JP3970301B2 - Circuit component mounting system - Google Patents

Description

The present invention relates to a circuit component mounting system in which circuit components constituting an electric / electronic circuit are held and transported by a component holder and mounted on a circuit substrate .

There are various types of circuit component mounting systems.
For example, the circuit component mounting system described in Patent Document 1 below supplies a plurality of component holders, a holder swiveling device that swivels the plurality of component holders around a vertical common swivel axis, and circuit components. And a circuit base material holding device for holding the circuit base material.
The holder turning device is provided so as to be rotatable around a vertical axis, and includes a rotating body that holds a plurality of component holders at equal angular intervals, and an intermittent rotating device that intermittently rotates the rotating body. When the rotating body is intermittently rotated, the plurality of component holders are sequentially stopped at a plurality of stop positions, and circuit components are received from the component supply device at a component receiving position which is one of the plurality of stop positions. The circuit component is mounted on the circuit substrate at the component mounting position, which is another stop position. The component supply apparatus has a plurality of component supply cartridges mounted on a moving table. The plurality of component supply cartridges are mounted on the moving table in a state where the respective component supply units are aligned in a straight line, and the moving table is moved in a direction parallel to the straight line by the moving table moving device, so One is positioned at the component supply position. In addition, the circuit substrate holding device is moved to an arbitrary position in the horizontal plane by the circuit substrate moving device in a state where the circuit substrate is positioned and held, and a plurality of component mounting positions are sequentially positioned at the component mounting positions The circuit component is mounted by being positioned below the component holder. According to this circuit component mounting system, a plurality of component holders can reach the component receiving position and the component mounting position at short time intervals, and sequentially receive and mount circuit components.
However, in this circuit component mounting system, it is necessary to move a moving table that supports a plurality of component supply cartridges and a circuit base material holding device that positions and holds the circuit base material. Since the material holding device is large, a wide movement space must be secured, and it is inevitable that the system becomes large. In addition, the moving table of the component supply device and the circuit base material holding device are provided at positions where they do not interfere with each other even if they are moved. Since it must be moved to a position below the positioned component holder, the movement range is wide, and it is set to the middle position of the circuit substrate movement range in the direction in which the component supply device and circuit substrate holding device are aligned. The distance between the mounted component mounting position and the component receiving position becomes longer. Therefore, it is difficult to increase the intermittent rotation speed by increasing the size of the rotating body.

On the other hand, in the circuit component mounting system described in Patent Document 2, a rotating body that holds a plurality of component holders and is intermittently rotated around a vertical axis is moved to an arbitrary position in a horizontal plane by a moving device. The component holder is configured to take out a circuit component from a component supply device provided with a fixed position and mount the circuit component on the circuit substrate. The plurality of component holders are held by the rotating body so as to be able to move up and down. The rotating body raises and lowers the component holder for each of the plurality of component holders, and receives and mounts circuit components at the lowered position. There is provided a holder selection device for moving between the operating position to be performed and the non-operating position at which the circuit component is not received or mounted. These holder selection devices are provided on a holding member that is fitted to the rotating body so as not to be relatively rotatable and relatively movable in the axial direction, and one of the holder selection devices positions the component holder at the operating position. When the holding member is lowered in the state, the selected component holder receives and mounts the circuit component.
In this circuit component mounting system, a plurality of component holders are sequentially positioned at a component receiving position set for one of a plurality of stop positions by intermittent rotation of a rotating body, receive circuit components, and hold a plurality of components. After each tool receives the circuit component, it is moved onto the circuit substrate to attach the circuit component to the circuit substrate. The component mounting position is not fixed to one, and the component holder mounts the circuit component on the circuit substrate at any one of a plurality of stop positions on the turning trajectory. Since the holder selection device is provided for each of the plurality of component holders, the component holder can mount the circuit component at any stop position.
According to this circuit component mounting system, various effects can be obtained. For example, since the cartridge support table and circuit board holding device on which the component supply cartridge is mounted do not move, it is not necessary to secure a moving space for the large cartridge support table and circuit board holding device, making the entire system compact. Can be configured. Especially when there are many types of circuit components to be supplied and the number of component supply cartridges is large, or when the circuit substrate is large, the cartridge support table and the circuit substrate holding device become large, so that they are not moved. Space-saving effect is great.
Further, the component supply device and the circuit base material holding device can be provided side by side with almost no gap, and the system can be configured compactly in this respect.
Further, the rotating body only needs to have a size capable of holding a plurality of component holders, and can be made smaller than the rotating body described in Patent Document 2, and the intermittent rotation speed can be increased to achieve one cycle. It is possible to shorten the work time (the time required from the end of holding or mounting the circuit component by one of the two adjacent component holders to the end of holding or mounting the circuit component by the other). The effect of shortening the working time increases as the number of parts holders increases.
Japanese Examined Patent Publication No. 2-53954 JP-A-6-196546

However, there is still room for improvement in the circuit component mounting system described in JP-A-6-196546. An object of the present invention is to obtain a circuit component mounting system that can further shorten the working time and is less likely to be damaged due to malfunction .

The above-described problems include a circuit component mounting system, (A) a component supply device that supplies circuit components, (B) a circuit substrate holding device that holds a circuit substrate on which the circuit components are to be mounted, and (C) A plurality of component holders for holding circuit components; and (D) holding the plurality of component holders and turning them around a common swivel axis, sequentially to the component receiving position and the component mounting position on the turning trajectory. A holding device turning device to be stopped; and (E) a transfer moving member for holding the holding device turning device, and moving the transfer moving member to move the holding device turning device to the component supply device and the circuit substrate. (F) a transfer moving device that moves to an arbitrary position in a transfer plane straddling the holding device; and (F) held at the transfer moving member, at least at the component receiving position and the component mounting position. (G) causing the component holder to receive the circuit component supplied from the component supply device at the component receiving position, and holding the circuit substrate holding device at the component mounting position. A receiving and mounting control device for mounting circuit components on the circuit substrate formed; and (H) a control device for controlling the holding device turning device, the transfer moving device, the elevating device, and the receiving and mounting control device. And (a) engaging one of the plurality of component holders so that the component holder can be moved up and down while allowing the one component holder to be turned by the holder turning device. An elevating drive member that moves up and down, and (b) an elevating drive device that elevates and lowers the one component holder by raising and lowering the elevating drive member between a raised position and a lowered position. The lifting drive member is always in the working position where the component holder can be raised and lowered to the lifting device, but when a force greater than a set value is applied in the swiveling direction of the component holder at the lowered position This is solved by holding the component holder so that it can be retracted to a retracting position that does not hinder the movement of the component holder .

In this circuit component mounting system, a plurality of component holders are sequentially moved to the component receiving position by turning the component holder by the holding device turning device and moving the holding device turning device by the transfer device. The circuit component is received by being positioned at a position corresponding to the component supply unit of the component supply apparatus. The component holder is moved up and down by the lifting device at the component receiving position, and the circuit component is taken out from the component supply device. After receiving all the planned circuit components, the component swiveling device is moved onto the circuit substrate by the transfer device, and the multiple component holders are sequentially moved to the component mounting position in the same manner as when receiving the circuit components. In addition, the circuit component is positioned at a position corresponding to the component mounting position of the circuit substrate, and is raised and lowered by the lifting device to mount the circuit component on the circuit substrate. After all of the circuit components in which a plurality of component holders held is mounted on the circuit substrate, the retainer pivoting device Ru receive again circuit components are moved to the component supplying device by carrying the mobile device.
As described above, according to the circuit component mounting system according to the present invention, as in the system described in Patent Document 2, a plurality of component holders are moved to take out the circuit components from the component supply device, and the circuit base material. It is possible to obtain the effect of being mounted on the device, that is, the effect of downsizing the system and shortening the working time. In addition, the lifting device is provided in common for the plurality of component holders, and the component holders are allowed to be rotated by the holder rotation device of the one component holder for each of the component holders. An elevating drive member that engages so as to be movable up and down and an elevating drive device that raises and lowers the component holders one by one by raising and lowering the member are common to a plurality of component holders. Therefore, the cost of the apparatus can be reduced as compared with the case where a lifting device is provided exclusively for each of the plurality of component holders, and the moving mass that moves together with the transfer moving member can be reduced, and the holding by the transfer moving apparatus can be achieved. The moving efficiency of the tool turning device can be increased to improve the mounting efficiency.
In addition, the elevating drive member is always in the operating position where the component holder can be raised and lowered to the elevating device, but a force greater than a set value is applied in the swiveling direction of the component holder at the lowered position. In such a case, the circuit component mounting system is satisfactorily avoided because it is removably held at a retreat position that does not hinder the movement of the component holder. That is, when the component holder is moved to the component receiving position or the component mounting position by the holder rotation device, before the component holder is engaged with the lifting drive member due to malfunction of the lifting drive device, the control device, etc. If the lifting drive member has already been lowered, the component holder comes into contact with the lifting drive member. However, if a force higher than the set value is applied to the lifting drive member as the component holder turns, the lifting drive member is rotated to the retracted position, and damage to the lifting drive member, the component holder, etc. is avoided. It is.
Note that the lifting device “lifts the component holder at least at the component receiving position and the component mounting position” means that, in the present invention, in addition to raising and lowering the component holder at the component receiving position and the component mounting position, the component receiving position the or component mounting position you meant to include totally manner to raise and lower in a different stop position.
Further, the “transport plane” is not limited to a horizontal plane, and may be an inclined plane. The transfer plane is defined by XY coordinates, polar coordinates, etc., and the transfer moving device may be an XY robot, may be a robot provided with a rotating arm and a movement position is defined by polar coordinates, or may be a surface stepping motor. Various types of apparatuses can be employed. The surface stepping motor has a planar stator as described in, for example, Japanese Patent Laid-Open No. 7-45959. The stator forms a magnetic path, and is made of, for example, a magnetic material and has a large number of salient poles, and is provided in the entire moving range of the mover. Each of the movers has a plurality of electromagnetic elements wound with a coil for generating a magnetic field around the yoke, and the plurality of electromagnetic elements are selectively excited so that the mover can be arbitrarily placed in a plane parallel to the stator. Moved to the position. Therefore, if the transfer moving member is attached to the mover (the mover itself may be used as the transfer moving member), the holder turning device can be moved to an arbitrary position in the transfer plane. If the surface stepping motor is used, the stator functions to guide the movement of the transfer moving member, and the stator can move anywhere as long as the stator is located. In particular, as will be described later, when a plurality of holding device swiveling devices are provided, there is no interference between the guide devices of the transfer moving members that hold the holding device turning devices, and the degree of freedom of movement of the plurality of holding device swiveling devices is increased. This increases the degree of freedom in taking out the circuit components from the component supply device and mounting them on the circuit base material, so that the circuit components can be mounted efficiently. Circuit components can be attached to one circuit base material at the same time on the two holding device turning devices, and the number of holding device turning devices can be three or more as required.
As will be described later, the component holder may be a component adsorber or a component gripper that grips a circuit component with a plurality of gripping members. A plurality of gripping members, the gripping member opening and closing device, grip the circuit components are opened and closed symmetrically, it released.

Aspects of the Invention

  In the following, the invention that is claimed to be claimable in the present application (hereinafter referred to as “claimable invention”. The claimable invention is at least the “present invention” to the invention described in the claims. Some aspects of the present invention, including subordinate concept inventions of the present invention, superordinate concepts of the present invention, or inventions of different concepts) will be illustrated and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiments, etc., and as long as the interpretation is followed, another aspect is added to the form of each section. In addition, an aspect in which constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention.

In each of the following items, the combination of items (1), (18), and (19) corresponds to claim 1, and the item described in item (20) is added to claim 1. This is the second aspect. Claim 3 is obtained by adding the matter described in (21) to claim 1 or 2, and claim 4 is obtained by adding the matter described in (22) to claim 3. What added the matter described in (24) to any one of claims 1 to 4 is claim 5, and what added the matter described in (7) to any one of claims 1 to 5 It is claim 6, and the matter described in the item (16) is added to the claim 6, but it is the claim 7, and the matter described in the items (3) and (17) is added to the claim 7. Is claim 8. Further, any one of claims 1 to 8 is obtained by adding the matters described in the items (13) and (14) to claim 9, and any one of claims 1 to 8 includes (13) and What added the matter as described in (15) is Claim 10.

