JP3115022B2 - Suction nozzle rotating 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 apparatus for rotating a suction nozzle, and more particularly to an improvement in rotation accuracy of the suction nozzle.

[0002]

2. Description of the Related Art One kind of suction head includes (i) a head body, (ii) a suction nozzle rotatably provided on the head body, and (iii) a suction nozzle rotatably provided on the head body. Some are configured to include a first engagement member connected by rotation transmission means. This suction head is used, for example, as a component suction head of an electronic component mounting apparatus. The head body of the suction head is moved to a component suction position, a component mounting position, and the like by the moving member, the electronic component is sucked by the suction nozzle at the component suction position, and the electronic component is mounted on the printed board at the component mounting position.

In the electronic component mounting apparatus as described above, a suction nozzle rotating device is provided at an angle error correction position between the component suction position and the component mounting position, and is provided around a center line of the electronic component sucked by the suction nozzle. Is corrected. The suction nozzle rotating device for rotating the suction nozzle generally includes (a) a second engagement member that can be concentrically engaged with the first engagement member of the suction head, and (b) a rotation provided with a driving rotating body. It is configured to include a driving device and (c) rotation transmitting means for transmitting the rotation of the driving rotator to the second engagement member.
When the suction head is stopped at the angle error correction position, the second engagement member and the first engagement member are brought closer to each other, and the two engagement members are engaged concentrically. Then, the rotation driving device is driven based on a command from the control device, and the second engagement member is rotated about its axis via the driving rotator and the rotation transmitting means, so that the rotation is performed by the first engagement member. The rotation is transmitted to the suction nozzle via the member and the rotation transmission means, and the suction nozzle rotates by a predetermined angle to correct the angle error of the electronic component.

[0004]

However, when a plurality of suction heads are provided for one suction nozzle rotating device, one or both of the suction head and the nozzle rotating device are moved to a specific engagement position. When the two engaging members are engaged with each other, the first engaging member and the second engaging member may be positioned in an off-center state.
Therefore, the two engaging members are engaged in an eccentric state, twisting occurs and the rotation of the second engaging member is not transmitted to the first engaging member satisfactorily, and the suction nozzle is accurately rotated to a desired angle. There was no problem. This problem is common to not only a suction nozzle rotating device for correcting an angle error of an electronic component but also a suction nozzle rotating device for rotating an electronic component at a predetermined fixed angle. Not only the suction nozzle rotating device of the mounting device,
This is a problem common to suction nozzle rotating devices used for other purposes.

The present invention has been made in view of the above-described problems, and is intended for use even when the first engagement member and the second engagement member are out of alignment before engagement.
The object of the present invention is to obtain a suction nozzle rotating device which is capable of accurately rotating the suction nozzle accurately and concentrically to rotate the suction nozzle with high accuracy and having a simple structure and a small- sized suction nozzle rotating device. is there.

[0006]

According to the first aspect of the present invention, there is provided a suction nozzle rotating device comprising: (i) a head main body;
(i) a suction nozzle and (iii) a suction head including the first engagement member are provided so as to be capable of engaging and disengaging from the suction head;
(A) a second engaging member that can be concentrically engaged with the first engaging member, (b) a rotation driving device including a driving rotating body, and (c).
While allowing relative movement in all directions in a plane perpendicular to the axis of the drive rotating body and the second engagement member,
And an Oldham coupling for transmitting the rotation of the driving rotator to the second engagement member. The Ru is assumed that the drive rotor is provided with a bottomed cylindrical portion which opens downward
And an Oldham coupling comprising: (1) a connecting member extending from a central portion of a bottom wall of the bottomed cylindrical portion to an opening side;
(2) In the annular space between the outer peripheral surface of the connecting member and the inner peripheral surface of the bottomed cylindrical portion, the first joint member, the second joint member, and the (3) a spring disposed between the third joint member and the connecting member, and for urging the third joint member toward the bottom wall of the bottomed cylindrical portion; The first joint member and the second joint member, on opposing surfaces opposing each other on both sides of the connecting member, in a plurality of grooves formed in a state extending in parallel with each other and opposing each other on both sides of the connecting member. A plurality of balls arranged,
(5) A state where the second joint member and the third joint member oppose each other on both sides of the connecting member on both sides of the connecting member, oppose each other on both sides of the connecting member, and extend in a direction parallel to each other and perpendicular to the groove. And a plurality of balls disposed in the plurality of grooves formed in the first , the first joint member and the drive rotating body, and the third joint member is a second engagement member Each fixedly configured, and the second joint member and the third joint member are arranged in any radial direction in the annular space between the outer peripheral surface of the connecting member and the inner peripheral surface of the bottomed cylindrical portion. Can be moved.

