JP4358012B2 - Component conveying device, surface mounter and component testing device - Google Patents

Description

  The present invention is applied to a component transport device configured to suck, hold, and transport an electronic component such as an IC by a head unit including a head that can be moved up and down with a suction nozzle at the lower end, and this device is applied. The present invention relates to a surface mounter and a component testing apparatus.

  Conventionally, a mounting head with a suction nozzle at the lower end can be moved up and down, and an electronic component such as an IC is sucked by a movable head unit and transported onto a printed circuit board positioned at the mounting work position. A surface mounter that is mounted at a predetermined position on a printed circuit board is generally known.

  In this surface mounting machine, the part picked up by the picking nozzle of the mounting head is picked up by the image pickup means, and the suitability of the part picking state is determined based on the image, and the shift of the part picking position is checked to The mounting position is corrected accordingly. In particular, a head unit equipped with an imaging means such as a camera and a mirror is also known so that the picked-up component can be imaged and processed based on the picked-up component while the head unit is moving onto the printed circuit board after picking up the component. (See, for example, Patent Document 1).

In this way, when the image pickup means is equipped in the head unit, it is necessary to be able to take an image of the component sucked by the suction nozzle at the lower end of the mounting head from below, while at the time of component suction or component mounting It is necessary to prevent the imaging optical member such as a camera or a mirror from interfering with the raising / lowering operation of the mounting head. For this reason, in this type of conventional mounting machine, the imaging means can be moved between a state in which the imaging optical member is positioned substantially vertically below the mounting head and a state in which the imaging optical member is retracted outward from the range corresponding to the mounting head. In the non-imaging state, the retracted state is set so as not to obstruct the lifting operation of the mounting head.
JP 11-298198 A

  According to the conventional surface mounter as described above, since the imaging optical member is retracted outward from the range corresponding to the mounting head at the time of non-imaging, It is necessary to secure a sufficient space, and it is necessary to make the image pickup means movable in a wide range, so that the moving mechanism of the image pickup means is easily increased in size. And if the said moving mechanism etc. which are mounted in a head unit are enlarged, it will become disadvantageous in terms of the improvement of the operativity of a head unit, etc.

  The present invention has been made in view of the circumstances as described above. The head unit is equipped with an imaging means, and the head unit and the imaging optical member are not interfered when the head is raised and lowered. The image pickup means can be fixed or the moving range of the image pickup means can be reduced, and the moving mechanism of the image pickup means can be omitted or downsized. The purpose is to provide a test device.

In order to solve the above-described problems, the present invention provides a head having a suction nozzle at the lower end so that the head can be moved up and down, and sucks a component from a component supply position by the head of the head unit that is movable. In the component conveying device configured to convey the head up and down, when the head is above the head raising / lowering range, the head raising / lowering is performed so as to be offset horizontally with respect to the position when the head is below the head raising / lowering range. In at least a part of the range, an elevating / displacement mechanism that displaces the head in the horizontal direction as the head elevates is provided, and an imaging unit for imaging the component adsorbed by the adsorption nozzle from below is provided in the head unit. Is an imaging optical member positioned substantially vertically below the suction nozzle when the head is above the head lifting range. Go, substantially vertically upwards a position of the suction nozzle when the head is below the head lifting range is arranged below the imaging optical element for imaging the downward, the head is above the head lifting range In this case, the optical axis of the lower imaging optical member and the head are displaced from each other in the horizontal direction, and the head retracts from the field of view of the lower imaging optical member .

  According to this apparatus, while the head unit picks up the component and conveys the component from the component supply position to the target position, the picked-up component is imaged from below by the imaging means provided in the head unit. In addition, the head is moved up and down at the component supply position and at the target position to attract and detach the component, but the head is displaced in the horizontal direction as it is lifted, so that interference with the imaging optical member can be avoided. For this reason, it is not necessary to retract the imaging optical member when the head is raised and lowered.

