JP4391290B2 - Rotary type component mounting equipment - Google Patents

Description

  The present invention relates to a rotary type component mounting apparatus for mounting components such as electronic components on a substrate.

  Due to remarkable advances in electronic technology in recent years, the shapes and sizes of electronic components have become diverse, and a desired electronic circuit is often configured by combining extremely fine chip components to large components. For such a component mounting apparatus, high speed and high reliability have been strongly demanded.

  Conventionally, as a component mounting apparatus that mounts components such as electronic components on a substrate such as a circuit board, various devices such as those equipped with a plurality of suction units that suck and hold components and equipped with a mounting head that simultaneously sucks components, etc. The thing of this form is proposed and used for practical use. As such a mounting head, for example, as shown in FIG. 28, a row type component transfer head 3 in which nozzle units 2 for mounting the suction nozzles 1 are arranged in a single row or multiple rows is often used. In the horizontal type component transfer head 3, by attaching suction nozzles of different sizes from the nozzle holder 5 in which various suction nozzles are stored to each nozzle unit 2, from a chip component of a small size to a large IC component. It can be automatically mounted on the board.

  Patent Documents 1 and 2 below disclose rotary type component mounting apparatuses in which one suction nozzle is lowered by a lifting mechanism using a cam. Further, in Patent Document 3 below, two or more transfer heads are simultaneously stopped at the electronic component take-out position and the mounting position, and during this stop, the suction nozzles of the respective transfer heads are alternately moved up and down. A configuration in which an electronic component is taken out by each suction nozzle is disclosed, and a dead time accompanying an index rotation of the rotary head is reduced and a mounting speed is improved.

JP-A-1-184504 JP 9-36592 A JP-A-4-22194 JP-A-8-167788 JP-A-10-159930 Japanese Patent Laid-Open No. 10-163677

However, since the conventional row type component mounting apparatus has a configuration in which a plurality of suction nozzles are linearly arranged at the same interval, the component at one end of the component supply position is replaced by the nozzle unit at the other end of the component transfer head. When adsorbing, the nozzle unit at the other end must be aligned with the component position at one end, the linear movement range of the component transfer head increases, waste in layout increases, and the equipment width (line length) also increases There was a growing problem. On the other hand, if the linear movement range of the component transfer head is set to be narrow in order to shorten the line length, a specific suction nozzle is removed from the component supply position, causing a suction limitation that makes component suction impossible.
Moreover, since the structure disclosed by the said patent documents 1 and 2 descends one adsorption nozzle using a cam, it cannot perform simultaneous adsorption which lowers a plurality of adsorption nozzles simultaneously. In the configuration disclosed in Patent Document 3, a plurality of transfer heads are simultaneously stopped at an electronic component take-out position. However, the suction nozzles of the transfer head are alternately moved up and down, so that the suction nozzles are simultaneously lowered. Can not do. Further, in the configuration disclosed in Patent Document 3, the interval between the suction nozzles and the interval between the respective component pick-up positions do not match. Therefore, after the electronic component is sucked by one suction nozzle, the table is moved in the X direction. There was a wasted time when the electronic component had to be moved and positioned just below the other suction nozzle.
Furthermore, the above-mentioned Patent Document 4 discloses a rotary head table that performs an intermittent rotation operation, a plurality of track trains (ball screws) that extend from the rotation center of the rotary head table at a certain rotation angle in the horizontal direction, An electronic component mounting apparatus having a component suction nozzle provided on a track train and capable of moving and rotating along the track train is attached to the X-axis slide so as to be intermittently rotatable around a vertical axis. A circuit component transport device that fits a plurality of component suction shafts so as to be rotatable and movable in the axial direction at equal angular intervals on a circumference around the rotation axis of the intermittently rotating body, Patent Document 6 above Includes an intermittent rotating body that holds a plurality of component suction shafts, rotates intermittently and stops sequentially at the component suction mounting position, and an individual lifting device that lifts and lowers the component suction shaft at the component suction mounting position to suck and release circuit components. Although the circuit component mounting apparatus comprising a mounting head having is disclosed, any (rotary type) device were able to perform the simultaneous adsorption of lowers the suction nozzle at the same time. As a result, the moving operation for taking out the components could not be performed efficiently.

  The present invention has been made in view of the above situation, and a first object of the present invention is to eliminate the suction limitation that makes a specific suction nozzle impossible to suck, and compared with a conventional row type component transfer head, The object is to obtain a rotary component mounting apparatus capable of shortening the line length. The second object is to obtain a rotary type component mounting apparatus capable of efficiently performing a moving operation for taking out components.

The above object is achieved by the following configuration.
(1) An XY robot that can move in each of orthogonal XY axis directions, a component transfer head mounted on the XY robot, and a component supply in which a plurality of component supply positions are arranged at regular intervals in the X axis direction A plurality of head units provided in the component transfer head and rotatable about a rotation center in the Z-axis direction orthogonal to the XY axis, and arranged in a circumferential direction around the rotation center. A plurality of sub-heads having suction nozzles at the lower end, the suction direction being the Z-axis direction, and the suction nozzles are arranged at a distance that is an integral multiple of the adjacent interval of the component supply position; A rotary type component mounting apparatus, wherein the head unit is provided with nozzle lifting / lowering means capable of simultaneously lowering the plurality of suction nozzles.

  In this rotary type component mounting apparatus, for example, in a configuration in which two head units are arranged side by side in the X-axis direction, when the component at one end of the component supply position is sucked by the head unit at the other end, It is not necessary to suck with the suction nozzle at the other end provided in the head unit on the other end side, and it is possible to suck with the suction nozzle at one end of the head unit on the other end side. That is, after the component is sucked by the suction nozzle at one end of the head unit on the other end side, the head unit on the other end side is rotated by 180 degrees, so that the suction nozzle at one end is rotated and moved to the other end. The same effect is obtained as when the suction nozzle at the other end of the head unit on the end side is moved to the component position at one end of the component supply position. This also means that the moving range of the component transfer head with respect to the component supply unit can be reduced by reducing the head unit by approximately the diameter. When one suction nozzle in one head unit is positioned above one component supply position, one suction nozzle in the other head unit is disposed above the other component supply position. Further, there is no restriction such as a combination of sub-heads to be selected during the component selection operation. Furthermore, each sub head can be arranged at an arbitrary position on the circumference of the rotational movement.

(2) Four sets of the suction nozzles having the same interval are arranged in the circumferential direction, and the interval between the one set of suction nozzles and the other two suction nozzles sandwiching the one set of suction nozzles The rotary component mounting apparatus according to (1), wherein an interval between the one set of suction nozzles coincides with a component supply position at the fixed interval arranged in the component supply unit.

  In this rotary type component mounting apparatus, not only the interval between a set of suction nozzles coincides with the constant interval of the component supply position, but also the suction nozzles on both sides arranged with this one set of suction nozzles in between. Since one set of suction nozzles is arranged at a constant interval, a different set of suction nozzles in one head unit can always be arranged at the component supply position.

(3) The rotary component mounting apparatus according to (1) or (2), wherein the suction nozzle can be lowered at a plurality of rotation angles of the head unit.

  In this rotary type component mounting device, it becomes difficult for suction restriction to occur due to the suction nozzle not being able to descend at a specific rotation angle, and avoiding suction restriction by rotating the head unit without increasing the equipment width in the X-axis direction Is possible. In addition, by enabling the descent at such a plurality of rotation angles, the facility width can be shortened without changing the number of supply stations.

(4) The rotary type component mounting apparatus according to any one of (1) to (4), wherein the suction nozzles mounted on the sub-heads are suction nozzles having different sizes for each of the sub-heads. .

  In this rotary type component mounting apparatus, by attaching suction nozzles of different sizes for each sub head, it is possible to use a small suction nozzle and a large suction nozzle for each sub head. Accordingly, each subhead can be used in appropriate combination as a subhead for chip component mounting, a subhead for mounting odd-shaped components, and the like, and can efficiently cope with various production forms.

(5) The rotary type component mounting apparatus according to any one of (1) to (4), wherein the head unit is detachably attached to the component transfer head.

  In this rotary type component mounting apparatus, since the head unit is detachable from the component transfer head, it is possible to easily replace the head unit to which the sub head according to the production form is attached with the component transfer head, Productivity is improved.

(6) The rotary type according to any one of (1) to (5), wherein the head unit includes an imaging unit that detects a posture of a component sucked and held by the suction nozzle of the sub head. Component mounting equipment.