[0007]

In the suction nozzle rotating device according to the present invention ,
Since the second engagement member is allowed to move relative to the driving rotator in all directions in a plane perpendicular to the axes of both, the first engagement member and the second engagement member are engaged before the engagement. Even if there is a slight misalignment with the member, the two can be engaged without difficulty and the occurrence of prying is avoided. Moreover, the rotation is transmitted reliably. Also, the three combinations of the relative movement in the direction perpendicular to the axis of the coupling member constituting the Oh Dame joint, the second engagement member, the movement in all directions in the plane perpendicular to the axis is permitted, And the first, second,
The third joint member is provided with a groove, respectively.
Multiple straddles straddling the opposing grooves of the joint member
Since the Oldham coupling is formed by disposing the above balls , the radial movement of the second engagement member is allowed by the rolling friction. Further, the first, second, and third joint members are connected by a connecting member that extends in the center of the joint members in the axial direction, and a spring disposed between the connecting member and the third joint member, The ball disposed between the joint members is elastically sandwiched by the joint members based on the urging force of the spring. The Oldham coupling is formed inside the bottomed cylindrical portion of the driving rotating body.

[0008]

As described above, according to the present invention , the first engagement member and the second engagement member of the suction head can always be engaged concentrically, and the suction nozzle can be precisely positioned at a desired position. It becomes possible to rotate by an angle. Also, Oldham fittings
Utilization of the apparatus simplifies the structure of the apparatus, can reduce the size of the apparatus, and has the effect of reducing the cost of the apparatus.
In addition, since the radial movement of the second engagement member is allowed by the rolling friction, the engagement between the first engagement member and the second engagement member can be performed with almost no resistance. Furthermore, the clearance between the joint member and the ball can be easily eliminated, and the rotation of the driving rotator can be transmitted to the second engagement member with high accuracy. In addition, the effect that the Oldham coupling is covered and protected by the bottomed cylindrical portion of the driving rotating body is obtained.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a suction nozzle rotating device of an electronic component mounting device will be described below in detail with reference to the drawings. In FIG. 3, reference numeral 10 denotes a base plate that forms a main body of the electronic component mounting apparatus together with a frame (not shown). The turntable 12 has a bearing 1 on the base plate 10.
It is supported rotatably around a vertical axis (located to the right in the figure) via 4, 16. The turntable 12 is intermittently rotated by 1/12 rotation by a cam device (not shown).

On the turntable 12, twelve sets of component mounting heads 18 are mounted at equal angular intervals on a circumference around the rotation axis thereof (only one set is shown in FIG. 3). The component mounting head 18 includes a pair of guide rods 20.
(Only one is shown in the figure), it is fitted to the turntable 12 so as to be slidable in the vertical direction, and the upper ends of these guide rods 20 are connected by a connecting plate (not shown). A roller (not shown) is attached to the connecting plate so as to be rotatable around an axis extending in the radial direction of the turntable 12, and a cam groove formed on the outer peripheral surface of a cylindrical cam provided concentrically with the turntable 12 and fixed in position. Is fitted. The height of the cam groove is gradually changed in the circumferential direction. The component mounting head 18 is moved up and down by the roller moving in the cam groove as the turntable 12 rotates.

The lower ends of the pair of guide rods 20 are connected by a connecting member 24, and a head holder 28 is fitted below the lower end so as to be rotatable about a vertical axis.
The connecting member 24 is provided with a vertically extending sleeve 30 at a position on the center side of the turntable 12, and a positioning member 32 is slidably fitted therein. At the lower end of the positioning member 32, a conical engagement projection 34 whose diameter gradually decreases downward is formed, and is urged by a spring (not shown) so as to project downward from the sleeve 30.

