JP4346770B2 - Surface mount machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention reduces a collision load on a component or the like when sucking and mounting a component, particularly in a surface mounter that mounts the component on a substrate such as a printed circuit board by sucking the component to a component suction nozzle provided in the head unit. The present invention relates to a surface mounter that has been adapted to be used.
[0002]
[Prior art]
Conventionally, a head unit for component adsorption is mounted on a head unit that is movably supported over a component supply unit and a printed circuit board that is positioned, and can be moved up and down and rotated, and the nozzle is attached to the lower end of the head. 2. Description of the Related Art Generally, a surface mounter that sucks a component and mounts the component by moving the head unit onto a printed board after sucking the component from the component supply unit is known.
[0003]
In this type of surface mounter (hereinafter abbreviated as “mounter”), for example, when a component is picked up, the nozzle is lifted up and down with respect to the component to pick up the component. It is necessary to prevent damage. Similarly, when a component is mounted, it is necessary to reduce the collision load between the component and the printed circuit board.
[0004]
For this reason, usually, a buffer mechanism is incorporated in the head unit to reduce the collision load during component adsorption. For example, an elastic member such as a spring is interposed between the nozzle and the head unit. A mechanism that supports the nozzle so as to be elastically displaceable in the vertical direction is generally used.
[0005]
[Problems to be solved by the invention]
However, in the conventional shock absorbing mechanism that supports the nozzle so as to be elastically displaceable, when the acceleration / deceleration speed when the nozzle is raised and lowered, the nozzle vibrates due to the influence of inertial force, for example, the components are displaced with respect to the nozzle and the mounting accuracy is impaired. This may cause noise and noise.
[0006]
Therefore, in order to prevent this, for example, it is considered to suppress the vibration of the nozzle by, for example, (1) setting the acceleration / deceleration when the nozzle moves up and down low, and (2) setting the spring pressure large. However, the countermeasure (1) is not desirable for shortening the tact time, and the countermeasure (2) is difficult to set a spring pressure that balances vibration prevention and the buffer function. is not.
[0007]
In recent years, a nozzle assembly block in which a plurality of nozzles are arranged radially is mounted on the head unit so as to be movable up and down, and is attached so as to be able to rotate and displace around the horizontal axis, and by rotating the nozzle assembly block, There has also been proposed a mounting machine that can selectively set a nozzle at a predetermined use position according to the type or the like. In this type of mounting machine, a buffer mechanism is provided by supporting the nozzle assembly block so as to be elastically displaceable. It is considered to compose.
[0008]
However, in this configuration, since the unsprung load becomes large, there is a concern about the occurrence of vibration due to the inertial force when the nozzle ascends and descends. Similarly, there is a concern about the occurrence of vibration when the head unit is moved.
[0009]
The present invention has been made to solve the above problems, and provides a surface mounter capable of effectively preventing the occurrence of vibrations of nozzles and the like while effectively exerting a buffering function at the time of component mounting and mounting. The purpose is to do.
[0010]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention provides a movable head unit provided with a nozzle shaft, which is supported so as to be movable up and down relatively with respect to the frame of the head unit. In surface mounters where the nozzle for component suction is attached to the lower end A nozzle assembly block assembled such that the plurality of nozzles are arranged in the circumferential direction; Nozzle shaft The nozzle shaft at the lower end of Against Phase It is connected to be movable up and down And a holder for holding the nozzle assembly block so as to be capable of rotational displacement; Against the nozzle shaft holder Locking means to prevent lifting And have The locking means includes the nozzle assembly block and holder A pressure chamber formed between the pressure chamber and a fluid supply means to the pressure chamber. holder The lock state that restrains the valve from being raised and lowered, and the supply of fluid to the pressure chamber is stopped to prevent the nozzle shaft holder It is configured to be switchable to an unlocked state that allows the lifting and lowering of the vehicle (claim 1). More specifically, the nozzle assembly block is held by the holder in a state in which it can be rotationally displaced about the horizontal axis, and the nozzles are respectively fixed to nozzle assembly recesses formed at a plurality of positions on the outer peripheral surface. Thus, a plurality of nozzles are provided radially (claim 2). Also, There is a lock control means for controlling the lock means, and the lock control means makes the lock means unlocked at the lower part of the raising / lowering range during the nozzle raising / lowering operation for sucking and mounting the components, and otherwise the lock means is locked. (Claims) 3 ).
[0011]
According to the surface mount machine as described above, the locking means is normally locked. The raising and lowering of the holder and nozzle assembly block against the nozzle shaft is prevented, Nozzle vibration can be suppressed. On the other hand, when the nozzle is in the lower part of the raising / lowering range at the time of the nozzle raising / lowering operation for sucking and mounting the parts, the locking means is unlocked and the nozzle shaft is Holder and The nozzle assembly block is allowed to move up and down. Therefore, at the time of component adsorption, as the nozzle abuts on the component, the nozzle is displaced with respect to the nozzle shaft integrally with the nozzle assembly block, thereby reducing the collision load on the component. That is, the buffer function is exhibited. In addition, the buffering function is also exhibited when the parts are mounted.
[0012]
In particular, in a surface-mounting machine in which the nozzle is accelerated to a predetermined speed and then decelerated at a constant speed or halfway down to the component suction mounting position in the nozzle lowering operation for component suction mounting, the nozzle is at a predetermined speed or predetermined position Preferably, the lock control means is configured to switch the lock means from the locked state to the unlocked state after reaching 4 ).
[0013]
In this way, it is possible to effectively prevent nozzle vibrations due to inertial force during acceleration.
[0014]
Further, it is preferable to configure the lock control means so that the lock means is switched from the unlocked state to the locked state during the nozzle ascending operation after the components are mounted and attached. 5 ). In this way, it is possible to prevent the nozzle from vibrating at the rising end position due to the inertial force when the nozzle is raised.
[0015]
In the apparatus as described above, the nozzle shaft has a double pipe structure in which a hollow sub shaft is built in a hollow main shaft and a passage is formed inside and outside the sub shaft, and one side passage is formed in the pressure chamber. The fluid may be connected to the passage so that the fluid can be supplied, and the other passage may be connected to the nozzle so that negative pressure for component suction can be supplied to the passage. (Claims 6 ).
[0016]
In this way, since both the fluid supply to the pressure chamber and the negative pressure supply to the nozzle can be performed through the nozzle shaft, a compact and rational configuration is obtained.
[0017]
In the above surface mounter The lock control means may be configured to bring the lock means into a locked state when the nozzle is moved up and down. 7 ). For example In the case where some of the nozzles provided in the nozzle assembly block are nozzles with a buffer function supported so as to be displaceable in the nozzle axis direction with respect to the nozzle assembly block, this Nozzle with buffer function The above locking means is locked when the nozzle is moved up and down when using parts The lock control means can be configured as follows (claims) 8 ).