(1) a component supply device for supplying circuit components;
A circuit board holding device for holding a circuit board on which the circuit component is to be mounted;
A plurality of component holders each holding circuit components;
Holding the plurality of component holders and turning them around a common turning axis, and holding tool turning devices for sequentially stopping at the component receiving position and the component mounting position on the turning locus;
A transfer moving member for holding the holding device turning device, and moving the transfer moving member to move the holding device turning device between the component supply device and the circuit substrate holding device in a transfer plane. A transfer device for transfer to an arbitrary position;
An elevating device that is held by the transfer moving member and raises and lowers a component holder at least at the component receiving position and the component mounting position;
Receiving mounting for causing the component holder to receive the circuit component supplied from the component supply device at the component receiving position, and mounting the circuit component on the circuit substrate held by the circuit substrate holding device at the component mounting position. A control device;
A control device for controlling the holder turning device, the transfer device, the elevating device, and the receiving and mounting control device;
Circuit component mounting system including
(2) The control device performs at least one of turning of the component holder by the holder turning device and lowering and raising of the component holder for receiving and mounting the circuit component by the lifting device in parallel. The circuit component mounting system according to the item (1), including parallel raising / lowering control means.
(3) The holding device turning device sequentially stops a plurality of component holders at a component receiving / mounting position that is both a component receiving position and a component mounting position, and the lifting device is configured so that each component is at least at the component receiving / mounting position. The circuit component mounting system according to (1) or (2), wherein the holding tool is moved up and down.
If the component receiving position and the component holding position are made common, the number of lifting devices can be reduced, and the device cost can be reduced. Also, since the orientation of the circuit component does not change between receiving the component and mounting the component, there is no need to correct the orientation due to the difference between the component receiving position and the component mounting position as in the past, and the circuit can be easily and quickly performed. The component can be mounted on a circuit substrate.
(4) A mounting unit having two component supply devices, one on each side of the circuit base material holding device, and including a plurality of component holders, a holder turning device, a transfer device, a lifting device, and a receiving mounting control device The two component supply devices and the circuit base material holding device are stopped at least during the mounting operation, and the control circuit is connected to one of the two sets of mounting units from one of the two component supply devices. The components are received and mounted on the circuit board, the other of the mounting units is caused to receive the circuit components from the other of the component supply devices and mounted on the same circuit board, and the two sets of mounting units have the circuit components The circuit component mounting system according to any one of items (1) to (3), including alternate mounting control means for alternately receiving and mounting.
In the circuit component mounting system of this section, while one of the two sets of mounting units is mounting the circuit component on the circuit substrate, the other receives the circuit component from the component supply device, Immediately after the mounting, the other starts mounting the circuit components. If only one set of mounting unit is provided, mounting is not performed while the component holder receives the circuit component from the component supply device, and it is wasteful, but mounting is performed almost without rest, Circuit components can be mounted efficiently.
In addition, since one component supply device is provided on each side of the circuit base material holding device, one holding device turning device is moved to the component supply device while avoiding interference between the two holding device turning devices, and the other holding device is held. It is easy to move the tool swivel device to the circuit base material, and a system that can easily design the transfer device and create a mounting program can be obtained.
The types of circuit components supplied by each of the two component supply devices may be the same or different. In any case, the two mounting units jointly mount circuit components on one circuit substrate. If the types of circuit components to be supplied are the same, there is an advantage that it does not necessarily matter which of the two mounting units starts mounting. Also, if the types of circuit components held by the component supply devices of the two mounting units are different, even if there are many types of circuit components, the two component supply devices can be divided and held on both sides of the circuit substrate. As a result, the system can be provided in a compact manner as compared with the case where a large component supply device having many types of circuit components to be held is provided on one side of the circuit substrate.
It should be noted that the provision of two component supply devices and the provision of two sets of mounting units do not always have to be employed together, and only one of the embodiments of the claimable invention is possible. There may be a circuit component mounting system in which two or two sets are provided.
(5) (a) an imaging device that is held by the transfer moving member in a state of facing the circuit component held by the component holder and images the circuit component; and (b) a circuit component acquired by the imaging device. Positioning correction means for acquiring a holding position error of the circuit component by the component holder based on the image of the component and correcting the positioning of the holding device swiveling device by the transfer device with respect to the circuit base material holding device based on the holding position error; The circuit component mounting system according to any one of (1) to (4).
In this system, the circuit component is imaged, the holding position error is corrected, and the circuit component is accurately mounted on the component mounting portion of the circuit substrate. Since the imaging device is held by the transfer moving member and moves together with the holder turning device, it is possible to perform imaging in parallel with the reception of the circuit component, and the time required for calculating the holding position error based on the imaging result It is possible to increase the speed of component mounting while securing the above.
Imaging may be performed while the circuit component is stopped or may be performed while the circuit component is moving. For example, if the imaging apparatus includes a high-speed camera with a strobe or a line sensor, it is possible to take an image even when the circuit component is moving.
The high-speed camera with a strobe shoots an image by irradiating the circuit component with strong light when the circuit component passes. Although the circuit component is moving, it is possible to take an image as if the circuit component is stationary by increasing the shutter speed extremely or by shortening the illumination time.
The line sensor has a large number of image sensors arranged in a straight line, and is provided in a posture extending in the radial direction of a circle centering on the turning axis of the component holder, and images the circuit components at regular time intervals. Imaging is performed in a state in which the component holder moves at a constant speed, and the image of the circuit component is imaged separately for each line in the moving direction, and when the circuit component has passed the line sensor, Is obtained. A two-dimensional image of the circuit component is obtained by repeating the imaging by the line sensor and moving the component holder. However, since the component holder is rotating and the angle of the circuit component with respect to the line sensor is different for each imaging, it is necessary to form a two-dimensional image in consideration of the change in the angle.
(6) A holder for holding the component holder rotatably about the axis of the component holder by the holder swivel device, and causing the moving member for conveyance to rotate the component holder about the axis of the component holder An imaging device that holds the rotating device and the circuit base material mounting system is held by the transfer moving member in a state of facing the circuit component held by the component holder, and images the circuit component; An orientation in which the holding orientation error of the circuit component by the component holder is acquired based on the image of the circuit component acquired by the imaging device, and the holding orientation error is corrected by controlling the holder rotating device based on the holding orientation error. The circuit component mounting system according to any one of (1) to (5), including correction means.
In this system, the holding orientation error of the circuit component by the component holder is corrected, and the circuit component is mounted on the circuit substrate with an accurate orientation.
As described in the embodiment of the invention, the holder rotating device may rotate a plurality of component holders all at once, or may rotate them individually. The holding | maintenance tool rotation apparatus should just be hold | maintained at the moving member for conveyance finally, and can move with it, for example, may be hold | maintained at the holding tool turning apparatus. In addition to correcting the holding orientation error, the holding orientation of the circuit component may be changed to a preset orientation by the holder rotating device.
(7) Furthermore, (a) formed along the turning trajectory of a plurality of component holders. The height in the circumferential direction A cam member having a changing cam surface; and (a) each of the plurality of component holders is provided so as to be able to be moved up and down together with the respective component holders. A circuit component mounting system according to any one of items (1) to (6), including a cam follower that raises and lowers each component holder.
In this circuit component mounting system, the plurality of component holders are swung by the retainer swiveling device and moved up and down by the cam and the cam follower.
In an aspect in which this item is subordinate to (5) or (6), the imaging device is disposed at a position corresponding to a higher portion of the cam surface than a portion corresponding to at least one of the component receiving position and the component mounting position. It is desirable that By doing so, the plurality of component holders are swung by the holder swiveling device and moved up and down by the cam and the cam follower, and the imaging device is disposed in the gap formed thereby. In other words, while avoiding interference between the imaging device, the component holder, and the circuit components held by the imaging device, and interference between the imaging device, the component supply device, and the circuit substrate, the lifting distance when receiving and mounting the components is reduced. Can do.
As the cam member and the cam follower, from the viewpoint of simplification and miniaturization, the end face cam and the spherical cam follower described in the embodiment of the invention are preferable, but a groove cam, a projecting cam, a roller, and the like may be used.
Normally, "height" represents the position of an object in the vertical direction. When the swivel axis of a plurality of component holders is vertical, the height of the plurality of component holders changes due to the change in the height of the cam surface. However, the pivot axis may be inclined with respect to the transport plane as will be described later. In this case, the cam surface of the cam member is assumed to change in distance from the apex of the conical surface on the conical surface with the pivot axis as the center, and the component holder is attached to each generatrix of the conical surface along the cam surface. Although it is moved in the parallel direction, it is assumed that the change in the position of the component holder is also a change in the height.
(8) Further, (α) a cam member provided with a cam surface of varying height formed along a turning trajectory of the plurality of component holders, and (β) each of the plurality of component holders. A cam follower which is provided so as to be movable up and down together with the component holder and engages with the cam surface to raise and lower the component holder as the component holder pivots, and at least a component receiving position and a component mounting position The circuit component mounting system according to any one of (1) to (7), wherein one is set at a position corresponding to the lowest portion of the cam surface.
In this system, the component holder is swung by a holder swiveling device, and is lifted and lowered by a cam member and a cam follower to reduce the lift distance of the component holder in at least one of the component receiving position and the component mounting position. While shortening the time required for at least one of the mounting, the other component holder can be kept at a high position.
If all the component holders are at the same height, all the component holders are component holders such as component supply devices, circuit substrate holding devices and circuit components already mounted on the circuit substrate. It is necessary to make it higher than the highest part among the parts that may be opposed, and at least one of the parts receiving position and the parts mounting position, the parts supply part of the parts supply device and the parts mounting of the circuit base It is not possible to get close enough to the location, and the lifting distance for receiving and mounting the parts becomes large. On the other hand, according to the claimable invention, at least one of the component receiving position and the component mounting position and the component holders in the vicinity thereof can be kept at a high position. While avoiding interference with the material holding device, at least one of the component holders at the component receiving position and the component mounting position can be made sufficiently close to the component supply unit and the component mounting location.
(9) The holder rotating device includes an intermittent rotating body that intermittently rotates by a fixed angle and holds a plurality of component holders at an angular interval that is an integral multiple of the intermittent rotation angle, and the imaging device stops the intermittent rotating body. The component holder is provided at one of a plurality of stop positions, and the stop position is set as the component imaging position, and the component receiving position and the component mounting position are set to different stop positions from the component imaging position (5) Item 9. The circuit component mounting system according to any one of items (8) to (8).
In this system, a stopped circuit component can be imaged by the imaging device, and the imaging can be performed in parallel with receiving or mounting of other circuit components, so that mounting efficiency can be improved. The arrangement angle interval of the component holder is not limited to one type, and can be changed to a plurality of types.
As will be described in the embodiment of the present invention, the holder turning device may have a dedicated drive source (for example, an electric motor such as a servo motor) for rotating the intermittently rotating body. (For example, a lifting device) and a drive source may be shared, and the intermittent rotating body may be rotated by the drive force of the drive source transmitted by a motion conversion device including a cam and a cam follower. The driving force of the driving source is converted into the lifting motion of the lifting device by a motion converting device including another cam, cam follower and the like. If a dedicated drive source is provided, the intermittent rotating body can be rotated at an arbitrary angle. For example, the component holder on which the circuit component is first mounted is turned in the reverse direction to rotate the component receiving position at the shortest rotation angle. It is possible to position the circuit component at a component mounting position, and the circuit component can be mounted efficiently. In addition, it is possible to easily cope with the case where the type of the component holder provided in the intermittent rotating body is changed, the arrangement interval of the component holder is changed, and the intermittent rotation angle is changed.
In addition, as described in the embodiment of the present invention, if a plurality of component holders are held in parallel with the rotation axis on a circumference around the rotation axis of the intermittently rotating body, the rotation axis is Compared to the case of holding radially, the number of parts holders can be increased without increasing the diameter of the intermittent rotating body, the intermittent rotation angle is small, the time required for intermittent rotation is short, and the mounting efficiency is reduced. Can be improved.
(10) The holder rotating device rotates a plurality of component holders at the same time, and the circuit component mounting system receives all of the circuit components scheduled to be received by the component holders. In the state where only a part of the circuit components held by these component holders is imaged by the imaging device, the holding device swiveling device is moved above the circuit substrate by the transfer device, and the component mounting position is set on the lifting device. The circuit component mounting system according to item (9), including parallel imaging control means for causing the imaging device to image the circuit component in parallel with causing the component holder to mount the circuit component.
When circuit components are received and imaged in parallel with intermittent rotation of the intermittently rotating body, the component receiving position and the imaging position are separated, so all circuit components that are scheduled to be received by the component holder Is received, the circuit component located between the component receiving position and the imaging position is not yet imaged. It is also possible to start mounting circuit components after imaging these circuit components, but if imaging is performed in parallel with mounting, mounting of all circuit components is performed as much as parallel imaging is performed. The time required for the process can be shortened. It is most effective when the circuit component is held by all of the plurality of component holders, and immediately after that, the holder turning device is moved upward by the horizontal movement device.
(11) The circuit component mounting system according to any one of (1) to (10), wherein the component holder includes a shaft portion and a component holding portion that holds circuit components at a lower end of the shaft portion. .
(12) A plurality of rotating members that are capable of rotating independently of each other around the rotation axis, and the rotation axis of each of the plurality of rotation members is rotated around the rotation axis. And a rotation motion imparting device that imparts a rotation motion having a certain time difference to each other, and each of the rotation members is formed at a position equidistant from the pivot axis. The circuit component mounting system according to item (11), wherein the shaft portions of the plurality of component holders are held by the respective portions so as to be movable in the axial direction.
It is also possible to provide a moving member that holds the component holder and is held so as to be movable in a direction parallel to the axis of the component holder. In this case, the component holder is moved in a direction parallel to its own axis by the movement of the moving member. If the holding part is a holding hole formed in the rotating member, and the component holder is rotatably fitted in the holding hole, the component holder is rotated around its axis, the holding direction of the circuit component is changed and held Azimuth error can be corrected.
A holder swiveling device having a plurality of rotating members that hold the component holders and rotate independently of each other as described above is described in the specification of Japanese Patent Application No. 7-342430 by the present applicant. . The rotational motion imparting device includes, for example, a cam follower provided for each of a plurality of rotational members, and at least one for rotating each rotational member by sequentially engaging the cam follower and moving the cam follower. And a rotational motion imparting cam. Preferably, the rotational motion imparting cam rotates an arc centered on the pivot axis about an axis that is positioned opposite to the pivot axis with respect to the arc and that intersects the pivot axis at a right angle. In this case, a drum cam whose outer peripheral surface is a trajectory drawn by the circular arc is provided, and a plurality of drum cams are arranged axisymmetrically with respect to the pivot axis of the plurality of component holders. A set of intersecting lines between one plane including the entire axis of the cam and each outer peripheral surface of the plurality of hourglass cams is assumed to draw a substantially continuous circle.
(13) The holding device turning device is rotated around the turning axis, and each shaft portion of the plurality of component holders is attached to each of a plurality of holding portions provided at equidistant positions from the turning axis. The circuit component mounting system according to item (11), including a rotating body that is held so as to be movable in the axial direction.
Also in this aspect, it is possible to provide a moving member that holds the component holder and is held on the rotating body so as to be movable in a direction parallel to the axis of the component holder. In this case, the component holder is moved in a direction parallel to its own axis by the movement of the moving member. If the holding part is a holding hole and the component holder is rotatably fitted in the holding hole, the component holder can be rotated about its axis, the holding direction of the circuit component can be changed, and the error can be corrected. .
(14) The circuit component transport device according to (12) or (13), wherein the pivot axis is orthogonal to the transport plane, and the holding portion is formed in parallel to the pivot axis.
(15) The plurality of holding portions are formed with each of a plurality of conical surface buses centered on the turning axis of the rotating body as a center line, and the turning axis is perpendicular to the transport plane. On the other hand, the circuit component transport apparatus according to (12) or (13), wherein the conical surface is inclined by an angle at which one generatrix of the conical surface is orthogonal to the transport plane.
In the system according to the item (14) or (15), if the conveyance plane is an inclined surface, the component holder is also moved up and down along the inclined axis. If the circuit substrate is held at an angle and the component supply device is provided at an angle, the component holder is moved up and down along the inclined axis so as to be perpendicular to the component supply device and the circuit substrate. It can be moved close to and away from each other, and circuit components can be received and mounted smoothly.
In the system of (15), the height of the component holder (distance from the transfer plane) can be changed with the rotation of the rotating body, and the imaging device can be arranged in the vertical gap. Is obtained. In addition, the height of the component holder can be changed without providing a cam member or cam follower, the number of components can be reduced, the moving mass is small, and the moving speed of the holding device swiveling device by the transfer moving device is increased. The mounting efficiency can be improved.
(16) The cam member is disposed above the turning locus of the component holder, and the lower surface of the cam member is In the circumferential direction The circuit component mounting system according to item (7), wherein the circuit component mounting system includes a biasing means configured to bias the component holder toward the cam member.
The cam follower is preferably a spherical cam follower that is rotatably held in all directions at the upper end of the shaft portion of the component holder and rolls on the cam surface. Since the spherical cam follower may be oriented in any direction when moving along the cam surface, the spherical cam follower may be rotatably held at the upper end of the shaft portion of the component holder in any direction, and the apparatus uses a roller as the cam follower. As described above, it is not necessary to provide a support member that supports the roller and is not rotatable relative to the support shaft that rotatably supports the roller and the member that holds the component holder, and the configuration of the holder turning device is simplified. Can be As a result, effects such as cost reduction by reducing the number of parts and speeding up movement by reducing the mass of a member that moves together with the member holding the part holder can be obtained.
In addition, since the spherical cam follower rolls on the cam surface, a cam follower whose outer surface is a semispherical surface is integrally provided at the upper end of the shaft portion of the component holder, and compared with a case where the cam follower is moved along the cam surface. Therefore, it is possible to obtain a device that requires less sliding resistance, less wear, and has a long life.
The spherical cam follower can be oriented in any direction, allowing the component holder to rotate when the component holder is rotated about its own axis. When rotating the component holder, if the cam follower must determine the direction of the rotation axis to be one like a roller, the component holder cannot hold the cam follower, and separately from the component holder A member that holds the cam follower in a state in which the direction of the rotation axis of the cam follower is determined to be one must be provided. On the other hand, the cam follower can be directly held by the component holder, and the height is changed in the turning trajectory. In addition, it is possible to rotate the component holder, and it is possible to obtain a holder pivot device that is simple and inexpensive.
(17) The holder turning device sequentially stops the plurality of component holders at a component receiving position that is both the component receiving position and the component mounting position, A notch is formed in a portion corresponding to the component receiving and mounting position of the cam member, The elevating drive member is fitted in the notch so as to be elevable, and the elevating drive device is Elevating drive member, The lifting drive member Is moved up and down between a raised position where the lower surface of the cam is continuous with the cam surface and a lowered position where the lower surface is located below the cam surface. Is a thing The circuit component mounting system according to (7) or (16).
Except when the component holder is raised or lowered, the lifting drive member is in the raised position, and the cam follower moves along the cam surface and engages the lower surface of the lifting drive member. If the elevating drive member is lowered in this state, the component holder is lowered, and if the elevating drive member is raised, the component holder is raised following the elevating drive member by the urging force of the urging means. The cam follower returns to the position where it is engaged with the cam surface.
When the holding and turning device stops the component holder at a predetermined position on the turning trajectory thereof, and the raising and lowering driving member is provided at the stop position, the raising and lowering driving device is configured so that the component holding device is at the stop position. The elevating drive member may be lowered after being stopped by the elevating member, or the elevating drive member may be lowered with the cam follower engaged with the elevating drive member at least one of the front and rear of the stop position. . In the latter case, the swing of the component holder and at least one of the lowering and raising for receiving and mounting the circuit component are performed in parallel, thereby shortening the time of work performed with the lifting and lowering of the component holder. be able to.
(18) The lifting device is the plurality of parts. Retention In one of the tools, the component holder is allowed to rotate while the one component holder is swiveled by the holder swiveling device. Elevating The elevating drive member that engages with each other and the one component by elevating the elevating drive member between the raised position and the lowered position Retention A circuit component mounting system according to any one of items (1) to (15), including a lifting drive device that lifts and lowers the tool.
(19) The lifting drive member is always connected to the lifting device. Retention Ingredients Elevating Although it is in a possible working position, when a force greater than a set value is applied in the swiveling direction of the component holder at the lowered position, the component holder is held so as to be retracted to a retracted position that does not hinder the movement of the component holder. The circuit component mounting system according to (17) or (18).
(20) The elevating drive member is held by the elevating device so as to be rotatable about a vertical axis at a position deviated laterally from the turning trajectory of the component holder. The circuit component mounting system according to (19), wherein the circuit component is retracted.
Strictly speaking, the elevating drive member is held by the output member of the elevating drive device so as to be rotatable about the vertical axis, and is engaged with the component holder at a portion deviated from the vertical axis, and is rotated to the retracted position. . It is possible to move the elevating drive member to the retracted position by parallel movement. However, the rotation structure can simplify the holding structure of the elevating drive member by the elevating drive device, and achieve the purpose at a low cost. can do.
(21) The lifting device includes a biasing means that biases the lifting drive member toward the action position, and a stopper that maintains the action position against the biasing force of the biasing means. Or the circuit component mounting system according to (20).
(22) The circuit component mounting system according to (21), wherein the stopper includes an adjustable stopper member that is attached to a holding member that holds the lifting drive member so as to be movable up and down.
(23) The circuit component mounting system according to (17), wherein the notch of the cam member is formed to a depth through which the spherical cam follower can pass.
(24) Further, a movement detection device that detects a movement of the elevating drive member toward the retracted position and generates a detection signal, and a turn for stopping the turning of the holding device turning device according to the detection signal of the movement detection device The circuit component mounting system according to any one of (19) to (22), including stop means.
Instead of detecting the movement of the elevating drive member toward the retracted position, the turning of the component holder may be stopped by detecting the movement of the elevating drive member to the lowered position at a time other than the time of elevating.
(25) The circuit component mounting system according to any one of (1) to (24), wherein the component holder is a component suction tool that sucks and holds the circuit component by negative pressure.
If the circuit component is adsorbed and held by negative pressure, the circuit component can be held without fear of being damaged. In addition, the configuration of the component holder is simplified, the control of holding and releasing circuit components is simplified, and the imaging of the circuit component held by the component holder is also facilitated.
(26) The circuit component transport device according to (25), further including a pressure control device that causes the component suction tool to suck and release circuit components by controlling the pressure in the component suction tool.
(27) The pressure control device includes:
A pressure switching valve that is held by the holder turning device and includes a switching member that switches the pressure in the component adsorber;
The switching member is operated by a lifting device that lifts and lowers the component holder, and the pressure switching valve moves the switching member as the lifting drive member that lifts and lowers the component suction tool of the lifting device lowers the component suction tool. A suction realization state in which the pressure in the component suction tool is moved to a negative pressure supply position for switching from a pressure higher than atmospheric pressure to a negative pressure, and the switching member is pressure-switched as the lifting drive member lowers the component suction tool. A switching valve control device capable of switching to a release realization state in which the valve moves to a negative pressure release position for switching the pressure in the component adsorbing tool from negative pressure to a pressure higher than atmospheric pressure. Parts transport device.
At the time of suction of the circuit component, the switching member of the pressure switching valve is moved to the negative pressure supply position in mechanical synchronization with the lifting drive member lowering the component suction tool, and the pressure switching valve reduces the pressure in the suction tool. Switching from atmospheric pressure or higher to negative pressure, the component suction tool absorbs circuit components. When the circuit component is released, conversely, the switching member of the pressure switching valve is moved to the negative pressure release position in mechanical synchronization with the lifting drive member lowering the component suction tool, and the pressure switching valve is moved into the suction tool. The pressure is switched from a negative pressure to a pressure higher than the atmospheric pressure, and the component adsorber releases the circuit components. The pressure switching valve is selectively switched to one of two states as the lifting drive member of one lifting device is lowered at the same position.
According to this aspect, the raising / lowering of the component suction tool and the switching of the supply and release of the negative pressure are performed in mechanical synchronization, and the lowering and raising timing of the component suction tool and the supply and release timing of the negative pressure are There is no deviation, and it is possible to satisfactorily avoid occurrence of suction mistakes and mounting mistakes. Further, the suction and mounting of the circuit components are performed at the same position, and only one drive source for switching the pressure switching valve is required, so that the apparatus can be configured at low cost.
The raising / lowering drive member may be moved up and down by itself to move the component suction tool up and down, and itself moves in a direction not parallel to the lifting direction of the component suction tool to convert the motion of the cam device, link mechanism, etc. It is good also as what raises / lowers a component adsorption tool through an apparatus. Further, the elevating drive member may move the switching member by its own movement, or the switching member may be moved via another member.
(28) The switching valve control device comprises:
Two switching moving members that move in opposite directions by mechanically synchronizing with the raising and lowering of the component suction tool;
Two actuators that are provided in each of the switching moving members, and that cause the switching member to move relative to each switching moving member, acting on the switching member from opposite sides;
An actuator control device for controlling the two actuators so that one of the two action members selectively acts on the switching member as the two switching moving members move.
The circuit component mounting system according to item (27), including:
The switching moving member may be linearly moved, and the action member may be linearly moved in a direction parallel to the switching moving member, or may be linearly moved in an intersecting direction. The switching moving member is a rotating member, and the action member is provided so as to be rotatable about the same rotation axis as the switching moving member and draws the same rotation locus. It is good.
The moving direction of the switching moving member can be parallel to the moving direction of the elevating drive member, but can also be a non-parallel direction such as an orthogonal direction. It is not essential that the moving direction of the switching member be parallel to the moving direction of the elevating drive member or the action member, and the movement of the switching member may be linear movement or rotation. The actuator may be operated linearly or may be operated by rotation.
(29) The switching member moves to the negative pressure supply position and the negative pressure release position by moving up and down, and one of the two switching moving members moves up and down integrally with the lifting drive member, and the other The circuit component mounting system according to item (28), wherein the circuit device is linked to the lift drive member by a transmission device that transmits the lift drive member in the reverse direction.
The two switching moving members can be moved relative to the lifting drive member. However, if one of the switching moving members moves integrally with the lifting drive member, the switching valve The control device can be configured easily.
(30) The switching valve control device includes a corresponding working member in series with the actuator as a main actuator between at least one of the two switching moving members and the working member corresponding to one of them. The circuit component mounting system according to item (28) or (29), which includes at least one auxiliary actuator that moves relative to the switching moving member.
Both the main actuator and the auxiliary actuator can take two operating states. When one auxiliary actuator is provided, the operating position where the operating member acts on the switching member by the main actuator and the non-operating position The action position of the action member is changed in two stages by the sub-actuator. If a plurality of sub-actuators are provided in series with each other, the non-acting position of the acting member can be changed in multiple stages.
For example, if the height at which the component adsorber picks up the circuit component or the height at which it is released changes depending on the height of the circuit component, the switching timing of the pressure switching valve is set according to the height. By setting, circuit components can be adsorbed or released at a more appropriate time, and the conveyance efficiency can be improved.
The main actuator and the auxiliary actuator may be provided in series with each other, and either may be provided on the action member side. The auxiliary actuator can operate linearly or can rotate.
(31) A positive pressure supply passage for supplying a positive pressure to the component adsorbing tool via a switching member is provided on one of the action members, and the positive pressure is applied to the component adsorbing tool at least in the initial stage of the release realizing state The circuit component mounting system according to any one of (28) to (30).
(32) When the operating force applied to the action member by the switching movement member exceeds the set value between the action member and the switching movement member, the action member is relative to the switching movement member. The circuit component mounting system according to any one of items (28) to (31), wherein a relative movement permission device that allows movement while applying an elastic resistance force is provided.
In order to switch the pressure switching valve reliably with the shortest possible stroke of the switching member, a stopper is provided to prevent the switching member from moving at the negative pressure supply position and the negative pressure release position, and the stopper prevents the switching member from moving. It is desirable that the excessive movement of the switching moving member after being absorbed is absorbed by the relative movement allowing device.
(33) In the state where the working member provided with the positive pressure supply passage is in contact with the switching member, the pressure switching valve of the positive pressure supply passage formed across the working member and the switching member is negative. In a state where the pressure is supplied, it is provided in a portion that is cut off from the component adsorber and the negative pressure source, and allows the gas to flow out from the positive pressure supply passage into the atmosphere while constricting the outflow gas. The circuit component transport device according to (31) or (32), wherein an outflow permission means is provided.
(34) The outflow permitting means is a communication member formed in a state in which the positive pressure supply passage is communicated with the atmosphere even when the action member is in contact with the switching member. The circuit component carrying device according to item (33), including a passage.
(35) The outflow permission means and a portion upstream of the outflow permission means of the positive pressure supply passage formed across the action member and the switching member in a state where the action member is in contact with the switching member. The circuit component carrying device according to (33) or (34), wherein at least one of them is provided with a variable aperture means.
By adjusting the variable throttle means, the flow rate of the pressure gas from the component adsorber after the pressure increase in the component adsorber is adjusted, or the pressure in the component adsorber immediately after switching the pressure switching valve to the negative pressure release state The ratio of the flow rate of the pressure gas to the component adsorber after the increase can be adjusted.
(36) The component holder is held by the holder turning device so as to be rotatable about the axis of the component holder and movable in the axial direction, and the circuit component mounting system further includes the swivel axis. A drive gear provided concentrically with respect to each other and rotated at an arbitrary angle by a drive source, and a plurality of driven gears concentrically fixed to each of the component holders and meshed with the drive gear, and The circuit component according to any one of (1) to (35), wherein the driving gear and the driven gear maintain an engaged state regardless of the axial movement of the component holder by the lifting device. Mounting system.
The drive source, the drive gear, the driven gear, and the like constitute a holder rotating device that rotates the component holders at the same time while allowing the movement of the component holders in the axial direction.
(37) The circuit component mounting system according to item (36), wherein the driving gear is wider than the driven gear.
The object can also be achieved by making the driven gear wider than the driving gear. However, according to this aspect, the width of one gear can be widened, and the component holder can be moved in the axial direction. A unique effect is obtained in which the movement space of the driven gear necessary for making it possible is small.
(38) Furthermore, a main conveyor that conveys, positions and supports the circuit substrate, a carry-in conveyor that conveys the circuit substrate and delivers it to the main conveyor, and a carry-out conveyor that receives the circuit substrate from the main conveyor and carries it out And at least one of
A plurality of the main conveyors are arranged in parallel in a direction perpendicular to the conveying direction of the circuit base material, and at least one of the carry-in conveyor and the carry-out conveyor is a plurality of a plurality of which is connected to each of the plurality of main conveyors. The circuit component mounting system according to any one of (1) to (37), including a conveyor shift device that selectively shifts to a shift position.
The main conveyor has a circuit base material conveyance function and a positioning support function, and a portion for positioning and supporting the circuit base material constitutes a circuit base material holding device.
The carry-in conveyor is shifted by a conveyor shift device, so that the circuit substrate can be received at any position among the plurality of shift positions and can be carried into any of the plurality of main conveyors. The carry-out conveyor is shifted by the conveyor shift device, so that the circuit base material can be received from any of the plurality of main conveyors, and the circuit base material can be carried out at an arbitrary position among the plurality of shift positions. There are multiple main conveyors, and after mounting circuit components on the circuit board supported by one main conveyor, immediately start mounting circuit parts on the circuit board supported by the other main conveyor. The replacement time of the circuit base material is substantially 0, and the circuit base material can be carried into and out of a plurality of main conveyors by one carry-in conveyor and one carry-out conveyor, and the work efficiency is high. In addition, a circuit component mounting system with a simple configuration can be obtained.
Both the carry-in conveyor and the carry-out conveyor may be provided, or only one of them may be provided. For example, a plurality of working devices that perform some work on the circuit base material are arranged in series to form a line-shaped working system, and the circuit component mounting system according to this aspect is provided on the most downstream side of the line. If the finished circuit board is stored in a storage device such as a stocker, it can be taken out from the main conveyor by a robot or operator and stored in the storage device. There is no. In such a system, only the carry-in conveyor is provided, but the circuit substrate can be selectively delivered to one of the plurality of main conveyors by one carry-in conveyor.
Further, for example, the circuit component work system of this aspect is provided in the uppermost stream of the line work system, and the circuit base material is set on the main conveyor by a robot or an operator, or the circuit base material supply device is If the circuit board is delivered to each of the plurality of main conveyors, the carry-in conveyor is not indispensable. Even in such a system, one carry-out conveyor is shifted, and circuit substrates can be selectively carried out from a plurality of main conveyors.
(39) A mounting unit including the plurality of component holders, the holder turning device, the transfer moving device, the lifting device, and the receiving mounting control device is positioned and supported by any of the plurality of main conveyors. The circuit component mounting system according to (38), wherein the circuit component can be mounted on the circuit substrate.
As soon as the mounting of the circuit components on the circuit substrate positioned and supported by one of the plurality of main conveyors is completed, the mounting unit is positioned and supported by another main conveyor and is waiting. The mounting of the circuit component on the material can be started and the circuit component can be mounted efficiently. Since the mounting unit can mount circuit components on the circuit substrate on any main conveyor, only one mounting unit may be provided. If another mounting unit mounts the circuit component on the circuit board while taking out the circuit component from the component supply device, it is possible to efficiently mount the circuit component without interrupting the mounting for removing the circuit component. can do.
(40) The two main conveyors are arranged in parallel, and the component supply devices are arranged on the outer sides of the two main conveyors, respectively, the plurality of component holders, the holder rotation device, Two mounting units including the transfer moving device, the lifting device, and the receiving mounting control device are provided. The two mounting units receive circuit components from each of the two component supply devices, and the two main units. The circuit component mounting system according to (38), wherein the circuit component mounting system is transported above any one of the conveyors and mounted on a circuit substrate positioned and supported by the main conveyor.
If circuit components are alternately mounted by two mounting units, circuit components can be mounted without wasting time, but it is not essential to mount circuit components alternately. Without doing so, for example, it is possible to supply many types of circuit components from two relatively small component supply devices, and while avoiding an increase in the movement distance of the mounting unit, various types of circuit components Thus, an effect of forming a circuit that requires the above can be obtained.
(41) The carry-in conveyor is disposed on the upstream side of the main conveyor, the carry-out conveyor is disposed on the downstream side, and a predetermined reference shift among the plurality of shift positions of the carry-in conveyor and the carry-out conveyor is provided. Any one of the paragraphs (38) to (40), wherein an upstream device that delivers the circuit board to the carry-in conveyor and a downstream device that receives the circuit board from the carry-out conveyor are disposed adjacent to each position. Circuit component mounting system described in 1.
The upstream device includes, for example, a circuit substrate supply device, a circuit component mounting system, a coating system that applies an adhesive or paste solder to the circuit substrate, and the downstream device includes, for example, a circuit component mounting system. There are a curing furnace for curing the adhesive temporarily fixing the circuit component to the circuit substrate, a reflow furnace for melting the solder and electrically connecting the circuit component to the circuit substrate.
Since the carry-in conveyor can receive the circuit substrate at any of a plurality of shift positions, and the carry-out conveyor can deliver circuit components at any of the plurality of shift positions, each circuit of the upstream device and the downstream device Even if the substrate delivery position and the receiving position are one and the positions are determined in the shift direction of the carry-in conveyor and the carry-out conveyor, they coincide with the circuit substrate delivery position and the receive position of the upstream device and the downstream device. If the three positions are connected with the shift position to be used as the reference shift position of the circuit component mounting system, the circuit substrate can be delivered without any trouble.
(42) The circuit component mounting system according to any one of (38) to (40), wherein the carry-in conveyor is disposed upstream of the main conveyor and the carry-out conveyor is disposed downstream.
The carry-in conveyor and the carry-out conveyor can function as a carry-out conveyor and a carry-in conveyor, respectively, by reversing the conveyance direction together with the main conveyor.
(43) A circuit component mounting system in which at least two circuit component mounting systems according to (42) are arranged in series.
In this circuit component mounting system, the circuit substrate is transferred between the carry-out conveyor of the upstream circuit component mounting system and the carry-in conveyor of the downstream circuit component mounting system. Both the carry-out conveyor and the carry-in conveyor can be selectively shifted to a plurality of shift positions, and circuit substrates are delivered at any one of the plurality of shift positions. There is no need to determine the shift position at which the circuit substrate is delivered, and it can be determined according to the progress of mounting of two adjacent circuit component mounting systems. improves.
(44) The circuit substrate working system according to any one of (38) to (40), wherein a carry-in / out conveyor that serves as both the carry-in conveyor and the carry-out conveyor is disposed upstream of the main conveyor. .
The carry-in / carry-out conveyor can convey the circuit base material in the forward direction and the reverse direction, and functions as a carry-in conveyor when conveyed in the forward direction, and functions as a carry-out conveyor when conveyed in the reverse direction. This aspect is effective in a special case where it is desirable to discharge the circuit substrate to the same side as the supplied side.
(45) The conveyor shift device according to any one of (41) to (43), wherein the conveyor shift device includes a carry-in conveyor shift device and a carry-out conveyor shift device that shift the carry-in conveyor and the carry-out conveyor independently of each other. Circuit component mounting system.
The conveyor shift device can shift the carry-in conveyor and the carry-out conveyor all at once. However, if the shift is performed independently, the degree of freedom of the circuit component mounting system is improved.
(46) The conveyor shift device according to any one of (38) to (45), wherein the conveyor shift device includes a conveyor support base that supports at least one of the carry-in conveyor and the carry-out conveyor, and a fluid pressure cylinder that shifts the conveyor support base. The circuit component mounting system according to any one of the above.
If the fluid pressure cylinder is used, a conveyor shift device capable of quickly shifting the carry-in conveyor and the carry-out conveyor can be manufactured at a low cost.
(47) The circuit component mounting system according to (46), wherein the fluid pressure cylinder is a rodless cylinder arranged across the plurality of shift positions.
When a rodless cylinder is used, the conveyor shift device can be configured more compactly than when a fluid pressure cylinder including a piston rod is used.
(48) The conveyor shift device includes a conveyor support base that supports at least one of the carry-in conveyor and the carry-out conveyor, and a drive device that shifts the conveyor support base using a servo motor as a drive source (38). Or the circuit component mounting system according to any one of (45).
(49) The circuit component mounting system according to any one of (38) to (48), wherein the main conveyor includes a substrate positioning support device that floats and supports the circuit base material from the conveyance surface.
According to the device of this aspect, the circuit substrate can be reliably positioned.
(50) The plurality of main conveyors each include a conveyor belt that supports and conveys the circuit substrate, and the conveyor belts of the plurality of main conveyors are simultaneously driven by a common belt driving source. Circuit component mounting system described in 1.
If the substrate positioning and supporting device floats and supports the circuit base material from the transport surface, the circuit base material on which the work is being performed will move even if the conveyor belts of the plurality of main conveyors are operated simultaneously. Absent. Further, if the belt drive source is shared, the apparatus cost can be reduced.
(51) At least one of the side frames of each of the main conveyor, the carry-in conveyor, and the carry-out conveyor is a movable frame that can approach and separate from the other, and the main conveyor, the carry-in conveyor, and the carry-out conveyor Any of (41) to (43), (45) to (50), including a width changing device that simultaneously moves the movable frames of the main conveyor, the carry-in conveyor, and the carry-out conveyor. The circuit base material working system according to claim 1.
(52) At least one of the side frames of each of the main conveyor, the carry-in conveyor, and the carry-out conveyor is a movable frame that can approach and separate from the other, and each of the carry-in conveyor and the carry-out conveyor A width changing device that simultaneously moves the movable frame to change the transfer width between the carry-in conveyor and the carry-out conveyor, a movable frame of the main conveyor, and a movable frame of the carry-in conveyor and the carry-out conveyor when the width is changed by the width change device. The circuit base work system according to any one of (41) to (43), (45) to (50), comprising a frame connecting device that is connected in a state of moving integrally.
The frame connecting device has a connecting member that can be positioned at a connecting position that connects the movable frame of the main conveyor and the moving frames of the carry-in conveyor and the carry-out conveyor and a non-connected position that is not connected. The connecting member may be positioned at the connecting position and the non-connecting position by the operator's operation, or may be driven by the connecting member driving device and automatically positioned at the connecting position and the non-connecting position. Good.
(53) The width changing device is
A carry-in drive shaft and a carry-out drive shaft provided corresponding to each of the carry-in conveyor and the carry-out conveyor and extending across the plurality of shift positions of the conveyors;
The driven conveyer and the carry-out conveyor are held rotatably and non-movable in the axial direction, respectively, and are driven to engage with the carry-in drive shaft and the carry-out drive shaft so as not to be relatively rotatable and relatively movable in the axial direction. A rotating body,
A motion converter for converting the rotation of the driven rotating body into the motion of the movable frame;
A rotational drive source for changing the width;
A rotation transmission device for transmitting the rotation of the width changing rotation drive source to the carry-in drive shaft and the carry-out drive shaft;
The circuit substrate working system according to item (51) or (52).
According to this aspect, the rotational drive source for width change can be shared by the carry-in conveyor and the carry-out conveyor, and the width of both conveyors can be easily changed simultaneously. Moreover, the carry-in conveyor and the carry-out conveyor can be shifted independently.
In addition, even if the carry-in conveyor and the carry-out conveyor are shifted, each driven rotary body of the carry-in conveyor and the carry-out conveyor is kept engaged with the carry-in drive shaft and the carry-out drive shaft. The transport width can be changed at any of the shift positions.
(54) The width changing device further includes:
A main conveyor side drive shaft provided in one of the plurality of main conveyors in a direction in which the main conveyors are arranged;
A driven rotating body that is rotatably and axially held on the main conveyor provided with the main conveyor-side drive shaft, and is engaged with the main conveyor-side drive shaft so as not to be relatively rotatable and relatively movable in the axial direction. When,
A connecting member that integrally connects the movable frames of the plurality of main conveyors;
And the rotation transmission device transmits the rotation of the rotation drive source for changing the width to the carry-in drive shaft and the carry-out drive shaft, and transmits the rotation to the main conveyor drive shaft (53). The circuit substrate working system described.
(55) The main conveyor and at least one of the carry-in conveyor and the carry-out conveyor each include a conveyor belt that supports and conveys the circuit substrate, and at least one of the main conveyor, the carry-in conveyor, and the carry-out conveyor The circuit component mounting system according to any one of Items (38) to (54), wherein each of the circuit components has its own belt drive source.
If the belt drive sources of the main conveyor, the carry-in conveyor and the carry-out conveyor are dedicated, each conveyor can be operated independently, and the degree of freedom of the circuit component mounting system is improved.

Hereinafter, a circuit component mounting system according to an embodiment of the claimable invention will be described with reference to the drawings.
The circuit component mounting system 8 is an upstream device provided on the upstream side in the conveyance direction of the circuit substrate, and is a kind of coating system, and includes a screen printing system for printing paste solder on the circuit component, and a downstream device. The electronic circuit assembly line is configured together with a reflow system (a system for melting the solder and electrically connecting the circuit components to the circuit substrate) provided on the side. An electronic circuit assembly line is also a kind of printed circuit board working system.

The circuit component mounting system 8 will be described.
In FIG. 1, 10 is a base. On the base 10, a substrate conveyor 12, two circuit component supply devices 14 and 16, and circuit component mounting devices 18 and 20 are provided. The substrate conveyor 12 includes two main conveyors 400 and 402, and a carry-in conveyor 404 and a carry-out conveyor 406, respectively. The main conveyors 400 and 402 are perpendicular to the transport direction of the printed circuit board 408 (see FIG. 3) which is a circuit substrate (the horizontal direction in FIG. 1 and the transport direction of the printed circuit board 408 is the X-axis direction) in the horizontal plane. Are arranged in parallel with each other (referred to as the Y-axis direction).

The carry-in conveyor 404 will be described.
As shown in FIG. 2, a guide member support base 420 is mounted on the base 10 so as to be adjustable in height by a plurality of adjustment bolts 422 serving as height adjustment members. As shown in FIG. 4, the guide member support base 420 has a rectangular frame shape and has a length adjacent to both the main conveyors 400 and 402. A linear guide rail 424 serving as a guide member is fixed on each of the pair of frame portions parallel to the Y-axis direction of the guide member support base 420. As shown in FIGS. 2 and 4, the conveyor support base 426 is also provided. Are movably fitted in four guide blocks 428 as guided portions, and a carry-in conveyor 404 is provided on a conveyor support base 426.