The turntable 12 is mounted on the head holder 28.
An arm portion 38 is provided which extends to the outer peripheral side of the head, and three suction heads 40 are arranged on the arm portion 38 at equal angular intervals along an arc centered on the rotation axis of the head holder 28. (Only one is shown in the figure). The head main body 42 of each suction head 40 is formed integrally with the head holder 28. Each head body 42 has a cylindrical shape, and a rod 44 is fitted so as to be slidable in the axial direction and relatively rotatable. A nozzle holding member 52 fixedly holding the suction nozzle 50 is fitted into a large-diameter mounting portion 46 formed at the lower end of the rod 44.
The nozzle holding member 52 is urged by a spring (not shown) arranged between the mounting portion 46 and the mounting portion 46 in a direction of protruding downward from the mounting portion 46, and the protruding limit is defined by a stopper 54. Engaging grooves extending in the axial direction are formed in the mounting portion 46 and the nozzle holding member 52, respectively, and the snap ring 56 is used by the snap ring 56 when the stopper 54 is engaged with these engaging grooves.
Is fixed to the rod 44 and the suction nozzle 50.
Relative rotation is prevented.

The upper end of the rod 44 has a first engaging member 6
0 are integrally formed. At the upper end of the first engagement member 60, an outer peripheral tapered surface having a smaller diameter as it goes upward is formed. A retainer 64 is fitted to a lower portion of the first engagement member 60 via a bearing so as to be relatively rotatable, and a first engagement is performed by a spring 68 disposed between the retainer 64 and a shoulder surface 66 of the head main body 42. The member 60 is urged so as to project upward from the head main body 42. Therefore, an outer taper surface (not shown) formed always below the rod 44 is in close contact with the inner taper surface of the head main body 42, thereby preventing relative rotation between the head main body 42 and the rod 44. When the rod 44 is pushed down toward the head main body 42 against the urging force of the spring 68, the two tapered surfaces are separated from each other, and the relative rotation between the head main body 42 and the rod 44 is allowed. If the first engagement member 60 is rotated in that state, the suction nozzle 50 is integrally rotated via the rod 44, the stopper 54, and the nozzle holding member 52. In the present embodiment, the rod 44, the stopper 54 and the nozzle holding member 52 constitute a rotation transmitting means.

The head holder 28 is formed with a sector 74 projecting toward the center of the turntable 12. In this sector 74, three engagement recesses 76 (only one is shown in the figure) are provided on an arc centered on the rotation axis of the head holder 28 at the same angular interval as the installation interval of the suction head 40. ing. The engaging protrusion 34 of the positioning member 32 provided on the connecting member 24 is urged by a spring and fitted into one of the engaging concave portions 76, so that the head holding body 28 is attached to the three suction heads 40. One of them is fixed to the connecting member 24 so as to be relatively non-rotatable while being positioned at the suction position.

When the nozzle to be used among the three suction nozzles 50 can be changed, at the nozzle selection position,
Selection is performed by a selection device provided below the head holder 28. The selection device has a rotation drive member and a disengagement member that can be raised and lowered and rotated. When the nozzle is selected, the rotation drive member and the disengagement member are raised, and the rotation drive member is moved to the head holder 28. Engagement portion 78
And the disengagement member engages the head 82 of the positioning member 32 and raises it against the urging force of the spring to disengage the engagement projection 34 from the engagement recess 76. As a result, the head holder 28 becomes rotatable. By rotating the rotation driving member in that state, the head holder 28 is rotated, and the desired suction nozzle 50 is moved to the suction position.

The suction nozzle 50 includes a nozzle holding member 52,
The suction nozzle is connected to a vacuum source via a passage formed in each of the rod 44, the head body 42, the arm 38, and the suction head holder 28, and a rotary valve, an electromagnetic direction switching valve, and the like (not shown). 5
After the vacuum is supplied to the suction head 4 and the suction of the electronic components is performed, the suction head 4 is intermittently rotated by the turntable 12.
0 is sequentially moved, and the electronic component is mounted on a printed board (not shown) at the component mounting position. The printed circuit board is held by a positioning support device provided on an XY table (not shown), and the electronic component mounting locations are sequentially positioned at component mounting positions by moving the XY table.