  Therefore, the imaging optical member only needs to be provided fixed to the head unit.

  When a plurality of heads are provided in the head unit, a plurality of imaging optical members corresponding to each head may be fixedly provided, but the imaging optical members are arranged in the arrangement direction of the heads. It may be provided so as to be movable within a range substantially corresponding to the head arrangement range, and in this way, the parts sucked by each head are sequentially imaged. Even when the imaging optical member is moved in this way, it is not necessary to retreat outward from the range substantially corresponding to the head arrangement range, and the moving range of the imaging optical member can be reduced.

  The lifting / displacement mechanism includes, for example, a guide portion that guides the head in an oblique direction with respect to the vertical direction, a ball screw disposed in parallel with the guide portion, and a motor that drives the ball screw. According to this structure, when the ball screw is driven by the motor, the head moves in an oblique direction along the guide, and is displaced in the horizontal direction as it moves up and down.

  Alternatively, the elevating / displacement mechanism includes an elevating body attached to the head unit so as to elevate in a substantially vertical direction, a drive mechanism for elevating the elevating body, and allowing the head to swing and displace relative to the elevating body. A parallel link mechanism to be coupled; and an operation cam that has an oblique cam surface and is fixed to the head unit. The cam surface of the operation cam when the head is raised and lowered. It may be comprised so that it may move along. According to this structure, the head moves along the cam surface of the follow-up operation cam as the elevating body moves up and down, so that the head is displaced in the horizontal direction along with the up and down movement.

  Alternatively, the elevating / displacement mechanism guides the head in an oblique direction with respect to the vertical direction, and has an orbital portion in which N-pole and S-pole magnetic poles are alternately arranged in the oblique direction, You may have a linear motor which consists of a core arrange | positioned in parallel and facing a magnetic pole, and the coil wound around this core. According to this structure, when a predetermined alternating current is passed through the coil, the head moves in an oblique direction along the track portion, and is displaced in the horizontal direction as it moves up and down.

  The component conveying apparatus as described above is effectively applied to a surface mounter or a component testing apparatus. That is, in a surface mounter that transports a component supplied by a component supply unit onto a substrate positioned at a mounting work position and mounts the component at a predetermined position on the substrate, the component is transferred from the component supply unit onto the substrate. It is set as the structure provided with the above component conveyance apparatuses as a means. In addition, in a component testing apparatus that performs various tests by conveying a component supplied in a component supply unit to a test unit, the component conveyance device as described above is provided as a unit for conveying the component from the component supply unit to the test unit. The configuration is as follows.

In the surface mounter, it is preferable to further adopt the following configuration.

Prior to a component suction operation for sucking a component from the component supply unit, the suction point of the component supply unit is imaged by the lower imaging optical member in a state where the head is in the raised position.

Alternatively, after the components are transported from the component supply unit and mounted on the substrate, the mounting point on the substrate is imaged by the lower imaging optical member while the head is in the raised position.

As described above, according to the present invention, the picked-up component can be imaged by the image pickup means provided in the head unit while the head unit picks up the component and conveys it from the component supply position to the target position. , Moreover, while such interference between the head and the imaging optical element at the time of head lifting is Ru avoided, since as it is not necessary to retract the optical member for the imaging outwardly, imaging means to be mounted on the head unit The moving mechanism can be omitted or downsized.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  1 and 2 schematically show a surface mounter to which the present invention is applied. As shown in the figure, on a base 1 of a surface mounting machine (hereinafter, abbreviated as a mounting machine), a printed board carrying conveyor 2 is arranged, and the printed board 3 is carried on the conveyor 2 to a predetermined level. Is stopped at the mounting work position. In this embodiment, the substrate transport direction (the direction of the conveyor 2) is referred to as the X-axis direction, the direction orthogonal to the X-axis on the horizontal plane is referred to as the Y-axis direction, and the vertical direction orthogonal to the XY plane (horizontal plane) is referred to as the Z-axis direction. .