  In this rotary type component mounting device, by providing an imaging unit in the head unit, the component sucked and held by the suction nozzle of the sub head can be imaged on the head unit side, so component recognition processing for the component before mounting is performed on the component mounting of the sub head It can be performed at a position other than the position. As a result, the time required for the component recognition process can be minimized and the tact time can be increased.

(7) The rotary type component mounting apparatus according to (6), wherein the imaging unit images a component sucked and held by the suction nozzle located at a lower end of the sub head.

  In this rotary type component mounting apparatus, the imaging unit can store the imaging unit in the head unit in a compact manner by imaging the component located at the lower end of the sub head.

(8) The imaging unit is disposed in a gap between two sets of the suction nozzles adjacent to each other in the circumferential direction, and raises the suction nozzle of the arbitrary sub-head that is rotationally disposed at the position of the imaging unit. (7) The rotary type component mounting apparatus according to (7), wherein a recognition lifting means is provided in each of the head units.

  In this rotary type component mounting apparatus, the imaging unit is disposed in the gap between two sets of suction nozzles adjacent in the circumferential direction. In this case, the gap between the two sets of suction nozzles can be made wider than the gap between the one set of suction nozzles. Accordingly, the imaging units can be arranged at wider intervals in a state where a plurality of sets of suction nozzles are arranged in the circumferential direction at intervals wider than the interval between the sets of suction nozzles. That is, a wide space | interval is ensured by arrange | positioning several suction nozzles at an unequal angle in the circumferential direction. As a result, compared with a case where a plurality of suction nozzles are arranged at an equal angle so as to ensure the same interval, interference between the imaging unit and the suction nozzles can be avoided and the head unit radius can be minimized.

(9) The imaging unit includes a component recognition camera disposed in an intermediate portion between the two head units, and the component sucked by the suction nozzle of the sub head in one of the head units and the other head unit The rotary component mounting apparatus according to (8), wherein the component sucked by the suction nozzle of the sub head can be simultaneously recognized by the component recognition camera.

  In this rotary type component mounting apparatus, a total of two components, one from each head unit, among components held by a plurality of suction nozzles in two head units are held in a photographed image of one component recognition camera. The imaging of the state is performed at the same time, and the time required for imaging can be halved as compared with the case of imaging one component with one component recognition camera.

(10) Each of the sub-heads is separated into an upper driving unit having the nozzle lifting and lowering means and a lower driven pressing unit having the suction nozzle at the lower end, and the lower driven pressing unit is separated from the upper driving unit. The lower follower pressing part, which is rotatable around the center of rotation in the Z-axis direction and is rotationally arranged immediately below the nozzle lifting / lowering means, is pressed down following the pressing drive of the nozzle lifting / lowering means ( The rotary type component mounting apparatus according to any one of 1) to (9).

  In this rotary type component mounting apparatus, when the lower part is rotated around the center of rotation in the Z-axis direction with respect to the upper part of the head unit, it is coaxial and has the same radius with respect to the plurality of upper drive parts arranged in the circumferential direction. A plurality of lower follower pressing portions arranged in the circumferential direction are rotated in the circumferential direction. As a result, it becomes possible to make any lower driven push part correspond to any upper drive part. For example, even if the number of upper drive parts is smaller than the number of lower driven push parts, all lower driven push parts In addition, it is possible to correspond to the upper drive unit.

(11) By changing the rotation angle of the lower driven pusher with respect to the upper drive unit, one of the two lower driven pushers adjacent in the circumferential direction can be selectively pushed or both can be pushed simultaneously. (10) The rotary type component mounting apparatus according to (10).

  In this rotary type component mounting apparatus, the pressing operation of the two lower driven pressing units is handled by one upper driving unit. That is, when the upper drive unit is disposed at a rotational position that is disengaged from the lower driven follower on the left side, only the lower driven depressor unit on the right side is driven to depress, and the upper drive unit is disposed at a rotational position that deviates from the lower driven follower unit on the right side. Then, only the left lower driven press part on the left side is driven to be pressed down, and the upper drive part is arranged at a rotational position where the left and right lower driven press parts are simultaneously in contact with each other. Become. In other words, each of the lower driven pressing units can be driven to be pressed independently or simultaneously by half the number of the upper driving units of the lower driven pressing unit.

(12) The head unit includes a memory tag that can rewrite information including identification information of the head unit, and the component transfer head includes a tag read / write unit that reads and writes information from and to the memory tag. The rotary-type component mounting apparatus according to any one of (1) to (12), which is characterized.

  In this rotary type component mounting apparatus, when the head unit is attached to the component transfer head, information can be input / output to / from the information storage unit by the tag read / write unit.

(13) The rotary component mounting apparatus according to (12), wherein the memory tag is a wireless tag that reads and writes information by wireless communication.

  In this rotary type component mounting apparatus, since the memory tag is a wireless tag, connection between the memory tag and the tag read / write unit is unnecessary, and information can be input / output in a non-contact manner, thereby simplifying the configuration. .

(14) The rotary component mounting according to (13), wherein the identification information of the head unit stored in the memory tag includes calibration data having information on a relative position between the suction nozzle and the nozzle unit. apparatus.

  In this rotary type component mounting apparatus, the calibration data is included in the identification information stored in the memory tag. By reading this calibration data, calibration is performed each time the head unit is attached to the component transfer head. It is no longer necessary to execute the process, and the time to start production can be shortened.

(15) The rotary type component mounting according to any one of (12) to (14), wherein the identification information of the head unit stored in the memory tag includes operation time data of a component mounting operation. apparatus.

  In this rotary type component mounting device, the operating time data is included in the identification information stored in the memory tag, so that even if the head unit is replaced, the usage frequency of the head unit can be accurately grasped, and maintenance is performed. Etc. can be easily managed.

(16) The identification information of the head unit stored in the memory tag includes part type data for identifying a component of the head unit, according to any one of (12) to (15). Rotary type component mounting equipment.

  In this rotary type component mounting device, the identification information stored in the memory tag includes the component type data, so that even if a failure occurs in the head unit, the component that needs to be replaced can be immediately identified. Can be notified.

(17) The nozzle unit has a small diameter portion at the lower end and a large diameter portion at the upper end, and has a support portion that is thicker than the thin diameter portion and thinner than the large diameter portion in the middle, and has an intake / exhaust hole in the center. A first nozzle provided; and a second nozzle supported on an outer periphery of a support portion of the first nozzle so as to be vertically slidable and disposed concentrically with the first holder. Has an upper lock portion and a lower lock portion at different positions in the vertical direction of the outer periphery of the support portion, and the second nozzle is arranged on the inner peripheral side facing the support portion of the first nozzle. And when the second nozzle is at an upper position where the engagement portion and the upper lock portion are engaged, the suction operation by the first nozzle The component suction operation by the second nozzle is performed, and the second nozzle is connected to the engaging portion. In the lower position where the lower lock portion is engaged, the component suction by the second nozzle is made invalid and the component suction is performed only by the first nozzle (1) to (16) The rotary type component mounting apparatus according to any one of (16).

  In this rotary type component mounting apparatus, the state of the nozzle tip for component suction is changed by the change in the relative position between the first nozzle and the second nozzle, so that the suction nozzle itself is relatively small without requiring replacement. Switching between suction targets such as parts and relatively large parts can be easily performed.

(18) When the second nozzle is in a lower position, the lower end surface of the second nozzle is positioned below the lower end surface of the first nozzle, and is used for suction between the first nozzle and the second nozzle. The rotary component mounting apparatus according to (17), wherein a space is defined.

  In this rotary type component mounting apparatus, a suction space is defined when the second nozzle is in the lower position, and the suction area contributing to the component suction is increased. As a result, relatively large components can be sucked. .

(19) The second nozzle includes a flange portion on an outer periphery of the second nozzle, and the first nozzle is moved up and down while the flange portion is fixed by a flange fixing means provided in the head unit. The rotary component mounting apparatus according to (17) or (18), wherein the relative position with respect to the first nozzle is changed.

  In this rotary type component mounting apparatus, the flange portion of the second nozzle is fixed by the flange fixing means, and the first nozzle is moved up and down in this state, whereby the relative position of the second nozzle to the first nozzle is changed.

(20) The rotary type component mounting apparatus according to (19), wherein the flange portion includes a pair of upper and lower flanges, and the flange fixing means inserts a stopper between the pair of flanges.