Between the component pickup position and the component mounting position,
A holding posture detection position and an angle error correction position are provided, and a holding posture detection device is provided at the holding posture detection position. The holding posture detecting device obtains a projected image of the electronic component by visible light emitted by irradiating the light emitting plate 84 attached to the nozzle holding member 52 with ultraviolet light, and compares the projected image with the reference image to obtain the electronic component. And the center position errors ΔX and ΔY are calculated.

On the other hand, a suction nozzle rotating device 90 is provided at the angle error correction position. Suction nozzle rotating device 90
Is provided with a bottomed cylindrical second engaging member 92, and an inner peripheral tapered surface whose diameter increases toward the tip is formed in the opening thereof, and an outer peripheral tapered surface of the first engaging member 60. Can be fitted.

A through hole 100 is formed in the base plate 10 at a position adjacent to the turntable 12.
Inside the shaft portion 104 of the large-diameter gear 102 via a bearing
Are fitted so as to be rotatable and immovable in the axial direction. A stepped through hole 106 is formed in the center of the large-diameter gear 102, and a sleeve 108 is fitted by a key 110 such that the sleeve 108 cannot rotate relatively and cannot move in the axial direction. Sleeve 1
08 is prevented from coming out of the through hole 106 by the retaining ring 112. An axially extending spline hole 114 is formed in the sleeve 108 so that the spline shaft 1
18 is slidably inserted in the axial direction. The small-diameter gear 120 meshes with the large-diameter gear 102.
The small-diameter gear 120 is attached to the output shaft 124 of a motor 122, which is a rotation driving device, held on the base plate 10 so as not to rotate relatively. Therefore, when the motor 122 is started, the spline shaft 118 is rotated via the small-diameter gear 120, the large-diameter gear 102, and the sleeve 108.

The upper end of the spline shaft 118 is connected to the connecting member 130 via a bearing so as to be relatively rotatable. The connecting member 130 is an L-shaped plate-shaped member, and the spline shaft 118 is connected to the lower arm 131, and the upper end of the connecting member 130 is connected to the connecting portion 134 of the rod 132 by the pin 136. ing. The upper end of the rod 132 is connected to a cam device (not shown), and the cam is rotated around one axis by a driving device, so that the spline shaft 118 slides in the axial direction via the rod 132 and the connecting member 130. Can be

As shown in FIGS. 1 and 2 at an enlarged scale, a bottomed cylindrical driving rotating body (hereinafter simply referred to as a rotating body) 140 is formed concentrically and integrally at the lower end of the spline shaft 118. ing. The first joint member 144 is fitted concentrically within the rotating body 140. The first joint member 144 has a cylindrical shape with a shallow bottom and has an opening-side end surface 146 as shown in FIG.
, Two pairs of parallel trapezoidal grooves 148 extending in the left-right direction are formed. A cylindrical second joint member 150 is fitted inside the rotating body 140 in parallel with the first joint member 144. The outer diameter of the second joint member 150 is slightly smaller than the inner diameter of the rotating body 140, and relative movement of the second joint member 150 within a limited range with respect to the rotating body 140 is allowed. An end surface 152 of the second joint member 150 facing the first joint member 144 has a trapezoidal groove 148.
Are formed, and between the trapezoidal grooves 148 and 154, as shown in FIG. 2, a ball 156 having a size capable of contacting both inclined surfaces of the trapezoidal grooves 148 and 154. Are provided two each. On the other hand, on the end face 158 of the second joint member 150 opposite to the end face 154, as is apparent from FIG.
Two pairs of trapezoidal grooves 160 orthogonal to 154 are formed.

In the rotating body 140, a second joint member 150 is provided.
The second engaging member 92 is fitted to face the end surface 158 of the second member. A through hole 166 having the same diameter as the through hole 164 formed in the second joint member 150 is formed in the bottom 162 of the second engagement member 92. These through holes 164, 166
Is slightly larger than the inner diameter of the first joint member 144. The outer diameter of the bottom 162 is slightly smaller than the inner diameter of the rotating body 140,
A limited range of relative movements to zero is allowed.
On the end surface 163 of the bottom portion 162 on the second joint member 150 side,
Trapezoidal groove 1 corresponding to trapezoidal groove 160 of second joint member 150
68 are formed, and two balls 170 are arranged between the trapezoidal grooves 160 and 168, respectively, similarly to the trapezoidal grooves 148 and 154.