  On both sides of the conveyor 2, component supply units 4 are arranged. These component supply units 4 are provided with multiple rows of tape feeders 4a. Each tape feeder 4a is configured such that small pieces of electronic components such as ICs, transistors, capacitors, etc. are stored at predetermined intervals, and the held tape is led out from the reel. Electronic components are taken out from the tape feeder 4a.

  Above the base 1, a component mounting head unit 5 is provided. The head unit 5 is movable across the component supply unit 4 and the component mounting unit on which the printed board 3 is located, and can move in the X-axis direction and the Y-axis direction.

  That is, a fixed rail 7 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 support member 11 is disposed on the fixed rail 7. The 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 in the X-axis direction and a ball screw shaft 14 driven by an X-axis servo motor 15, and the head unit 5 is movably held by the guide member 13. A nut portion (not shown) provided on the head unit 5 is screwed onto the ball screw shaft 14. The support member 11 is moved in the Y-axis direction by the operation of the Y-axis servo motor 9, and the head unit 5 is moved in the X-axis direction with respect to the support member 11 by the operation of the X-axis servo motor 15. ing.

  The head unit 5 is provided with a plurality of mounting heads 16 each having a suction nozzle 16a at the tip. In the illustrated example, six mounting heads 16 are mounted in a line at equal intervals in the X-axis direction. Has been.

  Each of the mounting heads 16 can be moved up and down with respect to the head unit main body 5a. In particular, as shown in FIGS. 3 and 4, in order to prevent interference with the component recognition camera 31, which will be described later, when the mounting head 16 is above the lifting range, it is offset horizontally relative to the position when it is below. The lifting / displacement mechanism 20 that displaces the mounting head 16 in the horizontal direction as it moves up and down is provided in at least a part of the raising and lowering range. Further, the head unit 5 includes a first imaging unit 30 for imaging a component sucked by the suction nozzle 16a from below, and an imaging target below the mounting head 16 at a component supply position or a component mounting position. A second image pickup means 35 for picking up an object from above is provided for each of the mounting heads 16, and at the side of one end side in the mounting head arrangement direction, the fiducial of the printed circuit board 3. A board recognition camera 40 (see FIGS. 1 and 2) for imaging the mark is provided.

  The specific structures of the lifting / displacement mechanism 20 and the first and second imaging means 30 and 35 will be described below with reference to FIGS.

  The lifting / displacement mechanism 20 includes a guide 21 that guides the mounting head 16 in an oblique direction, a ball screw shaft 22, and a servo motor 23. The guides 21 are provided at two positions spaced at predetermined intervals on both sides of the mounting head 16 in the X-axis direction, and are arranged so as to extend in a direction inclined with respect to the vertical direction on the YZ plane. The head unit body 5a is fixed via a bracket (not shown). The ball screw shaft 22 is rotatably supported on the head unit main body 5a via a bearing member (not shown) while being arranged so as to extend in parallel with the guide 21, and is connected to the servo motor 23. ing.

  A head mounting frame 24 that holds the mounting head 16 is movably supported by the guide 21 and a nut portion 25 provided on the head mounting frame 24 is screwed onto the ball screw shaft 22. The head mounting frame 24 and the mounting head 16 are configured to move obliquely along the guide 21 as the ball screw shaft 22 is driven to rotate by the servo motor 23. The mounting head 16 can be moved up and down by a fixed small stroke smaller than the movement range of the head mounting frame 24 with respect to the head mounting frame 24, and the air cylinder 26 moves up and down by the fixed small stroke. At the same time, it can be rotated and is driven to rotate by an R-axis servomotor 27. Further, the mounting head 16 is provided with a passage (not shown) that guides the suction negative pressure to the suction nozzle 16a at the lower end thereof.