[0018]
The surface mounter includes a lift drive unit that lifts and lowers the nozzle by driving the nozzle shaft up and down, and a lift control unit that controls the lift drive unit. Toga The lifting control means is provided to accelerate the nozzle to a predetermined speed and decelerate from the middle in the nozzle lowering operation at the time of component suction and attachment, and then lower the nozzle at a constant low speed in the vicinity of the component suction and attachment position. Configured to control the lifting drive means (claims) 9 ).
[0019]
According to this configuration, since the nozzle is lowered at a low speed in the vicinity of the component suction mounting position, the collision load on the component can be further reduced.
[0020]
In this case, the first lowering operation of accelerating the nozzle to a predetermined speed and descending while decelerating to the component suction / mounting position, and accelerating the nozzle to the predetermined speed and decelerating from the middle, in the vicinity of the component suction / mounting position The second lowering operation for lowering the nozzle at a constant low speed; Is executable , the above Of the nozzles provided in the nozzle assembly block Depending on the type First descending operation When Second descent action And selectively The lifting control means may be configured to execute (claims) 10 ). Specifically, when some of the nozzles included in the nozzle assembly block are nozzles with a buffering function supported so as to be displaceable in the nozzle axis direction with respect to the nozzle assembly block, this Nozzle with buffer function The above first descending action is executed when the used parts are mounted The elevating control means can be configured as follows (claims) 11 ). According to this configuration, for a nozzle with a buffer function, the buffer function is exerted to reduce a collision load on the component, while for other nozzles, the nozzle is at a low speed near the component suction mounting position. By being lowered, a collision load or the like on a part or the like is reduced.
[0021]
In order to solve the above-described problem, according to the present invention, a movable head unit is provided with a nozzle shaft, and the nozzle shaft is supported so as to be movable up and down relatively with respect to the frame of the head unit. In a surface mount machine in which a nozzle for component adsorption is attached to the lower end of the shaft, A nozzle assembly block assembled such that a plurality of the nozzles are arranged in the circumferential direction; Nozzle shaft The nozzle shaft at the lower end of It is connected to be able to move up and down relatively And a holder for holding the nozzle assembly block so as to be capable of rotational displacement; Against nozzle shaft Ascending holder A regulating means for regulating descending and a regulation control means for controlling the regulating means are provided, and the regulating means includes the nozzle and holder A pressure chamber formed between the pressure chamber, a fluid supply means to the pressure chamber, and a pressure adjusting means capable of adjusting the fluid pressure in the pressure chamber. The nozzle is constrained to a specific position with a force corresponding to the fluid pressure in the pressure chamber, and the restriction control means is used when the nozzle reaches the component suction / mounting position during the nozzle lifting / lowering operation for component suction / mounting. The control means is controlled so that the fluid pressure in the pressure chamber is lower than the fluid pressure in the pressure chamber at other times. 12 ).
[0022]
According to this surface mount machine, except when the nozzle reaches the component suction mounting position The holder and nozzle assembly block are prevented from moving up and down with respect to the nozzle shaft. The nozzle is restrained at a specific position and the vibration is suppressed. On the other hand, at the time of component suction, the fluid pressure in the pressure chamber is lowered when the nozzle reaches the component suction position, so that the nozzle elastically displaces against the fluid pressure in the pressure chamber as the nozzle contacts the component. This reduces the impact load on the part. That is, the buffer function is exhibited. In addition, the buffering function is also exhibited when the parts are mounted.
[0023]
In this configuration, the restricting means is controlled so as to adjust the fluid pressure in the pressure chamber when the nozzle reaches the component suction mounting position according to at least one of the type of nozzle used for component suction mounting and the type of component to be mounted. (Claims 13 ), The buffering performance, that is, the degree of elasticity at the time of nozzle displacement can be switched according to the type of nozzle or component, and the functionality of the surface mounter can be enhanced.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
[0028]
FIG. 1 schematically shows an entire surface mounter (hereinafter abbreviated as a mounter) according to an embodiment of the present invention. In this figure, a conveyor 2 constituting a conveyance line is arranged on a base 1, and a printed board 3 is conveyed on the conveyor 2 and stopped at a predetermined work position.
[0029]
A component supply unit 4 is disposed on the side of the conveyor 2. The component supply unit 4 includes, for example, multiple rows of tape feeders 4a, and each tape feeder 4a stores and holds small pieces of electronic components such as ICs, transistors, and capacitors at predetermined intervals. Are arranged so as to be led out from the reel, and a feeding mechanism is provided at the tape feeding end, so that the tape is intermittently fed as a part is picked up by the head unit 5 described later.
[0030]
A head unit 5 for mounting electronic components is provided above the base 1. The head unit 5 can be moved over a predetermined working position of the component supply unit 4 and the printed circuit board 3, and in this embodiment, the X-axis direction (the direction of the conveyor 2) and the Y-axis direction (the X-axis on the horizontal plane) It is possible to move in an orthogonal direction.
[0031]
That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 that is rotationally driven by a Y-axis servo motor 9 are disposed on the base 1, and a head unit is disposed on the fixed rail 7. A support member 11 is disposed, and a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. The support member 11 is provided with a guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servo motor 15 so that the head unit 5 can move on the guide member 13. A nut portion 16 (shown in FIG. 3) that is held and provided in the head unit 5 is screwed onto the ball screw shaft 14. Then, the ball screw shaft 8 is rotated by the operation of the Y-axis servo motor 9 to move the support member 11 in the Y-axis direction, and the ball screw shaft 14 is rotated by the operation of the X-axis servo motor 15 to thereby rotate the head unit 5. Moves in the X-axis direction with respect to the support member 11.
[0032]
Further, the base 1 is provided with component recognition cameras 17 and 18 for recognizing the suction state of the electronic components sucked by the head unit 5, and after the head unit 5 picks up the components, the component recognition cameras 17 and 18 are provided. The component recognition cameras 17 and 18 pick up the picked-up component. One of the component recognition cameras 17 and 18 is the central portion of the component supply unit 4 on one side, and is arranged side by side at the tip portion of each tape feeder 4a, that is, the component removal position. Thus, after the component is picked up, the image of the component can be quickly picked up simply by moving the head unit 5 in the X-axis direction.
[0033]
2 to 4 show a specific structure of the head unit 5. In these drawings, the head unit 5 is mounted with heads 20A and 20B each having a plurality of nozzles for component suction at the lower part.