The first joint member 144, the second joint member 150, and the second engaging member 92 are connected to the columnar connecting member 1.
72. The outer diameter of the connecting member 172 is substantially equal to the inner diameter of the first joint member 144, and each of the through holes 16 of the second joint member 150 and the second engaging member 92.
4 and 166 with a small gap in the radial direction, and then fitted with the first joint member 144, the flathead screw 17
4 fixed to the rotating body 140. Connecting member 17
A spring 176 is disposed between the second engaging member 92 and the bottom surface 162 of the second engaging member 92, and the urging force of the spring 176 causes the second engaging member 92 to The joint members 150 are pressed against the first joint members 144 via the balls 156, respectively. In this state, the diameter of the balls 156 and 170 is
44, the size is such that a slight gap is formed between the end faces of the second joint member 150 and the second engagement member 92. Therefore, the first joint member 144 and the second joint member 150 cannot move relative to each other in the axial direction and cannot rotate relative to each other, but can move relative to each other in the longitudinal direction of the trapezoidal grooves 148 and 154, that is, in the left-right direction. Member 150 and second engagement member 9
Reference numeral 2 indicates that the relative movement in the axial direction and the relative rotation are not possible, but the relative movement is possible in the longitudinal direction of the trapezoidal grooves 160 and 168, that is, in the front-back direction in the drawing.

Therefore, the second joint member 150 moves in the left-right direction with respect to the first joint member 144, and the second engagement member 92 moves in the front-rear direction with respect to the second joint member 150, so that the second joint member 92 moves. The engaging member 92 is allowed to move relative to the rotating body 140 in all directions in a plane perpendicular to the axis thereof. When the rotating body 140 is rotated by the motor 122, the rotation is performed via the first joint member 144, the ball 156, the second joint member 150, and the ball 170, and the second engagement member 9 is rotated.
2 is reliably transmitted.

In this embodiment, the first joint member 144, the second joint member 150, and the bottom 162 of the second engaging member 92 constitute an Oldham joint 178, and the second engaging member 92 and the Oldham joint 178 and the third joint member are integrally formed.

In the electronic component mounting apparatus configured as described above, the suction head 40 sucks the electronic component at the component suction position and is then moved to the holding posture detection position, whereupon the angle error Δθ and the center position error ΔX, ΔY is detected. The center position errors ΔX and ΔY are corrected by moving the XY table supporting the printed circuit board.

On the other hand, the angle error Δθ of the electronic component is corrected by the suction nozzle rotating device 90 at the angle error correction position. When the suction head 40 is moved to the angle error correction position, the second engagement member 92 is lowered by the cam device via the rod 132, the connecting member 130, and the spline shaft 118, and the inner peripheral taper surface thereof becomes the first tapered surface. The outer peripheral taper surface of the engaging member 60 is fitted. The suction head 40 is not accurately positioned at the angle error correction position, and the first engagement member 6
0 and the second engaging member 92 may be misaligned, but the Oldham coupling 178 allows the relative movement of the second engaging member 92 with respect to the rotating body 140. When the taper and the tapered outer peripheral surface are slightly engaged, the second engaging member 92 moves so as to be concentric with the axis of the first engaging member 60, and both tapered surfaces are satisfactorily fitted.

With the engagement of the first and second engagement members 60 and 92, the engagement between the outer tapered surface of the nozzle holding member 52 and the inner tapered surface of the head body 42 is released, and the suction nozzle Since the motor 50 is rotatable relative to the head main body 42, if the motor 122 is started, the rotating body 1 is rotated.
40 is rotated, and the second engagement member 92 and the first engagement member 60 are integrally rotated. Therefore, the suction nozzle 50 is rotated by a predetermined angle, and the angle error of the electronic component is corrected. If the second engaging member 92 is separated from the first engaging member 60 and raised after the angle error is corrected, the nozzle holding member 52 returns to the original position, and engages with the head main body 42 so as not to rotate relatively.