  The first image pickup means 30 has a component recognition camera 31 as an image pickup optical member so that the camera 31 can pick up the component sucked by the suction nozzle 16a of the mounting head 16 from below vertically. In the state of being faced upward, it is attached to a camera attachment frame 32 fixed to the lower end portion of the head unit main body 5a. The positional relationship between the mounting head 16 and the component recognition camera 31 is such that the camera is located at a position substantially vertically below the suction nozzle 16a when the mounting head 16 is above the lifting range (for example, the rising end). 31 is arranged, and when the mounting head 16 moves below the lifting range, the suction nozzle 16a and the camera 31 are set so as to be displaced forward and backward (Y-axis direction) without interfering with each other. An illumination device 33 made up of a large number of LEDs and the like is disposed around the camera 31, and a component adsorbed by the adsorption nozzle 16a in a state where the mounting head 16 is above the lifting range is a component recognition camera. When the image is picked up by 31, the light is irradiated from the illumination device 33 to the suction component.

The second imaging means 35 has a lower state recognition camera 36 as an optical member for lower imaging, and this camera 36 picks up a suction point immediately before picking up a component at a component supply unit, or a component on a printed circuit board. It is attached to a camera attachment frame 37 fixed to the upper end portion of the head unit main body 5a in a state of being directed downward so that the attachment point immediately after the attachment can be imaged. As for the positional relationship between the mounting head 16 and the lower state recognition camera 36, the camera is located at a position substantially vertically above the suction nozzle 16 a when the mounting head 16 is below the lifting range (for example, the lower end). When the mounting head 16 is moved above the lifting range, the optical axis of the camera 36 and the mounting head 16 are displaced from each other in the front-rear direction (Y-axis direction), and the mounting head 16 is moved to the camera 36. It is set to evacuate from the field of view.

  Note that an illumination device 38 that illuminates the imaging target position of the lower state recognition camera 36 is provided on the side of the suction nozzle 16 a in the lower portion of the mounting head 16.

  Further, although not shown in the drawings, the mounting machine described above includes a well-known CPU that executes logical operations, a ROM that stores a control program by the CPU in advance, a RAM that temporarily stores various data, and the like. The servo motors 9, 15, 23, 27 and the cameras 31, 36, 40 are all electrically connected to the control means. This control means has a function of performing processing such as recognition of an imaging target portion, discrimination and correction based thereon based on the image of the suction component captured by the camera 31 and the like, which will be described in detail later. During the mounting operation, the servo motor 9 and the like are comprehensively controlled by this control means, so that a series of component mounting operations are executed according to a program stored in advance.

  Next, the mounting operation of the mounting machine and the imaging performed by the first and second imaging means 30 and 35 and the processing based thereon will be described with reference to FIGS.

  At the time of component mounting, the head unit 5 first moves to an upper position of the component supply unit 4, and the electronic component is sucked from the tape feeder 4a by the nozzle 16a of each mounting head 16, but prior to this component sucking operation, for mounting With the head 16 in the raised position (FIG. 3), the lower point recognition camera 36 images the suction point of the tape feeder 4a. In this case, the suction point, which is the position corresponding to the suction nozzle 16 when the mounting head 16 is lowered, is imaged by the camera 36. However, when the mounting head 16 is in the raised position, the field of view of the camera 36 is used. Since the mounting head 16 is retracted, the pickup point can be imaged without any trouble.

  Then, based on the image picked up by the camera 36, it is determined whether or not there is a component at the suction point. If there is no component, as a process corresponding thereto, for example, until the component is present, the tape Feeder tape is fed out. If there is a component at the suction point, it is checked whether or not the component in the tape is deviated from the predetermined reference position. If it is deviated, a correction amount of the suction position corresponding to the component is obtained.