  The conveyor support base 426 has a rectangular frame shape, and as shown in FIG. 4, at the center portion in the longitudinal direction of the connecting member 432 that connects a pair of frame portions 430 parallel to the Y-axis direction, It is fixed to the mover. The rodless cylinder 436 is a pneumatic cylinder without a piston rod. In the rodless cylinder 436, a moving element (not shown) provided integrally with the piston is protruded out of the housing while maintaining airtightness, and a connecting member 432 is fixed to the moving element. The rodless cylinder 436 is provided on the guide member support base 420 in parallel with the Y-axis direction. When the conveyor support base 426 is moved by the rodless cylinder 436, the carry-in conveyor 404 is connected to the main conveyor 400. The first shift position and the second shift position formed on the main conveyor 402 are shifted. The conveyor support 426 and the rodless cylinder 436 constitute a carry-in conveyor shift device 438. Whether the carry-in conveyor 404 is located at the first shift position or the second shift position can be determined by detecting the movement of the piston to the moving end in the rodless cylinder 436 by the moving end detecting device.

  As shown in FIG. 4, the carry-in conveyor 404 includes a fixed frame 440 and a movable frame 442 as side frames. These frames 440 and 442 have a longer shape than the size of the conveyor support table 426 in the substrate transfer direction, and the fixed frame 440 is parallel to the substrate transfer direction at one end parallel to the substrate transfer direction of the conveyor support table 426. The fixed and movable frame 442 is arranged in parallel with the substrate transport direction, and can move to the conveyor support base 426 in a direction perpendicular to the substrate transport direction, and can be moved toward and away from the fixed frame 440. Is attached.

  A support portion 444 extending in parallel with the substrate conveyance direction is provided at an end portion of the conveyor support base 426 parallel to the substrate conveyance direction and opposite to the side on which the fixed frame 440 is fixed. The both ends of a pair of linear guide rails 446 serving as guide members are fixed to the fixed frame 440 and the support portion 444, and both ends of the screw shaft 448 are rotatably supported. The guide rail 446 and the screw shaft 448 are arranged in parallel with the moving direction of the movable frame 442, and the guide block 450 which is a guided member fixed to the movable frame 442 is movably fitted to the guide rail 446. The nut 452 fixed to the movable frame 442 is screwed onto the screw shaft 448. The screw shaft 448 and the nut 452 constitute a ball screw that operates via a steel ball (not shown). Therefore, when the screw shaft 448 is rotated, the movable frame 442 is guided by the guide rail 446 to approach and separate from the fixed frame 440.

  As shown in FIG. 4, a spline shaft 456 is attached to the guide member support 420 so as to be rotatable about an axis parallel to the Y-axis direction. As shown in FIGS. 2 and 4, the spline shaft 456 is provided across the first and second shift positions, and is located below the fixed frame 440 and the movable frame 442. The spline shaft 456 is fitted with a spline member 458 attached to the fixed frame 440 by a bracket 457 (see FIG. 3) so as to be rotatable but not movable in the axial direction so as not to be relatively rotatable and movable in the axial direction. The spline member 458 is a member having a spline hole for spline fitting with the spline shaft 456, and the sprocket member 458 is integrally provided with a sprocket 460. A chain 464 (see FIG. 3; the illustration of the chain 464 is omitted in FIG. 4) is wound around the sprocket 460 and the sprocket 462 fixed to the screw shaft 448, and the spline shaft 456 is rotated. It is transmitted to the screw shaft 448. 466 is a tension sprocket.

As shown in FIGS. 2 and 4, a sprocket 468 is fixed to the end of the spline shaft 456 that protrudes outward from the fixed frame 440 (opposite the movable frame 442). The spline shaft 456 is rotated by moving a chain 470 (see FIGS. 2 and 4) wound around the sprocket 468, whereby the screw shaft 448 is rotated and the movable frame 442 is moved. The conveyance width of the carry-in conveyor 404 is changed. When the carry-in conveyor 404 is shifted by movement of the conveyor support 426, the sprocket 460 fixed to the spline member 458 moves axially with the fixed frame 440 relative to the spline shaft 456, but remains spline fitted. The rotation is kept in a transmitted state, and the rotation is transmitted to the screw shaft 448 to change the conveying width regardless of the shift position of the carry-in conveyor 404.
In addition, since the change of the conveyance width of the carry-in conveyor 404 is performed simultaneously with the change of the conveyance width of the main conveyors 400 and 402 and the carry-out conveyor 406, arrangement | positioning of a chain 470 and a drive source are demonstrated later.

  As shown in FIG. 4, the fixed frame 440 and the support portion 444 of the conveyor support base 426 also rotatably support both ends of the spline shaft 480 that is a rotation transmission shaft disposed in parallel to the Y-axis direction. . An end portion of the spline shaft 480 on the movable frame 442 side is fitted to a spline member 482 attached to the movable frame 442 so as to be rotatable but not movable in the axial direction so as not to be relatively rotatable and movable in the axial direction. A sprocket 484 is fixed to an end portion of the spline shaft 480 that protrudes outward from the fixed frame 440, and a chain 490 is attached to a sprocket 488 (see FIG. 2) fixed to the output shaft of the substrate transport motor 486 as a belt drive source. Are connected by The substrate transfer motor 486 is an induction motor which is a kind of AC three-phase motor.

  A pulley 492 (see FIG. 2) integrally provided at the end of the spline shaft 480 on the fixed frame 440 side and a plurality of pulleys 494 attached to the fixed frame 440 (only two are shown in FIG. 4). A conveyor belt (not shown) is wound around. The spline member 482 is also integrally provided with a pulley (not shown), and a plurality of pulleys 496 (only two are shown in FIG. 4) rotatably attached to the pulley and the movable frame 442 are conveyor belts. Is wrapped around. Accordingly, when the substrate transport motor 486 is activated, the spline shaft 480 is rotated and the pulley 492 and the like are rotated, and the pair of conveyor belts are moved to feed the printed circuit board 408 placed on the conveyor belt. It is done. The substrate transfer motor 486 is attached to the conveyor support 426 and is moved together with the carry-in conveyor 404, and the drive for printed-circuit board transfer is performed in the state where the carry-in conveyor 404 is located in either the first or second shift position. Act as a source.

  The movement of the printed circuit board 408 is guided from both sides in the width direction by the vertical guide surfaces of the longitudinal-shaped guide members 498 and 500 (see FIG. 4) fixed to the fixed frame 440 and the movable frame 442, respectively. The guide members 498 and 500 are provided with a pressing portion that extends onto the conveyor belt, and prevents the printed circuit board 408 from lifting from the conveyor belt.

  As shown in FIG. 4, a board arrival confirmation sensor 504 for detecting the arrival of the printed board is attached to the downstream side of the fixed frame 440 in the board conveyance direction. The substrate arrival confirmation sensor 504 is a reflective photoelectric sensor including a light emitting unit and a light receiving unit, but various sensors such as a transmissive photoelectric sensor including a light emitting unit and a light receiving unit, a limit switch, and a proximity switch can be used. It is.

The carry-out conveyor 406 is configured in the same manner as the carry-in conveyor 404, and corresponding portions are denoted by the same reference numerals and description thereof is omitted. The conveyor support 426 and the rodless cylinder 438 constitute a carry-out conveyor shift device 508 in the carry-out conveyor 406, and the carry-in conveyor 404 and the carry-out conveyor 406 are respectively a carry-in conveyor shift device 438 and a carry-out conveyor shift device 508. Are shifted independently of each other.
On the carry-out conveyor 406 side, a handle 510 as an operation member for changing the conveyance width is provided as shown in FIG. A rotating shaft 514 is mounted on the base 10 by a bracket 512 so as to be rotatable about an axis parallel to the Y-axis direction, a handle 510 is fixed to one end, and a sprocket 516 is fixed to the other end. . The chain 470 is wound around the sprocket 516. The chain 470 is also wrapped around a sprocket 518 that is rotatably attached to the bracket 512.

The main conveyors 400 and 402 will be described. The main conveyors 400 and 402 have almost the same configuration, and the main conveyor 400 will be mainly described.
As shown in FIGS. 2 and 4, a conveyor support base 520 is fixed to a portion between the carry-in conveyor 404 and the carry-out conveyor 406 of the base 10. The conveyor support 520 has a size corresponding to two main conveyors in the Y-axis direction, and linear guide rails 522 (see FIG. 5) as guide members at both ends of the conveyor support 520 parallel to the Y-axis direction. 4) is fixed.

The main conveyor 400 has a fixed frame 524 and a movable frame 526 as side frames. Each of these frames 524 and 526 has a gate shape having a pair of leg portions 528 and a connecting portion 530 for connecting the upper end portions of the leg portions 528 as representatively showing the fixed frame 524 in FIG. The fixed frame 524 is fixed to the conveyor support 520 with a pair of legs 528. A guide block 532 serving as a guided member is fixed to each of the pair of leg portions 528 of the movable frame 526 and is movably fitted to the guide rail 522.

  As shown in FIGS. 4 and 5, one end of a screw shaft 536 is attached to the pair of legs 528 of the fixed frame 524 of the main conveyor 400 so as to be rotatable and immovable in the axial direction (FIG. 4). Only one screw shaft 536 is shown). As shown in FIG. 5, each of the pair of screw shafts 536 is screwed into nuts 538 fixed to both ends of the movable frame 526 of the main conveyor 400 in the direction parallel to the substrate conveying direction, and the movable frame The other end protruding from 526 is rotatably supported by a fixed frame 524 of the main conveyor 402. The screw shaft 536 and the nut 538 constitute a ball screw. Further, the movable frames 526 of the main conveyors 400 and 402 are connected by a connecting member 540 and are moved together.

  As shown in FIGS. 2 and 5, sprockets 542 are fixed to projecting ends of the pair of screw shafts 536 from the fixed frame 524 of the main conveyor 400. As shown in FIGS. 2 and 6, the chain 470 is wound around a sprocket 542 and a plurality of sprockets 544 respectively attached to a conveyor support 520 and a fixed frame 524. Therefore, when the handle 510 is rotated by an operator, the chain 470 is moved, the two screw shafts 536 of the main conveyor 400 are rotated, and the spline shafts 456 of the carry-in conveyor 404 and the carry-out conveyor 406 are rotated. Is rotated and the screw shaft 448 is rotated. Accordingly, the movable frames 442 and 526 of the conveyors 400 to 406 are simultaneously moved in the same direction by the same distance, and the conveying widths of the conveyors 400 to 406 are simultaneously changed to the same size. The movable frames 526 of the main conveyors 400 and 402 are connected by a connecting member 540. When the movable frame 526 of the main conveyor 400 is moved by the rotation of the screw shaft 536, the movable frame 526 of the main conveyor 402 also moves. The transport width is changed.

  Pulleys (not shown) are rotatably attached to a plurality of locations, including both ends separated in the substrate conveyance direction, on the mutually opposing surfaces of the connecting portions 530 of the fixed frame 524 and the movable frame 526, and an endless conveyor. A belt 546 (see FIG. 5) is wound around. Each of the conveyor belts 546 is moved by rotating a spline shaft 548 rotatably supported by a fixed frame 524 and a movable frame 526.

  As shown in FIG. 5, the spline shaft 548 of the main conveyor 400 is rotatably supported by a fixed frame 524, and a spline member 550 attached to the movable frame 526 so as to be rotatable and axially immovable is relatively rotated. Impossible and fitted so as to be movable in the axial direction. A pulley 553 is integrally provided on an end portion of the spline shaft 548 on the fixed frame 524 side and the spline member 550, and a conveyor belt 546 is wound around the pulley 553. Further, the spline shaft 548 is protruded from the movable frame 526 of the main conveyor 400, is rotatably supported by the fixed frame 524 of the main conveyor 402, and the pulley 553 is integrally provided so that the conveyor belt 546 is wound around. ing. The spline shaft 548 and the spline shaft 548 provided on the main conveyor 402 are connected by a joint member 552 and are integrally rotated.

  As shown in FIG. 5, the spline shaft 548 of the main conveyor 402 is protruded from the movable frame 526, and the protruding end portion is rotatably supported by a support member 554 fixed to the conveyor support base 520. A sprocket 556 is fixed to the protruding end, and is connected to a sprocket 560 (see FIG. 4) fixed to the output shaft of the substrate transport motor 558 attached to the support member 554 by a chain 562. The substrate transfer motor 558 is a speed control motor that is a kind of AC three-phase motor.

  Therefore, when the board conveying motor 558 is activated, the two spline shafts 548 are integrally rotated, the conveyor belt 546 is moved by the rotation of the pulley 553, and the printed board 408 is sent. The movement of the conveyor belt 546 is guided by a belt guide 564 (see FIG. 5) fixed to the fixed frame 524 and the movable frame 526. Further, the movement of the printed circuit board 408 is guided from both sides in the width direction by the vertical guide surfaces of the guide members 566 and 568 fixed to the fixed frame 524 and the movable frame 526, respectively, and the printed circuit board 408 is lifted from the conveyor belt 540. Is prevented by pressing portions 570 and 572 projecting from the guide members 566 and 568. There is a gap larger than the thickness of the printed circuit board 408 between the holding parts 570 and 572 and the upper surface of the conveyor belt 546, and there is a gap between the printed board 408 placed on the conveyor belt 546 and the holding parts 570 and 572. There is a slight gap. When the transport width is changed, the spline member 550 moves in the axial direction with respect to the spline shaft 548. However, the spline member 550 is kept in a spline-fitted state, and even if the transport width is changed, the substrate transport motor 558 is rotated on the pulley 553. Then, the printed circuit board 408 is conveyed.

  Further, as shown in FIG. 5, a protruding member 580 is attached to the surfaces of the fixed frame 524 and the movable frame 526 facing each other so as to be movable up and down. The protruding member 580 has a thin plate shape, has substantially the same length as the fixed frame 524 and the movable frame 526, and is fixed to a holding member 582 attached to the fixed frame 524 and the movable frame 526 so as to be movable up and down. Thus, it is positioned inside the conveyor belt 546 (on the other conveyor belt 546 side).

  Engaging members 584 (see FIG. 2) protrude downward from both ends of the lower surface of the holding member 582 in the longitudinal direction (only one engaging member 584 is shown in FIG. 2). ). The holding member 582 is urged downward by a compression coil spring 586 (see FIG. 2) as an elastic member which is a kind of urging means disposed between the connecting portion 530 and the protrusion member 580. The upper end surface is always lower than the transport surface of the printed circuit board 408 (the surface including the upper surface of the upper horizontal portion of the conveyor belt 546 arranged in an annular shape), and is at a retracted position that does not interfere with the printed circuit board 408. Evacuated.

On the conveyor support 520, as shown in FIG. 5, an elevator 598 and an elevator elevator 600 are provided. The lifting platform 598 has a size larger than the largest printed circuit board 408 among the printed circuit boards 408 conveyed by the main conveyors 400 and 402. The distance between the pair of leg portions 528 of the movable frame 526 is made larger than the dimension in the X-axis direction of the lifting platform 598 so that it does not interfere with the lifting platform 598 when the conveyance width is changed. In addition, a plurality of substrate adsorbing tools 602 serving as substrate support members are provided on the lift table 598 so as to be position-adjustable (only one is shown in FIGS. 1, 4 and 5). The board suction tool 602 sucks the printed circuit board 408 with a negative pressure supplied by a vacuum device (not shown).

  The lifting / lowering table lifting / lowering device 600 has a pair of rotating shafts 608 mounted on the conveyor support table 520 so as to be rotatable around an axis parallel to the X-axis direction. One end of the lever 610 (see FIG. 5) is attached so as not to be relatively rotatable. Each of the rollers 612 rotatably attached to the free ends of the four levers 610 is rotatably fitted in an engaging recess 614 (see FIG. 2) integrally provided on the lower surface of the lifting platform 598. Has been. The pair of rotating shafts 608 are coupled so as to rotate integrally. If one rotating shaft 608 is rotated by a drive cylinder (not shown), the four levers 610 are simultaneously rotated. The lifting platform 598 is moved up and down while maintaining a horizontal posture. As shown in FIG. 5, the raising / lowering of the lifting / lowering table 598 is guided by fitting a guide rod 616 fixed to the lifting / lowering table 598 and a guide tube 618 fixed to the conveyor support table 520.

  When the lifting platform 598 is raised, the substrate suction tool 602 sucks the printed circuit board 408 by negative pressure, and the support surface of the support member covered by the rubber suction cup of the substrate suction tool 602 pulls the printed circuit board 408 from below. To support. Further, the lifting platform 598 engages with the engaging member 584, raises the holding member 582, and thus the protruding member 580 against the urging force of the compression coil spring 586, and pushes up the printed circuit board 408 from the conveyor belt 546. . The printed circuit board 408 is adsorbed by the board adsorbing spring 602 and supported from below, and is lifted from the conveyor belt 546 and is sandwiched between the protruding member 580 and the pressing portions 570 and 572 of the guide members 566 and 568, and above or below. It is fixed to the main conveyors 400 and 402 in a state in which the warpage to the head is corrected. The position of the substrate suction tool 602 on the lifting platform 598 is adjusted according to the size of the printed circuit board 408. When the size of the printed circuit board 408 is small, the substrate suction tool 602 may be omitted.

  As shown in FIG. 4, a deceleration start position sensor 620, a substrate arrival confirmation sensor 622, and a substrate stop device 624 are provided on the downstream side of the main conveyors 400 and 402 in the substrate conveyance direction, respectively. Each of the deceleration start position sensor 620 and the board arrival confirmation sensor 622 is composed of a reflective photoelectric sensor having a light emitting part and a light receiving part, and reaches the deceleration start position of the printed board 408 by reflection of light from the printed board 408. The arrival at the board arrival confirmation position is detected. The lift table 598 is provided with a notch 626 so that light strikes the printed circuit board 408. The deceleration start position sensor 620 and the substrate arrival confirmation sensor 622 are not limited to the reflection type photoelectric sensor, and may be configured by a transmission type photoelectric sensor, a proximity switch, a limit switch, or the like.

  The substrate stopping device 624 is provided on the downstream side of the sensors 620 and 622, and includes a stopper member 630 and an elevating device 632 that moves the stopper member 630 up and down. As shown in FIG. 2, the elevating device 632 uses an air cylinder 634 as a fluid pressure cylinder as a driving source, and the stopper member 630 projects upward from the conveyance surface by the air cylinder 634 to stop the movement of the printed circuit board 408. It is retracted below the transport surface and moved to a non-acting position that allows the printed circuit board 408 to pass therethrough.

  Thus, the board conveyor 12 is provided with two main conveyors, and there are two conveyance paths for the printed circuit board 408 aligned in the Y-axis direction. However, the screen printing system provided on the upstream side of the circuit component mounting system 8 and the reflow system provided on the downstream side both have a single transport path for the printed circuit board 408 and are located on the same line. The circuit component mounting system 8 is provided at a position where the transport path including the main conveyor 400 coincides with the transport path of the screen printing system and the reflow system, and the delivery of the printed circuit board 408 is performed by the carry-in / carry-out conveyors 404 and 406. Is performed in a state of being located at the first shift position. The side on which an operator performs work in a direction perpendicular to the board conveying direction of the electronic circuit assembly line configured by the circuit component mounting system 8 and the like is determined in advance, and the operator of the two main conveyors 400 and 402 is selected. The main conveyor 400 on the side is provided at a position along with the screen printing system and the reflow system.

The circuit component supply devices 14 and 16 will be described.
The circuit component supply devices 14 and 16 are disposed outside the main conveyors 400 and 402, respectively. The circuit component supply devices 14 and 16 have the same configuration, and the types of circuit components to be supplied are also the same. The circuit component supply device 14 will be described as a representative.

  As shown in FIG. 7, the circuit component supply device 14 constitutes a circuit component supply carriage 52 (hereinafter, abbreviated as a carriage 52) serving as a main body, and is held by the carriage 52 together with the circuit component supply carriage 14. A plurality of feeders 54 are provided. In FIG. 7, the feeder 54 is indicated by an imaginary line (two-dot chain line). The carriage 52 includes a base 60, a handle 61, a frame 62 supported by the base 60, a frame plate 63 attached to the frame 62, a feeder holding device 64 provided on the frame 62, and a frame 62. The two engaging portions 66 provided (only one is shown in FIG. 7) are the main components.

  As shown in FIG. 8, the two engaging portions 66 are engaged with two engaging devices 68 provided on the base 10 to mechanically unite the base 10 and the carriage 52. . Each engagement device 68 translates in the direction in which the base 10 and the carriage 52 are arranged (left and right in FIG. 8) and is capable of rotational movement with the axis parallel to the movement direction as the rotation axis. The engagement protrusion 70 is provided. The parallel movement is performed by a double-action air cylinder built in the engagement device 68. Further, in the process of this parallel movement, the engaging protrusion 70 is rotated by a fixed angle (for example, 90 degrees) around an axis parallel to the moving direction by a cam mechanism (not shown).

  In a state where the base 10 and the carriage 52 are not combined, the engaging protrusion 70 is in a protruding state and is in a rotational phase that can be engaged with the engaging portion 66 in the axial direction. The engaging portion 66 has a round hole 71 and a pair of notches 72 extending in opposite directions from the round hole 71 (they face each other in the horizontal direction. FIG. 7 shows only one notch 72). When the base 10 and the carriage 52 are brought close together for merging, the engaging protrusion 70 passes through the notch 72 of the engaging portion 66. In this state, when air is supplied to one pressure chamber of the air cylinder and the outflow of air from the other pressure chamber is allowed, the engagement protrusion 70 is initially retracted while being rotated in the forward direction. The mating protrusion 70 engages with the engaging portion 66 so as not to be detached in the axial direction. The engagement protrusion 70 is retracted by a certain distance even after the rotation is stopped, whereby the carriage 52 is strongly attracted to the base 10. When the air supply state is reversed, the engaging projection 70 is initially projected without rotating, allowing the carriage 52 to be separated from the base 10, and then the engaging projection 70 is projected. It is rotated, and it will be in the state which can detach | leave from the engaging part 66 to an axial direction.

  The base 10 is provided with two guide taper sleeves 74 (only one is shown in FIG. 8). The guide taper sleeve 74 is fitted into the engagement portion 66 at a position that does not hinder the engagement between the engagement protrusion 70 and the engagement portion 66. Specifically, the engagement projection 70 is fitted to the round hole portion 71, but the engagement projection 70 is positioned on the cart 52 side in FIG. 8 with respect to the guide taper sleeve 74. Engagement with the portion 66 is not hindered. By fitting the two sets of guide taper sleeves 74 and the round hole portions 71, positioning of the carriage 52 in the direction parallel to the vertical plane with respect to the base 10 is accurately performed.

  As shown in FIG. 7, a guide mechanism 80 is provided on the base 10 and the carriage 52. The guide mechanism 80 includes two guide members 82 attached to the base 10 and two rollers 84 attached to the base 60 of the carriage 52 (in FIG. 7, the guide member 82 and the roller 84 are respectively One by one). Note that the relative position between the guide member 82 and the carriage 52 shown in FIG. 7 indicates the position in a state after the base 10 and the carriage 52 are combined. In this state, two fixed wheels 86 and two rotatable wheels 88 provided on the base 60 are separated from the floor. Further, the roller 84 is also slightly separated from the guide member 82. In a state where the base 10 and the carriage 52 are not combined, the two fixed wheels 86 and the rotatable wheels 88 are both supported on the floor, and the carriage 52 can be easily moved.

  When the carriage 52 is brought close to the base 10 for merging, the roller 84 rolls up on the slope 90 formed on the guide member 82, and in the process, the fixed wheel 86 is separated from the floor. When the base 10 and the carriage 52 are further brought closer, the roller 84 rolls on the guide rail 92 formed on the guide member 82. The guide rail 92 has a function of adjusting the relative position of the base 10 and the carriage 52 in the horizontal direction (direction orthogonal to the paper surface of FIG. 7) to a position where the uniting can be easily performed by engaging with the roller 84. Fulfill. Thus, the fitting between the round hole 71 and the guide taper sleeve 74 can be easily started.

  The base 10 is provided with a detection device (not shown). The circular hole portion 71 and the guide taper sleeve 74 are fitted to each other, and the contact portion 94 is provided on the carriage 52 by the detection device (not shown) with the contact portion 94 being in contact with a projection (not shown) formed on the base 10. The united detection projection (not shown) is detected. Then, when the uniting detection projection is detected by the detection device, the air cylinder of the engagement device 68 is operated, and the engagement projection 70 is engaged with the engagement portion 66 so as not to be disengageable in the axial direction as described above. Then, the carriage 52 is attracted and fixed toward the base 10.

  As shown in FIG. 8, the carriage 52 is attracted to the base 10 at the engaging portion 66, and the contact surface 96 of the engagement portion 66 contacts the contact surface 97 on the engagement device 68 side. By being brought into contact with a projection (not shown) formed on the base 10 at the contact portion 94, positioning of the carriage 52 in the united direction is accurately performed. A plane defined by the contact surface 97 and the contact surface of the projection (not shown) (a vertical surface in the illustrated example) is a merged surface, and a direction perpendicular to the merged surface is a merged direction. The pulling force when the engaging device 68 pulls the engaging protrusion 70 toward the base 10 is based on the force required to move the rotatable wheel 88 away from the floor and the roller 84 away from the guide rail 92. Further, the union of the carriage 52 and the base 10 is made strong (for example, each engagement device 68 has a size of about 250 kgf≈2450 N).

  One feeder 54 is held by each of the plurality of feeder holding units 100 provided in the feeder holding device 64. In the cart 52 of this embodiment, a feeder holding member is constituted by a main body member (a base plate 106 described later) of the feeder holding device 64, and a feeder holding unit is constituted by the feeder holding unit 100. The feeder holding device 64 includes four feeder holding unit groups 102 composed of six adjacent feeder holding units 100 (FIG. 7 shows one feeder holding unit 100 in one feeder holding unit group 102. Only shown). Therefore, the feeder holding device 64 can hold a maximum of 24 feeders 54.

  As shown in FIG. 7, the feeder holding unit 100 includes a base plate 106, an engagement member 108 and a guide plate 110 supported by the base plate 106, an air supply unit 112 that supplies compressed air to the feeder 54, and a feeder 54. And a power supply unit 114 for supplying various kinds of power. The base plate 106 and the guide plate 110 are shared by all the feeder holding units 100, and the engaging member 108 is shared by the six feeder holding units 100 constituting each feeder holding unit group 102.

  The base plate 106 is provided with a plurality of engagement grooves (not shown) corresponding to the feeder holding units 100 extending in parallel with the direction in which the base 10 and the carriage 52 are arranged. Each feeder 54 includes an engaging protrusion 122 that can engage with the engaging groove and the engaging member 108. When each feeder 54 is held by the feeder holding unit 100, it is translated from right to left in FIG. 7, and finally held at the position shown in FIG. The feeder 54 held by the feeder holding unit 100 is prohibited from relative movement in the direction perpendicular to the paper surface of FIG. 7 due to the engagement between the engagement protrusion 122 of the feeder 54 and the engagement groove of the base plate 106. Further, the guide plate 110 attached to the base plate 106 by the plurality of support columns 124 limits the vertical movement in a plane parallel to the paper surface of FIG. As a result, engagement / disengagement between the engagement protrusion 122 and the engagement member 108 during attachment / detachment to / from the feeder holding unit 100 can be performed smoothly. In the state shown in FIG. 7, the feeder 54 is prohibited from moving in the vertical direction with respect to the base plate 106 due to the engagement between the engagement member 108 and the engagement protrusion 122.

  The feeder 54 is provided with a U-shaped engagement member 126 that urges the feeder 54 in a direction toward the frame 62 (leftward in FIG. 7) by engagement with an engagement groove 125 provided in the base plate 106. Yes. The engaging member 126 is projected outside the feeder 54 as shown in FIG. 7 when the lever 128 is not operated, but is stored inside the feeder 54 while the lever 128 is operated. The A mechanism for storing the engaging member 126 in the feeder 54 will be described later with reference to FIG. In the process in which the feeder 54 is held by the feeder holding unit 100, the lever 128 is operated so that the engaging member 126 is stored in the feeder 54. However, if the operation of the lever 128 is released, the feeder 54 is moved. The feeder holding unit 100 is firmly held. In order to remove the feeder 54 from the feeder holding unit 100, the lever 128 is operated, the engaging member 126 is accommodated inside the feeder 54, and then the feeder 54 is translated in the right direction in FIG.

  Further, the carriage 52 is provided with a power supply unit (not shown) for receiving supply of various electric power from the base 10 side and an air supply unit for receiving supply of compressed air.