In this embodiment, the Oldham coupling 178
Of the first joint member 144, the second joint member 150, and the second engagement member 92, since the trapezoidal grooves 148, 154, etc. The relative tilt is ball 156
170 is there an advantage to be prevented by, but Ru possible der providing a platform shaped groove by three or more rows.

[0030] Also, the third joint member and the second engagement member 92 provided separately, may be fixed to each other.

Further, in the present embodiment, the first and second engaging members 60 and 92 are frictionally engaged on the tapered surfaces. An elastic body such as the above may be stuck and frictionally engaged. One of the engaging surfaces of the two engaging members 60 and 92 may be provided with a concave portion and the other may be provided with a convex portion so as to mesh with each other. Good.

In the present embodiment, the suction nozzle rotating device 90 is provided at the angle error correction position and the suction nozzle 50 is sequentially moved. However, the suction nozzle is fixedly provided, It is also possible to move the rotating device. Further, in the present embodiment, the second engaging member 92 is adapted to be moved toward and away from the first engaging member 60. You may make it move.

In addition, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of the drawings]

FIG. 1 is a front sectional view showing a joint of a suction nozzle rotating device according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a front sectional view showing a part of the suction nozzle rotation device and an electronic component mounting device provided with the suction nozzle rotation device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 40 suction head 42 head main body 44 rod 50 suction nozzle 60 first engaging member 90 suction nozzle rotating device 92 second engaging member 122 motor 140 drive rotating body 178 Oldham coupling

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shinsuke Suhara 19, Chauyama, Yamamachi, Chiryu-shi, Aichi Fuji Machine Manufacturing Co., Ltd. (56) References JP-A-2-288399 (JP, A) JP-A Hei 2-266114 (JP, A) Japanese Utility Model Showa 50-113747 (JP, U) Japanese Utility Model Showa 54-8046 (JP, U) Japanese Utility Model Showa 56-166325 (JP, U) Japanese Utility Model Showa 46-24731 (JP, U) , Y1) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/06 F16D 3/04 H05K 13/04

Claims (1)

(57) [Claims] 1. A head body, a suction nozzle rotatably provided on the head body, and a first engagement member rotatably provided on the head body and connected to the suction nozzle by rotation transmission means. A suction nozzle rotating device provided to be capable of engaging and disengaging from the suction head including the suction head, and rotating the suction nozzle, wherein a second engagement member concentrically engageable with the first engagement member; A rotary drive device having a rotating body, while allowing the relative movement of the driving rotating body and the second engagement member in all directions in a plane perpendicular to their axis,
The rotation of the drive rotor viewed including the Oldham joint <br/> hand for transmitting to the second engagement member, having a bottom circle the drive rotor is open downwardly
Having a cylindrical portion, wherein the Oldham coupling extends from a central portion of a bottom wall of the bottomed cylindrical portion to an opening side.
Connecting member, outer peripheral surface of the connecting member and inner peripheral surface of the bottomed cylindrical portion
Between each other in the annular space between
Opposing first joint member, second joint member, and third joint member
A third joint portion disposed between the member and the third joint member and the connecting member;
For urging the material toward the bottom wall of the cylindrical portion having the bottom.
Pulling and, with the second coupling member and the first coupling member, the connecting portion
On the opposing surfaces opposing each other on both sides of the material,
Opposite and flat on both sides
Arranged in a plurality of grooves formed to extend in rows
The plurality of balls, the connecting portion of the second joint member and the third joint member
On the opposing surfaces opposing each other on both sides of the material,
Opposite and flat on both sides
Formed in a row and extending in a direction perpendicular to the groove
Including a plurality of balls arranged therein in a plurality of grooves.
Only, the first joint member and the drive rotating body,
A third joint member is fixedly configured with the second engagement member.
And the second joint member and the third joint member
Between the outer peripheral surface of the connecting member and the cylindrical portion having the bottom.
Any radial direction in the annular space between the peripheral surface
Suction nozzle rotating device characterized by being movable
Place.