  After the imaging by the lower state recognition camera 36, the ball screw shaft 22 is rotationally driven by the motor 23 of the lifting / displacement mechanism 20, so that the mounting head 16 moves obliquely downward from the raised position (FIG. 4). Further, the mounting head 16 is lowered by a certain small stroke from the end of the oblique movement range by the operation of the air cylinder 26, and the suction nozzle 16a at the lower end of the mounting head 16 reaches the suction position. When the correction amount of the suction position is obtained, the suction position is also corrected by moving the head unit 5 by a minute amount.

  When the mounting head 16 is lowered to the suction position, the parts are sucked from the tape feeder, and then the air cylinder 26 is operated in the direction opposite to that when the mounting head is lowered, and the ball screw shaft 22 is moved by the motor 23 of the lifting / displacement mechanism. By performing the rotational drive, the mounting head 16 is set to the raised position. Such component suction operation is performed simultaneously or sequentially on the plurality of mounting heads 16.

  When the mounting head 16 reaches the ascending position after the components are picked up, the components picked up by the suction nozzle 16a are positioned immediately above the component recognition camera 31, and the picked-up components are imaged by the camera 31. Then, based on the image, whether or not the suction component and the suction state are good is determined. If the suction component is good, the shift of the component suction position is checked, and the correction amount of the mounting position corresponding thereto is obtained.

  Such imaging of the picked-up component by the component recognizing camera 31, determination based on the picked-up component, and calculation of the mounting position correction amount are performed after the picked-up component and before the head unit 5 moves and reaches the printed circuit board 3. Is called.

  When the head unit 5 reaches the printed circuit board 3, the mounting head 16 corresponding to the mounting point is lowered. Specifically, the mounting head 16 is moved obliquely downward from the raised position by driving the lifting / displacement mechanism 20 (see FIG. 4), and the mounting head 16 is lowered by a small stroke by the operation of the air cylinder 26. The component sucked by the suction nozzle 16a reaches the mounting point on the surface of the printed circuit board 3, and the component is mounted.

  After the mounting of the components, the air cylinder 26 is actuated in the direction opposite to that when the mounting head is lowered, and the ball screw shaft 22 is rotationally driven by the motor 23 of the lifting / displacement mechanism 20. Raised position. In this state, the mounting state on the printed circuit board 3 is imaged by the lower state recognition camera 36, and based on the image, it is determined whether or not a component is correctly mounted on the mounting point. When the mounting of the component by one mounting head 16 and the imaging by the camera for recognizing the lower state after mounting the component are completed, the movement to the next mounting point is repeated, and the operation is repeated. Parts are sequentially mounted at the mounting points corresponding to.

  According to the mounting machine of the present embodiment as described above, when the mounting head 16 is in the raised position, the suction nozzle 16a is positioned directly above the component recognition camera 31, and the suction component by the component recognition camera 36 is removed. On the other hand, when the mounting head 16 is lowered during component suction or component mounting, the mounting head 16 is moved obliquely by driving of the lifting / displacement mechanism 20, thereby the component recognition camera 36. Therefore, it is not necessary to retract the component recognition camera 36. Accordingly, the component recognition camera 36 can be fixedly provided to the head unit 5.

  5 to 7 show another embodiment of an elevating / displacement mechanism that displaces the mounting head 16 in the horizontal direction as it elevates.

  The lifting / displacement mechanism 50 of this embodiment includes a lifting body 51 attached to the main body 5a of the head unit 5 via a guide 52 in the Z-axis direction so as to be lifted and lowered, a drive mechanism 53 for lifting and lowering the lifting body 51, A parallel link mechanism 54 for connecting the mounting head 16 to the lifting body 51 so as to be swingable and displaceable, and a follow-up cam 57 are provided.

  The drive mechanism 53 has a ball screw shaft 53b that is arranged in the Z-axis direction and is driven to rotate by a servo motor 53a. A nut portion 53c provided on the elevating body 51 is screwed onto the ball screw shaft 53b. Yes. As the ball screw shaft 53b is driven and rotated by the servomotor 53a, the elevating body 51 moves linearly in the Z-axis direction.