  As shown in FIG. 7, the feeder 54 can mount up to two component storage reels 150 that store a plurality of circuit components of the same type. The component storage reel 150 includes a tape-shaped storage container 152 that stores circuit components, and a cover film 154 that is bonded to the tape-shaped storage container 152 so that the circuit components in the tape-shaped storage container 152 do not fall off. A storage tape 156 is wound around. The component storage tape 156 includes a plurality of container-like containers in which a tape-shaped storage container 152 is projected at equal intervals downward from between a pair of supported parts extending in the longitudinal direction on both sides in the width direction. It is an embossed type tape having a circuit component housing portion. The cover film 154 bonded to the tape-like container 152 is a position where the circuit component is sucked by the component suction nozzle 784 (the position where the component suction nozzle 784 is shown in FIG. 8. This position is the component supply position. In this case, it is peeled off from the tape-like container 152 slightly on the component storage reel 150 side (right side in FIG. 7) from the component extraction position (hereinafter referred to as the component extraction position). The tape-like container 152 that has finished supplying the circuit components is sent to the circuit component mounting device 18 side (left side in FIG. 7). The pitch of the feed is made to coincide with the holding pitch of the circuit components in the longitudinal direction of the tape-like container 152.

  The tape-like container 152 that has finished supplying the circuit components is guided to a cutting machine 162 that is a cutting means for cutting the tape by the tape guide 160. The tape guide 160 and the cutting machine 162 are attached to the frame 62. The cutting machine 162 cuts the tape-shaped container 152, and the cut pieces of the tape-shaped container 152 are stored in a cut-piece container 164 attached to the lower part of the frame 62. In addition, the process of the cover film 154 peeled from the tape-shaped storage container 152 is mentioned later. The tape guide 160 and the cutting machine 162 are represented by an imaginary line (two-dot chain line) in FIG.

Next, the configuration of the feeder 54 will be described.
FIG. 9 is a side view of the feeder 54. The feeder 54 can mount up to two component receiving reels 150 for storing a plurality of circuit components of the same type as described above. The feeder 54 independently supplies one or two types of circuit components stored in one or two component storage reels 150 one by one based on a supply command from the control device 1050 (see FIG. 24). it can. It is also possible to supply the circuit components of the two component receiving reels 150 simultaneously. However, the circuit component mounting device 18 has a plurality of component suction nozzles 784 as will be described later. However, the plurality of component suction nozzles 784 suction the circuit components one by one, and the plurality suck the circuit components at the same time. There is no need to supply circuit components at the same time. Therefore, the plurality of feeders 54 do not receive a supply command at the same time.

  FIG. 10 is an enlarged front view showing a part of the feeder 54. FIG. 10 shows a state in which the first cover 192, the second cover 194, and the third cover 196 (see FIG. 9) are removed. The feeder 54 includes two driving devices 200 and 201 attached to the side plate 198 in order to supply circuit components accommodated in a component accommodation tape 156 wound around up to two component accommodation reels 150.

  One drive device 200 includes a motor 202, a drive gear 204 attached to the rotation shaft of the motor 202, a driven gear 206 having more teeth than the drive gear 204 meshed with the drive gear 204, A driving pulley 208 formed integrally with the driving gear 206, a driving belt 210 for transmitting the rotational force of the driving pulley 208, a driven pulley 212 driven by the driving belt 210, and the driven pulley 212 And a sprocket 214 formed integrally. Further, a driving belt 216 for transmitting the rotation of the driving pulley 208, a driven pulley 218 driven by the driving belt 216, a driving-side pinch roller 220 formed integrally with the driven pulley 218, and a pinch And an idle-side pinch roller 222 that is brought into contact with the outer peripheral surface of the roller 220 with a preset contact pressure. That is, the rotation of the motor 202 is transmitted to the sprocket 214, the pinch roller 220, and the pinch roller 222.

  The drive belt 210 has a passage route defined by a plurality of guide rollers 224. Since the motor 202 is a pulse motor, the rotation angle of the sprocket 214 can be controlled by the number of pulses applied to the motor 202. The rotation angle between the motor 202 and the sprocket 214 differs by the same ratio as the product of the gear ratio between the drive gear 204 and the driven gear 206 and the radius ratio between the drive pulley 208 and the driven pulley 212. The tape-shaped container 152 has engagement holes formed at regular intervals in the longitudinal direction, and is engaged with protrusions formed at equal intervals on the outer periphery of the sprocket 214. In order to ensure the engagement, the cover 225 prevents the tape-like container 152 from being lifted from the sprocket 214.

  When the sprocket 214 rotates, tension is generated in the component storage tape 156 due to frictional resistance when the component storage reel 150 is rotated, rotational friction of the guide roller 224, and the like. In this feeder 54, by changing the number of pulses applied to the motor 202, the component accommodating tape 156 can be easily fed at an arbitrary feed amount regardless of the magnitude of such disturbance factors. Therefore, even if the pitch in which the circuit components are stored in the component storage tape 156 changes, it can be easily handled. The pinch rollers 220 and 222 are in contact with each other with a preset contact pressure, and as shown in FIG. 9, a cover film 154 peeled off from the component housing tape 156 is sandwiched therebetween.

  The pinch rollers 220 and 222 are adhered to the component receiving tape 156 by feeding the already peeled portion of the cover film 154 toward the component receiving reel 150 when the component receiving tape 156 is sent by the sprocket 214. The cover film 154 is removed in order. The feed amount of the cover film 154 is made larger than the feed amount of the component housing tape 156 by the sprocket 214. And since the peeling position of the cover film 154 from the component accommodation tape 156 is prescribed | regulated by the drawing slit of the cover film 154 formed in the cover 225, since the excess of the feed amount of the cover film 154 is the pinch roller 220, The cover film 154 between the cover 225 and the pinch rollers 220 and 222 is always kept in tension by being absorbed by the slip of the cover 222 against the cover film 154.

  Similarly, the other driving device 201 includes a motor 226, a driving gear 228, a driven gear 230, a driving pulley 232, driving belts 234 and 236, a driven pulley 238, pinch rollers 240 and 242, a guide roller 244, and the like. Yes. Note that the same drive device 201 as that of the above-described sprocket 214 and driven pulley 212 is provided at a position overlapping with them in FIG.

  As shown in FIG. 9, the cover films 154 sent by the pinch rollers 220 and 222 and the pinch rollers 240 and 242 pass through the pipe 246 attached in a state where the axial direction is the vertical direction in FIG. Then dropped down. Therefore, when the feeder 54 is held by the feeder holding unit 100, the cover film 154 to be discarded is stored on the base 60 of the carriage 52. An air nozzle 248 is provided to smooth the passage of the cover film 154 in the pipe 246. When at least one of the motor 202 and the motor 226 is rotated, compressed air is introduced into the pipe 246. It is made to blow in from the upper part toward the lower part. The compressed air is supplied to the air nozzle 248 by opening the solenoid valve 250.

  The feeder 54 is provided with some operation switches (not shown). These operation switches include one for rotating the motor 202 and the motor 226 independently in both forward and reverse directions, one for determining the rotational speed of each motor when supplying circuit components, and one circuit component. For determining the rotation angle of each motor for each supply, and for determining whether or not each of the driving devices 200 and 201 is to be operated.

  As shown in FIG. 10, the lever 128 of the feeder 54 is urged by a spring 252 as an urging member so as to rotate counterclockwise in FIG. 10 about the fulcrum 254. This urging force is transmitted to the engaging member 126 by the link mechanism 256, and the engaging member 126 is projected outside the feeder 54 when the lever 128 is not operated. In order to house the engaging member 126 in the feeder 54, the lever 128 is rotated clockwise in FIG.

  The feeder 54 includes an air supply part 272 that is fitted to the air supply part 112 of the feeder holding unit 100 and supplies compressed air to the solenoid valve 250 described above. Furthermore, an electric power supply unit 274 that is electrically connected to the electric power supply unit 114 and supplies electric power to the motor 202 and the like is also provided. This electric power is supplied to the carriage 52 from the base 10 side. In addition, when the carriage 52 and the base 10 are not combined, a second power supply unit (not shown) for receiving power supply is provided in the carriage 52. In the preparatory work performed prior to the circuit part mounting work, the power supplied from the second power supplied portion is used in a state where the base 10 and the carriage 52 are not combined.

The circuit component mounting apparatuses 18 and 20 will be described.
As shown in FIG. 1, each of the circuit component mounting apparatuses 18 and 20 includes mounting heads 650 and 652, X-axis slides 654 and 656, and Y-axis slides 658 and 660. It has XY robots 662 and 664 that are moved to arbitrary positions. The mounting heads 650 and 652 have the same configuration, the XY robots 662 and 664 have the same configuration, and the mounting head 650 and the XY robot 662 of the circuit component mounting device 18 will be described representatively.

  As shown in FIGS. 2 and 3, linear guide rails 666 serving as guide members are provided in parallel to the Y-axis direction at two locations separated from each other on the base 10 in the substrate transport direction (X-axis direction). In addition, a Y-axis slide 658 is movably fitted. The Y-axis slide 658 is longer than the dimension in the X-axis direction of the carriage 52 to which the feeder 54 is attached, and two guide blocks 668 (see FIGS. 2 and 3), which are guided members, are fixed to both ends in the longitudinal direction. At the same time, it is movably fitted to the guide rail 666.

  As shown in FIGS. 2 and 3, the Y-axis slide 658 includes nuts 670 fixed to the upper portions of the portions fitted to the pair of guide rails 666 in parallel with the Y-axis direction. 10 is screwed onto a screw shaft 672 that is rotatably mounted around an axis parallel to the Y-axis direction. The nut 670 and the screw shaft 672 constitute a ball screw. Two screw shafts 672 are vertically provided at two positions separated in the X-axis direction of the base 10, and the Y-axis slide 658 is vertically moved at one end and the other end in the X-axis direction. Are screwed into screw shafts 672 at different positions. The Y-axis slide 658 is provided with a through hole (not shown) in order to avoid interference with the screw shaft 672 that is not screwed with itself.

  Each of the four screw shafts 672 is rotated by a Y-axis servomotor 674 which is a drive source provided on the base 10. The Y-axis servomotor 674 is an AC servomotor, and the two Y-axis servomotors 674 that drive the Y-axis slide 658 are rotated synchronously with a common drive circuit. Therefore, although the Y-axis slide 658 has a long shape, the Y-axis slide 658, the X-axis slide 654 mounted on the Y-axis slide 658, the mounting head 650, and the like are not subject to twisting or vibration based on inertia, and high speed It can be moved with. The pair of guide rails 666 are common to the Y-axis slides 658 and 660 of the circuit component mounting apparatuses 18 and 20, but the Y-axis slides 658 and 660 are individually driven and do not interfere with each other.

  As shown in FIGS. 1 and 3, two linear guide rails 676 serving as guide members are fixed to the lower surface of the Y-axis slide 658 in parallel to the X-axis direction and to the X-axis slide 654. A guide block 680 as a guided member is movably fitted. A nut 684 is fixed to the upper surface of the X-axis slide 654 by a bracket 682 as shown in FIG. The screw shaft 686 is screwed and the screw shaft 686 is rotated by an X-axis servomotor 688 (see FIG. 2) as a driving source, whereby the X-axis slide 654 is moved in the X-axis direction. The nut 684 and the screw shaft 686 constitute a ball screw. Reference numerals 690 and 692 (refer to FIGS. 1 and 2) denote protective devices such as flexible wiring and piping. The protective device 690 includes a signal transmission line and a supply line provided between the base 10 and the Y-axis slide 658. The electric wire, the air supply hose, the negative pressure supply hose, and the like are protected, and the protector 692 protects a signal transmission line and the like provided between the Y-axis slide 658 and the X-axis slide 654. The protective device 690 is illustrated only in FIG. 1, and the protective device 692 is illustrated only in FIG.

  The mounting head 650 is mounted on the X-axis slide 654. As shown in FIG. 11, the X-axis slide 654 includes a supported part 700 to which the guide block 680 is fixed and supported in a suspended state by a Y-axis slide 658, and one end part of the supported part 700 in the X-axis direction. And a connecting portion 702 that is suspended downward. As shown in FIGS. 11 and 13, the lower end portion of the connecting portion 702 is provided with an attachment portion 704 that protrudes horizontally to the other end side in the X-axis direction of the supported portion 700, and the attachment portion 704. The central portion in the Y-axis direction is a support portion 706 that protrudes horizontally to the opposite side of the connecting portion 702.

  As shown in FIG. 11, the support portion 706 supports the lower end portion of the rotating shaft 708 rotatably via a bearing 710, and the upper end portion of the rotating shaft 708 is rotatably supported by the supported portion 700. ing. A fixed cam 712 is fixed to the supported portion 700. A fitting hole 713 is formed in the fixed cam 712 concentrically with the rotation shaft 708 and penetrates the fixed cam 712, and a supported portion 718 of the drive gear 716 is rotatably fitted via a bearing 714. ing. A driven pulley 722 is concentrically fixed to an upper end portion of the supported portion 718 protruding from the fixed cam 712 so as to rotate integrally. The driving gear 716 and the driven pulley 722 are provided with bearings 720, A rotating shaft 708 is rotatably supported via 721. The rotating shaft 708 is provided so as to be rotatable about an axis (vertical line) parallel to a perpendicular to the horizontal conveyance plane, and the driving gear 716 and the driven pulley 722 are provided concentrically with the rotating shaft 708. .

  As shown in FIG. 14, the rotation of the azimuth correction changing servo motor 724 as a driving source is transmitted to the driven pulley 722 by a driving pulley 726 and a timing belt 728 as a winding member. Can be rotated at any angle. As shown in FIG. 11, a plate-shaped detected body 730 is fixed radially outward on the driven pulley 722, and the detected position of the driving gear is fixed to the X-axis slide 654. The sensor 732 (see FIG. 14) detects the original position of the drive gear 716. The original position of the drive gear 716 is detected when the power is turned on, and the rotational position of the drive gear 716 is calculated based on the detected position.

  A driven pulley 740 that is a driven rotating body is concentrically fixed to the upper end portion of the rotating shaft 708. As shown in FIG. 14, the rotation of a turning servo motor 742 as a driving source is transmitted to the driven pulley 740 by a driving pulley 744 and a timing belt 746 as a winding member. It can be rotated at an arbitrary angle in both forward and reverse directions. As shown in FIG. 11, a plate-like detected body 748 is fixed radially outward on the driven pulley 740, and the rotational axis original position where the detected body 748 is fixed to the X-axis slide 654. By detecting by the sensor 750 (see FIG. 14), the original position of the rotating shaft 708 is known. When the power is turned on, the original position of the rotating shaft 708 is detected, and the rotating position of the rotating shaft 708 is calculated based on the detected position.

  A component suction shaft holding member 760 is concentrically fixed below the portion of the rotating shaft 708 supported by the drive gear 716, and constitutes an intermittent rotating body 762 together with the rotating shaft 708. The component suction shaft holding member 760 has a generally cylindrical shape, and has 20 holding holes 764 penetrating in a direction parallel to the rotation axis at equal angular intervals on a circumference around the rotation axis of the peripheral wall. Is formed. Each holding hole 764 is fitted with a shaft member 768 which is a shaft portion constituting the component suction shaft 766 so as to be rotatable and axially movable via a bearing 770 and a holding member 772. The 20 component suction shafts 766 are turned around the rotation axis of the intermittently rotating body 762 during the rotation of.

  The diameter of the holding hole 764 is larger than the diameter of the shaft member 768. As shown in FIG. 12, the shaft member 768 is fitted in the holding hole 764 while being hermetically sealed by the two seal members 774 and 776. An annular passage 780 is formed therein. The holding member 772 is fitted into the lower opening of the holding hole 764 and is fixed to the component suction shaft holding member 760 by a bolt as a fixing means (not shown). One seal member 776 is fixed by the holding member 772. Is retained. The bearing 770 and the holding member 772 are attached to the component suction shaft holding member 760 so as not to move relative to each other to form a part of the intermittent rotating body 762. The hole in which the shaft member 768 is fitted is configured as a holding hole in which the shaft member 768 is fitted so as to be rotatable and movable in the axial direction.

  A lower end portion of the shaft member 768 of the component suction shaft 766 is protruded downward from the component suction shaft holding member 760, a nozzle fitting hole 782 is formed concentrically, and the component suction nozzle 784 is relatively moved in the axial direction. It is possible to fit. The component suction nozzle 784 has a suction pipe holding body 786 and a suction pipe 788 held by the suction pipe holding body 786, and a nozzle fitting hole by a compression coil spring 790 as an elastic member which is a kind of biasing means. It is biased in a direction protruding from 782. The component suction nozzle 784 is extracted from the nozzle fitting hole 782 and rotated with respect to the shaft member 768. It is prevented by engaging with a notch 794 which is an engaging recess. Reference numeral 796 denotes a reflector provided on the suction tube holder 786. Here, for ease of explanation, it is assumed that all of the 20 component suction nozzles 784 are of the same type, and the diameter of the suction pipe 788 is the same. As the component suction nozzle 784, a component suitable for the type of circuit component is selected and attached to the shaft member 768. However, the number of circuit components that can be sucked by the component suction nozzle 784 is not limited to one type, and a plurality of types having different sizes. It is possible to adsorb circuit components.

  The upper end portion of the shaft member 768 protrudes upward from the component suction shaft holding member 760, and the driven gear 800 and the cam follower holding body 802 are concentrically fixed to the protruding end portion. The driven gear 800 is smaller in diameter than the driving gear 716 and meshed with the driving gear 716, and all the driven gears 800 meshed with the driving gear 716 are simultaneously rotated by rotating the driving gear 716. The 20 component suction shafts 766 are simultaneously rotated in the same angle and in the same direction.

  The cam follower holding body 802 holds a spherical cam follower 804 in a rotatable manner and cannot be pulled out in any direction, and a part of the cam follower 804 is protruded upward from the cam follower holding body 802. The component suction shaft 766 is urged upward by a compression coil spring 806 as an elastic member which is a kind of urging means disposed in the passage 780, and the cam follower 804 abuts against the cam surface 808 of the fixed cam 712. It is touched. One end portion of the compression coil spring 806 is received by a spring receiver 810 fixed to the shaft member 768, and the other end portion is held by a retainer, and the bearing 812 attached to the holding member 772 supports the holding member 772. And is rotatably supported. Therefore, when the component suction shaft 766 is rotated around its own axis, the compression coil spring 806 rotates together, and no torsion occurs. A shaft member 768 of the component suction shaft 766 is passed through the bearing 812, and is movable and rotatable in the axial direction with respect to the bearing 812.

  As shown in FIGS. 11 and 12, the fixed cam 712 has a cylindrical cam surface constituting portion 814 concentric with the rotation shaft 708, and the lower surface of the cam surface constituting portion 814 serves as the cam surface 808. The cam surface 808 is provided above the turning locus of the component suction shaft 766, and a part of the cam surface 808 is changed as shown in FIGS. Therefore, when the intermittent rotating body 762 is rotated, the cam follower 804 is moved while rolling along the cam surface 808, and the 20 component suction shafts 766 are moved up and down while being swung around the axis of the rotation shaft 708. .

  When the intermittent rotating body 762 is rotated and the component suction shaft 766 moves up and down while turning, the driven gears 800 fixed to the upper ends of the shaft members 768 of the 20 component suction shafts 766 are respectively driven gears. It can be moved up and down while maintaining a state engaged with 716. The drive gear 716 is wider than the driven gear 800, that is, the direction parallel to the rotational axis of the intermittent rotating body 762 and the dimension parallel to the axial direction of the component suction shaft 766 is long. Even if it is moved up and down, the driven gear 800 is kept engaged with the driving gear 716.

  In addition, a notch 816 (see FIGS. 11 and 13) is formed in the attachment portion 704 of the X-axis slide 654 along a partial cylindrical surface centering on the rotational axis of the intermittent rotating body 762, and a component suction shaft 766 and Interference with the held circuit components is avoided.

  The cam surface 808 is formed so as to become higher from the lowest position in the forward direction and the reverse direction, and is highest at a position 90 degrees apart in any direction. The 20 component suction shafts 766 are stopped at 20 stop positions when the rotation shaft 708 is intermittently rotated by an angle equal to the disposition angle of the component suction shaft 766 intermittently. Of these 20 stop positions, the position corresponding to the lowest portion of the cam surface 808 is set as a component suction mounting position (also referred to as a component receiving mounting position or a component suction release position), and is 90 degrees away from the component suction mounting position. The position corresponding to the highest portion of the cam surface 808 is the imaging position. The cam surface 808 is formed so that the component suction shaft 766 moves horizontally before and after the component suction mounting position and the imaging position. The setting of the component suction device position and the imaging position is schematically shown in FIG. In the drawing, the circle represents the reflector 796 of the component suction nozzle 784.

  A circuit component imaging device 820 is provided at a position corresponding to the imaging position of the X-axis slide 654. As shown in FIGS. 13 and 15, the circuit component imaging device 820 is attached to one end portion of the attachment portion 704 of the X-axis slide 654 in the Y-axis direction by brackets 824 and 826. The bracket 824 is fixed to the mounting portion 704 by a screw member 828 and a long hole 830 so that the position of the bracket 826 can be adjusted in the X-axis direction. Has been.

  The circuit component imaging device 820 includes an illumination device 836, a reflection device 838, and a CCD camera 840. As shown in FIG. 15, the illumination device 836 and the reflection device 838 are a component suction shaft 766 stopped at the imaging position and a component located at the imaging position on the lower side of the circuit component 842 held by the component suction shaft 766. It is provided in a state extending perpendicularly to the tangent to the turning trajectory of the suction shaft 766 and the rotation axis of the intermittent rotating body 762 and facing the circuit component 842. The reflection device 838 has, for example, a prism or a plurality of mirrors, and changes the direction of the image forming light to enter the CCD camera 840. The illumination device 836 includes illumination units 848 provided on both sides of the reflection device 838, and irradiates light toward the reflection plate 796 of the component suction nozzle 784. The horizontal position of the circuit component imaging device 820 can be adjusted by adjusting the mounting position of the brackets 824 and 826. Further, the lighting device 836 can be removed by operating the operation member 850.

In this way, the imaging position is set higher than the component suction mounting position, and the circuit component imaging device 820 is disposed in the gap formed by raising the component suction shaft 766 by the fixed cam 712 and the cam follower 804. For component adsorption and mounting while avoiding interference between the imaging device 820 and the component suction nozzle 784 and the circuit component 814 held thereon, and interference between the circuit component imaging device 820, the circuit component supply device 14 and the printed circuit board 408. The lifting / lowering distance of the component suction nozzle 784 can be reduced.
If the height of the component suction shaft 766 is the same at the component suction mounting position and the imaging position, it is needless to say that interference between the circuit component imaging device 820, the circuit component supply device 14, and the printed board 408 must be avoided. Interference between the circuit component imaging device 820, the component suction shaft 766, and the circuit component 814 held thereby must be avoided, and the position of the component suction shaft 766 at the component suction mounting position becomes higher, so However, if the component suction shaft 766 is raised by the fixed cam 712 and the cam follower 804, interference with the circuit component imaging device 820 can be avoided thereby, and the component at the component suction mounting position can be avoided. The height of the suction shaft 766 can be reduced, and the lifting distance can be shortened.

  As shown in FIG. 11, the X-axis slide 654 is also equipped with a reference mark imaging device 854 that images a reference mark provided on the printed circuit board 408. The reference mark imaging device 854 is attached downward in the lower part opposite to the portion where the circuit component imaging device 820 is attached in the Y-axis direction of the connecting portion 702 of the X-axis slide 654.

  The component suction nozzle 784 sucks the circuit component 842 by negative pressure, and the pressure switching valve 860 is fixed to the outer surface of the component suction shaft holding member 760 at equal angular intervals for each of the 20 component suction shafts 766. (Only two are representatively shown in FIG. 15). A passage 862 that extends in the axial direction and communicates with the nozzle fitting hole 782 is formed in the component suction shaft 766, and the passage 862 is formed between the holding hole 764 and the component suction shaft 766. The passage 780 is connected to the pressure switching valve 860 by a passage (not shown) formed in the component suction shaft holding member 760.

  As shown in FIG. 11, the negative pressure includes a passage 866 formed in the attachment portion 704 and the support portion 706 of the X-axis slide 654, an annular passage 868, a passage 870 formed in the rotation shaft 708, and not shown. The pressure is supplied to each of the twelve pressure switching valves 860 by a hose or the like. The passage 866 is connected to the vacuum device via a hose (not shown) attached to the X-axis slide 654 with a joint member. The passage 870 is always kept in communication with the passage 866 by the annular passage 868 even if the rotation shaft 708 rotates.

  As shown in FIG. 12, the pressure switching valve 860 includes a switching member 874 disposed in the housing 872 so as to be linearly movable (can be moved up and down), and the pressure in the component suction nozzle 784 is reduced to a negative pressure. And switch to over atmospheric pressure. The switching member 874 is moved to the negative pressure supply position by moving downward, and the pressure switching valve 860 switches the pressure in the component suction nozzle 784 from a pressure higher than atmospheric pressure to a negative pressure, and the circuit component 842 is supplied to the component suction nozzle 784. To adsorb. This switching state of the pressure switching valve 860 is referred to as a negative pressure supply state. The switching member 874 is also moved to the negative pressure release position by moving upward, and the pressure switching valve 860 switches the pressure in the component suction nozzle 784 from a negative pressure to a pressure equal to or higher than the atmospheric pressure. Part 842 is released. This switching state of the pressure switching valve 860 is referred to as a negative pressure release state. Large-diameter stopper portions 876 and 878 are provided at both ends in the moving direction (axial direction) of the switching member 874, respectively, to prevent the switching member 874 from moving at the negative pressure supply position and the negative pressure release position. The switching member 874 is also configured to be maintained at each position when it is moved to the negative pressure supply position and the negative pressure release position.

As shown in FIG. 17 to FIG. 19, an individual lifting device 880 that raises and lowers the component suction shaft 766 and a mechanism portion of the switching valve control device 882 are provided in the vicinity of the component suction mounting position of the X-axis slide 654. .
As shown in FIGS. 17 and 19, a linear motor 886 serving as a drive source is fixed to a part of the X-axis slide 654 corresponding to the component suction mounting position. The mover 888 of the linear motor 886 extends vertically downward from the housing of the linear motor 886, and the moving member 890 is fixed.

  As shown in FIGS. 20 and 22, the moving member 890 is formed with a notch 891 that penetrates the moving member 890 in a direction parallel to a tangent to the turning locus of the component suction shaft 766 stopped at the component suction mounting position. At the same time, the elevating drive member 892 is pivotally attached to the vertical axis by a shaft 894 at a position deviated laterally from the turning trajectory of the component suction shaft 766 (shown by a one-dot chain line in FIG. 22). As shown in FIG. 18, a thin plate-like elevating drive unit 896 is provided at the end of the elevating drive member 892 that protrudes from the shaft 894 to the fixed cam 712 side. It is fitted in a notch 898 (see FIGS. 18 and 21) provided at a portion corresponding to the position so as to be movable up and down. The notch 898 is slightly larger than the width (the dimension in the circumferential direction of the fixed cam 712) in which the elevating drive unit 896 is fitted with no gap and can be fitted and detached, and the thickness of the elevating drive unit 896, and the cam follower 804 It has a depth (a dimension in a direction parallel to the center line of the fixed cam 712) that can pass even if it is inserted.

  The elevating drive member 892 is moved up and down by moving the moving member 890 up and down by the linear motor 886, the moving member 890 is moved to the rising end position, and the elevating drive unit 896 is fitted in the notch 898 so as to be moved up and down. A rising position in which the lower surface is continuous with the cam surface 808 of the fixed cam 712, a lowering position in which the moving member 890 is lowered, the lifting drive unit 896 is removed from the notch 898, and the lower surface is positioned below the cam surface 808. Can be raised and lowered between. Although not shown in the drawings, both edges of the upper surface of the lift drive unit 896 spaced apart in the component suction axis turning direction are notched obliquely, and a guide unit that guides the fitting of the lift drive unit 896 to the notch 898 is provided. Is provided.

  As shown in FIG. 20, the lower surface of the end portion of the lifting drive member 892 opposite to the side where the lifting drive portion 896 is provided extends in the longitudinal direction of the lifting drive member 892, and the lifting drive member 892 rotates. A notch 900 that is a positioning recess perpendicular to the axis is formed. A positioning tool 902 called a ball spring is attached to the moving member 890. The positioning tool 902 is an elastic member which is a kind of urging means housed in the casing 906 while the ball 908 serving as the positioning member is accommodated in the casing 906 screwed to the moving member 890 so that the ball 908 can move and cannot be pulled out. Is biased in a direction protruding from the casing 906.