  In this rotary type component mounting apparatus, even when the second nozzle is moved in either the upper position or the lower position, it can be easily performed by inserting a stopper between the pair of flanges.

According to the rotary type component mounting apparatus of the present invention, the component transfer head is provided with a plurality of head units that are rotatable around the rotation center in the Z-axis direction, and the circumferential direction around the rotation center is provided on the head unit. A plurality of sub-heads, the suction nozzles of the sub-heads are arranged at a distance that is an integral multiple of the interval between adjacent parts supply positions, and the nozzle lifting means that allows the plurality of suction nozzles to be lowered simultaneously In the configuration in which, for example, two head units are provided in parallel in the X-axis direction when the component at one end of the component supply position is sucked by the head unit on the other end side, the head unit on the other end side is provided. It is not necessary to suck with the suction nozzle at the other end provided in the head, and it is possible to suck with the suction nozzle at one end of the head unit on the other end side. That is, after the component is sucked by the suction nozzle at one end of the head unit on the other end side, the head unit on the other end side is rotated 180 degrees, so that the suction nozzle at one end is rotated to the other end, and the other It is possible to obtain the same effect as when the suction nozzle at the other end of the head unit on the end side is moved to the component position at one end of the component supply position. As a result, it is possible to eliminate the restriction of suction that makes it impossible for a specific suction nozzle to suck, which has occurred in the case of a conventional row type component transfer head in which the same number of suction nozzles are linearly arranged at the same interval. . This also means that the movement range of the component transfer head relative to the component supply unit can be handled by reducing the head unit by the approximate diameter. Therefore, according to the present invention, the line length of the equipment can be shortened as compared with the conventional row type component transfer head.
Since the suction nozzles are arranged at a distance that is an integral multiple of the adjacent interval between the component supply positions, when one suction nozzle in one head unit is positioned above one component supply position, the other One suction nozzle in the head unit is arranged above another component supply position. As a result, it is possible to efficiently perform the moving operation for taking out the parts.
In addition, since each sub head can be selectively moved up and down independently, a selection operation with a degree of freedom can be performed without being restricted by a combination of sub heads to be selected in a component selection operation.
Furthermore, the respective sub heads can be arranged at arbitrary positions on the circumference of the rotational movement, and the component suction capacity per unit area in the head unit can be increased as compared with the conventional row type component transfer head.

DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a rotary type component mounting apparatus according to the present invention will be described in detail with reference to the drawings.
FIG. 1 is a plan view showing a schematic configuration of a rotary type component mounting apparatus according to the present invention.
A rotary type component mounting apparatus (hereinafter, referred to as “component mounting apparatus”) 100 includes a base 11 and a plurality (two as an example in the figure) of component mounting stages 13 a and 13 b on the base 11. Yes. The base 11 is provided with a substrate fixing portion 17 at the center for supporting the circuit board 15 at a predetermined position. The substrate fixing portion 17 places the circuit board 15 at a predetermined component mounting operation position (the component shown in FIG. 1). There is a substrate transfer section 19 that is carried into and positioned in the approximate center of the mounting apparatus 100. The substrate transport unit 19 has a fixed-side transport rail 24a having a transport belt 23 wound between a pair of pulleys 21a and 21b, and a rail-to-rail width variably movable with respect to the fixed-side transport rail 24a. It has the movable conveyance rail 24b arranged. By driving the conveyance belt 23 of each conveyance rail 24a, 24b, the circuit board 15 sent from the loader 25 provided on the side of the base 11 is placed on the conveyance belt 23 and conveyed, and the circuit board 15 is carried into a predetermined position of the substrate fixing unit 17.

  The component mounting stages 13 a and 13 b have substantially the same function, and are arranged symmetrically on the base 11. Hereinafter, the component mounting stage 13a will be mainly described. The component mounting stage 13a mainly includes a component supply unit 35 to which a plurality of parts feeders 31 and the like for continuously supplying electronic components are attached, and a variety of electronic components can be sucked at the component supply position 33. That is, a plurality of component supply positions 33 are arranged in the component supply unit 35 at a constant interval (adjacent interval P described later) in the X-axis direction.

  Further, the component mounting stage 13 a includes a component transfer head 37 that holds an electronic component at a predetermined component supply position 33 of the component supply unit 35 and mounts the electronic component on the circuit board 15. The component transfer head 37 is supported by an XY robot 39. The XY robot 39 can move in each of the orthogonal XY axis directions, and the component transfer head 37 moves in the XY direction in FIG. Thus, the component is moved above the component supply position 33 and the circuit board 15.

  The XY robot 39 has an X-axis beam 43 supported by shafts 41 on both sides of the base 11, and a component transfer head 37 is supported by the X-axis beam 43 so as to be movable in the X direction. The X-axis beam 43 is movable in the Y direction along the shaft 41, and the ball screw shaft 45 provided in parallel with the shaft 41 is rotated by the Y-axis moving motor 47, so that the X-axis beam 43 is moved in the Y-axis direction. Moved.

  On the base 11, a nozzle change unit 49, a component recognition unit 51, and a waste tray 53 are disposed between the component supply unit 35 and the board fixing unit 17. The nozzle change unit 49 holds an adsorption nozzle 65 (see FIG. 2 described later) for mounting various components to be mounted on the component transfer head 37. The component transfer head 37 is The suction nozzle 65 can be replaced. The nozzle change unit 49 is provided with various suction nozzles 65 of different sizes and types depending on the production form. The component recognizing unit 51 includes an optical sensor such as a line sensor, and recognizes the posture (component position, rotation angle, and the like) of the electronic component sucked by the suction nozzle 65 of the component transfer head 37. When the electronic component sucked by the suction nozzle 65 of the component transfer head 37 has a type error or malfunction, the electronic component is discarded in the disposal tray 53.

  When the component transfer head 37 configured as described above sucks an electronic component at the component supply position 33, basically, the XY robot 39 moves the component recognition unit 51 horizontally by the XY robot 39 to suck the XY of the electronic component sucked. The posture is recognized from the position of the direction and the position of the rotation direction (θ direction), and then moved onto the circuit board 15 supported by the board fixing portion 17 to mount the electronic component on the circuit board 15.

Next, the component transfer head 37 will be described.
2 is a perspective view of the component transfer head shown in FIG. 1, FIG. 3 is a front view of the component transfer head, FIG. 4 is a side view of the head unit, and FIG. 5 is an arrangement position of the suction nozzle in the component transfer head. FIG. 6 is a plan view showing the relationship between the suction nozzle and the component supply position in the head unit.
As shown in FIG. 2, the component transfer head 37 includes a first head unit 61 and a second head unit 63 detachably. As shown in FIG. 3, the head units 61 and 63 are units of substantially the same function that are configured symmetrically and arranged in parallel. Therefore, here, the structure of the first head unit 61 will be described as an example.

  As shown in FIG. 4, the first head unit 61 provided in the component transfer head 37 is rotatable around a rotation center hC in the Z-axis direction orthogonal to the XY axes. The first head unit 61 is provided with a plurality (eight in this embodiment) of sub-heads 67, and the sub-heads 67 are arranged in a circumferential direction around the rotation center hC. A chuck mechanism 69 is provided at the lower end of the sub head 67. The chuck mechanism 69 has a suction direction in the Z-axis direction and holds a suction nozzle 65 that sucks and holds electronic components at the lower end.

  As shown in FIG. 5, the sub heads 67 (that is, the suction nozzles 65) are disposed at a distance that is an integral multiple of the adjacent spacing P between the component supply positions 33. Further, in the present embodiment, four sets of suction nozzles 65 having the same interval P are arranged in the circumferential direction, and the interval P between the one set of suction nozzles 65a and 65a and the one set of suction nozzles 65a and 65a. The interval P between the other two suction nozzles 65b, 65c and the pair of suction nozzles 65a, 65a with the gap between them is made to coincide with the component supply position 33 with a constant interval P arranged in the component supply unit 35. Is set to

  Thus, not only the interval P of the pair of suction nozzles 65 coincides with the constant interval P of the component supply position 33, but also the suction nozzles on both sides arranged with the pair of suction nozzles 65a and 65a interposed therebetween. 65b and 65c are also arranged at a certain distance P from this set of suction nozzles 65a and 65a. As shown in FIG. 6, in each of the first head unit 61 and the second head unit 63, One set of different suction nozzles 65 can always be arranged at the component supply position 33.