  The mounting head 16 is attached to a head mounting frame 58 that is separate from the lifting body 51, and a first link 55 and a second link 56 are disposed between the head mounting frame 58 and the lifting body 51. Yes. These links 55 and 56 are arranged in parallel with each other at an interval in the vertical direction, and both ends of the links 55 and 56 rotate around the lift 51 and the head mounting frame 58 via shafts 55a and 55b and 56a and 56b. The parallel link mechanism 54 is comprised by being connected movably. The parallel link mechanism 54 is configured such that the head mounting frame 58 that holds the mounting head 16 can be oscillated and displaced with respect to the elevating body 51 while the mounting head 16 is maintained in a vertically arranged state. Has been.

  Further, the tracing operation cam 57 is fixedly provided to the head unit main body 5a, and has a cam surface 57a oblique to the Z-axis at an intermediate portion, and is located above and below the oblique cam surface 57a. The cam surfaces 57b and 57c in the vertical direction are connected to each other. A cam follower 59 in contact with the cam surfaces 57a, 57b, 57c is provided on the head mounting frame 58 for the follow-up cam 57. Further, between the lifting body 51 and the head mounting frame 58, the cam follower 59 is moved along the direction in which the cam followers 59 are pressed against the cam surfaces 57a, 57b, 57c of the operation cam 57 (the direction in which the head mounting frame 58 approaches the lifting body). A spring 60 is provided.

  According to the lifting / displacement mechanism 50, as the lifting body 51 is lifted and lowered by driving of the driving mechanism 53, the cam surfaces 57a and 57b of the operation cam 57 follow the head mounting frame 58 and the mounting head 16 attached thereto. , 57c, and moves in the direction defined by 57c. Then, when the cam follower 59 passes through the oblique cam surface 57a in the middle of the ascending / descending range, the mounting head 16 moves obliquely, so that it is displaced in the horizontal direction as the ascending / descending.

  Also in this embodiment, the component recognition camera 31 of the first imaging means 30 is fixedly provided below the head unit 5, and the suction nozzle 16a when the mounting head 16 is in the raised position (see FIG. 5). When the mounting head 16 moves below the lifting range, the suction nozzle 16a and the camera 31 are displaced from each other back and forth (Y-axis direction) without interfering with each other. Is set.

  The lower state recognition camera 36 of the second imaging means 35 is fixedly provided above the head unit 5 and is positioned substantially vertically above the suction nozzle 16a when the mounting head 16 is in the lowered position. When the mounting head 16 moves above the lifting range, the optical axis of the camera 36 and the mounting head 16 are displaced from each other in the front-rear direction (Y-axis direction), and the mounting head 16 It is set to evacuate from the field of view.

  The illumination devices 33 and 38 are provided for the respective image pickup means 30 and 35, and the R-axis servomotor 27 is provided on the head mounting frame 58, etc., as in the embodiment shown in FIGS. It is substantially the same.

  Also in this embodiment, the same operations and effects as those of the embodiment shown in FIGS. 3 and 4 are obtained.

  FIG. 8 shows another embodiment of a lifting / displacement mechanism that horizontally displaces the mounting head as it moves up and down.

  The lifting / displacement mechanism of this embodiment is constituted by a linear motor 70 arranged so as to move the mounting head in an oblique direction. That is, the linear motor 70 constituting the lifting / displacement mechanism guides the mounting head (not shown) in an oblique direction with respect to the vertical direction, and the N-pole and S-pole magnetic poles 77 are alternately arranged in the oblique direction. A track portion 72, a core 75 arranged parallel to the track portion 72 and facing the magnetic pole 77, and a coil 76 wound around the core 75.

