57) [Claims] A main rotating table rotatably supported around a vertical main shaft center; and a rotatable shaft rotatably around a sub shaft center parallel to the main shaft center on a circumferential portion of the main rotating table. A sub-rotary table provided with a nozzle that is supported and sucks electronic components at a position eccentric from the center of the sub-axis; and rotating the main rotary table in a fixed direction, and moving the sub-rotary table in a direction opposite to the main rotary table. The driving condition of the driving unit is set such that the moving speed of the nozzle is apparently zero at an apex most distant from the center of the spindle in the locus of the nozzle in a horizontal plane. An electronic component transfer device, characterized in that: 2. An electronic component transfer device according to claim 1, a parts feeder for supplying an electronic component to said nozzle at a pickup station, and an observation device for observing the electronic component attracted to said nozzle at a recognition station. An electronic component mounting apparatus, comprising: a positioning device for positioning a substrate in accordance with a position of the nozzle in a mounting station, wherein the pickup station, the recognition station, and the mounting station are set below the apex.