  As shown in FIGS. 21 and 22, the bracket 912 is fixed to the moving member 890, and an adjustment bolt 914 that is a position-adjustable stopper member is screwed into the moving member 890. The adjustment bolt 914 is on the end side opposite to the side on which the elevating drive unit 896 is provided of the elevating drive member 892, and the elevating drive member 892 with respect to the turning direction of the component suction shaft 766 indicated by the arrow in FIG. It is provided further downstream. The adjusting bolt 914 is screwed in a direction perpendicular to the rotation axis of the lifting drive member 892 and parallel to the tangent to the turning locus of the component suction shaft 766 at the component suction mounting position, and is lowered due to a malfunction of the lifting drive member 892. A rotation limit in the direction opposite to the rotation direction when the component is positioned and rotated by the component suction shaft 766 is defined.

  The position of the tip of the adjustment bolt 914 is such that the ball 908 is fitted into the notch 900 with the elevating drive member 892 in contact with the adjustment bolt 914 and is engaged with the inclined side surface of the notch 900 on the adjustment bolt 914 side. The lifting / lowering drive member 896 is pressed against the adjustment bolt 914 by the action of the slope of the side surface away from the side surface of the side, and the lifting / lowering driving portion 896 can be fitted into the notch 898 formed in the fixed cam 712 (see FIG. 22). The position is adjusted so as to be accurately positioned at the position indicated by the solid line). The notch 900 and the positioning tool 902 constitute an urging means and, together with the adjusting bolt 914, constitute a positioning device which is a kind of clip stop device.

  The X-axis slide 654 is provided with a movement detection device 920 (see FIG. 24) that detects that the elevating drive member 892 has rotated to the retracted position as indicated by a two-dot chain line in FIG. The movement detection device 920 includes a transmissive photoelectric sensor having a light emitting unit and a light receiving unit, and the elevating drive member 892 of the elevating drive member 892 prevents the light receiving unit from receiving light, so that the elevating drive member 892 is in the retracted position. Rotation is detected. The movement detection device 920 is not limited to a transmissive photoelectric sensor, and may be configured by a reflective photoelectric sensor, a proximity switch, a limit switch, or the like.

  As shown in FIGS. 19 to 21, a main air cylinder 930 is attached to the moving member 890 so that the position of the main air cylinder 930 can be adjusted in the vertical direction. The main air cylinder 930 comes into contact with an adjustment bolt 932 screwed to the moving member 890 and is positioned in the vertical direction with respect to the moving member 890. In this state, the main air cylinder 930 is provided integrally with the cylinder tube 934 (see FIG. 23). The bolt 940 is screwed into the moving member 890 through the elongated hole 938 of the attached portion 936 (see FIG. 21), and is fixed to the moving member 890.

  The main air cylinder 930 is constituted by an air cylinder which is a kind of fluid pressure cylinder. The main air cylinder 930 is a double acting cylinder. As shown in FIG. 23, the piston 944 is fitted to the cylinder tube 934 so as to be airtight and movable in the axial direction, and the piston rod 946 is protruded downward from the cylinder tube 934. It has been. A stepped through hole 948 that penetrates in the axial direction is formed in the piston 944 and the piston rod 946, and the fitting portion 954 of the action member 952 can move in the axial direction in the large diameter hole portion 950. Is fitted.

  The shaft portion 956 protruding from the fitting portion 954 is protruded downward from the piston rod 946 through the small diameter hole portion 958, and a large action portion 960 is provided. The action member 952 is urged downward, that is, in a direction protruding from the piston rod 946 by a compression coil spring 962 as an elastic member, which is a kind of urging means disposed in the large-diameter hole portion 950. The downward movement limit of the action member 952 due to the bias of the compression coil spring 962 is defined by the engagement of the fitting portion 954 with the bottom surface of the large diameter hole portion 950. One end of the compression coil spring 962 is received by a plug 964 screwed into the opening of the large-diameter hole 950. The main air cylinder 930 is provided at a position directly above the switching member 874 of the pressure switching valve 860 provided for the component suction shaft 766 stopped at the component suction mounting position, and the action member 952 is a switching member. It will be located directly above 874.

  As shown in FIGS. 17 to 19, a bracket 970 is fixed in the vicinity of the component suction mounting position of the X-axis slide 654 so as to extend downward. On a vertical side surface of the bracket 970, a linear guide rail 972 as a guide member is provided in the vertical direction, and a cylinder tube 976 of a main air cylinder 974 which is a kind of fluid pressure cylinder is provided in a guide block 978 as a guided member. It is movably fitted.

  The main air cylinder 974 is a double-acting cylinder. As shown in FIG. 19, a piston 980 is fitted in the cylinder tube 976 so as to be movable while being airtight. A piston rod 982 protruding from the piston 980 is protruded downward from the cylinder tube 976, and an auxiliary air cylinder 984 as another fluid pressure cylinder is attached to the protruding end. A male screw portion 986 is formed at the lower end portion of the piston rod 982 and screwed into the cylinder tube 988 of the auxiliary air cylinder 984. By adjusting the screwing amount of the male screw portion 986, the main air cylinder of the auxiliary air cylinder 984 is formed. The vertical position relative to 974 can be adjusted.

  The auxiliary air cylinder 982 is a double acting cylinder, and the cylinder tube 988 is movably fitted to the guide rail 972 in a guide block 990 as a guided member. A piston 992 is fitted in the cylinder tube 988 of the auxiliary air cylinder 984 so as to be airtight and movable, and a piston rod 994 provided integrally with the piston 992 is protruded downward from the cylinder tube 988. In addition, a support member 998 is screwed into a male screw portion 996 provided at the protruding end portion. The support member 998 is movably fitted to the guide rail 972 in the guide block 1000 as a guided member, and the vertical position of the support member 998 relative to the auxiliary air cylinder 984 is adjusted by adjusting the screwing amount of the male screw portion 996. Can be adjusted.

  An action member 1002 is movably fitted in a guide block 1004 which is a guided member, in a portion below the portion where the support member 998 of the guide rail 972 is fitted. A tension coil spring 1006 as an elastic member, which is a kind of biasing means, is provided between the action member 1002 and the support member 998, and the action member 1002 is biased in a direction approaching the support member 998. A shock-absorbing member 1008 made of an elastic material (for example, rubber) is fixed to the lower surface of the support member 998, and fitted into a bottomed fitting hole 1010 formed in the action member 1002 so as to be relatively movable in the axial direction. The movement limit of the action member 1002 based on the urging force of the tension coil spring 1006 is defined by the buffer member 1008 coming into contact with the bottom surface of the fitting hole 1010. The buffer member 1008 reduces the impact when the action member 1002 is moved by the urging force of the tension coil spring 1006 and stops at the moving end position.

  As shown in FIG. 17, the action member 1002 is protruded horizontally from the portion fitted to the guide rail 972 toward the intermittent rotating body 762 and then stopped on the component suction shaft 766 stopped at the component suction mounting position. The pressure switching valve 860 provided is extended downward from a switching member 874. The action member 1002 is substantially L-shaped. A contact member 1014 is screwed into a portion of the action member 1002 located immediately below the switching member 874 to constitute an action part of the action member 1002. A groove 1016 penetrating in the diameter direction is formed in the upper portion of the contact member 1014.

  As shown in FIGS. 18 and 19, the action member 1002 is connected to an air supply source (not shown) via a joint member 1018 and an air supply hose (not shown). Air (compressed air) supplied from an air supply source is ejected upward through a passage 1020 formed in the action member 1002 and a passage 1022 formed in the contact member 1016. An electromagnetic on-off valve 1024 (see FIG. 24) is provided midway between the joint member 1018 and the air supply source so as to allow or block the supply of air to the action member 1002. The joint member 1018 is provided with a variable throttle valve 1026 so as to throttle the flow rate of air supplied from the air supply source to the action member 1002.

  18 and 19, a link 1030 is connected to a tangent to the turning trajectory of the pressure switching valve 860 provided for the component suction shaft 766 that is stopped at the component suction mounting position by the shaft 1032. It is mounted so as to be rotatable around parallel axes. A moving member 1034 is integrally provided on the upper portion of the cylinder tube 976 of the main air cylinder 974, and a roller 1036 rotatably attached to the moving member 1034 is formed at one end of the link 1030. 1038 (see FIG. 18) is rotatably fitted.

  Further, a roller 1042 (see FIG. 21) rotatably attached to a moving member 890 moved up and down by the linear motor 886 is rotatable in a notch 1040 (see FIG. 18) formed at the other end of the link 1030. Is fitted. Therefore, when the moving member 890 is moved up and down by the linear motor 886, the link 1030 is rotated, the moving members 890 and 1034 are moved up and down symmetrically mechanically, and the action members 952 and 1002 are moved to each other. In contrast, the switching member 874 of the pressure switching valve 860 is approached and separated.

  The control device 1050 for controlling the circuit component mounting system 8 is configured mainly by a computer 1052 as shown in FIG. The computer 1052 has a CPU, a ROM, a RAM (not shown), a bus for connecting them, an input interface, an output interface, and the like. The computer 1052 includes a board arrival confirmation sensor 504, a deceleration start position sensor 620, a board arrival confirmation sensor 622, a drive gear original position sensor 732, a rotary shaft original position sensor 750, a circuit component imaging device 820, a reference mark imaging device 854, and a movement. A detection device 920 and the like are connected. The computer 1052 also has a rodless cylinder control solenoid that controls the air cylinder control solenoid valve 1058, the motors 202 and 226, and the rodless cylinder 436 that control the air cylinder of the engagement device 68 via a drive circuit (not shown). Valve 1060, substrate transfer motors 486, 558, air cylinder control electromagnetic valve 1062, Y axis servo motor 674, X axis servo motor 688, azimuth correction changing servo motor 724, turning servo motor 742 for controlling air cylinder 634 , Linear motor 886, main air cylinder control solenoid valve 1064, 1066, auxiliary air cylinder control solenoid valve 1068, solenoid on-off valve 1024, etc. for controlling main air cylinders 930, 974 and auxiliary air cylinder 984, respectively. . The ROM stores various programs necessary for supplying, adsorbing and mounting the circuit components 842, and loading and unloading the printed circuit board 408.

Next, the operation will be described.
The circuit component mounting apparatuses 18 and 20 alternately mount the circuit components 842 on the printed circuit board 408 positioned and supported by either the main conveyor 400 or the main conveyor 402. With respect to one printed circuit board 408, all the circuit components 842 scheduled to be mounted in the circuit component mounting system 8 are mounted together. While the circuit component 842 is mounted on the printed board 408 that is positioned and supported by one main conveyor, the printed board 408 is carried out, loaded, and positioned and supported by the other main conveyor. 408 is made to wait on the main conveyor in preparation for mounting the circuit component 842. After completion of the mounting of the circuit component 842 on the printed circuit board 408 in one main conveyor, the mounting of the circuit component 842 on the printed circuit board 408 waiting in the other main conveyor is started.

First, loading, positioning support, and unloading of the printed circuit board 408 will be described. It is assumed that mounting on the printed circuit board 408 has already started and is in a steady mounting state.
The printed circuit board 408 is carried into the carry-in conveyor 404 from a screen printing system provided on the upstream side of the circuit component mounting system 8. This carry-in is performed in a state where the carry-in conveyor 404 is located at the first shift position. When the carry-in conveyor 404 is positioned at the first shift position, the board transfer motor 486 is activated and the printed board 408 is supplied from the screen printing system to the carry-in conveyor 404. Whether the carry-in conveyor 404 is positioned at the first shift position or the second shift position can be determined by detecting the movement of the rodless cylinder 436 toward the moving end of the piston. When the printed board 408 carried into the carry-in conveyor 404 is detected by the board arrival confirmation sensor 504, the board transfer motor 486 is stopped and the printed board 408 is stopped on the carry-in conveyor 404. If the carry-in conveyor 404 carries the printed circuit board 408 into the main conveyor 400, the carry-in conveyor 404 is left in the first shift position.

  Note that if the substrate arrival confirmation sensor 504 does not detect the printed circuit board 408 even after the set time has elapsed after the supply of the printed circuit board 408 from the screen printing system is started, some abnormality has occurred, and the circuit component 842 The mounting on the printed circuit board 408 is interrupted and the occurrence of an abnormality is notified. The interruption of mounting means that the mounting of the circuit component 842 to the next printed circuit board 408 is not started after the current mounting of the circuit component 842 to the printed circuit board 408 and the unloading of the printed circuit board 408 are completed.

  If the printed circuit board 408 on the main conveyor 400 is unloaded to the unloading conveyor 406 (the unloading will be described later) and the printed circuit board 408 can be loaded into the main conveyor 400, the loading conveyor 404 transfers the printed board to the main conveyor 400. 408 is carried in. Whether or not the printed circuit board 408 can be carried into the main conveyor 400 is determined by whether or not the printed circuit board 408 is detected by the circuit board arrival confirmation sensor 622 serving as a circuit board detection device. When the printed circuit board 408 is carried into the main conveyor 400, it is determined whether or not the printed circuit board 408 is carried into the main conveyor 400 based on the detection signal of the board arrival confirmation sensor 622. If the sensor 622 does not detect the printed circuit board 408, it can be seen that there is no printed circuit board 408 on the main conveyor 400 and the printed circuit board 408 can be carried into the main conveyor 400.

At the time of carry-in, the board transfer motor 486 of the carry-in conveyor 404 and the board transfer motor 558 of the main conveyors 400 and 402 are activated, the conveyor belt 546 and the like are moved, and the printed circuit board 408 is carried into the main conveyor 400. At this time, the stopper member 630 of the substrate stopping device 624 provided on the main conveyor 400 is moved to the operating position. If the printed circuit board 408 is carried in and detected by the deceleration start position sensor 620, the conveyance speed is reduced, and if detected by the board arrival confirmation sensor 622, the board conveyance motor 558 is stopped. At this time, the printed circuit board 408 comes into contact with the stopper member 630 and stops moving, and the printed circuit board 408 comes into contact with the stopper member 630 with little impact due to the reduction in the conveyance speed.
If the substrate arrival confirmation sensor 622 does not detect the printed circuit board 408 even after the set time has elapsed after the activation of the substrate transfer motor 558, an abnormality has occurred, and the circuit component 842 to the printed circuit board 408 has occurred. Is interrupted and the occurrence of an abnormality is notified.

  After the substrate transfer motor 558 is stopped, the lifting platform 598 is raised, the substrate suction tool 602 sucks and supports the printed circuit board 408, and the protruding member 580 lifts the printed circuit board 408 from the conveyor belt 546 and holds it down. Press against 570,572. In this way, the printed circuit board 408 is placed on standby in preparation for mounting the circuit component 842 while being positioned and supported by the main conveyor 400. Therefore, when the mounting of the circuit component 842 on the printed circuit board 408 positioned and supported by the main conveyor 402 is completed, the circuit component mounting device on which the circuit component 842 was mounted last is retracted (moved to the circuit component supply device). At the same time, the other circuit component mounting device is moved onto the waiting printed circuit board 408 and mounting of the circuit component 842 is started. The time required for replacement of the printed circuit board 408 is substantially zero, and the circuit component 842 is efficiently mounted on the printed circuit board 408. The mounting of the circuit component 842 will be described in detail later.

  The board conveying motor 558 is common to the two main conveyors 400 and 402, and the respective conveyor belts 546 of the main conveyors 400 and 402 are moved by the activation thereof. As described above, the printed circuit board 408 is mounted when circuit components are mounted. Since the belt is lifted from the conveyor belt 546, it is not sent by the movement of the conveyor belt 546, and mounting of the circuit components 842 of the printed circuit board 408, loading of the printed circuit board 408, and unloading described later can be performed in parallel. it can.

  When the mounting of the circuit component 842 is completed, the board suction tool 602 is released to the atmosphere, and the holding of the printed board 408 is released. Next, after the elevator platform 598 is lowered and the printed circuit board 408 is placed on the conveyor belt 546, the substrate transfer motors 486 and 558 of the carry-out conveyor 406 and the main conveyors 400 and 402 are activated, and the printed circuit board 408 is activated. Is carried out to the carry-out conveyor 406. The carry-out conveyor 406 is shifted to the first shift position when the printed circuit board 408 is carried out from the main conveyor 400. Further, the stopper member 630 is moved to the non-operation position.

  When the printed board 408 is carried out to the carry-out conveyor 406 and detected by the board arrival confirmation sensor 504, the board transfer motors 486 and 558 are stopped, and the printed board 408 is transferred to the downstream reflow system on the carry-out conveyor 406. We are made to wait for delivery. If immediate delivery is possible, the board transport motor 486 of the carry-out conveyor 406 is not stopped, and the printed board 408 is delivered to the reflow system as it is. Even during unloading, if the board arrival confirmation sensor 504 does not check the printed circuit board 408 even if the set time has elapsed since the start of the board transfer motors 486 and 558, the occurrence of abnormality is notified and the mounting is interrupted. .

  The carry-in conveyor 404 delivers the printed circuit board 408 to the main conveyor 400 and then receives the next printed circuit board 408 from the screen printing system. Then, it is shifted to the second shift position by the movement of the conveyor support base 426 and is put on standby in preparation for loading the printed circuit board 408 into the main conveyor 402. After the circuit component 842 is mounted on the printed circuit board 408 on the main conveyor 402 and the printed circuit board 408 is unloaded, the printed circuit board 408 is loaded from the loading conveyor 404 to the main conveyor 402.

  The carry-out conveyor 406 transfers the printed board 408 carried out from the main conveyor 400 to the reflow system provided on the downstream side, and is then shifted to the second shift position by the movement of the conveyor support 426 to carry out the printed board 408. We are made to wait for. After receiving the printed circuit board 408, the carry-out conveyor 406 is shifted to the first shift position and delivers the printed circuit board 408 to the reflow system.

  After carrying the printed circuit board 408 from the carry-in conveyor 404 to the main conveyor 402, the printed circuit board 408 is positioned and supported in the main conveyor 402 in the same manner as in the main conveyor 400, and is put on standby in preparation for mounting the circuit component 842. After completion of the mounting of the circuit component 842 on the printed circuit board 408 positioned and supported by the main conveyor 400, the mounting of the circuit component 824 to the printed circuit board 408 positioned and supported by the main conveyor 402 is started. It is carried out to.

  When the type of the printed circuit board 408 is changed and the conveyance widths of the main conveyors 400 and 402, the carry-in conveyor 404 and the carry-out conveyor 406 are changed, each of the conveyors 400 to 406 does not support the printed circuit board 408. An operator rotates the handle 510 to move the chain 470. As a result, the movable frames 442 and 526 of the conveyors 400 to 406 are simultaneously moved in the same direction by the same distance, and the conveyance width is simultaneously changed to the same size.

The mounting of the circuit component 842 to the printed circuit board 408 will be described.
The circuit component 842 is mounted on the printed circuit board 408 alternately by the two circuit component mounting apparatuses 18 and 20. The circuit component supply device from which each of the circuit component mounting devices 18 and 20 takes out the circuit component 842 is determined. The circuit component mounting device 18 takes out the circuit component 842 from the circuit component supply device 14, and the circuit component mounting device 20 supplies the circuit component. The circuit component 842 is taken out from the device 16. The circuit component 842 is taken out from the circuit component supply device provided on the same side, and the Y-axis slides 658 and 660 of the two circuit component mounting devices 18 and 20 are taken out by the mounting heads 650 and 652, respectively. There will be no interference when and when wearing.

  Prior to the start of mounting the circuit component 842, the reference mark on the printed circuit board 408 is imaged by the reference mark imaging device 854. As described above, the reference mark is imaged while the printed circuit board 408 is carried into the main conveyor, positioned and supported, and is waiting for mounting. Imaging is performed by the reference mark imaging device 854 of the circuit component mounting device provided on the same side as the main conveyor supporting the waiting printed circuit board 408 in the Y-axis direction. While the circuit component 842 is mounted on the printed circuit board 408 that is positioned and supported by one main conveyor, the printed circuit board 408 is carried into the other main conveyor and positioned and supported. The circuit component mounting apparatus provided on the side picks up the reference mark in the middle of receiving the circuit component 842 to the circuit component supply apparatus after the mounting of all the circuit components 842 held by the circuit component 842 to the printed circuit board 408 is completed. Even if the mounting of all the planned circuit components 842 is completed for one printed circuit board 408, if the printed circuit board 408 on which the circuit components 842 are mounted next is carried in, imaging of the reference mark is performed. It is done. The printed circuit board 408 is provided with two reference marks on a diagonal line, and the computer 1052 controls a plurality of components on the printed circuit board 408 based on the imaging data during the control of the suction and mounting of the circuit components 842. The position error in the X-axis and Y-axis directions is calculated for each mounting location and stored in the memory.

Of the two mounting heads 650 and 652, mounting of the circuit component 842 by the mounting head 650 will be described as a representative.
First, the mounting head 650 is moved to the circuit component supply device 14 to take out a preset number of circuit components 842 from the circuit component supply device 14. Here, it is assumed that the number of circuit components 842 mounted on the mounting head 650 is 20, and all of the 20 component suction shafts 766 suck the circuit components 842. For ease of explanation, the plurality of feeders 54 are arranged in the order in which the circuit components 842 are mounted on the printed circuit board 408, and 20 component suction nozzles are formed by intermittent rotation of the intermittent rotating body 762 by one pitch. 784 is intermittently swiveled, and the circuit components 842 are sequentially picked up and mounted by the shortest distance movement of the intermittent rotating body 762.

  Therefore, when the circuit component 842 is taken out, the 20 component suction shafts 766 are sequentially positioned at the component suction mounting position by the intermittent rotation of the intermittent rotating body 762, and the feeder 54 supplies the circuit component 842 by the XY robot 662. It is moved to the part extraction position. When the intermittently rotating body 762 is intermittently rotated, the drive gear 716 is rotated in the same direction at the same angular speed, and the component suction shaft 766 is prevented from rotating.

  Before the component suction shaft 766 reaches the component suction mounting position, if the cam follower 804 is engaged with the lower surface of the lift drive unit 896 of the lift drive member 892, the linear motor 886 is activated and the moving member 890 is moved. Is lowered, the elevating drive member 892 is lowered, and the component suction shaft 766 is lowered. The turning and lowering of the component suction shaft 766 are performed in parallel. The component suction shaft 766 reaches and stops at the component suction mounting position before the component suction nozzle 784 contacts the circuit component 842, and the component suction nozzle 784 can accurately contact the circuit component 842. Even when the component suction shaft 766 is lowered by the lifting drive member 892 at the component suction mounting position, the driven gear 800 is kept engaged with the drive gear 716.

  The component accommodating tape 156 held by the feeder 54 is an embossed type component accommodating tape, and the vertical direction (movement of the component adsorption shaft 766) of the upper surface (surface to be adsorbed) of the circuit component 842 accommodated in the component accommodation tape 156. The position in the direction parallel to the direction is constant regardless of the height of the circuit component 842. The twelve component suction nozzles 784 are of the same type, and the height of the lower surface (suction surface) of the suction pipe 788 of the component suction nozzle 784 positioned at the component suction mounting position is constant. Therefore, the distance between the lower surface of the suction pipe 788 of the component suction nozzle 784 positioned at the component suction mounting position and the upper surface of the circuit component 842 supplied by the feeder 54 and positioned at the component extraction position depends on the type of the circuit component 842. Regardless, it is constant, and the lift distance of the lift drive member 892 is constant and is slightly larger than the distance between the lower surface of the suction pipe 788 and the upper surface of the circuit component 842. The raising / lowering drive member 892 is further lowered by a small distance after the suction pipe 788 contacts the circuit component 842 so that the circuit component 842 is reliably sucked. It is absorbed by the compression of 784 compression coil spring 790. Further, by controlling the speed of the linear motor 886, the component suction shaft 766 is smoothly accelerated and lowered at the start of lowering, and then is smoothly decelerated and brought into contact with the circuit component 842 with little impact. After the suction pipe 788 contacts the circuit component 842, the lifting drive member 892 is lowered while continuing to be decelerated even when lowered by a short distance. If the component suction shaft 766 is moved up and down using the linear motor 886 as a drive source, the lowering speed and the lifting distance can be freely set, and the circuit component 842 can be sucked and mounted in a shorter time.

  The time chart of FIG. 25 shows the relationship between the operation timing of the XY robot 662 (that is, the movement timing of the mounting head 650), the intermittent rotation timing of the intermittent rotating body 762, and the lifting timing of the component suction shaft 766. Each of these times is represented by a moving speed of the mounting head 650, a rotating speed of the intermittent rotating body 762, and a lifting speed of the component suction shaft 766. In the figure, among the lines forming a mountain shape, an oblique line toward the apex as time elapses represents an increase in speed, and an oblique line away from the apex represents a decrease in speed. As will be described later, the holding azimuth correction change is correction of a holding azimuth error of the circuit component 842 sucked by the component picking shaft 766 or change of the azimuth to a preset azimuth, and the drive gear 716 is rotated. This is done by rotating the component suction shaft 766. The component holding tape feed is the feed of the component housing tape 156 in the feeder 54, and the imaging is the imaging of the circuit component 842 by the circuit component imaging device 820. The imaging time is expressed not by speed but by presence / absence.

  When the moving member 890 is lowered, the main air cylinder 930 is lowered, the action member 952 is lowered, and the movement member 1034 is raised by the rotation of the link 1030, and the action member 1002 is raised. At the time of component adsorption and mounting, as shown in FIG. 26, drive commands for the main air cylinders 930 and 974 and the auxiliary air cylinder 984 are output, and the main air cylinder control solenoid valves 1064 and 1066 and the auxiliary air cylinder control solenoid valves 1068 is switched. An ON command is output for an air cylinder that operates to move the action members 952 and 1002 to the action position side, and an OFF command is output for an air cylinder that operates to move the action members 952 and 1002 to the non-action position side. Is output. Thereby, when the circuit component 842 is attracted, as shown in FIG. 19, the piston rod 946 of the main air cylinder 930 is projected from the cylinder tube 934, and the action member 952 is positioned at the action position protruding from the cylinder tube 934. . The piston rod 982 of the main air cylinder 974 is protruded from the cylinder tube 976, the piston rod 994 of the auxiliary air cylinder 984 is retracted into the cylinder tube 988, and the action member 1002 is positioned at the non-action position. Hereinafter, the piston rods 946, 982, and 994 of the main air cylinders 930 and 974 and the auxiliary air cylinder 984 are in a protruding state or a retracted state, and the main air cylinders 930 and 974 and the auxiliary air cylinder 984 are in a protruding state or Called in the retracted state.

  As the moving member 890 is lowered, the action member 952 engages with the switching member 874 of the pressure switching valve 860 and moves downward as shown in FIG. At this time, the action member 1002 rises but does not engage with the switching member 874, the switching member 874 is moved to the negative pressure supply position, the pressure switching valve 860 is switched to the negative pressure supply state, and the component suction nozzle 784 is negatively charged. Pressure is supplied. At this time, the switching member 874 stops with the stopper portion 876 abutting against the housing 872. The moving members 890 and 1034 are moved in the opposite directions as the elevating drive member 892 is lowered, and act on the switching member 874 from the opposite sides, but are moved mechanically in synchronization with each other. The two action members 952 and 1002 do not act on the switching member 874 at the same time due to an operation delay or the like, and the action timing does not become inappropriate. The same applies when the circuit component 874 is mounted on the printed circuit board 408.

  The pressure switching valve 860 is switched at a timing at which a negative pressure is supplied to the tip opening of the adsorption tube 788 immediately before the adsorption tube 788 contacts the circuit component 842, and after the adsorption tube 788 contacts the circuit component 842, In addition, a negative pressure high enough to adsorb the circuit component 842 can be obtained in a short time, and the circuit component 842 can be adsorbed quickly. The switching timing of the pressure switching valve 860 can be adjusted by adjusting the vertical position of the main air cylinder 930 relative to the moving member 890 at the start of lowering. As described above, since the lowering of the component suction nozzle 784 and the switching of the pressure switching valve 860 are performed in mechanical synchronization, the negative pressure supply timing is not shifted, and the occurrence of suction mistakes is favorably avoided. The same is true when the circuit component 874 is mounted on the printed circuit board 408, and the negative pressure release timing is not shifted, and the occurrence of mounting errors is favorably avoided.

  As described above, the moving member 890 (elevating drive member 892) is further lowered by a short distance after the suction pipe 788 contacts the circuit component 842. At this time, the switching member 874 moves to the negative pressure supply position. The stopper portion 876 is in contact with the housing 872 and stopped, and an excessive lowering distance is allowed by the action member 952 compressing the compression coil spring 962 and moving relative to the moving member 890.

  After the circuit component 842 is attracted, the moving member 890 is raised and the elevating drive member 892 is raised. At this time, the component suction shaft 766 is raised following the lifting drive member 892 by the urging force of the compression coil spring 806, and the circuit component 842 is taken out from the tape-shaped container 152. If the moving member 890 is raised, the main air cylinder 930 is raised and the action member 952 is raised and separated from the switching member 874, but the switching member 874 is moved to the negative pressure supply position. The circuit component 842 is held by the component suction nozzle 784. Further, the action member 1002 is lowered by the lowering of the moving member 1034.