  The track portion 72 is fixed to the head unit main body 5a in a state where the track portion 72 is disposed obliquely in parallel with the guide 21. The core 75 and the coil 76 are held by a coil holding member 54 attached to the head attachment frame 24. More specifically, the coil holding member 74 is formed in a hollow shape by releasably connecting the upper bracket 74a and the lower bracket 74b, and is screwed to the head mounting frame 24. A portion where the magnetic pole 77 of the track portion 72 is disposed is inserted into the center portion of the track portion 72 so as to be relatively movable, and the core 75 and the coil 76 are disposed around the portion of the magnetic pole 77 of the track portion 72 inside the coil holding member 74. Is arranged.

  Since other structures are the same as those of the embodiment shown in FIGS. 3 and 4 described above, illustration and description thereof are omitted.

  According to this lifting / displacement mechanism, by passing a predetermined alternating current through the coil 76, the head mounting frame 24 and the mounting head attached thereto move in the oblique direction along the track portion 72, and as it is lifted / lowered It is also displaced in the horizontal direction. Therefore, the same operation and effect as the embodiment shown in FIGS. 3 and 4 are obtained.

The specific structure of the apparatus of the present invention is not limited to the above-described embodiments, and can be variously modified. Other embodiments will be described below.
(1) In each of the above embodiments, the component recognition camera is disposed as an imaging optical member of the first imaging means at a position substantially vertically below the suction nozzle when the mounting head is in the raised position. However, by arranging a mirror at this position at an angle of approximately 45 ° and installing a component recognition camera on the side of the mirror, the suction component may be imaged from below via the mirror. Also for the second imaging means, a mirror may be arranged at an angle of about 45 ° at the position of the camera shown in each of the above embodiments, and the camera may be installed on the side thereof.
(2) In each of the above embodiments, the component recognition camera is fixedly provided to the head unit. However, the component recognition camera (or mirror and camera) can be moved in the head arrangement direction with respect to the head unit. By providing, the components picked up by each of the plurality of mounting heads may be sequentially imaged by one component recognition camera. Even in this case, the imaging optical member such as a camera does not need to be retracted outward from the range substantially corresponding to the head arrangement range, and may be movable within the head arrangement range.
(3) In the embodiment shown in FIGS. 3 and 4, in addition to the lifting / displacement mechanism 20 that moves the mounting head 16 in an oblique direction, an air cylinder that moves the mounting head 16 up and down in the Z-axis direction by a fixed small stroke. However, the air cylinder 26 may be omitted, and the lifting / displacement mechanism may be configured to move the mounting head 16 diagonally over the entire lifting range. (4) In each of the above embodiments, a case where the present invention is applied to a surface mounter is shown, but the present invention can also be applied to a component testing apparatus that performs various tests on electronic components such as ICs. That is, although not shown in the figure, for example, it has a movable head unit on which one or more heads for component mounting are mounted, and the component placed at the component supply position is sucked by the head and conveyed to the test means. In addition, after picking up the component, there is a device that picks up the picked-up component with an imaging means mounted on the head unit and corrects the picked-up position based on the recognition of the image. It is conceivable to adopt the same configuration as the head unit as shown in the above embodiments as the configuration of the head unit.

It is a top view which shows roughly the surface mounting machine with which the component conveying apparatus which concerns on embodiment of this invention was mounted. It is a front view which abbreviate | omits and shows a part of surface mounting machine of FIG. FIG. 2 is a schematic side view showing a first embodiment of a component conveying apparatus in the surface mounting machine of FIG. 1 and showing a state in which a mounting head is in a raised position. It is a schematic side view which shows the state which has the mounting head in a lowered position in the apparatus of the said 1st Embodiment. FIG. 9 is a schematic side view showing a state in which the mounting head is in the raised position, showing the second embodiment of the component conveying apparatus. It is a schematic side view which shows the state which has the mounting head in the middle of the raising / lowering range in the apparatus of the said 2nd Embodiment. It is a schematic side view which shows the state which has the mounting head in a lowered position in the apparatus of the said 2nd Embodiment. FIG. 4 shows still another embodiment of the lifting / displacement mechanism, wherein (a) is a side view of a main part of a section, and (b) is an enlarged section along the line AA in (a). FIG.