  The component transfer head 37 is provided with an imaging unit 71 shown in FIG. In the component mounting apparatus 100, in cooperation with the component recognition unit 51 described above, the imaging unit 71 also recognizes the posture (component position, rotation angle, etc.) of the electronic component that the suction nozzle 65 is sucking. The imaging unit 71 will be described in detail later.

Next, the head unit will be described.
7 is a longitudinal sectional view of the first head unit, FIG. 8 is an enlarged top view of the first head unit shown in FIG. 7, and FIG. 9 is an enlarged bottom view of the first head unit shown in FIG.
As shown in FIG. 7, the first head unit 61 is fixed to the component transfer head 37 (see FIGS. 1 and 2) via a fixing base 73. A θ correction motor 75 is fixed to the fixed base 73, and a drive shaft 77 that hangs down in the Z-axis direction is connected to the rotor shaft 79. A plurality of (six in this embodiment) nozzle lifting / lowering motors 81 serving as nozzle lifting / lowering means are fixed to the upper surface of the fixed base 73 around the θ correction motor 75. The arrangement of the nozzle lifting / lowering motor 81 coincides with the arrangement of the suction nozzle 65 in the circumferential direction described above.

  Below the fixed base 73, a cam cylinder 83 that opens downward is provided so as not to be relatively rotatable. The cam cylinder 83 has cam surfaces 85 having different heights in the axial direction, which are lifting and lowering means for recognizing parts. is doing. A frame 87 is provided below the cam cylinder 83, and the center portion of the frame 87 passes through the rotor shaft 79. A block portion 89 is integrally fixed below the frame 87, and the central portion of the block portion 89 is penetrated by the rotor shaft 79.

  Each sub head 67 is separated by a sliding contact surface 95 as a boundary between an upper drive unit 91 having a nozzle lifting / lowering motor 81 and a lower driven pressing unit 93 having a suction nozzle 65 at a lower end. The lower follower pressing portion 93 is provided with a plurality (eight in this embodiment) of nozzle shafts 97, which are rotatably supported through the frame 87 and the block portion 89.

  A slit plate portion 99 is formed on the outer periphery of the frame 87 in the circumferential direction, and the slit plate portion 99 has a plurality of slits spaced in the circumferential direction. A reading sensor unit 101 serving as an encoder is provided on a part of the outer periphery of the first head unit 61. The reading sensor unit 101 includes a projector that emits light toward the slit plate 99, and a photodetector that receives the light irradiated from the projector and reflected by the slit plate 99 and converts the light into an electrical signal. ing. The amount of rotation of the first head unit 61 is detected based on the detection signal from the photodetector.

  A similar slit plate portion 103 is formed on the outer periphery of the nozzle shaft 97 in the circumferential direction, and a reading sensor portion 105 serving as an encoder is provided on a part of the outer periphery of the first head unit 61. The reading sensor unit 105 has the same configuration as the reading sensor unit 101, and the rotation amount of the suction nozzle 65 is detected based on a detection signal from the photodetector.

Next, a θ correction rotation mechanism of the suction nozzle 65 and a rotary rotation mechanism in which the lower follower pressing unit 93 is rotatable about the rotation center hC in the Z-axis direction with respect to the upper drive unit 91 will be described.
In the first head unit 61, by driving the θ correction motor 75, the rotation of the lower follower pressing portion 93 about the rotation center hC or the rotation of the individual nozzle shafts 97 about the rotation center sC can be switched. It has become. That is, as shown in FIG. 8, the main gear 107 is fixed to the rotor shaft 79 in the frame 87, and the main gear 107 is meshed with the rolling gear 109.

  A sliding contact seat 111 is fixed to the upper end of the nozzle shaft 97, and the sliding contact seat 111 is in contact with the concave member 113 of the upper drive unit 91. The nozzle shaft 97 passes through the frame 87 so as to be rotatable and movable in the axial direction. A support member 115 is inserted into the nozzle shaft 97 directly below the sliding contact 111 via a bearing so as to be relatively rotatable and restricted in movement in the axial direction, and the support member 115 is rotatable around a support shaft in a direction orthogonal to the axis. The large cam follower 117 which is the component recognition lifting / lowering unit is provided. The large cam follower 117 is in contact with the cam surface 85 of the cam cylinder 83 at the outer peripheral surface. A compression spring 119 is extrapolated between the support body 115 and the frame 87 on the nozzle shaft 97, and the compression spring 119 urges the support body 115 upward. Thereby, the sliding contact seat 111 is pressed against the recess member 113, and the large cam follower 117 is pressed against the cam surface 85.

  As shown in FIG. 9, a rotor 120 is extrapolated to the nozzle shaft 97 directly below the rolling gear 109, and the rotor 120 is rotated integrally with the rolling gear 109. The rotor 120 is connected to the lower holder 123 via the clutch 121, and the clutch 121 can transmit or block the rotational force from the rotor 120 to the lower holder 123. A spline nut 125 is fixed inside the lower holder 123, and the spline nut 125 meshes with the nozzle shaft 97. Spline grooves in the axial direction are formed on the inner periphery of the spline nut 125 and the outer periphery of the nozzle shaft 97, and the ball is interposed in both grooves, so that the nozzle shaft 97 rotates relative to the spline nut 125. Impossible and movable in the axial direction. A stopper 127 is provided at the lower end of the block portion 89, and the stopper 127 can restrict the rotation of the nozzle shaft 97.

  In the operation of the rotary rotation mechanism having such a clutch mechanism, when the θ correction motor 75 is rotated and the main gear 107 is rotated via the rotor shaft 79, the rolling gear 109 and the rotor 120 are integrally rotated. At this time, when the clutch 121 is connected, the rotor 120 and the lower holder 123 rotate, the nozzle shaft 97 is rotated via the spline nut 125 fixed to the lower holder 123, and is held by the suction nozzle 65. The electronic component 129 is also rotated at the same time.

  Here, in order to stop the rotation of the electronic component 129, the connection between the rotor 120 and the lower holder 123 is cut off by the clutch 121. Thereby, the rotor 120 only idles, and the rotation of the nozzle shaft 97, that is, the rotation of the electronic component 129 is stopped.

  On the other hand, in order to rotate the lower follower pressing portion 93 around the rotation center hC with respect to the upper drive portion 91 (that is, to turn the head), the clutch 121 between the rotor 120 and the lower holder 123 is connected, The rotation of the nozzle shaft 97 is restricted by the stopper 127. Accordingly, the rolling gear 109 integrated with the rotor 120 is also restricted from rotating with respect to the nozzle shaft 97. When the main gear 107 is rotated via the θ correction motor 75 in this state, a moment is generated in the frame 87 around the rotation center hC, and the lower follower pressing portion 93 rotates with respect to the upper drive portion 91, that is, The head rotates. At this time, the lower follower pressing portion 93 rotates with respect to the upper drive portion 91 with the sliding contact surface 95 as a boundary.

FIG. 10 is a time chart for explaining the rotation operation of the suction nozzle and the head unit.
As shown in FIG. 10, when the clutch 121 of an arbitrary sub head 67 is connected as the θ correction motor 75 is driven, a rotation signal is output from the reading sensor unit 105 corresponding to the nozzle shaft 97 in each sub head 67. , Θ correction rotation can be controlled. When the clutches 121 in all the sub heads 67 are connected and the rotation of the nozzle shaft 97 is restricted by the stopper 127, a rotation signal is output from the reading sensor unit 101 of the frame 87, and the head rotation can be controlled. This control is performed, for example, by position feedback control by a control unit described later.

Next, the pressing mechanism of the nozzle shaft 97 will be described.
The sub head 67 can move the suction nozzle 65 up and down independently by a nozzle lifting motor 81. That is, as shown in FIG. 8, an upper holder 133 penetrating into the cam cylinder 83 is fixed to the drive shaft 131 of the nozzle lifting / lowering motor 81, and the upper holder 133 is rotatably supported by the fixing base 73 and the cam cylinder 83. Is done. An upper spline nut 135 is fixed inside the cam cylinder 83, and the upper spline nut 135 is rotated integrally with the upper holder 133. A movable screw shaft 137 is coaxially screwed into the upper spline nut 135 inside the upper holder 133. The concave member 113 is fixed to the lower end of the movable screw shaft 137. A rotatable small cam follower 139 using a bearing or the like is attached to the side surface of the recessed member 113, and the small cam follower 139 is inserted into an axial rotation restricting groove 141 formed on the inner wall portion of the cam cylinder 83.