  Before the moving member 890 reaches the ascending end position and the elevating drive unit 896 engages with the notch 898 of the fixed cam 712, the intermittent rotating body 762 starts to rotate, and the cam follower 804 follows the lower surface of the elevating drive unit 896. Moved. The turning and raising of the component suction shaft 766 are performed in parallel. By moving the component suction shaft 766 up and down and turning for component mounting and mounting in parallel, the time pitch at which the plurality of component suction shafts 766 sequentially reach the component suction mounting position can be shortened. The mounting efficiency of the component 842 can be improved. After the moving member 890 reaches the ascending end position and the elevating drive unit 896 is fitted into the notch 898, the cam follower 804 is transferred to the cam surface 808 of the fixed cam 712, and the component suction shaft 766 that sucks the circuit component 842 is picked up by the component. The component suction shaft 766 that is retracted from the mounting position and then sucks the circuit component 842 is quickly moved to the component suction mounting position.

  Next, the component suction shaft 766 that sucks the circuit component 842 is moved onto the component extraction position of the feeder 54 that supplies the circuit component 842 when the mounting head 650 is moved in the X-axis direction by the XY robot 662. If the circuit component 842 is taken out from the same feeder 54, the mounting head 650 is not moved in the X-axis direction, but only the intermittent rotator 762 is rotated. In the feeder 54, after the circuit component 842 is taken out, the component accommodation tape 156 is fed by one pitch, and the circuit component 842 to be taken out next is positioned at the component take-out position.

  When the intermittent rotating body 762 is rotated and the component suction shaft 766 is moved to the component suction mounting position, the cam follower 804 is engaged with the lower surface of the lift drive unit 896 due to malfunction of the linear motor 886 or the control device 1050. If the lifting drive member 892 has already been lowered and is positioned below the cam follower 804, the driven gear 800 and the shaft member 768 of the component suction shaft 766 abut on the lifting drive unit 896. However, if a force equal to or higher than the set value is applied to the lifting drive member 892 as the component suction shaft 766 turns, the lifting drive member 892 is rotated to the retracted position indicated by the two-dot chain line in FIG. Damage to the 892 and the component suction shaft 766 is avoided. The movement of the lift drive member 892 to the retracted position is detected by the movement detection device 920, and the suction work is stopped based on the detection signal. Adsorption starts after the cause of the abnormality is resolved. The lifting drive member 892 is returned to the operating position, the lifting drive unit 896 is fitted into the notch 898, the cam follower 804 of the component suction shaft 766 is engaged with the lower surface of the lift drive unit 896, and suction is resumed. The same applies when the circuit component 842 is mounted on the printed circuit board 408.

  It should be noted that, for example, malfunctions of the linear motor 886 and the part controlling the linear motor 886 of the control device 1050, etc., malfunctions such as a part controlling the turning servo motor 742 and the turning servo motor 742 of the control device 1050, etc. The component suction shaft 766 should stop at the component suction mounting position but does not stop at the same time, and when the component suction shaft 766 passes through the component suction mounting position, the lifting drive member 892 is moved to the lowered position. In some cases, the component suction shaft 766 rotates to rotate the lifting drive member 892 to the retracted position, and the cam follower 804 gets over the notch 898 to avoid damage.

  The circuit component 842 is taken out from the feeder 54 by the component suction shaft 766 and then imaged by the circuit component imaging device 820 before being mounted on the printed circuit board 408. As shown in FIG. 16, the component suction mounting position and the imaging position are separated by 5 pitches (the arrangement pitch of 20 component suction shafts 766 in the intermittent rotating body 762 is 1 pitch), and the circuit component 842 is suctioned. The component suction shaft 766 is moved to the imaging position in parallel with the other component suction shaft 766 being moved to the component suction mounting position by the intermittent rotation of the intermittent rotating body 762. Then, the circuit component 842 is imaged by the circuit component imaging device 820, and each holding position error and holding direction error in the X-axis and Y-axis directions are calculated. The imaging of the circuit component 842 at the imaging position is performed in parallel with the suction of the circuit component 842 at the component suction mounting position depending on the number of the circuit components 842 to be suctioned, and may be performed in parallel with the mounting. However, only imaging may be performed. This will be described later. The 20 component suction shafts 766 are mounted on the intermittent rotating body 762, and the component suction shaft 766 that does not suck the circuit component 842 or the component suction shaft 766 that sucks the circuit component 842 by the intermittent rotation of the intermittent rotating body 762. Since the component suction shaft 766 that has attracted the circuit component 842 is moved to the imaging position in parallel with the movement to the component suction mounting position, the suction and imaging of the circuit component 842 are performed in parallel. The imaging can be performed in parallel, and the mounting efficiency of the circuit component 842 can be improved while securing the time necessary for calculating the holding position error and the holding direction error based on the imaging result.

  If all of the 20 component suction shafts 766 suck the circuit component 842, the mounting head 650 is moved onto the printed circuit board 408 by the XY robot 662, and the circuit component 842 is mounted. The circuit component 842 is mounted on the X-axis slide 654 at the same position as when the component is sucked. The component suction shaft 766 for mounting the circuit component 842 on the printed circuit board 408 is positioned at the component suction mounting position by the rotation of the intermittent rotating body 762, and the mounting head 650 is moved by the XY robot 662. It can be moved onto the mounting location. Since the suction and mounting of the circuit component 842 are performed at the same position, only one drive source (linear motor 886) for raising and lowering the component suction shaft 766 at the time of suction and mounting is sufficient, and the apparatus can be configured at low cost. In addition, the inertia load during operation of the XY robot 662 is small, and the mounting head 650 can be moved at high speed.

  In parallel with the component suction shaft 766 being positioned at the component suction mounting position by the rotation of the intermittent rotator 762, the circuit component 842 is corrected to the bearing orientation error and to the orientation set by the preprogrammed angle. Rotated. The drive gear 716 is rotated relative to the intermittent rotating body 762, and the component suction shaft 766 is rotated around its own axis.

  The drive gear 716 is meshed with each driven gear 800 fixed to all the component suction shafts 766, and the component suction shafts 766 other than the component suction shaft 766 whose holding orientation error is to be corrected are also rotated. Therefore, for the component suction shaft 766 on which the circuit component 842 is mounted after the second, in addition to its own holding azimuth error and the set orientation, the rotation angle and direction of the component suction shaft 766 on which the circuit component 842 is mounted first. Based on the rotation angle and direction are set. Further, the movement distance of the XY robot 662 is corrected so as to eliminate position errors in the X-axis and Y-axis directions of the component mounting locations of the circuit component 842 and the printed circuit board 408.

  Similarly to the case of component suction, the moving member is also in a state where the cam follower 804 is engaged with the lower surface of the lifting drive unit 896 of the lifting drive member 892 before the component suction shaft 766 reaches the component suction mounting position. 890 is lowered, and the component suction shaft 766 is lowered. When the circuit component 842 is placed on the printed circuit board 408, the component suction shaft 766 stops at the component suction mounting position, and the circuit component 842 can be mounted on the printed circuit board 408 accurately.

  If the moving member 890 is lowered, the action member 952 is lowered and the action member 1002 is raised. However, when the circuit component 842 is mounted, the main air cylinder 930 is retracted, and the action member 952 is in the non-acting position. Is located. On the other hand, the action member 1002 is higher than when the circuit component 842 is attracted and is located at the action position close to the switching member 874, and the contact member 1014 engages with the switching member 874 of the pressure switching valve 860 and moves upward. The pressure switching valve 860 is switched to the negative pressure release state by moving to the negative pressure release position. At this time, the switching member 874 stops when the stopper portion 878 abuts against the housing 872.

  As will be described later, the action member 1002 is in a retracted state in which the main air cylinder 974 is in a retracted state and the auxiliary air cylinder 984 is in a protruding state, and the main and auxiliary air cylinders 974 and 984 are both in a retracted state. The operation position obtained by setting the main air cylinder 974 to the retracted state is selectively positioned at a higher operation position than the operation position obtained by bringing the main air cylinder 974 into the retracted state.

The electromagnetic on-off valve 1024 that controls the supply and shutoff of air to the pressure switching valve 860 is opened before the contact member 1014 contacts the switching member 874, and the pressure switching valve 860 is switched to the negative pressure release state. As a result, the supply of air is immediately started from the pressure switching valve 860 toward the component suction nozzle 784, and the circuit component 842 is quickly released.
When the contact member 1014 contacts the switching member 874, the passages 780, 862 and the like connecting the pressure switching valve 860 and the component suction nozzle 784 are in a negative pressure state, and the pressure switching valve 860 is in a negative pressure released state. It takes time for the air supplied to the pressure switching valve 860 to reach the tip opening of the adsorption pipe 788, but this time can be shortened in order to release the circuit component 842 quickly. is necessary. If the flow rate of the supplied air is large, the arrival time can be shortened, but it is too much to move the circuit component 842 away from the suction pipe 788, and the circuit component 842 is moved on the printed circuit board 408 or blown away. There is a risk.
Therefore, a groove 1016 is provided in the contact member 1014 so that air is leaked and the flow rate is reduced. After the pressure switching valve 860 is switched to the negative pressure release state, air leaks from the groove 1016 until the air reaches the tip opening of the adsorption pipe 788. However, immediately after the pressure switching valve 860 is switched, the pressure switching is performed. Since the passage 780 and the like connecting the valve 860 and the component suction nozzle 784 are in a negative pressure state, even if air leaks from the groove 1016, much of the supplied air flows to the component suction nozzle 784, Air is rapidly supplied to the tip opening. If air is supplied to the tip opening of the suction pipe 788 and the pressure in the component suction nozzle 784 approaches atmospheric pressure or increases to atmospheric pressure or higher, a passage connecting the pressure switching valve 860 and the component suction nozzle 784 Since the pressure in the 780 and the like increases, the amount of air leakage from the groove 1016 increases, while the flow rate of air flowing to the component suction nozzle 784 decreases, and an amount appropriate for separating the circuit component 842 from the suction pipe 788. The air is obtained.

  The throttle amount of the variable throttle valve 1026 is such that the air is quickly supplied to the component suction nozzle 784 in this way, and after the pressure in the component suction nozzle 784 rises, the circuit component 842 becomes appropriate due to air leakage from the groove 1016. The amount is set so as to be separated from the adsorption tube 788 by a large amount of air. The total flow rate of the air supplied into the component suction nozzle 784 and the air leaking into the atmosphere can be adjusted by adjusting the throttle amount of the variable throttle valve 1026, and as a result, the negative pressure of the pressure switching valve 860 can be adjusted. The ratio of the air flow rate to the component suction nozzle 784 immediately after switching to the release state and after the pressure increase can be adjusted. When a plurality of types of component suction nozzles 784 are mounted, the amount of aperture is set in accordance with the component suction nozzle 784 having an intermediate size.

  In addition, when the contact member 1014 contacts the switching member 874, the pressure switching valve 860 is not switched to the negative pressure release position, and the passage 1022 is blocked by the switching member 874 and shut off from the component suction nozzle 784. Therefore, normally, the air flow is temporarily stopped. However, since the groove 1016 is provided, air flows out through the groove 1016 and air can flow, so that the switching member 874 is switched to the negative pressure release position, and the supply of the negative pressure is shut off at the same time. Air is supplied toward the component suction nozzle 784 without delay and with less pulsation.

  As described above, since the circuit component 842 is quickly released by the supply of air, the switching of the pressure switching valve 860 to the negative pressure release state is performed by opening the tip of the suction pipe 788 after the circuit component 842 contacts the printed circuit board 408. This is performed at the timing when air is supplied to the section. This is because if the air is supplied to the tip opening of the suction tube 788 before the circuit component 842 is placed on the printed circuit board 408, the position of the circuit component 842 may be shifted.

  As the height of the circuit component 842 increases, the printed circuit board 408 is brought into contact with the printed circuit board 408 at a shorter descending distance, and the switching timing of the pressure switching valve 860 to the negative pressure release state (release timing of the circuit component 842 by supplying air) is advanced. Can do. Although it is desirable to set the switching timing of the pressure switching valve 860 according to the height of the circuit component 842, the operating position of the action member 1002 is changed to two types, and the switching timing of the pressure switching valve 860 is changed to two types. It has come to be. Therefore, the circuit component 842 is classified into two types according to the height. For the large circuit component 842, the descending distance of the moving member 890 is shortened, and the operating position of the operating member 1002 is selected to the higher side. The switching timing of the switching valve 860 is advanced, and for the small circuit component 842, the lowering distance of the moving member 890 is increased, and the operating position of the operating member 1002 is selected to be lower, and the switching timing of the pressure switching valve 860 is changed. Be late.

  Specifically, a circuit component 842 having a height greater than 0 and not greater than 3 mm is a small circuit component 842, and a circuit component 842 having a height greater than 3 mm and not greater than 6 mm is a large circuit component 842. In both large and small classifications, the descending distance of the moving member 890 is set according to the circuit component 842 having the smallest height among the plurality of types of circuit components 842 belonging to each category. As shown in FIGS. 28 and 29, if the distance between the lower surface of the suction pipe 788 of the component suction shaft 766 positioned at the component suction mounting position and the printed circuit board 408 is 14 mm, in the case of a small circuit component 842, The descending distance is (14 + α) mm, and in the case of a large circuit component 842, it is (11 + α) mm. The circuit component 842 having the smallest height is surely brought into contact with the printed circuit board 408. The difference in the vertical distance between the two action positions of the action member 1002 is 3 mm.

  The switching timing of the pressure switching valve 860 is adjusted by adjusting the vertical position of the action member 1002 relative to the moving member 1034, that is, the vertical position of the auxiliary air cylinder 984 relative to the main air cylinder 974 and the auxiliary air of the support member 998. It can be adjusted by adjusting the vertical position of the cylinder 984. The switching timing of the pressure switching valve 860 is printed when the circuit component 842 having the smallest height among the circuit components 842 included in each category is printed both when the large circuit component 842 is mounted and when the small circuit component 842 is mounted. After being placed on the substrate 408, the pressure switching valve 860 is adjusted to be switched at the timing when air is supplied to the tip opening of the adsorption pipe 788. Of the circuit components 842 belonging to each of the large and small classifications, the circuit component 842 having a large height is delayed in the air supply timing. However, any circuit component 842 is subjected to air supply after being placed on the printed circuit board 408. It is guaranteed to be released. The descending distance of the moving member 890 is such that the circuit component 842 is reliably placed on the printed circuit board 408 and the pressure switching valve 860 is switched at the timing set as described above, so that the stopper portion 878 of the switching member 874 is disposed in the housing. It is set to a size that guarantees that it is in contact with 872 and moved to the negative pressure release position.

  When the circuit component 842 having a height greater than 0 and 3 mm or less is mounted on the printed circuit board 408, the main air cylinders 930 and 974 and the auxiliary cylinder 984 are driven in accordance with the drive command shown in FIG. 26, as shown in FIG. As described above, the main air cylinder 974 is brought into the retracted state and the auxiliary air cylinder 984 is brought into the projecting state, the action member 1002 is in the lower action position, and the switching timing of the pressure switching valve 860 is delayed. The Further, the main air cylinder 930 is retracted, and the action member 952 is positioned at the non-action position so as not to contact the switching member 874. 28 (a) and 28 (b) and FIGS. 29 (a) and 29 (b), which will be described later, show some of the members constituting the switching valve control device 882 for the convenience of illustration.

  As the moving member 890 is lowered, the circuit component 842 comes into contact with the printed circuit board 408 as shown in FIG. 28B, and then the moving member 890 is further lowered by a short distance. This lowering is allowed by the compression of the compression coil spring 790 of the component suction nozzle 784.

  Further, the contact member 1014 moves the switching member 874 upward, and the pressure switching valve 860 is switched to the negative pressure release state. The lowering of the moving member 890 after the switching (upward movement of the moving member 1034) is permitted by the support member 998 moving upward with respect to the action member 1002 while extending the tension coil spring 1006. Damage to the switching valve 860 is avoided. After the air is supplied for a set time from the supply of air to the tip opening of the suction pipe 788, that is, a time sufficient to release the circuit component 842, the electromagnetic on-off valve 1024 is closed and the supply of air is shut off. .

  Even when the circuit component 842 is mounted, the linear motor 886 is controlled so that the descending speed of the moving member 890 is accelerated and decelerated, and the circuit component 842 is brought into contact with the printed circuit board 408 with little impact. The descending distance is common to a plurality of types of circuit components 842 belonging to the same size category, but the contact timing of the circuit component 842 to the printed circuit board 408 is earlier as the height of the circuit component 842 is larger, and therefore belongs to the same size category. Even for the circuit component 842, the deceleration start timing is advanced as the height of the circuit component 842 increases.

  When the circuit component 842 having a large height is mounted on the printed circuit board 408, as shown in FIG. 29A, both the main air cylinder 974 and the auxiliary air cylinder 984 are retracted, and the switching timing of the pressure switching valve 860 is changed. To be faster. Then, the lowering of the moving member 890 causes the action member 1002 to rise as shown in FIG. 29B, and the contact member 1014 contacts the switching member 874 and moves to the negative pressure release position. After the circuit component 842 is placed on the printed circuit board 38, air is supplied to the tip opening of the suction pipe 788 to release the circuit component 842.

  After the circuit component 842 is mounted, the moving member 890 is raised and the intermittent rotating body 762 is rotated, and then the component suction shaft 766 for mounting the circuit component 842 on the printed circuit board 408 is positioned at the component suction mounting position. . In addition, the mounting head 650 is moved by the XY robot 662, and the component suction mounting position is moved onto another component mounting location. Even when the circuit component 842 is mounted, the component suction shaft 766 is raised and the intermittent rotation body 762 is intermittently rotated in parallel, and then the component suction shaft 766 for mounting the circuit component 842 is quickly moved to the component suction mounting position. Positioned.

  Thus, when the circuit component 842 is adsorbed, the negative pressure is supplied to the tip opening of the adsorption tube 788 before the adsorption tube 788 contacts the circuit component 842, and the circuit component 842 can be adsorbed quickly. When the component 842 is mounted, the lowering distance of the moving member 890 and the switching timing of the pressure switching valve 860 to the negative pressure release state are changed to two types according to the height of the circuit component 842, and the moving member 890 is lowered unnecessarily. In addition to being reduced, the circuit component 842 is quickly released by air supply after being mounted on the printed circuit board 408, so that the time required for component adsorption and the time required for component mounting is shortened, and the circuit component with high mounting efficiency. The mounting devices 18 and 20 are obtained.

  As shown in the time chart of FIG. 25, the horizontal movement of the mounting head 650 by the operation of the XY robot 662, the intermittent rotation of the intermittent rotating body 762, the correction and change of the holding direction error of the circuit component 842, and the component mounting of the component suction shaft 766 When all the circuit components 842 held in the mounting head 650 are mounted on the printed circuit board 408, the mounting head 650 performs circuit for taking out the circuit component 842 to be mounted next. Move to the component supply device 14. During the mounting of the circuit component 842 by the circuit component mounting device 18, the circuit component mounting device 20 takes out the circuit component 842 from the circuit component supply device 16, and after the circuit component 842 is mounted by the circuit component mounting device 18, Immediately thereafter, the mounting of the circuit component 842 to the printed circuit board 408 is started. The circuit component 842 is mounted on the printed circuit board 408 almost without a break, and mounting is performed efficiently.

  When a suction error occurs, for example, when the suctioned circuit component 842 is different from the planned type, or when the holding orientation error of the circuit component 842 is excessive, the circuit component 842 is printed on the printed circuit board 408. Not attached to. Even if the component suction shaft 766 is positioned at the component suction mounting position, the linear motor 886 is not activated and the component suction shaft 766 cannot be lowered. Then, after the mounting of all the circuit components 842 held by the mounting head (excluding the circuit components 842 having an adsorption error), the mounting head moves onto a circuit component container (not shown) while moving to the circuit component supply device. The circuit component 842 having the error is discarded. At this time, the component suction shaft 766 that sucks the circuit component 842 to be discarded is positioned at the component suction mounting position, and after the component suction shaft 766 reaches the circuit component container, or reaches the circuit component container. The linear motor 886 is activated immediately before. The action member 952 is located at the non-action position and the action member 1002 is located at the action position. When the moving member 890 is lowered, the action member 1002 engages with the switching member 874 and moves to the negative pressure release position, thereby switching the pressure. The valve 860 is switched to the negative pressure release state, and the circuit component 842 is discarded. If the action member 1002 is located at the upper action position, the circuit component 842 is released in a shorter time after the linear motor 886 is activated than when the action member 1002 is located at the lower action position. The mounting head discards the circuit component 842 in a state where it is stopped on the circuit component container. However, if the circuit component container is a longitudinal container, the circuit component is moved without stopping the mounting head. It is also possible to discard 842.

  As described above, the component suction shaft 766 that has sucked the circuit component 842 moves to the imaging position in parallel with the next component suction shaft 766 being moved to the component suction mounting position by the rotation of the intermittent rotating body 762 after the suction. The circuit component 842 is imaged by the circuit component imaging device 820 when it is moved toward the imaging position. However, the component suction mounting position and the imaging position are separated by 5 pitches, and when the number of circuit components 842 to be mounted is 5 or less, even when the number of circuit components 842 is 20, the suction of the predetermined number of circuit components 842 is completed. As a result, a circuit component 842 that has not been imaged is generated.

  Therefore, (i) the number of component adsorptions per circuit of the circuit component mounting apparatuses 18 and 20 is 20, and all of the 20 component adsorption shafts 766 are used for adsorption of the circuit component 842. The azimuth change angle of the circuit component 842 that is attracted to the fifth to fifth is in the range of 0 ± 15 degrees (−15 degrees to +15 degrees, the same applies to other), 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees In the case of (ii), the number of parts picked up at one time by the circuit component mounting apparatuses 18 and 20 is 20, and all of the 20 parts picking shafts 766 are used for picking up the circuit parts 842. When the azimuth change angle of the first to fifth picked circuit components 842 is outside the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, (iii) component picking For each of the three cases where the number is less than 20, The imaging of the circuit component 842 after the suction of all the planned circuit components 842 is performed in a different manner.

  The circuit component 842 may be mounted on the printed circuit board 408 in an orientation different from the orientation in which the circuit component 842 is supplied by the circuit component supply devices 14 and 16 through the component suction shaft 766. The azimuth change angle is an angle for rotating the circuit component 842 from the azimuth (azimuth not including an error) at the time of supply (at the time of receiving the component suction shaft 766) to the azimuth at the time of mounting. , Preset in the mounting program according to the mounting location. Note that the azimuth change angle is set to an angle that rotates the component suction shaft 766 in one direction, but the actual rotation angle and direction is the azimuth set by the azimuth change angle with the minimum rotation angle of the circuit component 842. Is set to the angle and direction of rotation.

First, (i) will be described.
When the number of suction of the circuit components 842 is 20, as shown in FIG. 30, the first to fifteenth circuit components 842 are imaged in parallel with the suction of the sixth to twentieth circuit components 842, and the azimuth error The angles θ1a to θ15a are acquired as image recognition angles. If the intermittent rotating body 762 is rotated by one pitch from the state in which the 20th component suction shaft 766 has attracted the circuit component 842, the component suction shaft 766 that has first attracted the circuit component 842 returns to the component suction mounting position. The circuit component 842 can be mounted on the printed circuit board 408.

  However, the circuit component 842 (hereinafter referred to as the 16th to 20th circuit components 842, which is the same as the first to 15th circuit components 842) at the end of the adsorption. Since the imaging is not performed, when the azimuth change angle of the first to fifth circuit components 842 is within the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, In parallel with the mounting of the first to fifth circuit components 842 to the printed circuit board 408, the sixteenth to twentieth circuit components 842 are imaged.

  In the circuit component mounting system 8, if the circuit component 842 is tilted beyond the range of ± 30 degrees with respect to 0 degrees, 90 degrees, 180 degrees, and 270 degrees as a result of imaging, an adsorption error occurs. This is related to the fact that it has been determined that it has occurred and is not worn. In the circuit component mounting system 8, the driven gear 800 fixed to each of the 20 component suction shafts 766 is meshed with a common driving gear 716, and rotates the circuit component 842 mounted on the printed circuit board 408. At this time, the other component suction shaft 766 is also rotated in the same angle and in the same direction. Therefore, when mounting and imaging are performed in parallel, the orientation of the circuit component 842 to be imaged is not limited to the orientation error angle of the circuit component 842 itself, but the orientation of the circuit component 842 mounted in parallel is changed. Angle and azimuth error correction angles are also included. Therefore, an excessive holding azimuth error occurs in the imaged circuit component 842 with a simple rule that does not take into account the direction and size of the azimuth change angle and the azimuth error correction angle of the circuit components 842 mounted in parallel. In order to determine whether or not the circuit component 842 is out of the range of ± α around 0 °, 90 °, 180 °, and 270 °, an excessive holding orientation error has occurred. The size of ± α should be determined in consideration of the azimuth error angle of the circuit component to be imaged and the azimuth change angle and azimuth error correction angle of the circuit component 842 mounted in parallel. It is. Considering the extreme state where the azimuth error angle and the azimuth error correction angle are 0, α may be a size excluding 45 degrees itself, but in reality, the azimuth error angle and the azimuth error correction angle are Since it is not 0, it is necessary to set the size to exclude the range of 45 ± β.

  In this circuit component mounting system 8, in consideration of the fact that the azimuth error angle is within ± 5 degrees in most cases and does not exceed ± 10 degrees unless some abnormality occurs, ± α is It is determined as ± 30 degrees as follows. When the azimuth change angle of the first to fifth circuit components 842 is within the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, the first to fifth circuit parts 842 are provided. Even if it is rotated when it is mounted on the printed circuit board 408, it is within 20 degrees in most cases. For example, if the holding azimuth error is +5 degrees and the azimuth change angle is −15 degrees, the rotation angle is 20 degrees. Therefore, a holding azimuth error is generated in the imaged circuit component 842 by +5 degrees, and in addition to that, even when rotated by 20 degrees, the rotation angle of the imaged circuit component 842 is 25 degrees and is in a range of ± 30 degrees. Never go outside. When the holding direction error of the first to fifth circuit components 842 is +10 degrees and the holding direction error of the imaged circuit component 842 is +10 degrees, the rotation angle of the imaged circuit component 842 is 35 at the maximum. However, such a phenomenon hardly occurs in practice, and the probability that the circuit component 842 is discarded even if an adsorption error has not occurred is extremely small, and there is no practical problem. Even if mounting and imaging are performed in parallel, there is almost no trouble.

  When the mounting of the first to fifth circuit components 842 and the imaging of the sixteenth to twentieth circuit components 842 are performed in parallel as described above, the intermittent rotating body after the suction of the 20 circuit components 842 is completed. 762 is horizontally moved by the XY robot, and while the component suction mounting position is moved onto the component mounting position of the printed circuit board 408, it is rotated intermittently by one pitch and the component suction shaft 766 rotates around its own axis. Be made. As a result, the component suction shaft 766 that has sucked the first circuit component 842 is moved to the component suction mounting position, and the circuit component 842 is rotated to the orientation set by the orientation change angle with the holding orientation error corrected. And is mounted on the printed circuit board 408 immediately after the movement.

  As shown in FIG. 30, the total rotation angle of the component suction shaft 766 that holds the first circuit component 842 is (−θ1a + θ1b), and the image recognition angle of the sixteenth circuit component 842 is the first circuit component. Including the rotation angle (−θ1a + θ1b) of 842, it becomes (θ16a−θ1a + θ1b). Therefore, the suction shaft total rotation angle when the 16th circuit component 842 is mounted is an angle (−θ16a + θ1a−θ1b) + θ16b obtained by adding its own azimuth change angle θ16b to an angle for eliminating the azimuth error angle (θ16a−θ1a + θ1b). It becomes. The same applies to the 17th to 20th circuit components 842. Further, since the second and subsequent component suction shafts 766 are rotated simultaneously with the rotation of the component suction shaft 766 on which the circuit component 842 is first mounted, the azimuth error angle and azimuth change angle of the circuit component 842 held by itself. In addition, the rotation angle and direction of the component suction shaft 766 are set based on the rotation angle and direction of the component suction shaft 766 on which the circuit component 842 is first mounted. The rotation angle and direction are set to an angle and a direction for rotating the circuit component 842 to the azimuth set by the azimuth change angle at the minimum angle.