[0034]
Each of the heads 20A and 20B has a nozzle shaft 21 extending in the vertical axis direction (vertical direction), and is supported by the frame 5a of the head unit 5 so as to be capable of moving up and down in the vertical axis and rotating around the vertical axis. . A nozzle assembly block 30 is mounted below the nozzle shaft 21, and a plurality of nozzles and the like are assembled to the nozzle assembly block 30. In the present embodiment, five nozzles 23 to 27 and one nozzle holder 28 are assembled (see FIG. 6). More specifically, the nozzles 24 to 26 mainly for small parts such as chip parts, and large parts mainly for large parts such as QFP that require mounting accuracy are targeted. The nozzles 23 and 27 having a caliber are assembled. In addition, when mounting a special component other than a chip component or QFP, a nozzle corresponding to these components is mounted on the nozzle holder 28.
[0035]
The nozzle assembly block 30 can be moved up and down relative to the nozzle shaft 21 and can rotate about the vertical axis integrally with the nozzle shaft 21. The nozzle assembly block 30 is rotatable relative to the nozzle shaft 21 around the horizontal axis, and due to this rotational displacement, the nozzles 23 to 27 and the nozzle holder 28 (hereinafter, it is necessary to particularly distinguish them). The nozzles 23 to 28 are arranged radially in the nozzle assembly block 30 so that one nozzle or nozzle holder is selectively set at a predetermined use position. It is installed.
[0036]
The head unit 5 further includes a Z-axis drive mechanism (elevation drive means) for raising and lowering the nozzle shaft 21, an R-axis drive mechanism for rotating the nozzle shaft 21, and each nozzle assembly block 30 for rotational driving. A block drive mechanism and a lock mechanism (locking means) for locking the displacement in the longitudinal axis direction of each nozzle assembly block 30 with respect to the nozzle shaft 21 are provided for each head 20A, 20B.
[0037]
The Z-axis drive mechanism includes a Z-axis servo motor 31 as a drive source fixed to the upper left and right sides of the frame 5a, and a rack 33 that extends in the vertical direction and is supported so as to be movable up and down with respect to the frame 5a. The rack 33 is connected to the upper end portion of the nozzle shaft 21 via the bracket 34, and the pinion 32 is attached to the output shaft of the servo motor 31, and the pinion 32 meshes with the rack 33. It is comprised by. That is, when the pinion 32 is rotated by the operation of the Z-axis servomotor 31, the rack 33, the bracket 34 and the nozzle shaft 21 are integrally moved up and down with respect to the frame 5a.
[0038]
The R-axis drive mechanism includes an R-axis servomotor 36 as a drive source fixed to the center portion of the frame 5a, a gear 37 attached to the output shaft, and a gear 37 attached to the nozzle shaft 21. And a gear 38 that meshes, and the nozzle shaft 21 is rotationally driven by the operation of the R-axis servomotor 36. The nozzle shaft 21 and the gear 38 are connected by a spline so that the gear 38 can be moved up and down relative to the nozzle shaft 21 and the nozzle shaft 21 and the gear 38 rotate together. The block drive mechanism and the lock mechanism will be described in detail later.
[0039]
5 and 6 show a specific structure of the lower portion of the nozzle shaft 21. FIG. In these drawings, an inverted U-shaped holder 40 is connected to the lower end portion of the nozzle shaft 21 for holding the nozzle assembly block 30 so as to be capable of rotational displacement about the horizontal axis. A horizontal shaft 41 is rotatably mounted on the holder 40, and the nozzle assembly block 30 is fixed to the horizontal shaft 41.
[0040]
In the nozzle assembly block 30, a plurality of nozzle assembly recesses 42 extending in a direction orthogonal to the horizontal axis 41 are formed at equal intervals in the rotation direction, and the nozzles 23 to 28 are provided in these nozzle assembly recesses 42. The nozzles 23 to 28 are radially assembled to the nozzle assembly block 30 by being fitted and fixed.
[0041]
Then, the nozzle assembly block 30 is driven to rotate about the horizontal axis 41 by the block drive mechanism, so that one of the nozzles 23 to 28 or the nozzle holder is selectively placed at a predetermined use position, that is, the head 20A. , 20B is arranged at the lower end (the position of the nozzle 25 in FIGS. 5 and 6).
[0042]
The block drive mechanism includes a servo motor 52 as a drive source mounted on the frame 5a, and a transmission mechanism for transmitting this rotation to the nozzle assembly block 30.
[0043]
More specifically, the frame 5a is provided with a block driving shaft 45 extending in parallel with the nozzle shaft 21 and capable of moving up and down and rotating around the vertical axis, as shown in FIGS. A pulley 54 is attached to the shaft 45, a pulley 53 is attached to the output shaft of the servo motor 52, and a belt 55 is attached over the pulleys 53 and 54. As a result, the shaft 45 is driven to rotate by the operation of the servo motor 52. The shaft 45 and the pulley 54 are coupled by a spline so that the shaft 45 can be moved up and down relative to the pulley 54 and the shaft 45 and the pulley 54 rotate integrally.
[0044]
The shaft 45 is a hollow pipe having a passage 45a for guiding air to the inside. As shown in FIG. 2, the upper portion is inserted through a through hole formed in the bracket 34, while the lower portion Is supported rotatably on one end of a bridge member 46 attached to the upper end portion of the holder 40 via a bearing.
[0045]
As shown in FIG. 5, a gear 47 is attached to the lower end portion of the shaft 45, and the gear 47 meshes with a gear 48 attached to the upper end portion of the holder 40 so as to be relatively rotatable. A gear 48 meshes with a gear 50 a at the upper end of the transmission shaft 50 that is rotatably supported by the holder 40. Further, a bevel gear 50 b provided integrally at the lower end of the transmission shaft 50 meshes with a bevel gear 51 assembled integrally with the nozzle assembly block 30. The gear 48 has a pair of upper and lower gear portions 48a and 48b. The gear 47 attached to the lower end of the shaft 45 with respect to the upper gear portion 48a is connected to the lower gear portion 48b. The gears 50a at the upper end of the transmission shaft 50 are engaged with each other.
[0046]
As a result, when the servo motor 52 is actuated to rotate the block driving shaft 45, the rotation about the vertical axis is rotated about the horizontal axis via the gears 47 and 48, the gears 50a and 50b of the transmission shaft 50 and the bevel gear 51. The block drive mechanism is configured so as to be transmitted to the nozzle assembly block 30 while being converted into the rotation. Although not shown in the figure, the servo motor 52 has a built-in clutch, and is configured to automatically switch the output shaft to a freely rotatable state when the servo motor 52 is not driven.
[0047]
The nozzle assembly block 30 is formed with a passage 56 extending in parallel with the horizontal axis 41 corresponding to each nozzle assembly recess 42. One end of each of the passages 56 communicates with each of the nozzles 23 to 28 attached to the nozzle assembly recess 42, while the other end is the end of the nozzle assembly block 30 (the right end in FIG. 5). Is open. When the nozzles 23 to 28 are set at the predetermined use position, only the passage 56 corresponding to the nozzles 23 to 28 set at this position communicates with the passage 57 formed in the holder 40. Through this passage 57, it communicates with a passage 22a in the sub-shaft 21b, which will be described later, so that negative pressure for adsorbing components is supplied to the nozzles 23 to 28 set at the use position. Note that the passage 56 corresponding to the nozzle holder 28 among the nozzles 23 to 28 is negatively applied to the nozzle holder 28 via the through hole 58 of the holder 40 in which the horizontal shaft 41 is disposed, as shown in FIG. It is formed to supply.