DESCRIPTION OF SYMBOLS 1 Base 3 Printed circuit board 5 Head unit 16 Mounting head 16a Adsorption nozzle 20 Lifting / displacement mechanism 21 Guide 22 Ball screw shaft 23 Servo motor 30 First imaging means 31 Component recognition camera (imaging optical member)
36 Camera for recognizing lower state (optical member for lower image pickup)
DESCRIPTION OF SYMBOLS 50 Elevating / displacement mechanism 51 Elevating body 54 Parallel link mechanism 57 Cam for follow-up operation 70 Linear motor 72 Track part 75 Core 76 Coil 77 Magnetic pole

Claims (10)

In a component conveying apparatus configured to adsorb a component from a component supply position by the above-mentioned head of a head unit that can move up and down with a suction nozzle provided at the lower end and convey it to a target position. ,
When the head is above the head lifting range, the head is moved horizontally in the head lifting range so that the head is offset horizontally relative to the position below the head lifting range. A lift / displacement mechanism to displace is provided,
The head unit is provided with an image pickup means for picking up an image of the component sucked by the suction nozzle from below, and the image pickup means is located at a position substantially vertically below the suction nozzle when the head is above the head lifting range. have use optical member,
When a lower imaging optical member for imaging the lower part is arranged at a position substantially vertically above the suction nozzle when the head is below the head lifting range, and the head moves above the head lifting range The component conveying apparatus, wherein the optical axis of the lower imaging optical member and the head are displaced from each other in the horizontal direction, and the head retracts from the field of view of the lower imaging optical member .   The component conveying apparatus according to claim 1, wherein the imaging optical member is fixed to the head unit.   The head unit is provided with a plurality of heads, and the imaging optical member is provided so as to be movable in a range substantially corresponding to the head arrangement range in the head arrangement direction. The component conveying apparatus according to 1.   The elevating / displacement mechanism includes a guide portion for guiding the head in an oblique direction with respect to a vertical direction, a ball screw arranged in parallel to the guide portion, and a motor for driving the ball screw. Item 4. The component conveying device according to any one of Items 1 to 3.   The lifting / displacement mechanism is connected to a lifting unit attached to the head unit so as to be able to move up and down in a substantially vertical direction, a driving mechanism for lifting and lowering the lifting unit, and the head to be swingably displaced with respect to the lifting unit. A parallel link mechanism and a cam for operation that has a cam surface in an oblique direction and is fixed to the head unit, and the head moves along the cam surface of the cam for operation following the ascending / descending of the elevating body. The component conveying device according to claim 1, wherein the component conveying device is configured to move.   The lifting / displacement mechanism guides the head in an oblique direction with respect to a vertical direction, and arranges a parallel orbital portion in which N-pole and S-pole magnetic poles are alternately arranged in the oblique direction. The component conveying apparatus according to claim 1, further comprising: a linear motor including a core facing the magnetic pole and a coil wound around the core.   In a surface mounter that transports a component supplied in a component supply unit onto a substrate positioned at a mounting work position and mounts the component on a predetermined position on the substrate, as means for conveying the component from the component supply unit onto the substrate, A surface mounting machine comprising the component conveying device according to claim 1.   The suction point of the component supply unit is imaged by the lower imaging optical member in a state where the head is in the raised position prior to a component suction operation for sucking a component from the component supply unit. 7. The surface mounter according to 7.   The mounting point on the substrate is imaged by the lower imaging optical member in a state in which the head is in the raised position after the component is transported from the component supply unit and mounted on the substrate. 7. The surface mounter according to 7. 7. The component testing apparatus for carrying out various tests by conveying a component supplied in a component supply unit to a test means, as means for conveying the component from the component supply unit to the test means. A component testing apparatus comprising the component conveying apparatus described above.

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