(ii) will be described.
When the azimuth change angles of the first to fifth circuit components 842 are angles outside the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, the circuit components 842 to the printed circuit board 408 Prior to the start of mounting, the five circuit components 842 are imaged. When the azimuth change angle of the first to fifth circuit parts 842 is outside the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, the circuit parts 842 are ± 30 degrees or more. Since it may be inclined and determined to be an adsorption error, mounting and imaging are not performed in parallel.

  Therefore, in the imaging of the 16th to 20th circuit components 842, as shown in the time chart of FIG. 25, the mounting head is moved horizontally by the XY robot, and the component suction mounting position moves onto the component mounting portion of the printed circuit board 408. This is done while being moved. The intermittent rotating body 762 is rotated 90 degrees by 5 pitches for this imaging, so that the component adsorption shaft 766 that first adsorbs the circuit component 842 is located 4 pitches away from the component adsorption mounting position to the imaging position side. Moved to. Therefore, after imaging the 20th circuit component 842, the intermittent rotating body 762 is rotated by 4 pitches in the reverse direction, and the component adsorption shaft 766 that first adsorbs the circuit component 842 is moved to the component adsorption mounting position. . In parallel with this movement, the first component suction shaft 766 is rotated around its own axis, and the holding orientation error of the circuit component 842 is corrected and rotated to the orientation set by the orientation change angle. It is done.

  At this time, if the time required for imaging the 16th to 20th circuit components 842 is shorter than the time required for the horizontal movement of the mounting head, as shown in the time chart of FIG. 762 is rotated and the component suction shaft 766 is rotated. If the imaging time is longer, the intermittent rotating body 762 is rotated and the component suction shaft 766 is rotated even after the horizontal movement of the mounting head is completed.

  As shown in FIG. 31, the azimuth error angle of the first circuit component 842 is θ1a degrees, and in order to correct the error, it is necessary to rotate it by −θ1a degrees. If the azimuth change angle is θ1b degrees, the circuit component 842 is rotated by a total (−θ1a + θ1b) degrees. The same applies to the second and subsequent circuit components 842, and the component suction shaft 766 is rotated in parallel with being moved to the component suction mounting position by one pitch rotation of the intermittent rotating body 762. For the second and subsequent component suction shafts 766, the rotation angle and direction of the component suction shaft 766 are set based on the rotation angle and direction of the component suction shaft 766 on which the circuit component 842 is first mounted. Is the same as

(iii) will be described.
When the number of circuit components 842 to be mounted is 15 to 19, assuming that the number of all circuit components 842 to be picked up is N, the direction change angles of (N-15) circuit components 842 from the top If the angle is outside the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, as in the case of (ii), all the planned number of circuit components 842 After the suction, after all the circuit components 842 are imaged, the component suction shaft 766 that first sucks the circuit component 842 is returned to the component suction mounting position and the circuit component 842 is mounted.

  When the number of circuit components 842 to be sucked is 15, (N-15) is 0, and the arrival of the circuit component 842 to the imaging position and the arrival of the component suction mounting position occur in parallel. Rather, after the component suction is completed, intermittent rotation without attachment is performed five times, and all the circuit components 842 are imaged. The same applies to the case where the azimuth change angle of the circuit component 842 is within the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees.

  If the azimuth change angle of the (N-15) circuit parts 842 counted from the top is within the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, and 270 ± 15 degrees, the intermittent rotating body 762 By the intermittent rotation, only the imaging of the circuit component 842 held by the component suction shaft 766 reaching the imaging position is performed until the component suction shaft 766 that first suctioned the circuit component 842 reaches the component suction mounting position. After the first circuit component 842 reaches the component suction mounting position, mounting and imaging are performed in parallel. Only imaging is performed (20-N) times. In other words, intermittent rotation is performed without (20-N) mounting.

  For example, when the number of circuit components 842 to be mounted is 17, as shown in FIG. 32, after the suction of all the circuit components 842, the intermittent rotation of the intermittent rotating body 762 without the mounting of the circuit components 842 is performed three times. The first circuit component 842 is moved toward the component suction mounting position, and the thirteenth to fifteenth circuit components 842 are imaged. Since the first circuit component 842 reaches the component suction mounting position by the rotation of the fourth pitch, the component suction shaft 766 is rotated around its own axis during this intermittent rotation, and the holding orientation error of the circuit component 842 Is corrected and rotated to the azimuth set by the azimuth change angle. The imaging of the 16th and 17th circuit components 842 is performed in parallel with the mounting of the 1st and 2nd circuit components 842, and their image recognition angles include the rotation angles of the 1st and 2nd circuit components 842. Will be included.

  After the 17 circuit components 842 are attracted, the mounting head is moved horizontally and moved onto the printed circuit board 408. During this period, the thirteenth to fifteenth circuit components 842 are imaged, and if the imaging is completed before the horizontal movement, the first component adsorption shaft 766 moves to the component adsorption mounting position in parallel with the horizontal movement and Rotation takes place. If the imaging time is longer, imaging is performed even after the horizontal movement of the mounting head is completed, and the first component suction shaft 766 is turned to the component suction mounting position and rotated around its own axis. Become.

  When the number of circuit components 842 to be mounted is 14 or less, mounting and imaging are not performed in parallel. When the number of circuit components 842 is 6 to 14, the intermittent rotating body after all the circuit components 842 are attracted. 762 is intermittently rotated five times, and all the circuit components 842 are imaged. When the number of circuit components 842 to be mounted is 5 or less, the intermittent rotating body 762 is intermittently rotated by the number of circuit components 842. However, in the case of five or less, the component suction shaft 766 that first sucks the circuit component 842 does not reach the imaging position even if all the mounted circuit components 842 are sucked. Therefore, after all the circuit components 842 have been attracted, the position where the circuit component 842 is positioned and the imaging position where the intermittent rotating body 762 moves the component attracting shaft 766 that first attracted the circuit component 842 to the imaging position. , And the intermittent rotating body 762 is rotated N times intermittently to perform imaging.

  Even when the number of the circuit components 842 mounted in this way is 14 or less, the imaging is performed in parallel with the horizontal movement of the intermittent rotating body 762. If the imaging is finished before the horizontal movement, the imaging is performed in parallel with the horizontal movement. Then, the intermittent rotating body 762 is rotated, and the first component suction shaft 766 is moved to the component suction mounting position and rotated about its own axis. If the imaging is finished after the horizontal movement, after the imaging is finished, the first component suction shaft 766 is moved to the component suction mounting position and rotated around its own axis. In addition, when the component suction shaft 766 that first suctions the circuit component 842 is moved to the component suction mounting position after the imaging is completed, the rotation direction of the intermittent rotating body 762 is set to a direction that requires the smallest rotation angle. .

As is clear from the above description, in the present embodiment, the component suction shaft 766 is a component suction tool that is a type of component holder, and constitutes a component holding shaft that is a type of component holder. The nozzle 784 constitutes a component suction portion that is a component holding portion of the component suction shaft 766. The part that intermittently rotates the intermittent rotating body 762 by controlling the turning servo motor 742 and the turning servo motor 742 of the control device 1050 holds the 20 component suction shafts 766 sequentially at the component suction mounting position and the imaging position. The XY robots 662 and 664 that constitute the tool positioning device and have the X-axis slides 654 and 656 serving as the transfer moving members constitute the transfer moving device.
The lifting platform 598 of the main conveyors 400 and 402, the lifting platform lifting device 600, the substrate suction tool 602, and the holding portions 570 and 572 of the guide members 566 and 568 constitute a circuit base material holding device. Further, the intermittently rotating body 762, the driven pulley 740, the driving pulley 744, and the like constitute an adsorbent swiveling device that is a kind of a retainer swiveling device together with the retainer positioning device. The transfer moving device moves while holding the holding tool turning device, and the sucking tool turning device constitutes a sucking tool moving device together with the XY robot.
Further, the linear motor 886 constitutes an elevating drive device for elevating the elevating drive member 892, and together with the elevating drive member 892, an individual elevating / lowering component suction shaft 766 located in the vicinity of the component suction mounting position that is the component receiving mounting position A lifting device is configured. A fixed cam 712, a cam follower 804, and a compression coil spring 806, which are cam members, constitute an elevating device that raises and lowers the component holder along the movement locus. The part that causes the component suction shaft 766 to receive the circuit components 842 supplied from the circuit component supply devices 14 and 16 at the component suction mounting position of the control device 1050 or to mount the circuit components 842 on the printed circuit board 408 serves as the receiving mounting control device. It is composed. The control device 1050 controls the holder turning device, the transfer device, the individual lifting device, and the receiving / mounting control device. Further, the plurality of component suction shafts 766, the holder turning device, the transfer device, the individual lifting device and the receiving mounting control device constitute a mounting unit. In this embodiment, two sets of mounting units are provided, and the control is performed. A portion for controlling these two sets of mounting units of the apparatus 1050 and alternately receiving and mounting the circuit components 842 constitutes an alternate mounting control means. The part for correcting the movement distance of the transfer device based on the holding position error of the circuit component 842 by the component suction shaft 766 of the control device 1050 and correcting the positioning of the holder turning device with respect to the circuit substrate holding device is a positioning correction means. Is configured. Further, the driving gear 716, the driven gear 800, and the azimuth correction changing servo motor 724 as the driving source constitute a holder rotating device, and the holder rotating device is controlled based on the holding direction error of the circuit component 842 of the control device 1050. And the part which correct | amends a holding | maintenance bearing error comprises the bearing correction means. Further, as described based on FIGS. 30 and 32, there is a portion that allows the mounting of the circuit component 842 by the component suction shaft 766 of the control device 1050 and the imaging of the circuit component 842 by the circuit component imaging device 820 to be performed in parallel. Concurrent imaging control means is configured.
The intermittent rotating body 762 is a moving member that holds the shaft member of the component holder so as to be movable and rotatable in the axial direction, and moves in a direction intersecting the axis of the shaft member, and conveys circuit components by intermittent rotation. It is also a component of the circuit component transport device.
Further, the portion of the control device 1050 that controls the main air cylinders 930, 974, and the auxiliary air cylinder 984 constitutes an actuator control device, and together with the main air cylinders 930, 974, the auxiliary air cylinder 984, etc., the lifting drive member 892 is a component. As the suction nozzle 784 is lowered, the switching member 874 is moved to the negative pressure supply position where the pressure switching valve 860 moves the pressure in the component suction nozzle 784 from the atmospheric pressure to the negative pressure, and the lift drive member A release realization state in which the pressure switching valve 860 moves the pressure in the component suction nozzle 784 to a negative pressure release position where the pressure in the component suction nozzle 784 is switched from a negative pressure to a pressure higher than the atmospheric pressure as the component suction nozzle 784 moves down the component suction nozzle 784 And a switching valve control device 882 that can be switched between. The link 1030 and the rollers 1036 and 1042 constitute a transmission device that transmits the moving member 1034 to the moving member 1034 with the moving direction of the lifting drive member 892 reversed, and the tension coil spring 1006 that urges the action member 1002 includes the main air cylinder. When the operating force applied to the action member 1002 by 974 and the auxiliary air cylinder 984 exceeds a set value, the action member 1002 is moved relative to the air cylinders 974 and 984 to provide an elastic resistance. However, the compression coil spring 962 that urges the action member 952 constitutes a relative movement allowance device. The passages 1020, 1022 constitute a positive pressure supply passage formed in the action member 1002, and a passage formed in the pressure switching valve 860 and connected to the passages 1020, 1022 to supply air is also provided with the passages 1020, 1022. A positive pressure supply passage is configured.

  Another embodiment of the claimable invention is shown in FIGS. In the present embodiment, the plurality of component suction shafts are held on the intermittently rotating body in a state where each of the plurality of conical surface buses whose center line is the pivot axis of the plurality of component suction shafts is an axis. Is inclined by an angle at which one generatrix of the conical surface is perpendicular to the transport plane with respect to the perpendicular to the transport plane. Other configurations are the same as those of the above-described embodiment, and only different portions will be described.

  The mounting head 1100 is horizontally moved by the XY robot 1102 in the same manner as the mounting heads 650 and 652. As shown in FIG. 33, the X-axis slide 1104 constituting the XY robot 1102 is formed by fixing a plurality of members to each other. One of the plurality of members is a supported member 1106, and a pair of guide blocks 1108 that are guided members are fixed, and can be moved to a guide rail 1110 that is a pair of guide members provided on a Y-axis slide (not shown). It is mated. A nut 1112 is fixed to the supported member 1106 and is screwed onto a screw shaft 1114 that is rotatably attached to the Y-axis slide. The nut 1112 and the screw shaft 1114 constitute a ball screw. The rotation of the X-axis servo motor 1116 is transmitted to the screw shaft 1114 by the coupling 1118, the screw shaft 1114 is rotated, and the X-axis slide 1104 is moved in the X-axis direction. The coupling 1118 transmits the rotation of the X-axis servomotor 1116 to the screw shaft 1114 while absorbing the shift even if there is a shift between the axis lines of the output shaft 1120 and the screw shaft 1114 of the X-axis servomotor 1116.

  As shown in FIG. 33 and FIG. 35, a pair of mounting portions 1124 are provided at one end of the supported member 1106 in the X-axis direction so as to protrude downward and toward the other end in the X-axis direction. (Only one of them is shown in FIG. 33), and a support member 1126 is fixed to these attachment portions 1124. As shown in FIGS. 33 and 34, the support member 1126 has a pair of arm portions 1127, and these arm portions 1127 are also fixed to the supported member 1106. Further, the attachment member 1128 is fixed to the other end portion of the supported member 1106 in the X-axis direction so as to extend downward.

  As shown in FIG. 33, a rotating shaft 1132 is rotatably attached to the support member 1126 by a plurality of bearings 1134. For the convenience of assembly, the support member 1126 is formed by fixing a plurality of members to each other, and the portion of the support member 1126 that rotatably supports the upper portion of the rotation shaft 1132 is fixed to the supported member 1106 of the support member 1126. It is detachably fixed to the part.

  A driven pulley 1136 is fixed to the lower portion of the rotating shaft 1132. The driven pulley 1136 receives the rotation of the turning servo motor 1138 as a driving source attached to the support member 1126 by the bracket 1137 by the driving pulley 1140 and the timing belt 1142, and the rotation shaft 1132 has an arbitrary angle in both forward and reverse directions. Rotated.

  A hollow shaft 1148 is rotatably fitted to the rotation shaft 1132 via a bearing 1146. A driving bevel gear 1150 as a driving gear is fixed to the lower end portion of the hollow shaft 1148, and a driven pulley 1152 is fixed to the upper end portion. The driven pulley 1152 receives the rotation of the azimuth correction changing servo motor 1154, which is a driving source attached to the support member 1126, by the driving pulley 1156 and the timing belt 1158, so that the driving bevel gear 1150 has an arbitrary angle in both forward and reverse directions. Rotated.

  A component suction shaft holding member 1162 is fixed to a projecting end portion of the rotating shaft 1132 downward from the hollow shaft 1148 and constitutes an intermittent rotating body 1164 together with the rotating shaft 1132. The component suction shaft holding member 1162 has 16 holding holes 1166 (only two are shown in FIG. 33). Each of the holding holes 1166 is formed with each of the 16 generatrixs of the conical surface centering on the rotation axis of the rotation shaft 1132 as the center line, and the rotation shaft 1132 is horizontal to the support member 1126. It is attached in a state where it is inclined with respect to a perpendicular to the transport plane by an angle at which one generatrix of the conical surface is perpendicular to the transport plane. The turning servo motor 1138 and the azimuth correction changing servo motor 1154 are also attached to the support member 1126 in a state where each rotation axis is inclined in a direction parallel to the rotation axis of the rotation shaft 1132.

  As shown in FIG. 37, a sleeve 1168 is fitted and fixed to each of the holding holes 1166. The sleeve 1168 is fitted into the holding hole 1166 and is fixed to the component suction shaft holding member 1162 at the mounting portion 1172 by bolts (not shown) as fixing means. A surface to which the mounting portion 1172 of the component suction shaft holding member 1162 is fixed is a flat surface, and forms an outer peripheral surface of a polygonal pyramid.

  A rotating member 1178 is rotatably fitted to the sleeve 1168 via a bearing 1176. A large diameter contact portion 1180 is provided at the lower end portion of the rotating member 1178, and a driven bevel gear 1182 as a driven gear is fitted to the upper end portion, and a nut 1186 is screwed into the male screw portion 1184. ing. The driven bevel gear 1182 is fixed to the rotating member 1178 with a pair of bearings 1176 interposed between the driven bevel gear 1182 and the driven bevel gear 1150.

  A component suction shaft 1170 is fitted to the rotating member 1178. The component suction shaft 1170 includes a shaft member 1190 and a component suction nozzle 1194 attached to the shaft member 1190 by an adapter 1192. The shaft member 1190 is fitted to the rotating member 1178 so as to be relatively movable in the axial direction. . A large-diameter nozzle holding portion 1196 is provided at the lower end of the shaft member 1190 protruding from the rotating member 1178. An upper end portion of the shaft member 1190 is protruded from the rotating member 1178, and a bearing 1200 is attached by an attachment member 1198, and an elastic member which is a kind of urging means disposed between the bearing 1200 and the nut 1186. The component suction shaft 1170 is urged upward by the compression coil spring 1202. The upward movement limit of the component suction shaft 1170 based on the urging force of the compression coil spring 1202 is defined by the nozzle holding portion 1196 contacting the friction ring 1204 fixed to the lower surface of the contact portion 1180 of the rotating member 1178. Is done. The friction ring 1204 is made of a material having a high friction coefficient (for example, rubber), and the rotation of the rotating member 1178 is transmitted to the shaft member 1190 by the frictional engagement between the friction ring 1204 and the nozzle holding portion 1196.

  The nozzle holding portion 1196 is provided with a stepped fitting hole 1210 opened on the lower surface, and the adapter 1192 is fitted so as to be movable in the axial direction. The adapter 1192 is held by a plurality of holding members 1212 attached to the nozzle holding portion 1196 at equal angular intervals, and downward from the nozzle holding portion 1196 by a compression coil spring 1214 as an elastic member which is a kind of biasing means. It is biased in the protruding direction.

  A plurality of notches 1216 extending parallel to the axis of the shaft member 1190 are formed in the nozzle holding portion 1196 at equal angular intervals, and each of the plurality of holding members 1212 is rotatably fitted, and the nozzle holding portion The nozzle holding portion 1196 is held by a ring-shaped spring member 1218 wound around the 1196. On the upper side of the portion of the holding member 1212 fitted into the notch 1216, a protrusion 1220 protruding toward the center of the nozzle holding portion 1196 is provided, and fitted into a notch 1222 formed in the nozzle holding portion 1196. The holding member 1212 is perpendicular to the longitudinal direction of the projecting portion 1220 with respect to the bottom surface of the notch 1222, and extends in a tangential direction with respect to the portion of the component suction shaft 1170 to which the holding member 1212 is attached. It can be rotated around. Further, an operation unit 1224 is projected on the upper side of the projection 1220 of the holding member 1212 and fitted into a notch 1226 formed in the nozzle holding unit 1196. The holding member 1212 is prevented from rotating about an axis perpendicular to the axis of the component suction shaft 1170 by fitting into the notch 1216 and fitting into the notch 1226 of the operation unit 1224.

  The lower portion of the holding member 1212 is fitted in a notch 1232 formed in the large-diameter engaging portion 1230 of the adapter 1192, thereby preventing relative rotation between the nozzle holding portion 1196 and the adapter 1192. An engaging projection 1234 that protrudes toward the adapter 1192 is provided at the lower end of the holding member 1212. The engaging projection 1234 engages with the engaging portion 1230 from below, so that the adapter 1192 is fitted. Extraction from the joint hole 1210 is prevented. In this state, the operation member 1224 is pushed to rotate the holding member 1212 against the urging force of the spring member 1218 and the engagement protrusion 1234 and the engagement portion 1230 are disengaged, whereby the adapter 1192 is moved to the nozzle. The holder 1196 can be removed.

  The component suction nozzle 1194 has a suction tube 1242 held by the suction tube holder 1240, and is taper-fitted into a tapered hole 1246 provided in the adapter 1192 at a tapered portion 1244 provided in the suction tube holder 1240. At the same time, the spring member 1248 holds the adapter 1192. The spring member 1248 has a substantially U-shape, and a pair of U-shaped arms are fitted into a pair of notches 1252 formed in the adapter 1192. It is said that. Moreover, the front-end | tip part between these arm parts is bent in the direction which mutually approaches, and the drop-off from the adapter 1192 is prevented.

  When the taper portion 1244 is fitted into the taper hole 1246, the spring member 1248 is fitted into an annular fitting groove 1254 formed in the taper portion 1244, and is engaged with the taper portion 1244 so that the adsorption tube holder 1240 is fitted. While being held, it is pulled into the tapered hole 1246 and positioned. The mounting position of the spring member 1248 with respect to the adapter 1192 is such that the fitting groove 1254 having a semicircular cross section is located with respect to the center position of the circular cross section of the spring member 1248 in a state where the tapered portion 1244 is fitted in the tapered hole 1246. The spring member 1248 engages with the upper part of the groove side surface of the fitting groove 1254 and draws the suction tube holding body 1240 into the tapered hole 1246. Reference numeral 1256 denotes a reflector of the component suction nozzle 1194. Thus, the component suction nozzle 1194 held by the adapter 1192 is attached to and detached from the shaft member 1190 together with the adapter 1192.

  Sixteen pressure switching valves 1260 corresponding to each of the sixteen component suction shafts 1170 are fixed to the outer peripheral surface of the component suction shaft holding member 1162. The pressure switching valve 1260 has a switching member 1261 and is fixed parallel to the axis of the component suction shaft 1170. As shown in FIGS. 33 and 37, the pressure switching valve 1260 is formed in a passage 1264 formed in the component adsorption shaft holding member 1162, a passage 1264, 1266 formed in the rotating shaft 1132, and a support member 1126. It is connected to a vacuum device (not shown) through an annular passage 1268 or the like.

  As shown in FIG. 37, the pressure switching valve 1260 includes another passage 1270 formed in the component suction shaft holding member 1162, a passage 1272 formed in the sleeve 1168, and a passage 1276 formed in the seal holding member 1274. A passage 1280 formed in the rotating member 1178 is connected to a passage 1282 formed in the shaft member 1190 of the component suction shaft 1170. The passage 1280 has an annular shape and is long in the axial direction, and the passage 1282 is maintained in communication with the passage 1280 even when the component suction shaft 1170 rotates and moves in the axial direction with respect to the rotating member 1178.

  Of the 16 stop positions of the component suction shaft 1170, the position where the axis of the component suction shaft 1170 is orthogonal to the horizontal conveyance plane is the component suction mounting position, and a position 90 degrees away from the component suction mounting position. The imaging position. When the component suction shaft 1170 is turned by intermittent rotation of the intermittent rotating body 1164, the position where the position of 1170 is lowest is the component suction mounting position, and the position higher than that is the imaging position. As shown in FIG. 36, a circuit component imaging device 1290 is fixed by a bracket 1288 at a position corresponding to the imaging position of the support member 1126. The circuit component imaging device 1290 is configured in the same manner as the circuit component imaging device, and includes an illumination device, a reflection device 1294, and a CCD camera 1296 (not shown). At the imaging position, the axis of the component suction shaft 1170 is inclined with respect to the normal to the transport plane, and the circuit component imaging device 1290 is provided in an orientation in which the optical axis thereof is perpendicular to the axis of the component suction shaft 1170. As shown in FIG. 33, the circuit component imaging device 1290 is also inclined with respect to a horizontal conveyance plane.

  As shown in FIG. 34, a reference mark imaging device 1300 is mounted on the attachment member 1128 constituting the X-axis slide 1104. As shown in FIG. 33, the attachment member 1128 is attached with the main parts of the individual elevating device 1302 and the switching valve control device 1304 at the part corresponding to the component suction mounting position. A linear motor 1310 is attached to the attachment member 1128, and an elevating drive member 1316 is fixed to a moving member 1314 fixed to the mover 1312 of the linear motor 1310. The elevating drive member 1316 includes an engaging member 1318 that is an elevating drive unit that protrudes above the component adsorption shaft 1170 positioned at the component adsorption mounting position.

  The switching valve control device 1304 is configured in the same manner as the switching valve control device 882, and the moving member 1314 has a main air cylinder 1320 as a main actuator and a main actuator for switching the pressure switching valve 1260 to the negative pressure supply position. An action member 1322 that is moved to an action position and a non-action position by an air cylinder 1320 is attached. Although not shown, the attachment member 1128 is attached with a main air cylinder as a main actuator for switching the pressure switching valve 1260 to the negative pressure release position, an auxiliary air cylinder as an auxiliary actuator, a moving member, an action member, and the like. When the moving member 1314 is moved by the linear motor 1310, the two moving members are mechanically synchronized and moved in opposite directions to each other, and the two action members are moved up and down symmetrically to selectively switch the switching member 1261. The pressure switching valve 1260 is switched between a negative pressure supply state and a negative pressure release state.

  In the circuit component mounting system configured as described above, when the circuit component is mounted, the plurality of component suction shafts 1170 are connected to the circuit component by the operation of the XY robot 1102 and the intermittent rotation of the intermittent rotating body 1164 as in the above embodiment. The circuit component is sucked by being moved to the supply device, and after being sucked, the circuit component is mounted by being moved onto the printed circuit board.

  At the time of suction of the circuit components, the 16 component suction shafts 1170 are sequentially moved to the component suction mounting position by the intermittent rotation of the intermittent rotating body 1164. At this time, the driving bevel gear 1150 is rotated at the same angular speed in the same direction as the intermittent rotating body 1164 so that the component suction shaft 1170 does not rotate around its own axis. After the component suction shaft 1170 reaches the component suction mounting position, the elevating drive member 1316 is lowered by the lowering of the moving member 1314, and the component suction shaft 1170 is lowered. If the component suction shaft 1170 is lowered, the nozzle holding portion 1196 of the shaft member 1190 moves away from the friction ring 1204, but the component suction shaft 1170 does not rotate with respect to the rotating member 1178. For example, if the compression coil spring 1202 is twisted, a rotational torque that rotates the component suction shaft 1170 relative to the rotating member 1178 is generated. One end of the compression coil spring 1202 is interposed by the component suction shaft 1170 via the bearing 1200. Therefore, the compression coil spring 1202 rotates relative to the component suction shaft 1170, and the component suction shaft 1170 is not rotated.

  The pressure switching valve 1260 is switched to the negative pressure supply state during the lowering of the component suction shaft 1170, and negative pressure is supplied to the component suction nozzle 1194 to suck the circuit components. If the elevating drive member 1316 is raised after the suction, the component suction shaft 1170 is raised by the urging force of the compression coil spring 1202, and the circuit component is taken out from the feeder.

  When the component suction shaft 1170 that sucks the circuit component reaches the imaging position by the rotation of the intermittent rotating body 1164, the circuit component is imaged by the circuit component imaging device 1290. As in the previous embodiment, mounting and imaging are performed in parallel or separately depending on the number of circuit components to be mounted and the direction change angle of the first to fourth circuit components.

  When the circuit component is mounted, the plurality of component suction shafts 1170 are sequentially positioned at the component suction mounting position. When the component suction shaft 1170 for mounting the circuit component on the printed circuit board is moved to the component suction mounting position by the intermittent rotation of the intermittent rotation body 1164, the driving bevel gear 1150 is rotated intermittently by the intermittent rotation body 1164. The component suction shaft 1170 is rotated about its own axis, the holding orientation error of the circuit component is corrected, and the circuit component is rotated to the orientation set by the orientation change angle. . The rotation of the driving bevel gear 1150 is transmitted to the component suction nozzle 1194 from the driven bevel gear 1182, the rotating member 1178, the friction ring 1204, the nozzle holding portion 1196, the holding member 1212 and the adapter 1192, and the circuit component is rotated. After the component suction shaft 1170 reaches the component suction mounting position, the elevating drive member 1316 is lowered, the component suction shaft 1170 is lowered, and the circuit component is mounted on the printed circuit board. Further, the pressure switching valve 1260 is switched to the negative pressure release state by the lowering of the moving member 1314, and after the circuit component contacts the printed board, air is supplied to the component suction nozzle 1194 to release the circuit component. It is the same as in the above embodiment that the elevation distance of the component suction shaft 1170 and the switching timing of the pressure switching valve 1260 to the negative pressure release state are changed to two types according to the height of the circuit component.