[0048]
In the nozzle assembly block 30, an engagement hole 60 for positioning the nozzles 23 to 28 is formed on the side of each nozzle assembly recess 42 and can be engaged with the engagement hole 60. An air cylinder 62 having a tapered positioning member 61 is provided in the holder 40.
[0049]
The air cylinder 62 is disposed above the nozzle assembly block 30, that is, on the side opposite to the use position of the nozzles 23 to 28. A piston 63 is provided inside the air cylinder 62, and pressure chambers 64a and 64b are formed above and below the piston 63, respectively. The positioning member 61 is integrally formed at the lower end of the piston 63.
[0050]
The upper pressure chamber 64 a of the air cylinder 62 communicates with a passage 45 a in the block driving shaft 45 through passages 65 and 66 formed in the holder 40 and the bridge member 46. On the other hand, the lower pressure chamber 64 b is opened to the outside through an air vent passage 67 formed in the holder 40, and a return spring 68 is disposed in the pressure chamber 64, thereby allowing the piston 63 to move. It is biased to the rising end position. That is, the passage 45a in the shaft 45 is connected to an air supply source via a block fixing valve 69 (shown in FIG. 9) including a hose and an electromagnetic valve (not shown), and the block fixing valve 69 is opened. When air is supplied into the shaft 45, the piston 63 is pushed down against the urging force of the return spring 68, whereby the positioning member 61 is engaged in the engagement hole 60, while the block fixing valve is engaged. When 69 is closed and the supply of air into the shaft 45 is shut off, the positioning member 61 is retracted into the cylinder by the urging force of the return spring 68, whereby the positioning member 61 is moved relative to the engagement hole 60. It is comprised so that it may be in a non-engagement state.
[0051]
Of the nozzles 23 to 27, the small-diameter nozzles 24 to 26 mainly intended for small parts such as chip parts are vertically aligned with respect to the nozzle assembly block 30 in a state of being set at the use position. It can be elastically displaced in the direction. That is, as shown in FIG. 6, each of the nozzles 24 to 26 is held so as to be displaceable in the axial direction with respect to the nozzle assembly block 30 and is compressed by a compression spring 43 disposed in the nozzle assembly recess 42. The nozzle assembly block 30 is biased toward the outside. As a result, at the time of component suction and mounting by the nozzles 24 to 26, the nozzles 24 to 26 are elastically displaced in the vertical axis direction so that a buffering function is exhibited. Further, as shown in FIG. 6, the nozzle holder 28 includes a holder main body 28a having a shaft portion for externally fitting the nozzle, and a pair of leaf springs 28b for holding the nozzle. A nozzle that is externally fitted to the shaft portion is held by a leaf spring 28b so that the nozzle can be exchanged.
[0052]
The holder 40 and the nozzle shaft 21 are coupled via a spline nut 44 so that the holder 40 can be moved up and down relative to the nozzle shaft 21 and the nozzle shaft 21 and the holder 40 rotate together. The lock mechanism (lock means) can be switched between a state in which the relative lifting operation of the holder 40 with respect to the nozzle shaft 21 is allowed (unlocked state) and a state in which such a lifting operation is blocked (locked state). It has become.
[0053]
As shown in FIGS. 5 and 6, the locking mechanism has a pressure chamber 70 formed between the holder 40 and the nozzle shaft 21, and in the locked state, air is supplied to the pressure chamber 70. The holder 40 is pressed downward by the fluid pressure to restrain the holder 40 at the lower end position (position shown in the figure) in the up / down stroke, while in the unlocked state, the supply of air to the pressure chamber 70 is stopped, Thus, the holder 40 is configured to allow the lifting and lowering displacement of the holder 40 relative to the nozzle shaft 21. That is, when the lock mechanism is in the locked state, as shown in FIG. 8A, when the holder 40 completely follows the ascending / descending operation of the nozzle shaft 21, and the components are sucked and mounted in the unlocked state, FIG. As shown in FIG. 3, the holder 40 is displaced relative to the nozzle shaft 21 with the contact of the nozzles 23 to 27 with the components, whereby a buffering function is exhibited.
[0054]
The supply of air to the pressure chamber 70 is performed through the nozzle shaft 21 together with the supply of negative pressure for component suction to the nozzles 23 to 28.
[0055]
More specifically, as shown in FIGS. 5 to 6, the nozzle shaft 21 has a double tube structure in which a hollow sub shaft 21 b is similarly disposed inside a hollow main shaft 21 a, as described above. The upper end portion of the main shaft 21a is rotatably supported by the bracket 34 via a bearing, while the lower end portion is coupled to the holder 40 by a spline. The upper end portion of the sub shaft 21b is fixed to the main shaft 21a via the end cap 78, and the lower end portion is fixed to the main shaft 21a via the upper pressure chamber constituting member 71 constituting the upper pressure wall of the pressure chamber 70, respectively. Thus, a pair of passages 22a and 22b are formed inside and outside the sub shaft 21b.
[0056]
The upper pressure chamber constituting member 71 is provided with a protrusion 71 a extending downward, and this protrusion 71 a penetrates the pressure chamber 70 and is provided in the holder 40 to constitute a lower pressure wall of the pressure chamber 70. The pressure chamber component 72 is inserted into the recess 72 a. The upper pressure chamber constituting member 71 is formed with a passage 71b that communicates with the passage 22a in the sub shaft 21b and opens at the tip of the protrusion 71a, while the lower pressure chamber constituting member 72 has the passage 57 of the holder 40. A passage 72b that communicates with and opens into the recess 72a is formed. Thus, the passage 22a in the sub shaft 21b is connected to the nozzles 23 to 28 through the passages 71b and 72b of the pressure chamber constituting members 71 and 72, the passage 57 of the holder 40, and the like.
[0057]
The upper pressure chamber constituting member 71 is formed with a passage 71c that communicates with the passage 22b outside the sub shaft 21b and opens into the pressure chamber 70.
[0058]
On the other hand, as shown in FIG. 7, the upper end portion of the nozzle shaft 21 is formed with a passage 73 communicating with the main shaft 21 a in the direction orthogonal to the axial direction, and this passage 73 is provided in the bracket 34. The air supply pipe 74 is connected to the air supply pipe 74 through the port 34a, and the air supply pipe 74 is connected to an air supply source (not shown) through a lock mechanism switching valve 75 (shown in FIG. 9) such as an electromagnetic valve. ing. Further, a negative pressure supply pipe 76 connected to a negative pressure supply source (not shown) is connected to another port 34b provided in the bracket 34 via a negative pressure supply valve 77 (shown in FIG. 9) made of an electromagnetic valve or the like. The negative pressure supply pipe 76 is connected to the inside of the sub shaft 21b through the port 34b, a hollow portion 34c formed in the bracket 34, and an opening 78a of the end cap 78.