  Therefore, when the nozzle raising / lowering motor 81 is driven, the upper holder 133 is rotated, and the upper spline nut 135 is rotated integrally therewith, so that the movable screw shaft 137 and the recessed member 113 are rotated by the small cam follower 139. As a result, it is moved up and down along the rotation restricting groove 141. Then, when the concave member 113 is moved downward, the sliding contact 111 of the nozzle shaft 97 is pushed down, the nozzle shaft 97 is lowered against the urging force of the compression spring 119, and the left nozzle in FIG. As indicated by the shaft 97, the suction nozzle 65 is also lowered.

  As described above, the lower driven pressing portion 93 is rotatable about the rotation center hC in the Z-axis direction with respect to the upper driving portion 91, and the lower driven pressing portion 93 that is arranged to rotate directly below the nozzle lifting / lowering motor 81 is the nozzle. The push-down motor 81 is pushed in accordance with the push-down drive. That is, when the lower follower pressing portion 93 is rotated around the rotation center hC in the Z-axis direction with respect to the upper drive portion 91, a plurality of upper drive portions 91 (nozzle lifting motor 81 and the like) arranged in the circumferential direction are provided. On the other hand, a plurality of lower driven push-down portions 93 (nozzle shafts 97 and the like) arranged in the circumferential direction with the same radius and the same radius are rotated in the circumferential direction. Thereby, it becomes possible to make the arbitrary nozzle shafts 97 correspond to the arbitrary nozzle lifting / lowering motors 81, for example, even when the number of nozzle lifting / lowering motors 81 is smaller than the number of nozzle shafts 97, It becomes possible to make the nozzle lifting / lowering motor 81 correspond.

  With such a configuration, in the first head unit 61, the suction nozzle 65 can be lowered at a plurality of rotation angles. Therefore, it becomes difficult for the suction restriction due to the suction nozzle 65 to be lowered at a specific rotation angle. Accordingly, it is possible to avoid the suction restriction by rotating the head units 61 and 63 without increasing the equipment width in the X-axis direction. In addition, by enabling the descent at such a plurality of rotation angles, the facility width can be shortened without changing the number of supply stations.

Next, a modified example of the pressing mechanism of the nozzle shaft 97 will be described.
FIG. 11 is a side view of a lower follower pressing portion for explaining a modified example of the pressing mechanism, and FIG. 12 is an operation explanatory view showing a pressed state of the left suction nozzle in the modified example in a plan view (a) and a side view (b). FIG. 13 is an operation explanatory view showing the pressing state of both suction nozzles in a modified example in a plan view (a) and a side view (b), and FIG. 14 is a plan view showing the pressing state of a right suction nozzle in the modified example (a). ) Is an operation explanatory diagram represented in a side view (b).
In this modification, by changing the rotation angle of the lower driven pusher 93 with respect to the upper drive unit 91, either one of the two lower driven pushers 93 adjacent in the circumferential direction can be selectively pushed or both can be pushed simultaneously. It has become.

  That is, as shown in FIG. 11, a step portion 143 is formed in the upper facing portion between the sliding contact seats 111 a and 111 b of the pair of sub heads 67 and 67 adjacent in the circumferential direction. A T-shaped integral pressing pin 145 that can move in the vertical direction is engageable with the cam cylinder 83. The width w in the left-right direction of the integral pressing pin 145 is formed to be larger than the width of the lower pressing surface of the concave member 113 (see FIG. 8). That is, the concave member 113 can be pressed by contacting only the integral pressing pin 145 without interfering with the left and right sliding contact seats 111a and 111b.

  Therefore, as shown in FIGS. 11A-1 and 11A-2, when the right sliding contact 111b is pushed down by the recess 113, only the right nozzle shaft 97 is lowered, and FIG. As shown in (b-1) and (b-2), when the integral pressing pin 145 is pressed, the adjacent left and right nozzle shafts 97 and 97 are lowered, and FIGS. 11 (c-1) and (c) -2), when the left sliding contact 111a is pushed down by the concave member 113, only the left nozzle shaft 97 is lowered.

  Selection of the pressing position by the concave member 113 is performed by controlling the rotation angle of the lower driven pressing portion 93 with respect to the upper driving portion 91 performed by the θ correction motor 75 and the reading sensor portion 101 described above. As shown in FIG. 12, if the lower follower pressing portion 93 is rotationally disposed at a position where only the left sliding contact 111 a contacts the concave member 113 of the upper drive portion 91, When the concave member 113 is lowered by driving, only the left sliding contact 111a is pushed down, and only the left nozzle shaft 97 is lowered. As shown in FIG. 13, if the lower follower pressing portion 93 is rotationally disposed at the position where the integral pressing pin 145 contacts the concave portion material 113 of the upper driving portion 91, the concave portion material is driven by the nozzle lifting / lowering motor 81. When 113 is lowered, both sliding contact seats 111a and 111b are pushed down, and both nozzle shafts 97 and 97 are lowered. As shown in FIG. 14, if the lower follower pressing portion 93 is rotationally arranged at a position where only the right sliding contact 111 comes into contact with the concave member 113 of the upper drive portion 91, When the concave member 113 is lowered by driving, only the right sliding contact 111b is pushed down, and only the right nozzle shaft 97 is lowered.

  Therefore, according to this modification, the pressing operation of the two lower driven pressing portions 93, 93 is handled by one upper driving portion 91. That is, when the upper drive unit 91 is disposed at a rotational position away from the left lower driven press unit 93, only the right lower driven press unit 93 is driven to be pressed, and the upper drive unit 91 is moved from the right lower driven press unit 93. When arranged at a rotational position that deviates, only the left lower driven push-down portion 93 is driven to be pushed down, and when the upper drive portion 91 is arranged at a rotational position that simultaneously contacts the left and right lower driven push-down portions 93, 93, The lower driven push-down portions 93 and 93 can be pushed simultaneously. That is, the number of the upper driven units 91 that is half the number of the lower driven pressing units 93 allows the lower driven pressing units 93 to be driven to be pressed independently or simultaneously.

  In each head unit 61, 63, when the lower follower pressing portion 93 (that is, the head) rotates with respect to the upper drive portion 91, the large cam follower 117 provided on the support body 115 follows the cam surface 85 of the cam cylinder 83. Rolling. Therefore, as shown in FIG. 8, the nozzle shaft 97 is lifted upward by the urging force of the compression spring 119 at a place where the height of the cam surface 85 is high (see the right nozzle shaft 97 in FIG. 8). . The raising operation of the nozzle shaft 97 is performed in order to image the electronic component 129 held by the suction nozzle 65 by the imaging unit 71. In other words, the nozzle shaft 97 is raised when it is rotationally arranged at the position of the imaging unit 71 fixed to the component transfer head 37.

FIG. 15 is a graph showing the correlation between the head rotation angle and the elevation height of the suction nozzle.
The head units 61 and 63 can be sucked and mounted when the relative rotation angle of the lower driven pressing portion 93 with respect to the upper driving portion 91 is in the range of 0 to 90 degrees, and the head units 61 and 63 are moved up and down from 90 degrees and finished descending to 270 degrees. The recognition by the imaging unit 71 is performed particularly in the rotation angle range of 150 to 210 degrees.

Next, the imaging unit 71 will be described with reference to FIGS. 4 and 16 to 18.
16 is a plan view showing the positional relationship between the imaging unit and the head unit, FIG. 17 is a configuration diagram of an optical system that integrates imaging light from two directions into one image, and FIG. 18 is an explanatory diagram showing an example of an integrated image. It is.
As shown in FIG. 4, the component transfer head 37 is provided with an illumination unit 151 that illuminates the electronic component 129 held by the raised suction nozzle 65 from below by the imaging unit 71. A pair of mirrors 153a and 153b, which are deflection optical systems fixed to the component transfer head 37, are provided in the vicinity of the illumination unit 151. One mirror 153a is a suction nozzle of the first head unit 61 as shown in FIG. The other mirror 153 a is disposed immediately below the electronic component 129 held by the suction nozzle 65 of the second head unit 63. The imaging light deflected by these mirrors 153a and 153b is made incident on one mirror 153c which is a deflection optical system. The mirror 153c deflects the imaging light from the two directions from the mirrors 153a and 153b in the direction along the Z-axis direction (vertical upward direction) so as to enter the imaging unit 155.