  In this circuit component mounting system, since the pivot axis common to the plurality of component suction shafts 1170 is inclined with respect to the normal to the conveyance plane, the component suction shaft 1170 rotates when the intermittent rotating body 1164 is rotated. It is moved up and down (approaching and separating from the horizontal transfer plane) while being moved. The position of the component suction shaft 1170 is the lowest at the component suction mounting position, the imaging position is higher than the component suction mounting position, and the circuit component imaging device 1290 can be provided in the gap obtained by raising the component suction shaft 1170. The component suction shaft at the component suction mounting position while avoiding interference between the imaging device 1290 and the component suction shaft 1170 and the circuit component held by the component suction shaft 1170 and interference between the circuit component imaging device 1290 and the circuit component supply device. The raising / lowering distance of 1170 can be shortened. Further, since the circuit component imaging device 1290 is also inclined with respect to the horizontal conveyance plane, the dimensions in the direction perpendicular to the conveyance plane of the circuit component imaging device 1290 are such that the component adsorption shaft 1170 is horizontal with respect to the imaging position. The position can be set to a position where the circuit component imaging device 1290 is provided at a right angle to the conveyance plane, and the X-axis slide 1104 can be configured compactly, and the conveyance speed can be increased. Can do.

  In the above description, the 20 parts suction nozzles 784 are of the same type, and the diameters of the suction pipes 788 are the same, and are provided at equiangular intervals as schematically shown in FIG. As schematically shown in FIG. 38, ten component suction nozzles 1330 and 1332 having different suction pipe diameters of two types may be provided alternately at equal angular intervals. FIG. 38 shows the reflectors of the component suction nozzles 1330 and 1332. These component suction nozzles 1330 and 1332 may be provided by bringing together component suction nozzles having the same suction pipe diameter, as schematically shown in FIG.

Furthermore, as shown in FIG. 40, it is possible to provide three types of component suction nozzles 1340, 1342 and 1344 having different suction tube diameters. Regardless of the diameter of the suction tube, if the diameter of the shaft portion of the component suction shaft is the same and can be fitted into a common holding hole, the component suction shaft having a component suction nozzle with a large suction tube diameter What is necessary is just to fit every other piece or several pieces to a holding hole. If the diameter of the shaft part of the component suction shaft differs depending on the diameter of the suction tube and a common holding hole cannot be used, the intermittent rotating body has multiple types of holding holes according to the diameter of the shaft part of the component suction shaft It should be.
Furthermore, it is assumed that all the component suction shafts held by the intermittent rotating body have a component suction nozzle having a large suction pipe diameter such as the component suction nozzle 1344, and ten component suction shafts are provided at equal angular intervals. Good. A component suction shaft to which a component suction nozzle having a suction pipe having a larger diameter than that of the component suction nozzle 1344 may be provided. Further, four or more types of component suction nozzles may be provided.
If a component suction nozzle having a suction pipe with a diameter corresponding to the size of the circuit component is provided, even a large circuit component is securely held, so that the circuit component shifts without lowering the intermittent rotation speed of the intermittent rotating body. Without a decrease in the mounting efficiency.

  In the above-described embodiment, the variable throttle valve 1026 for adjusting the flow rate of air blown from the component suction tool after the pressure in the component suction tool is increased is provided in series with the pressure switching valve 860. As shown, the pressure switching valve 1400 may be provided in parallel. For example, a portion of the pressure switching valve 1400 to which air is supplied communicates with the atmosphere, and a variable throttle valve 1402 serving as a variable throttle means is provided. Before the contact member comes into contact with the switching member, the electromagnetic on-off valve 1404 is opened, and air is supplied from the air supply source 1406 through the throttle 1408 (in the figure, white circles indicate the contact between the contact member and the switching member). When the pressure switching valve 1400 is switched to the negative pressure release state, air is supplied to the adsorption pipe 1410. Until the pressure in the adsorption pipe 1410 becomes close to atmospheric pressure or above atmospheric pressure, most of the air is supplied to the adsorption pipe 1410. After the pressure increases, the flow rate of air flowing out from the variable throttle valve 1402 into the atmosphere increases. The adsorption tube 1410 is supplied with an appropriate amount of air for separating the circuit components.

  If the throttle action of the variable throttle valve 1402 is strengthened (if the amount of air leakage is reduced), the flow rate of air ejected from the adsorption pipe 1410 when the pressure in the adsorption pipe 1410 is close to or above atmospheric pressure. If the throttle is increased and the diaphragm is weakened, the flow rate of the air jet from the adsorption pipe 1410 is reduced. The pressure switching valve 1400 is provided for each of the 20 component suction shafts. If the type of the circuit component to be mounted is changed and the component suction nozzle is replaced, the pressure switching valve 1400 is variable according to the diameter of the suction pipe of the component suction nozzle. The throttle amount of the throttle valve 1402 is adjusted. Thereby, an amount of air corresponding to the diameter of the adsorption tube is supplied, and the circuit components are quickly and reliably separated from the adsorption tube without being blown away by the large amount of air.

  In addition, when the amount of air leakage is adjusted by the variable throttle valve 1402, and the throttle 1408 is a variable throttle, and the flow rate of air supplied from the air supply source is also adjusted, the negative pressure release state of the pressure switching valve is reached. The ratio of the air flow rate to the component suction nozzle immediately after switching to and after the pressure increase in the component suction nozzle can be adjusted more accurately.

  In the embodiment, the groove 1016 is formed in the contact member 1014, and the passage 1022 and the like communicate with the atmosphere even when the contact member 1014 is in contact with the switching member 874. In addition, a through hole may be provided. Air passes through the passage 1022 that opens on the upper surface of the contact member 1014 and passes through the contact member 1014.

In the above description, the feeders 54 are arranged in the order in which the circuit components 842 are mounted on the printed circuit board 408, and the circuit components 842 are sucked and mounted in the order in which the 20 component suction nozzles 784 are provided on the intermittent rotating body 762. However, it is assumed that the moving distance of the intermittent rotating body 762 at the time of suction and mounting is small, but for example, the circuit component supply devices 14 and 16 are circuits to a plurality of types of printed boards 408. When used for mounting the component 842, the arrangement order of the feeders 54 and the mounting order of the circuit components on the printed circuit board 408 cannot be made the same for all types of printed circuit boards 408.
In this case, if the intermittent rotating body 762 is intermittently rotated one pitch at a time and the circuit components 842 are attracted to the 20 component suction nozzles 784 in the order of mounting, they are sucked next among the feeders 54 that are arranged in the unsteady state. It is necessary to sequentially move the intermittent rotator 762 to the position where the power circuit component is housed (moving in the X-axis direction), and avoid the movement distance of the intermittent rotator 762 for component adsorption from becoming long. I don't get it. On the contrary, if the intermittent rotating body 762 is intermittently rotated one pitch at a time and the circuit components 842 are attracted according to the order of arrangement of the feeders 54, the moving distance of the intermittent rotating body 762 becomes the shortest (unnecessary circuit components 842 are removed). The moving distance of the intermittent rotating body 762 may increase in order to pass the feeder 54 accommodated, but this is unavoidable), but the order of mounting on the printed circuit board 408 is not optimal, Therefore, it is inevitable that the distance of movement (movement in the X and Y axis directions) of the intermittently rotating body 762 becomes longer. Although it is possible to carry out by selecting either of these two modes in a fixed manner, from the viewpoint of improving the component mounting work efficiency, the moving distance of the intermittent rotating body 762 for component adsorption and the mounting A mode in which both the suction order and the mounting order are appropriately changed so as to minimize the sum of the moving distance of the intermittent rotating body 762 is preferable. In addition to or in place of measures for minimizing the sum of the moving distances, if it is allowed that the intermittent rotation angle of the intermittent rotating body 762 includes a plurality of pitches and reverse rotation, the component mounting operation is also performed accordingly. Efficiency can be improved.
As described above, for ease of explanation, one type of component holder is mounted on the intermittent rotating body. However, in reality, there may be a plurality of types. In consideration of the arrangement, it is desirable to set the suction order and the mounting order so that the circuit components are sucked and mounted efficiently. For example, when a plurality of types of component holders are mounted on the intermittently rotating body or two different types of component holders are alternately provided, the intermittently rotating body is at an angle different from the arrangement pitch of the component holders. By rotating in the forward or reverse direction, the circuit components are sucked and mounted on a plurality of component holders in an order different from the order in which they are mounted on the intermittent rotating body, so that the circuit components are efficiently sucked and mounted. To do.

  Furthermore, although two main conveyors are provided in the embodiment, three or more main conveyors may be provided. In that case, a plurality of fluid pressure cylinders may be combined to shift the carry-in conveyor and the carry-out conveyor to three or more shift positions each of which is a main conveyor, or may be shifted using a servo motor as a drive source. For example, a screw shaft is provided over the range of movement of the carry-in conveyor on the conveyor support base, a fixed nut is screwed onto the carry-in conveyor, and the screw shaft is rotated by a servo motor to selectively move the carry-in conveyor to three or more shift positions. Move it.

If the carry-in conveyor and the carry-out conveyor are moved using the servo motor, the carry-in conveyor and the carry-out conveyor can be stopped at arbitrary positions, and can be stopped at any position other than the shift position. For example, an apparatus upstream of a circuit component mounting system including a carry-in conveyor, a carry-out conveyor, and two main conveyors is a coating system having a high-viscosity fluid coating device such as a screen printer or an adhesive coating device. Two conveyors for transferring materials to the circuit component mounting system are provided in parallel, but the arrangement pitch of these conveyors (the distance in the direction in which the conveyors are arranged) may differ from the arrangement pitch of the two main conveyors In addition to the shift position associated with the two main conveyors, the carry-in conveyor must move to the receiving position that receives the circuit board along the two conveyors of the upstream device. In such a case, if the carry conveyor is moved using a servo motor as a drive source, the carry conveyor is stopped at the two receiving positions in addition to the two shift positions according to the setting of the program, and the circuit substrate is received. be able to.
The downstream device provided on the downstream side of the circuit component mounting system is, for example, a solder melting system having a reflow furnace for melting the solder and electrically connecting the circuit component to the circuit substrate, or a capacitor, etc. A circuit component mounting system having a device for mounting circuit components with a small number of mountings on one circuit substrate, and two conveyors for receiving and transporting the circuit substrate from the carry-out conveyor are provided in parallel. Even when the arrangement pitch of these conveyors is different from the arrangement pitch of the two main conveyors, it can be dealt with by moving the carry-out conveyor using a servo motor as a drive source.

  In the above description, when the orientation change angle of the first to fifth circuit components is outside the range of 0 ± 15 degrees, 90 ± 15 degrees, 180 ± 15 degrees, 270 ± 15 degrees, the mounting head After all the circuit components scheduled to be taken out from the circuit component supply device, imaging is performed during the movement to the printed circuit board, and after the movement, mounting of the circuit components on the printed circuit board can be started quickly. However, all the circuit components taken out may be moved to the printed circuit board after imaging. The same applies to the case where the number of circuit parts to be mounted is 19 or less and only imaging is performed after all the circuit parts are attracted.

Moreover, in the said embodiment, the component accommodation tape is made into the embossed type tape, and even if the kind of circuit component differs, the position of the up-down direction (direction parallel to the moving direction of a component holding shaft) of the upper surface of a circuit component For example, when the component holding tape is not an embossed type, but is a tape of a type in which the portion of the tape-like container that accommodates the circuit component is supported and transported from below, the circuit component The position of the upper surface of the circuit component varies depending on the height. In this case, it is desirable to adjust the negative pressure supply timing and the ascending / descending distance of the component suction shaft when the component suction shaft sucks the circuit component according to the height of the circuit component. For example, in the same manner as changing the switching timing of the pressure switching valve to the negative pressure release state to two types at the time of mounting, the action member for moving the switching member of the pressure switching valve to the negative pressure supply position is used for the main and auxiliary actuators. The main and auxiliary air cylinders are provided, and the action position of the action member is changed to two types. Also, the raising / lowering distance of the raising / lowering drive member is changed to two types, and the raising / lowering distance is shortened for circuit components having a large height.
The switching timing of the pressure switching valve is not limited to two types, either when switching to the negative pressure supply state or when switching to the negative pressure release state. For example, two or more auxiliary actuators are provided in series with each other and changed to three or more types. You may make it do.

  Furthermore, the imaging of the reference mark on the printed circuit board is not limited to the time when the circuit component is mounted on the printed circuit board, but may be performed at the end of mounting or just before the end of mounting. Next, in the circuit component mounting apparatus provided on the same side as the main conveyor for supporting the printed circuit board on which the circuit component is mounted, the circuit component mounting is the last on the printed circuit board for the circuit component mounting apparatus. Whether or not it is mounting is known from the mounting program, and if it is the last, imaging is performed on the way to take out the circuit component to the circuit component supply device. If the mounting of the circuit component 842 to the printed circuit board is completed by the mounting by the circuit component mounting apparatus, the reference mark is imaged after the mounting of the printed circuit board to the circuit component is completed, and then the other circuit component is mounted. If the mounting of the circuit component is performed by the mounting device and the mounting of the circuit component 842 to the printed circuit board is completed, the reference mark is imaged immediately before the mounting is completed. The computer calculates the position error of the component mounting portion of the printed circuit board based on the imaging data during the control of the mounting of the circuit components and the loading and unloading of the printed circuit board and stores it in the memory. It is not indispensable that the position errors of all the component mounting positions are calculated before starting the mounting of the circuit components on the printed circuit board, and they may be calculated in parallel with the mounting of the circuit components. By doing so, the storage capacity of the storage means for storing the holding orientation error and the holding position error can be reduced.

In the above description, if a circuit component has a holding orientation error exceeding ± 30 degrees, the circuit component is not mounted. However, the determination range of the suction error is further expanded, for example, ± 40 degrees. In this case, even if the holding orientation error occurs in the circuit component in a wider range than the above embodiment, for example, ± 15 degrees (the holding orientation error is within the range of ± 10 degrees in most cases, If it does not exceed ± 15 degrees unless it occurs, the attachment and the imaging can be performed in parallel without assuming that an adsorption error has occurred.
Furthermore, the azimuth change angle when mounting circuit components and imaging are performed in parallel is not limited to within the range of ± 15 degrees, but can be set to other angle ranges. For example, in most cases, when the holding orientation error that occurs in the circuit component falls within the range of ± 5 degrees, if the determination range of the suction error is ± 40 degrees, the orientation change angle of the circuit component is within the range of ± 30 degrees. Even so, mounting and imaging can be performed in parallel.

  Further, in the above-described embodiment, correction of the holding azimuth error and change in azimuth of a plurality of component holders are performed using a common drive gear and drive source. Alternatively, a holder rotating device may be provided in the movement locus to rotate the component holder. The component holder is provided with an engaging portion that engages with an engaging member provided in the holder rotating device, and the engaging member is provided at the engaging portion of the component holder that has reached a position where it can engage with the engaging member. It is engaged and rotated around the axis to correct the holding azimuth error and change the azimuth.

  Further, the correction of the holding azimuth error of the component holder and the change of the azimuth are not limited to the turning of the component holder, but may be performed in a stopped state.

  Further, in the above description, the component holder is moved (turned) before and after the stop position and is lowered and raised. However, the component holder is moved (turned) either before or after the stop position. ), Descending, and ascending may be performed in parallel.

  In addition, even when the component holder is stopped at the component receiving and mounting position, the movement of the component holder is started with the cam follower provided in the component holder being inserted into the notch for some reason. Even if there is, damage is avoided by the cam follower passing through the notch.

  Further, in the above-described embodiment, the elevating drive member sucks the circuit component of the component sucking shaft and is rotated to the retracted position when it is in the lowered position due to a malfunction of the linear motor or the like when turning. However, even when the component suction shaft is rotated in the reverse direction, when the lifting drive member is in the lowered position due to a malfunction or the like, it may be rotated to the retracted position by the component suction shaft. .

  Further, in the above description, the lowering speed of the moving member that is lowered by the linear motor at the time of mounting the circuit component is decelerated after acceleration, and when the circuit component is brought into contact with the printed circuit board, it is brought into contact with less impact, Although the vehicle has been decelerated and lowered to the lower end position, it may be accelerated after the circuit component contacts the printed board so that the moving member quickly reaches the lower end position.

  Furthermore, in the embodiment shown in FIGS. 1 to 32, the width of the driving gear is made wider than the width of the driven gear, but the reverse may be possible.

  Further, the imaging device that images the circuit component held by the component holder may acquire a front image of the circuit component.

  Furthermore, in the above description, the component holder is rotated around its own axis, so that the holding orientation error of the circuit component is corrected and the orientation of the circuit component is changed to a different orientation from that at the time of receiving. However, there is a case where the circuit component is mounted on the circuit substrate without changing the orientation, and only the holding orientation error is corrected.

The feature described in the item (4) can be implemented separately from the invention of any one of the items (1) to (3). That is, the circuit component mounting system has two component supply devices for supplying circuit components, one on each side of the circuit substrate holding device for holding the circuit substrate on which the circuit component is to be mounted, and (i) A plurality of component holders for holding circuit components; (ii) a holder swiveling device for holding the plurality of component holders to swivel around a common swivel axis and stopping at a predetermined position; (iii) the holding thereof A transfer moving member for holding the tool turning device, and moving the transfer moving member to move the holding tool turning device to an arbitrary position in the transfer plane straddling the component supply device and the circuit base material holding device. (Iv) a lifting / lowering device that lifts and lowers the component holder held by the transporting moving member, and (v) causes the component holder to receive a circuit component supplied from the component supply device, and Held in holding device Two sets of mounting units including a receiving mounting control device for mounting circuit components on a held circuit base material, and the two component supply devices and the circuit base material holding device are kept stationary at least during the mounting operation, and the holding tool A control device that controls the swiveling device, the transfer device, the lifting device, and the receiving mounting control device causes one of the two sets of mounting units to receive a circuit component from one of the two component supply devices and to the circuit base. Alternate mounting that causes the other of the mounting units to receive circuit components from the other of the component supply devices and mounts them on the circuit board, and that these two sets of mounting units alternately receive and mount circuit components. The control means is included.
In this circuit component mounting system, each of the plurality of component holders is placed at an arbitrary position such as the holder turning device and the lifting device described in JP-A-6-196546. It is possible to adopt various types of holding device swiveling devices and elevating devices, such as a device that causes the component holding devices to move up and down and receive and mount circuit components.

Furthermore, the claimable invention can be implemented in a mode in which the combination of the constituent elements of the respective embodiments is changed.
In addition, the present invention can be implemented in various modifications and improvements based on the knowledge of those skilled in the art without departing from the scope of the claims.

It is a top view which shows the circuit component mounting system which is one Embodiment of claimable invention. It is a front view which shows the board | substrate conveyor which comprises the said circuit component mounting system. It is a side view which shows the board | substrate conveyor and circuit component mounting apparatus which comprise the said circuit component mounting system. It is a top view which takes out and shows the said board | substrate conveyor. It is a side view which shows the main conveyor which comprises the said board | substrate conveyor. It is a figure which shows arrangement | positioning of the chain and sprocket for adjusting each conveyance width of the carrying-in conveyor of the said board | substrate conveyor, a main conveyor, and a carrying-out conveyor. It is a side view which shows the circuit component supply apparatus which comprises the said circuit component mounting system. It is a side view (partial cross section) which shows the connection part of the said circuit component supply apparatus and the base of a circuit component mounting system. It is a side view which shows the feeder which comprises the said circuit component supply apparatus. It is a side view which expands and shows the feed part of the component holding tape of the said feeder. It is a front view (partial cross section) which shows the mounting head of the circuit component mounting apparatus which comprises the said circuit component mounting system with an X-axis slide. It is front sectional drawing which shows the component adsorption | suction axis | shaft provided in the said mounting head. It is a top view which shows the part in which the circuit component imaging device of the said mounting head was provided. It is a top view which shows the said mounting head. It is a front view which shows the said mounting head with an X-axis slide. It is a figure which shows roughly arrangement | positioning of the component adsorption | suction shaft provided in the said mounting head. It is a top view which shows the mechanism part of the switching valve control apparatus provided in the said mounting head. It is a front view which shows the mechanism part of the said switching valve control apparatus. It is a side view which shows the mechanism part of the said switching valve control apparatus. It is a front view which shows the part by which the pressure switching valve of the said switching valve control apparatus is switched to a negative pressure supply state, and an individual raising / lowering apparatus. It is a side view which shows the part by the side which switches the pressure switching valve of the said switching valve control apparatus to a negative pressure supply state, and an individual raising / lowering apparatus. It is XXII-XXII sectional drawing in FIG. It is front sectional drawing which shows the action member by the side which switches the pressure switching valve of the said switching valve control apparatus to a negative pressure supply state with a main air cylinder. It is a block diagram which shows roughly the deep part relevant to claimable invention among the control apparatuses which control this circuit component mounting system. Movement of XY robot, rotation of intermittent rotating body, rotation and raising / lowering of component suction axis, feeding of component holding tape in feeder and circuit component imaging in one mode of suction, imaging, transport and mounting of circuit components of the above circuit component mounting system It is a time chart which shows the operation timing of an apparatus. It is a table | surface which shows the drive command and operation state of the main air cylinder of the switching valve control apparatus at the time of adsorption | suction of circuit components, and mounting | wearing, and an auxiliary | assistant air cylinder. It is a side view which shows the operating state of the switching valve control apparatus at the time of circuit component adsorption | suction. It is a side view which shows the operating state of the switching valve control apparatus at the time of mounting | wearing of a small circuit component. It is a side view which shows the operating state of the switching valve control apparatus at the time of mounting | wearing with a big circuit component. An orientation error angle, an image recognition angle, an orientation error correction angle, an orientation change angle, and an attached suction axis total in a mode in which the number of attracted circuit components is 20, and imaging and placement of circuit components are performed in parallel. It is a chart which shows a rotation angle. Azimuth error angle, image recognition angle, azimuth error correction angle, azimuth change angle, and total rotation angle of the suction axis at the time of mounting in a mode in which the number of picked-up circuit components is 20, and imaging of circuit components is performed separately from mounting It is a chart which shows. 10 is a chart showing an azimuth error angle, an image recognition angle, an azimuth error correction angle, an azimuth change angle, and a suction axis total rotation angle at the time of mounting when the number of suction of circuit parts is 17. It is a front view (partial cross section) which shows the mounting head of the circuit component mounting system which is another embodiment of claimable invention with a X-axis slide. FIG. 34 is a left side view showing the mounting head shown in FIG. 33 together with the X-axis slide. It is a top view which shows the upper part of the intermittent rotary body of the mounting head shown in FIG. It is a top view which shows the lower part of the intermittent rotary body of the mounting head shown in FIG. FIG. 34 is a front sectional view showing a state in which the component suction shaft of the mounting head shown in FIG. 33 is held by a suction shaft holding member. It is a figure which shows roughly an example of arrangement | positioning of a component suction nozzle in case two types of component suction nozzles are mounted in a mounting head. It is a figure which shows schematically another aspect of arrangement | positioning of a component adsorption nozzle in case two types of component adsorption nozzles are mounted in a mounting head. It is a figure which shows roughly arrangement | positioning of the component adsorption nozzle when three types of component adsorption nozzles are mounted in a mounting head. It is a circuit diagram which shows another aspect of the part which controls supply of the air to a component adsorption | suction nozzle in the switching valve control apparatus which comprises a circuit component mounting apparatus.

Explanation of symbols

8: Circuit component mounting system 12: Substrate conveyor 14, 16: Circuit component supply device 18, 20: Circuit component mounting device 400, 402: Main conveyor 404: Carrying conveyor 406: Carrying conveyor 408: Printed circuit board 438: Carrying conveyor shift device 508: Unloading conveyor shift device 650, 652: Mounting head 662, 664: XY robot 712: Fixed cam 716: Drive gear 724: Servo motor for changing direction 742: Servo motor for turning 762: Intermittent rotating body 776: Component adsorption shaft 784 : Component suction nozzle 800: Driven gear 804: Cam follower 808: Cam surface 820: Circuit component imaging device 842: Circuit component 860: Pressure switching valve 880: Individual lifting device 882: Switching valve control device 890: Moving member 892: Lifting drive Member 930: Main D Acylinder 952: Action member 974: Main air cylinder 984: Auxiliary air cylinder 1002: Action member 1030: Link 1050: Control device 1100: Mounting head 1102: XY robot 1138: Servo motor for turning 1150: Drive bevel gear 1154: Direction correction change Servo motor 1164: intermittent rotating body 1182: driven bevel gear 1194: component suction nozzle 1260: pressure switching valve 1290: circuit component imaging device 1302: individual lifting device 1304: switching valve control device 1314: moving member 1320: main air cylinder 1322: Action member 1330, 1332, 1340, 1342, 1344: Component adsorption nozzle 1400: Pressure switching valve

Claims (10)

A component supply device for supplying circuit components;
A circuit board holding device for holding a circuit board on which the circuit component is to be mounted;
A plurality of component holders each holding circuit components;
Holding the plurality of component holders and turning them around a common turning axis, and holding tool turning devices for sequentially stopping at the component receiving position and the component mounting position on the turning locus;
A transfer moving member for holding the holding device turning device, and moving the transfer moving member to move the holding device turning device between the component supply device and the circuit substrate holding device in a transfer plane. A transfer device for transfer to an arbitrary position;
An elevating device that is held by the transfer moving member and raises and lowers a component holder at least at the component receiving position and the component mounting position;
Receiving mounting for causing the component holder to receive the circuit component supplied from the component supply device at the component receiving position, and mounting the circuit component on the circuit substrate held by the circuit substrate holding device at the component mounting position. A control device;
A control device for controlling the holder turning device, the transfer device, the lifting device and the receiving and mounting control device, and the lifting device,
An elevating drive member that engages one of the plurality of component holders so that the one component holder can be turned by the holder turning device while allowing the component holder to move up and down;
An elevating drive device for elevating the one component holder by elevating the elevating drive member between a raised position and a lowered position;
The lifting drive member is always in the working position where the component holder can be lifted and lowered by the lifting device, but a force greater than a set value is applied to the swiveling direction of the component holder at the lowered position. A circuit component mounting system that is held so as to be retractable to a retracted position that does not hinder movement of the component holder when it is moved . The elevating drive member is held by the elevating device so as to be rotatable about a vertical axis at a position deviated laterally from a turning trajectory of the component holder, and retreats to the retreat position by the rotation. Item 4. The circuit component mounting system according to Item 1 . The lifting device, and urging means for urging toward said lift driving member to the operative position, according to claim 1 or 2 and a stopper to keep the working position against the biasing force of the biasing means Circuit component mounting system. The circuit component mounting system according to claim 3 , wherein the stopper includes an adjustable stopper member that is attached to a holding member that holds the lifting drive member so as to be movable up and down. A movement detecting device that detects a movement of the elevating drive member toward the retracted position and generates a detection signal; and a turning stop unit that stops turning of the holding device turning device in response to the detection signal of the movement detecting device. The circuit component mounting system according to any one of claims 1 to 4 . A cam member provided with a cam surface whose height changes in the circumferential direction formed along the turning trajectory of the plurality of component holders;
A cam follower which is provided so as to be able to be moved up and down together with each component holder with respect to each of the plurality of component holders, and which raises and lowers each component holder as the component holders pivot by engaging with the cam surface; CC mounting system according to any one of claims 1 to 5 comprising a. The cam member is disposed above the turning trajectory of the component holder, the lower surface of the cam member is a cam surface whose height changes in the circumferential direction , and the component holder is attached to the cam. The circuit component mounting system according to claim 6, further comprising an urging means for urging the surface . The holder swivel device sequentially stops a plurality of component holders at a component receiving and mounting position that is both the component receiving position and the component mounting position. notches are formed, the said lifting drive member with the notch is fitted vertically movably, the elevation driving device the lifting drive member, and the raised position the lower surface of the lifting drive member is continuous with the cam surface, the lower surface The circuit component mounting system according to claim 7 , wherein the circuit component mounting system is moved up and down between a lowered position located below the cam surface. The holding device turning device is rotated around the turning axis, and each shaft of the plurality of component holders is moved in the axial direction to each of a plurality of holding portions provided at equidistant positions from the turning axis. capable retained comprise rotating body, said pivot axis is perpendicular to the conveying plane, CC mounting system according to any one of the holding portions 請 Motomeko no 1 is formed parallel to the pivotal axis 8. The holding device turning device is rotated around the turning axis, and each shaft of the plurality of component holders is moved in the axial direction to each of a plurality of holding portions provided at equidistant positions from the turning axis. A plurality of holding portions, each of the plurality of holding portions being formed with each of a plurality of concentric generatrixes centered on the turning axis of the rotating body as a center line. with respect to the normal to the plane, the circuit-component mounting system according to any said to one generatrix of the conical surface 請 Motomeko no 1 is tilted by an angle in a state perpendicular to the conveying plane 8.

Images