[0059]
That is, when the lock mechanism switching valve 75 is turned on (opened), a predetermined pressure of air flows through the negative pressure supply pipe 74, the port 34a of the bracket 34, and the passage 73 in the main shaft 21a. The pressure chamber 70 is supplied to the pressure chamber 70 through the passage 71 b of the upper pressure chamber constituting member 71. That is, the air supply source, the lock mechanism switching valve 75, the air supply pipe 74, each passage 22b, and the like constitute fluid supply means in the lock means of the present invention.
[0060]
On the other hand, when the negative pressure supply valve 77 is turned on (opened), the inside of the sub shaft 21b is passed through the air supply pipe 76, the port 34b of the bracket 34, the hollow portion 34c, and the opening 78a of the end cap 78. A negative pressure is introduced into the passage 22a, and negative pressure for adsorbing components is supplied to the nozzles 23 to 28 through the passages 71b and 72b of the pressure chamber constituting members 71 and 72, the passage 57 of the holder 40, and the like. It is like that.
[0061]
FIG. 9 shows a control system of the mounting machine.
[0062]
The mounting machine has a controller 80 as shown in the figure. The controller 80 is provided with an axis drive control means 81, a nozzle assembly block drive control means 82, and a valve drive control means 83. The X-axis, Y-axis, R-axis, and Z-axis servomotors 15, 9, 36, and 31 are used for the shaft drive control means 81, and the nozzle assembly block drive servomotor 52 is used for the nozzle assembly block drive control means 82. In addition, a block fixing valve 69, a lock mechanism switching valve 75, and a negative pressure supply valve 77 are electrically connected to the valve drive control means 83, respectively.
[0063]
The controller 80 is provided with main control means 84 for overall control of the mounting machine. The drive control means 81 to 83 are connected to the main control means 84 and are related to the mounting operation. A storage means 85 for storing various programs is further provided in the controller 80, and this is connected to the main control means 84. Although not shown, the servo motors 9, 15, 31, 36, and 52 each have a built-in position detecting means such as an encoder, and these position detecting means are included in the main control means 84. Further connected.
[0064]
The main control unit 84 controls the servo motor 9 and the like via the drive control units 81 to 83 to perform a predetermined mounting operation, which will be described in detail later, according to a program stored in the storage unit 85.
[0065]
In particular, during mounting, the lock mechanism switching valve 75 is turned on / off according to the type of nozzle used for mounting, thereby switching the lock mechanism between a locked state and an unlocked state. Specifically, among the nozzles 23 to 28, when the nozzles 24 to 26 that can exhibit a buffer function are used alone, the lock mechanism is kept locked, and the other nozzles 23 and 27 , 28, the lock mechanism is unlocked at the lower part of the lifting range during the nozzle lifting operation. That is, the nozzle assembly block drive control means 82 and the main control means 84 constitute the lock control means of the present invention.
[0066]
Next, an example of mounting operation control by the controller 80 will be described with reference to the flowcharts of FIGS.
[0067]
FIG. 10 shows a series of mounting operation flows by the mounting machine. As shown in this figure, in the mounting operation, first, the head unit 5 is moved to the component supply unit 4 in step S1, and is attached to the nozzles 23 to 27 or the nozzle holder 28 of the head 20A (or 20B) in step S2. The parts are picked up by picking up with the nozzles. At this time, the block fixing valve 69 is turned on, and air is supplied to the upper pressure chamber 64 a of the air cylinder 62 through the shaft 45 to engage the positioning member 61 with the engagement hole 60 of the nozzle assembly block 30. Thus, the nozzle assembly block 30 is fixed so as not to rotate, and the nozzles mounted on the specific nozzles 23 to 27 or the nozzle holder 28 are set at the use positions. Further, by turning on the block fixing valve 69, the lock mechanism is brought into a locked state. Details of the component suction operation will be described later.
[0068]
Next, it is determined whether or not an adsorption error has occurred (step S3). Here, if it is determined that an adsorption error has occurred, specifically, if the component is adsorbed in an upright posture, such as when the component is adsorbed in an uncorrectable state, the head unit 5 is moved to a predetermined parts disposal section (not shown) and the parts are discarded (steps S10 and S11). The occurrence of such an adsorption error is determined by monitoring the negative pressure during component adsorption using a vacuum sensor or the like.
[0069]
If it is determined in step S3 that no suction error has occurred, the head unit 5 is moved above the component recognition cameras 17 and 18 to recognize the suction component and obtain the component suction displacement, etc. A correction amount for the target position at the time is obtained (steps S4 and S5), and it is further determined whether or not a recognition error has occurred (step S6). If it is determined that a recognition error has occurred, for example, if the recognition result is different from the corresponding part, the process proceeds to step S10 and the part is discarded.
[0070]
On the other hand, if it is determined in step S6 that no suction error has occurred, the head unit 5 is moved to a predetermined component mounting position on the printed circuit board 3 in consideration of the correction amount, and the component is mounted (step). S7, S8). Details of the component mounting operation will be described later.
[0071]
Then, in step S9, it is determined whether or not production is finished, that is, whether or not all predetermined parts are mounted on the printed circuit board 3, and if it is determined that the mounting of the parts is complete, This flowchart is terminated.
[0072]
If it is determined that component mounting has not been completed, the process proceeds to step S12 to determine whether or not nozzle replacement is necessary. If it is determined that no change is necessary, the process returns to step S1. On the other hand, if it is determined that the nozzle needs to be replaced, the process proceeds to step S13, the nozzle is replaced, and the process returns to step S1.
[0073]
The nozzle replacement is performed as follows. First, the block fixing valve 69 is switched off to shut off the air supply to the air cylinder 62, whereby the positioning member 61 is retracted into the cylinder by the urging force of the return spring 68. Thereafter, the nozzle assembly block 30 is rotationally driven by the operation of the servo motor 52, and the nozzles mounted on the desired nozzles 23 to 27 or the nozzle holder 28 are set at the use positions. Then, the block fixing valve 69 is switched on so that the positioning member 61 is engaged with the engagement hole 60, thereby fixing the nozzle assembly block 30.
[0074]
FIG. 11 is a flowchart showing specific control of the component suction operation in step S2 and the component mounting operation in step S8 in FIG.
[0075]
As shown in this figure, in the component suction and attachment operation, first, in step S21, whether or not the nozzle currently used is a small-diameter nozzle for mounting a small component (that is, the nozzles 24 to 26). Determine whether.