  As shown in FIG. 4, the imaging unit 155 includes a housing 157 having a prism inside and a housing 159 having a lens. At the upper end of the housing 159, an imaging device such as a CMOS or a CCD and this imaging device are provided. A component recognition camera 161 in which substrates for driving the elements are sequentially provided is provided. Therefore, the imaging light beams 163a and 163b deflected by the mirror 153c from two directions are integrated by a pair of prisms 165a and 165b provided in the housing 157 as shown in FIG. It is guided to the image sensor 169 by 167. The image sensor 169 converts the image of the electronic component 129 illuminated by the illumination unit 151 into an image signal composed of an electrical signal and outputs the image signal. By sending this output signal to a control unit described later, the posture of the electronic component 129 sucked by the suction nozzle 65 is detected. At this time, as shown in FIG. 18, an electronic component held in each of the first head unit 61 and the second head unit 63 guided from the mirrors 153a and 153b is included in one image 171 captured by combining the images. 129R and 129L are displayed.

  In addition, as shown in FIG. 17, the imaging unit 71 has optical paths 130 a and 13 b arranged in the gap between the suction nozzles 65 and 65 (see FIG. 4) below the two sub heads 67 adjacent in the circumferential direction. It is good also as a structure.

  Accordingly, the imaging unit 71 is disposed in the gaps 173a and 173b between the two pairs of suction nozzles 65 and 65 adjacent in the circumferential direction, so that the plurality of suction nozzles 65 are arranged at equal angles in the circumferential direction. In the meantime, by arranging the imaging unit 71 at an unequal angle in the circumferential direction, it is possible to avoid interference with the rotating lower follower pressing unit 93 (see FIG. 7) and to remove the head unit 61, 62 from the outside. The diameter can be minimized.

  In addition, the imaging unit 71 includes a component recognition camera 161 disposed in an intermediate portion between the two head units 61 and 63, and the electronic component 129 sucked by the suction nozzle 65 of the sub head 67 in the first head unit 61. The electronic component 129 sucked by the suction nozzle 65 of the sub head 67 in the other second head unit 63 can be simultaneously recognized by the component recognition camera 161. As a result, the holding state of the two electronic components 129 is simultaneously displayed on the captured image 171 of the single component recognition camera 161, which is necessary for imaging as compared with the case where one electronic component 129 is imaged by the component recognition camera 161. Time can be halved.

Next, the nozzle size changing mechanism will be described.
20 is a side view of the nozzle stopper, FIG. 21 is a sectional view for explaining the detailed structure of the suction nozzle, FIG. 22 is a plan view for explaining the component mounting portion at the tip of the suction nozzle, and FIG. 23 is FIG. It is QQ sectional drawing explaining the structure of the suction nozzle shown.
The sub head 67 includes a nozzle size changing mechanism 181 below the sub head 67. The nozzle size changing mechanism 181 includes a piston inside, and the nozzle stopper 183 is caused to appear and disappear by the piston. The sub head 67 has a nozzle unit 185 (see FIG. 21) including a suction nozzle 65 at the lower part. In this nozzle unit 185, the nozzle stopper 183 is protruded and engaged with the flange 187 of the suction nozzle 65 mounted on the nozzle unit 185 at the lowest position among the nozzle units 185 arranged on the circumference. The nozzle 65 is displaced in the Z-axis direction. Thereby, the tip shape of the suction nozzle 65 is changed, and the size of the electronic component 129 to be sucked is changed in two stages.

  The suction nozzle 65 has a nozzle holder 188 coupled to the chuck mechanism 69 of the nozzle unit 185. The nozzle holder 188 is formed in a cylindrical shape, and a first nozzle 189 and a second nozzle 191 are accommodated on the inner peripheral side thereof. The first nozzle 189 is slidably passed through the cylindrical second nozzle 191. The first nozzle 189 has an air passage 193 at the center thereof, and the air passage 193 communicates with the air passage of the nozzle shaft 97 of the nozzle unit 185. Moreover, the 2nd nozzle 191 has the flange 187 mentioned above on the outer periphery.

  The first nozzle 189 has a small component nozzle 195 attached to its tip. The second nozzle 191 has a middle / large component nozzle 197 that covers the outer periphery of the small component nozzle 195 at the tip.

The first nozzle 189 is provided with a first engagement groove 273 and a second engagement groove 275 having a V-shaped cross section formed in the circumferential direction on the outer peripheral surface thereof with a gap in the axial direction. . Further, the second nozzle 191 has a fitting groove 277 formed on the outer peripheral side thereof in the circumferential direction, and three holes 279 shown in FIG. 23 are provided in the circumferential direction at the bottom of the fitting groove 277. It is formed at intervals.
Engagement balls 281 are inserted into these holes 279, and an annular spring 283 is attached to the fitting groove 277. Thereby, the engaging ball 281 is urged in the inner peripheral direction by the annular spring 283, and a part thereof protrudes from the inner peripheral surface of the second nozzle 191.
Then, the engagement balls 281 protruding from the inner peripheral surface of the second nozzle 191 are fitted into either the first engagement groove 273 or the second engagement groove 275 of the first nozzle 189, and the first nozzle The second nozzle 191 is held with respect to 189.

  The small component nozzle 195 has a flow path 285 at the center thereof, and the flow path 285 communicates with the air passage 193 of the first nozzle 189. A flow path 287 is also formed between the medium / large component nozzle 197 and the small component nozzle 195, and this flow path 287 is connected to the first through a communication hole 289 formed in the first nozzle 189. The air passage 193 of the nozzle 189 communicates with the air passage 193.

  In the suction nozzle 65, as shown in FIG. 21A, when the second nozzle 191 is moved forward (lower side in the figure), the engagement ball 281 is engaged with the first engagement of the first nozzle 189. The medium / large-sized component fitted in the groove 273 is sucked. As a result, the tip portions of the small component nozzle 195 and the medium / large component nozzle 197 are flush with each other, and as shown in FIG. 22A, the opening 285a of the flow channel 285 and the opening 287a of the flow channel 287 Are opened, and medium- and large-sized electronic components are adsorbed by the suction force in the openings 285a and 287a.

  Further, as shown in FIG. 21B, when the second nozzle 191 is moved rearward, a small component adsorption state in which the engagement ball 281 is fitted in the second engagement groove 275 of the first nozzle 189 is brought about. The As a result, the medium / large component nozzle 197 is moved backward relative to the small component nozzle 195 so that only the tip of the small component nozzle 195 protrudes, and the inner peripheral surface at the tip of the medium / large component nozzle 197 is The flow path 287 is closed in close contact with the outer peripheral surface of the small component nozzle 195, and only the opening 285a of the small component nozzle 195 is opened as shown in FIG. The small electronic component is attracted to the portion by the suction force in the opening 285a.

Here, a case where the medium / large component adsorption state is shifted to the small component adsorption state will be described.
FIG. 24 is a schematic sectional view of the suction nozzle for explaining the movement of the suction nozzle.
First, as shown in FIG. 24 (a), the nozzle stopper 183 protrudes from the suction nozzle 65 in the middle / large-sized component suction state, and as shown in FIG. A stopper 183 is arranged.
In this state, when the suction nozzle 65 is moved in the distal direction along the Z-axis direction, the engagement ball 281 is removed from the first engagement groove 273 as shown in FIG. The second nozzle 191 is moved backward with respect to the nozzle 189.

  When the suction nozzle 65 is further moved in the distal direction, the engagement ball 281 engages with the second engagement groove 275 and only the opening 285a of the small component nozzle 195 opens, as shown in FIG. The small parts are in a sucked state. When the suction nozzle 65 is brought into the small component suction state, the nozzle stopper 183 is drawn.

Further, when shifting from the small component adsorption state to the medium / large component adsorption state, the adsorption nozzle 65 is moved in the rear end direction along the Z-axis direction with the nozzle stopper 183 disposed on the rear end side of the flange 187. Move to.
As a result, the engagement ball 281 is removed from the second engagement groove 275, the second nozzle 191 is moved forward with respect to the first nozzle 189, and the engagement ball 281 is engaged with the first engagement groove 273. In this way, the tip portions of the small component nozzle 195 and the medium / large component nozzle 197 are flush with each other and the medium / large component adsorbing state in which the openings 285a and 287a are opened is obtained.

  In addition, as FIG. 25 shows a schematic sectional view of another suction nozzle, two flanges 187 for switching between the small component suction state and the middle / large component suction state may be formed. When the two flanges 187 are formed in this way, the nozzle stopper 183 is inserted between the flanges 187 and the suction nozzle 65 is moved to the front end or the rear end side. The two nozzles 191 can be easily moved to switch between the small component adsorption state and the medium / large component adsorption state.