[0076]
Here, when it is determined that the nozzles 24 to 26 do not correspond to the nozzles 24 to 26, the process proceeds to step S22, and the nozzles mounted on the nozzles 23 and 27 or the nozzle holder 28 by driving the Z-axis servo motor 31 (hereinafter referred to as “nozzles”) The nozzles other than the small-diameter nozzles 24 to 26 are called nozzles 23 and the like (step S22). At this time, the nozzle 23 and the like are accelerated to a predetermined speed and then moved to a lower end at a constant speed.
[0077]
During the nozzle lowering operation, when the nozzle acceleration period ends, that is, when the predetermined speed is reached, the lock mechanism switching valve 75 is turned off, the lock mechanism is switched to the unlocked state, and parts are sucked or mounted. (Steps S23 to S25). The determination of the end of the acceleration period is made, for example, by aging the time from driving the Z-axis servomotor 31 to the end of the acceleration period using a timer or the like.
[0078]
When the nozzle 23 and the like are moved to the lower end position and the components are sucked and mounted, the Z-axis servomotor 31 is driven in reverse to raise the nozzle 23 and the like (step S26). Also in this case, the nozzle 23 and the like are accelerated to a predetermined speed and then moved to the rising end at a constant speed.
[0079]
During the nozzle ascending operation, the locking mechanism switching valve 75 is turned on at the time when 1/2 of the nozzle acceleration period elapses to switch the locking mechanism to the locked state, and then the nozzle 23 and the like are moved to the rising end position. (Steps S27, S28, S29). This is the end of this flowchart.
[0080]
On the other hand, if it is determined in step S21 that the nozzles correspond to the nozzles 24 to 26, the locking mechanism is not switched at all, and the nozzle 24 and the like are moved up and down while the locking mechanism is held in the locked state to suck and mount the components. The process proceeds to step S29 (steps S30 to S32).
[0081]
As described above, according to the mounting machine described above, when the nozzle mounted on the nozzles 23 and 27 or the nozzle holder 28 is used for sucking and mounting large parts and special parts, the lock mechanism is brought into the unlocked state during the nozzle lifting and lowering operation. Since the relative displacement of the holder 40 relative to the nozzle shaft 21 in the vertical axis direction is allowed to be switched, a buffering function is provided by the nozzle 23 and the like being displaced in the vertical axis direction integrally with the holder 40 at the time of component suction and mounting. Is demonstrated. Therefore, it is possible to effectively prevent damage to the component, the nozzle 23, and the like due to collision between the nozzle tip and the component, or collision between the component and the printed circuit board 3.
[0082]
In addition, the lock mechanism is held in a locked state except during the operation of raising and lowering the nozzle for sucking and mounting the component, and when the nozzle is being lowered for sucking and mounting the component, the lock mechanism is switched to the unlocked state after the acceleration period of the nozzle ends. Therefore, the vibration of the holder 40 due to the influence of the inertial force when the head unit 5 is moved or the nozzle is lowered can be effectively prevented. Therefore, even when it is required to set the moving speed of the head unit 5 and the acceleration when the nozzle is raised / lowered to shorten the tact time, the buffer function at the time of sucking and mounting the component is properly performed without vibrating the holder 40. Can be made.
[0083]
Further, the small-diameter nozzles 24 to 26 used for mounting small parts such as chip parts are provided with a buffering function by attaching the nozzles to the nozzle assembly block 30 so as to be elastically displaceable. In addition, there is an advantage that damage of components when mounting small components can be effectively prevented. That is, it is conceivable that these small-diameter nozzles 24 and the like are fixedly attached to the nozzle assembly block 30 in the same manner as the large-diameter nozzles 23 and the like, and the lock mechanism is unlocked so that the components can be sucked and attached. In this case, since the load of the entire holder 40 temporarily acts on the component when the component is mounted and mounted, it is conceivable that the component is damaged when the component is a chip component or the like. On the other hand, according to the above-described configuration in which the nozzle 24 and the like are attached to the nozzle assembly block 30 so as to be elastically displaceable, only the load of the nozzle alone needs to act on the component when the component is sucked. Therefore, there is an advantage that parts are hardly damaged.
[0084]
Further, in the mounting machine described above, the nozzle shaft 21 is configured as a double space as described above, and the air for the locking mechanism and the negative pressure for component adsorption are supplied using the same nozzle shaft 21, so that it is simple. There is also the advantage that a reasonable configuration is achieved.
[0085]
By the way, the mounting machine of the said embodiment is one Embodiment of the surface mounting machine based on this invention, The specific structure can be suitably changed in the range which does not deviate from the summary of this invention. For example, the following configuration may be employed.
[0086]
(1) In the mounting machine as described above, the nozzle lowering operation at the time of sucking and mounting components accelerates the nozzles (hereinafter abbreviated as symbols) mounted on the normal nozzles 23 to 27 and the nozzle holder 28 to a predetermined speed. After that, it is moved at a constant speed and then lowered while decelerating to the component sucking and mounting position (lower end position) and stopped at the component sucking and mounting position (refer to FIG. 12; referred to as first lowering operation). The following lowering operation may be performed.
[0087]
That is, after accelerating the nozzle to a predetermined speed and moving it at a constant speed, the nozzle is decelerated to the vicinity of the component suction mounting position (position slightly above the lower end position), and after this deceleration period, a constant low speed To lower the component suction mounting position (see FIG. 13; referred to as second lowering operation). In this way, since the nozzle moves at a constant low speed in the vicinity of the component suction and attachment position, the collision load between the nozzle tip and the component or the collision load between the component and the printed circuit board 3 is more effectively achieved. In combination with the buffer function as described above, damage to parts and nozzles can be more effectively prevented.
[0088]
In this case, the first lowering operation and the second lowering operation as described above may be selectively used according to the type of nozzle.
[0089]
Specifically, when the first lowering operation is performed when the small diameter nozzles 24 to 26 are used, the second lowering operation is performed when the other nozzles 23 or the like are used. Thus, it is possible to efficiently perform the mounting operation while effectively preventing damage to components and the like when mounting is performed. That is, when the nozzle 23 or the like is used, although the buffering function is exhibited, the load of the entire holder 40 temporarily acts on the component or the like as described above, so that the component compared to the other nozzles 24 to 26 is used. Therefore, by performing the second lowering operation, the collision load with the component and the like is reduced, and the component and the nozzle 23 are effectively prevented from being damaged. On the other hand, when using the nozzles 24 to 26 that are supported by the nozzle assembly block 30 so as to be displaceable in the nozzle axis direction, the nozzles are moved up and down quickly by the first lowering operation. The parts are sucked and installed quickly. As a result, the components are effectively prevented from being damaged when mounted using the nozzle 23 or the like while the components are efficiently mounted as a whole. In the case of the configuration of (1), the main control means 84, the shaft control means 81 and the like constitute the elevation control means of the present invention.