Next, an identification method of the first head unit 61 and the second head unit 63 having the above structure will be described.
The first head unit 61 and the second head unit 63 constituting the component transfer head 37 are detachably attached to an attachment plate 291 shown in FIG. The mounting plate 291 is supported by the X-axis beam 43 constituting the XY robot 39, and is movable in the X direction along the rail of the X-axis beam 43.

A memory tag 297 made of RFID (Radio Frequency Identification) or the like is attached to the upper ends of the first head unit 61 and the second head unit 63.
Further, a tag read / write unit 299 is attached to the upper end of the mounting plate 291, and these tag read / write units 299 are arranged at positions facing the memory tags 297 of the first head unit 61 and the second head unit 63. .

Information on the first head unit 61 and the second head unit 63 is recorded in the memory tag 297 provided in each of the first head unit 61 and the second head unit 63.
The recorded information of the first head unit 61 and the second head unit 63 includes the operation history such as the operation time of the head units 61 and 63, the type such as the size of the sub head 67, and the nozzle unit 185. There is a parts list including types and combinations of the suction nozzles 65, calibration data including data such as relative positions of the suction nozzles 65, and part numbers and model numbers of the respective parts constituting the head units 61 and 63.

When the first head unit 61 and the second head unit 63 are attached to the attachment plate 291, information stored in the memory tags 297 of the first head unit 61 and the second head unit 63 is read by the tag read / write unit 299. Then, conformity to the production form and position correction of the suction nozzle 65 are performed.
In addition, after the start of production, the operation time is written in the memory tag 297, and further, the part number and model number of the part that has reached the end of its life and the part that has failed such as a failure are displayed on the display unit.

The place where the memory tag 297 is attached is not limited to the upper ends of the first head unit 61 and the second head unit 63.
For example, one memory tag 297 may be attached to each sub head 67 of each first head unit 61 and second head unit 63. Thus, one read / write unit 299 may read and write information with respect to each memory tag 297 attached to the sub head 67.
That is, the structure can be simplified by reading and writing information with respect to the two memory tags 297 by one read / write unit 299.

Next, a control system of the component mounting apparatus 100 having the above structure will be described.
FIG. 26 is a block diagram showing a control system of the component mounting apparatus 100.
As shown in the figure, the component mounting apparatus 100 includes a control unit 301.
The control unit 301 is connected to the substrate transfer unit 19, the component supply unit 35, and the XY robot 39. The control unit 301 transmits control signals to the substrate transfer unit 19, the component supply unit 35, and the XY robot 39. Thus, each drive is controlled.

A tag read / write unit 299 is connected to the control unit 301. The control unit 301 receives image data from the component recognition unit 51. Further, the control unit 301 reads data from the memory tag 297 of the first head unit 61 and the second head unit 63 and writes data to the memory tag 297.
Further, the control unit 301 is connected to a drive mechanism of the component transfer head 37 and the like.

  Specifically, a θ correction motor 75, an imaging unit 71, a chuck mechanism 69, a nozzle lifting / lowering motor 81, an air supply unit 303, and a nozzle size changing mechanism 181 are connected to the control unit 301. Control signals are transmitted to the θ correction motor 75, the imaging unit 71, the chuck mechanism 69, the nozzle lifting / lowering motor 81, the air supply unit 303, and the nozzle size changing mechanism 181 to control the respective driving.

Further, the reading sensor unit 101 is connected to the control unit 301, and the first head unit 61 and the second head unit 63 rotate around the rotation center hC based on the detection signal from the reading sensor unit 101. Calculate the angle. Further, the reading sensor unit 105 is connected to the control unit 301, and the rotation angle around the rotation center sC of the lower follower pressing unit 93 in the sub head 67 is calculated based on the detection signal from the reading sensor unit 105. .
Furthermore, for example, various sensors 305 provided in each mechanism unit that detects air leakage and the like are connected to the control unit 301, and detection signals from the respective sensors 305 are input.

  The control unit 301 is connected to a display unit 307 including a display, an input unit 309 including a keyboard and a touch panel, and a storage unit 311. The control unit 301 performs various displays on the display unit 307, receives various setting data from the input unit 309, and further reads and writes various data to and from the storage unit 311.

Next, an electronic component mounting operation by the component mounting apparatus 100 will be described.
When the circuit board 15 is sent to the board fixing unit 17 by the board transport unit 19, the component mounting apparatus 100 starts the mounting operation of the electronic component 129 on the circuit board 15.
When the mounting operation is started, the component transfer head 37 moves above the component supply position 33 of the electronic component 129 to be sucked so that the XY robot 39 sucks the predetermined electronic component 129 to the suction nozzle 65.

  Next, at the component supply position 33, the first head unit 61 and the second head unit 63 are sequentially rotated by the θ correction motor 75 and the nozzle lifting / lowering motor 81 is driven to move the nozzle unit 185 in the Z direction. The electronic component 129 is sequentially picked up by the suction nozzle 65.

  Here, the component transfer head 37 is movable in the X direction, which is the arrangement direction, with respect to the component supply position 33 of the component supply unit 35, whereby the first head unit 61 and the second head unit 63. Each of the sub heads 67 can suck the electronic components 129 at all the component supply positions 33.

  Thereafter, the component transfer head 37 is moved horizontally on the component recognition unit 51 by the XY robot 39. Thus, the position of the sucked electronic component 129 in the XY direction and the position in the rotation direction (θ direction) is detected by the component recognition unit 51, and the detection data is transmitted to the control unit 301.

  Thereafter, the component transfer head 37 is moved to a predetermined mounting position on the circuit board 15 supported by the board fixing unit 17 by the XY robot 39. In this state, the nozzle lifting / lowering motor 81 is driven, the nozzle unit 185 is moved downward in the Z direction, and the electronic component 129 sucked by the suction nozzle 65 is mounted at a predetermined position on the circuit board 15. Is done.

When pulling up the suction nozzle 65, the air supply unit 303 is controlled by the control unit 301, so that the pressure in the suction nozzle 65 is positive and the suction of the electronic component 129 is reliably released.
Thereafter, the sub head 67 is sequentially rotated by the θ correction motor 75, and the electronic components 129 sucked by the suction nozzle 65 are sequentially mounted at predetermined mounting positions on the circuit board 15.
If the control unit 301 determines that the sucked electronic component 129 is defective based on the detection data from the component recognition unit 51, the control unit 301 drives the XY robot 39 to discard the component transfer head 37. The electronic component 129 sucked by the suction nozzle 65 is moved to the waste tray 53.

  In the above mounting operation, the first head unit 61 and the second head unit 63 of the component transfer head 37 suck the electronic component 129 when the sucked electronic component 129 is mounted to rotate to match the mounting direction. After that, the suction nozzle 65 that sucks the electronic component 129 is rotated by the θ correction motor 75 before moving to the uppermost position.

Here, in the first head unit 61 and the second head unit 63 of the component transfer head 37, the sub head 67 is sequentially rotated to suck the electronic component 129 to the suction nozzle 65 and to the suction nozzle 65 at the uppermost position. The posture of the sucked electronic component is photographed by the imaging unit 71.
The imaging data from the imaging unit 71 is transmitted to the control unit 301. The control unit 301 calculates the deviation of the attitude of the electronic component 129, and drives the θ correction motor 75 before mounting it on the circuit board 15. To correct the misalignment.

In addition, as the sub head 67, various types that can be mounted with various suction nozzles 65 corresponding to various types of electronic components 129 can be used according to the production form.
For example, one of the first head units 61 can be mounted with a small suction nozzle 65, and the other second head unit 63 can be mounted with a large suction nozzle 65. Further, both the first head unit 61 and the second head unit 63 may be configured so that a small suction nozzle 65 can be attached thereto.

In particular, when one of the first head units 61 can be mounted with a small suction nozzle 65 and the other second head unit 63 can be mounted with a large suction nozzle 65, each head unit 61 can be mounted. 63, the electronic components 129 having different sizes can be simultaneously sucked by the suction nozzle 65.
If a plurality of arrays of parts feeders 31 capable of simultaneously sucking electronic components 129 of different sizes are set, the component transfer head 37 between the arrays without waiting for the supply of the electronic components 129 by the parts feeder 31. Is moved along the component supply position 33, and the electronic components 129 of different sizes can be quickly sucked to the suction nozzles 65 of the head units 61 and 63, respectively.