[0090]
(2) Further, a regulator (pressure adjusting means) for controlling the air pressure in the pressure chamber 70 is further provided, and the main control means 84 controls the air pressure in the pressure chamber 70 instead of switching the lock mechanism switching valve 75. The lock mechanism may be switched between a locked state and an unlocked state. In this case, in the locked state of the locking mechanism, the air pressure of the pressure chamber 70 is adjusted so that the holder 40 is restrained to be lifted and lowered at the lower end position. What is necessary is just to make it the air pressure of the pressure chamber 70 lower than the air pressure at the time of a locked state so that it can be elastically displaced. In this way, in the control as shown in FIGS. 10 and 11, the nozzle 23 and the like are elastically displaced in the longitudinal direction integrally with the holder 40 at the time of component suction and mounting, thereby exhibiting a buffering function. In some cases, the holder 40 is restrained so that it cannot be moved up and down, so that vibration of the holder 40 can be prevented well. Therefore, the same effect as the above embodiment can be obtained. In particular, in the case of this configuration, for example, if the main control means 84 controls the air pressure in the pressure chamber 70 at the time of component suction and mounting according to the type of nozzle and the type of component to be mounted, the type of nozzle and component Accordingly, the buffer performance, that is, the degree of elasticity when the nozzle is displaced can be switched, and the functionality of the surface mounter can be enhanced. In this configuration, the lock mechanism as described above corresponds to the restriction means of the present invention, and the main control means 84 corresponds to the restriction control means.
[0091]
(3) In the above embodiment, when the nozzles mounted on the nozzles 23 and 27 and the nozzle holder 28 are used, the lock mechanism is switched to the unlocked state at the timing when the acceleration period ends in the nozzle lowering operation, and the parts are sucked. After the mounting, the nozzle is raised so that it is switched to the locked state when the acceleration period has elapsed 1/2. However, it is not always necessary to switch the locking mechanism at this timing. The lock mechanism may be switched so that the buffer function can be exhibited. For example, the nozzle height position may be monitored based on the output of the position detection means built in the Z-axis servomotor 31, and the lock mechanism may be switched at a specific position during the nozzle up / down stroke.
[0092]
In the above embodiment, the present invention is applied to a type of mounting machine in which the nozzle assembly block 30 including a plurality of nozzles 23 to 28 is connected to the lower end portion of the nozzle shaft 21. Not only this mounting machine but also a general type mounting machine having one nozzle at the lower end of the nozzle shaft can be applied. In such a mounting machine, a nozzle or a holder for holding the nozzle is provided so as to be movable in the vertical axis direction with respect to the nozzle shaft, and a pressure chamber is formed between the nozzle and the nozzle shaft, and the pressure chamber is formed in the pressure chamber. The lock mechanism may be configured to supply air.
[0093]
By the way, in the mounting machine described above, the nozzles 24 to 26 having small diameters are mounted on the nozzle assembly block 30 so as to be elastically displaceable so that a buffer function can be exerted at the time of component suction and mounting. For 23 and the like, the relative vertical displacement of the holder 40 with respect to the nozzle shaft 21 is allowed to exert a buffering function at the time of sucking and mounting the components. While the components are sucked and mounted efficiently, the nozzle tip and the component are prevented from colliding with each other or the component and the printed circuit board 3 are prevented from colliding with each other. The buffer mechanism as described above for the nozzles 23 other than .about.26 is omitted, that is, the holder 40 is attached to the nozzle shaft 21. A structure coupled to the body, can provide the same effect by performing the first downward movement and the second descending operation described as a nozzle lowering operation of the component 吸装 Chakuji the ▲ 1 in ▼ appropriately. Specifically, the first lowering operation is performed when the small-diameter nozzles 24 to 26 are used, and the second lowering operation is performed when the other nozzles 23 are used. In this way, when the small-diameter nozzles 24 to 26 are used, the nozzles 24 to 26 can be quickly moved up and down so that the components can be sucked and mounted efficiently. Also, due to the elastic displacement of the nozzles 24 to 26. Damage to parts and nozzles can be prevented by exerting the buffer function. On the other hand, when a nozzle 23 other than the small-diameter nozzles 24 to 26 is used, the nozzle 23 or the like is lowered at a low speed in the vicinity of the component suction mounting position, or the collision load between the nozzle tip and the component, or the component and print. The collision load with the substrate 3 can be reduced to effectively prevent damage to the parts and the nozzles 23, etc. Also, the parts can be quickly sucked and mounted by rapidly raising and lowering the nozzles 23 and the like except near the parts sucking and mounting position. can do.
[0094]
Therefore, even with such a configuration, it is possible to effectively prevent damage to components, nozzles, and the like due to collision between the tip of the nozzle and the component or collision between the component and the printed circuit board 3 while efficiently sucking and mounting the component. In particular, when a nozzle 23 or the like that does not have a buffer function is used, the first lowering operation causes a collision with a component or the like when the nozzle 23 or the like reaches a component suction mounting position before the nozzle 23 or the like is sufficiently decelerated due to an operation error or the like. Although there is a high possibility that the load becomes large and damages the parts and the like, the second descending operation as described above causes the nozzle 23 and the like to be constant in the vicinity of the parts suction mounting position even if such an operation error occurs. Therefore, the collision load with the components and the like does not increase, and this can effectively prevent damage to the components and nozzles. In this configuration, the nozzle lowering operation is switched between the small-diameter nozzles 24 to 26 and the other nozzles 23 and the like. However, regardless of the type of the nozzle, the nozzle is uniformly moved in the vicinity of the component suction mounting position. You may make it descend | fall by. In this way, when the nozzles 24 to 26 having a small diameter are used, the nozzle tip and the component collide with each other, or the component and the printed circuit board 3 collide with each other. Is possible.
[0095]
【The invention's effect】
As described above, the present invention relates to the nozzle shaft of the head unit. , Nozzle assembly block through holder Is connected to the nozzle shaft so that it can be moved up and down relatively. holder Locking means for preventing the lifting and lowering of the nozzle is provided, and this locking means is connected to the nozzle shaft. holder It is possible to switch between a locked state that restricts the movement of the nozzle up and down and an unlocked state that allows the nozzle to move up and down. In other cases, the locking means can be set to be in the locked state, and in this way, the head unit can be moved and the nozzles can be It is possible to effectively prevent the occurrence of nozzle vibration due to the influence of inertial force at the time.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing an example of a surface mounter according to the present invention.
FIG. 2 is a front view (partially sectional view) showing a configuration of a head unit.
3 is a cross-sectional view taken along the line AA of FIG. 2 showing the configuration of the head unit.
FIG. 4 is a plan view showing a configuration of a head unit.
FIG. 5 is a cross-sectional view taken along the line CC of FIG. 6 showing a specific structure of the lower portion of the nozzle shaft.
6 is a cross-sectional view taken along the line BB in FIG. 2 showing a specific structure of the lower portion of the nozzle shaft.
7 is an enlarged view of a main part of FIG. 3 showing a specific structure of the upper part of the nozzle shaft.
FIG. 8 is a schematic diagram showing an example of operation when the lock mechanism is in a locked state and in an unlocked state.
FIG. 9 is a block diagram illustrating an example of a control system of the surface mounter.
FIG. 10 is a flowchart illustrating an example of mounting operation control.
FIG. 11 is a flowchart showing specific control of the component sucking and mounting operation in FIG. 10;
FIG. 12 is a diagram showing a nozzle lowering operation (relationship between nozzle height and time) during component suction mounting (first lowering operation).
FIG. 13 is a diagram showing a nozzle lowering operation (relationship between nozzle height and time) during component suction mounting (second lowering operation).
[Explanation of symbols]
5 Head unit
21 Nozzle shaft
40 holders
23-27 nozzles
28 Nozzle holder
30 Nozzle assembly block
70 Pressure chamber

Claims (13)

The movable head unit is provided with a nozzle shaft, and this nozzle shaft is supported so as to be movable up and down relatively with respect to the frame of the head unit, and a nozzle for adsorbing components is attached to the lower end of the nozzle shaft. in the surface mounting machine it is,
Rotation plurality of the nozzle assembly blocks assembled such that the nozzle is arranged in the circumferential direction, it is relative to the elevation linked with respect to the nozzle shaft to the lower end of the nozzle shaft and the nozzle assembly blocks a holder displaceably held, and a locking means for preventing the lifting of the holder with respect to the nozzle shaft, the locking means includes a pressure chamber formed between said nozzle assembly blocks and the holder, the pressure chamber A fluid supply means to the pressure chamber, and by supplying the fluid to the pressure chamber, the nozzle shaft is locked so that the holder cannot be moved up and down, and the fluid supply to the pressure chamber is stopped to stop the nozzle. A surface mounter configured to be switchable to an unlocked state that allows the holder to move up and down relative to the shaft. The nozzle assembly block is held by the holder in a state in which the nozzle assembly block can be rotationally displaced about the horizontal axis, and the nozzles are fixed to nozzle assembly recesses formed at a plurality of positions on the outer peripheral surface, whereby a plurality of nozzles are provided. The surface mounter according to claim 1, wherein the surface mounter is provided radially . Has a lock control means for controlling the upper Symbol locking means, the lock control means, part吸装 the unlocked state locking means upon the bottom of the lifting range nozzle elevating operation for wear, lock the locking means otherwise surface mounting machine according to claim 1 or 2, wherein to Rukoto to click state. In the nozzle lowering operation for component吸装deposition, after accelerating the nozzle to a predetermined speed, there is to be lowered to the component吸装fixing position by decelerating from a constant speed or middle, the lock control means, the Roh nozzle predetermined speed or surface mounting apparatus according to claim 3, wherein the switching said lock means from the locked state to the unlocked state after a predetermined position. The lock control means, part吸装After wearing surface mounting machine according to claim 3 or 4 Symbol mounting in the nozzle increases operating the locking means from the unlocking state, characterized in switch between the locked state of the. The nozzle shaft has a double pipe structure in which a hollow subshaft is built inside a hollow main shaft and a passage is formed inside and outside the subshaft, and a passage on one side is connected to the pressure chamber. while the fluid in the passage is configured to be supplied, according to claim 1, passage of the other side are communicatively connected to the nozzle, the negative pressure for component suction to the passageway is characterized that you have been configured to be supplied The surface mounting machine in any one of thru | or 5. Upper Symbol lock control means, the surface mounting apparatus according to claim 1 or 2, characterized in that the locking means in a locked state when the nozzle vertical movement. Among the nozzles provided in the nozzle assembly block, some of the nozzles are nozzles with a buffer function supported so as to be displaceable in the nozzle axial direction with respect to the nozzle assembly block. buffering function surface mounting machine according to claim 7 Symbol mounting, characterized in that the locking means in a locked state when the nozzle elevating operation in the case of using a nozzle performing component吸装deposition. There is an elevating drive means for elevating and lowering the nozzle by driving the nozzle shaft, and an elevating control means for controlling the elevating drive means . accelerating the nozzle to a predetermined speed, after the middle or al decrease speed, claim and controls the elevation driving means so as to lower the nozzle at a constant low speed in parts吸装fixing position near 1 The surface mounting machine in any one of thru | or 8. Upper Symbol elevation control means is the nozzle lowering operation during component吸装wear, to accelerate the nozzle to a predetermined speed, the first and lowering operation for lowering while decelerated to parts吸装fixing position from the middle, the nozzle to a predetermined speed After accelerating and decelerating from the middle, it is possible to execute a second lowering operation that lowers the nozzle at a constant low speed in the vicinity of the component suction mounting position, and the type of nozzle provided in the nozzle assembly block Correspondingly surface mounting machine according to claim 9, wherein that you have configured to selectively execute the said first lowering operation and the second lowering movement. Some of the nozzles provided in the nozzle assembly block are nozzles with a buffer function supported so as to be displaceable in the nozzle axial direction with respect to the nozzle assembly block, and the elevation control means includes The surface mounter according to claim 10, wherein the first lowering operation is performed when a component is mounted and mounted using a nozzle having a buffer function . The movable head unit is provided with a nozzle shaft, and this nozzle shaft is supported so as to be movable up and down relatively with respect to the frame of the head unit, and a nozzle for adsorbing components is attached to the lower end of the nozzle shaft. In the surface mount machine that
A nozzle assembly block in which a plurality of the nozzles are arranged in the circumferential direction, and a lower end portion of the nozzle shaft is connected to the nozzle shaft so as to be movable up and down relative to the nozzle shaft, and the nozzle assembly block is rotationally displaced. A holder that can be held, a regulating means that regulates the raising and lowering of the holder relative to the nozzle shaft, and a regulation control means that controls the regulating means ,
The regulating means includes a pressure chamber formed between the nozzle and the holder, a fluid supply means to the pressure chamber, and a pressure adjusting means capable of adjusting the fluid pressure in the pressure chamber. By supplying a fluid to the chamber, the nozzle is constrained to a specific position with a force corresponding to the fluid pressure in the pressure chamber, and the restriction control means is at the time of the nozzle raising / lowering operation for component suction and attachment. fluid pressure in the pressure chamber when the nozzle reaches the component吸装fixing position is, the front surface mounter you and controls the regulating means so as to be lower than the fluid pressure in the pressure chamber when otherwise. The restriction control means is configured to adjust the fluid pressure in the pressure chamber when the nozzle reaches the component suction mounting position according to at least one of a type of nozzle used for component suction and mounting and a type of component to be mounted. surface mounting machine according to claim 12, wherein the control to Turkey.

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