Further, in the component mounting apparatus 100, the first head unit 61 or the second head unit 63 is exchanged for various types according to a change in production form.
Here, the case where the first head unit 61 or the second head unit 63 is replaced will be described by taking the replacement of the first head unit 61 as an example.
When replacing the first head unit 61 with another type due to a change in production mode, etc., the first head unit 61 mounted on the mounting plate 291 is removed, and then the first head unit 61 adapted to the subsequent production mode is removed. One head unit 61 is mounted on the mounting plate 291.

In this way, information stored in the memory tag 297 of the new first head unit 61 attached to the attachment plate 291 is read by the tag read / write unit 299 by wireless communication.
The information of the first head unit 61 read by the tag read / write unit 299 is transmitted to the control unit 301.
The control unit 301 corrects the position of each suction nozzle 65 using calibration data including data such as the relative position of the suction nozzle 65 among the information, and starts production by component mounting.

  That is, the component mounting apparatus 100 is stored in advance in the memory tag 297 without detecting the position of the suction nozzle 65 again and performing the alignment when the first head unit 61 or the second head unit 63 is replaced. Information is read and position correction is performed, and production is started quickly and smoothly.

Further, the provision of the tag read / write unit 299 makes it possible to easily and quickly read / write information from / to the memory tag 297. In particular, production starts after the replacement of the first head unit 61 and the second head unit 63. Can be speeded up.
Furthermore, if the tag read / write unit 299 is configured to read / write information from / to the plurality of memory tags 297, the structure can be simplified, and the cost can be reduced accordingly.

  Further, since the control unit 301 manages the head units 61 and 63 based on the information read from the memory tag 297, the sub head 67 is used by utilizing information such as various management data held by the head units 61 and 63. Can be managed appropriately, and the installation work can be facilitated.

  In particular, after the start of production, from the read information, it is possible to display the part number and model number of a part that has reached the end of its life or a part that has failed such as a failure on the display unit 307 to prompt the operator to replace it. In addition, the display on the display unit 307 is not limited to display with symbols, characters, or sentences, but can be easily recognizable visually by lighting the relevant part in red in a three-dimensional overall display. it can.

  Furthermore, since the control unit 301 causes the memory tag 297 to write the operating time, the first head unit 61 including the sub head 67 and the suction nozzles 65 of the sub head 67 when the second head unit 63 is used. It becomes possible to grasp the lifetime very easily and accurately.

  Further, the suction nozzle 65 is composed of a small component nozzle 195 capable of mounting a small electronic component 129 and a medium / large component nozzle 197 capable of mounting a medium / large electronic component 129. A plurality of types of electronic components 129 can be mounted, and a variety of production forms can be easily handled.

  In addition, a nozzle size changing mechanism 181 that switches the suction of the electronic component 129 in the suction nozzle 65 by moving the medium / large component nozzle 197 in the axial direction by moving relative to the suction nozzle 65 in the axial direction is provided. Therefore, the suction of the electronic component 129 in the suction nozzle 65 can be easily switched by the nozzle size changing mechanism 181, and a plurality of types of electronic components 129 can be mounted smoothly and quickly.

As described above, according to the rotary type component mounting apparatus 100 described above, the component transfer head 37 is provided with the plurality of head units 61 and 63 that are rotatable around the rotation center hC in the Z-axis direction. A plurality of sub heads 67 are arranged in the circumferential direction around the rotation center hC, and the suction nozzles 65 of the sub heads 67 are arranged at a distance that is an integral multiple of the adjacent interval P of the component supply position 33, In addition, since the nozzle raising / lowering motor 81 capable of simultaneously lowering the plurality of suction nozzles 65 is provided in the head units 61 and 63, for example, two head units 61 and 63 are provided in the X-axis direction as shown in FIG. In the side-by-side configuration, when the electronic component at one end of the component supply position 33 is attracted by the head unit 61 on the other end side, it is provided on the head unit 61 on the other end side. That it is not necessary to suction by the suction nozzle 65L at the other end, it is possible to suction by the suction nozzle 65R at one end of the head unit 61 of the other end. That is, after the component is sucked by the suction nozzle 65R at one end of the head unit 61 on the other end side, the head nozzle 61R on the other end side is rotated 180 degrees, so that the suction nozzle 65R at one end rotates and moves to the other end. Thus, it is possible to obtain the same action as when the suction nozzle 65L at the other end of the head unit 61 at the other end is moved to the component position 33R at one end of the component supply position 33. The same can be said for the end portion on the opposite side of the component supply position 33 shown in FIG. As a result, it is possible to eliminate the restriction of suction that makes it impossible for a specific suction nozzle to suck, which has occurred in the case of a conventional row type component transfer head in which the same number of suction nozzles are linearly arranged at the same interval. . This also means that the movement range of the component transfer head 37 with respect to the component supply unit 35 can be reduced by approximately the diameter of the head unit 61. Therefore, according to the present invention, the line length of the equipment can be shortened as compared with the conventional row type component transfer head.
Since the suction nozzles 65 are arranged at a distance that is an integral multiple of the adjacent interval P between the component supply positions 33, one suction nozzle 65 in one head unit 61 is placed above one component supply position 33. When positioned, one suction nozzle 65 in the other head unit 63 is arranged above the other component supply position 33. As a result, it is possible to efficiently perform the moving operation for taking out the parts.
In addition, since each sub head 67 can be moved up and down independently, there is no restriction on the combination of sub heads 67 to be selected during the component selection operation, and a selection operation with a high degree of freedom is possible.
Further, each of the sub heads 67 can be arranged at an arbitrary position on the circumference of the rotational movement, and the component suction capacity per unit area in the head units 61 and 63 is increased as compared with the conventional row type component transfer head. be able to.

It is a top view which shows schematic structure of the rotary type | mold component mounting apparatus which concerns on this invention. It is a perspective view of the component transfer head shown in FIG. It is a front view of a component transfer head. It is a side view of a head unit. It is a top view showing the arrangement position of the suction nozzle in the component transfer head. It is a top view showing the relationship between the suction nozzle and component supply position in a head unit. It is a longitudinal cross-sectional view of a 1st head unit. FIG. 8 is an enlarged top view of the first head unit shown in FIG. 7. FIG. 8 is an enlarged view of the lower part of the first head unit shown in FIG. 7. It is a time chart explaining rotation operation of a suction nozzle and a head unit. It is a side view of the lower follower press part explaining the modification of a press mechanism. It is operation | movement explanatory drawing which represented the pressing state of the left suction nozzle in a modification by planar view (a) and side view (b). It is operation | movement explanatory drawing which represented the pressing state of both the suction nozzle in a modification in planar view (a) and side view (b). It is operation | movement explanatory drawing which represented the pressing state of the right side suction nozzle in a modification by planar view (a) and side view (b). It is a graph showing the correlation between the head rotation angle and the elevation height of the suction nozzle. It is a top view showing the positional relationship of an imaging part and a head unit. It is a top view showing the other positional relationship of an imaging part and a head unit. It is a block diagram of the optical system which integrates the imaging light from two directions into one image. It is explanatory drawing showing the example of an integrated image. It is a side view of a nozzle stopper. It is sectional drawing explaining the detailed structure of a suction nozzle. It is a top view explaining the component mounting part of the front-end | tip part of a suction nozzle. It is QQ sectional drawing explaining the structure of the suction nozzle shown to Fig.21 (a). It is a schematic sectional drawing of the suction nozzle explaining the movement of a suction nozzle. It is a schematic sectional drawing which shows the other example of a suction nozzle. It is a block diagram which shows the control system of a component mounting apparatus. It is a top view showing the positional relationship of a component transfer head and a component supply part end. It is a schematic perspective view which shows the conventional 1 head row type mounting head.

Explanation of symbols

DESCRIPTION OF SYMBOLS 33 ... Component supply position 35 ... Component supply part 37 ... Component transfer head 39 ... XY robot 61, 63 ... Head unit 65 ... Adsorption nozzle 67 ... Sub head 71 ... Imaging part 81 ... Nozzle raising / lowering motor (nozzle raising / lowering means)
85 ... Cam surface (lifting means for component recognition)
91 ... Upper drive unit 93 ... Lower follower pressing unit 100 ... Rotary type component mounting apparatus 117 ... Large cam follower (part recognition raising / lowering means)
127 ... Flange fixing means (stopper)
129: Electronic component 161 ... Component recognition camera 187 ... Flange 189 ... First nozzle 191 ... Second nozzle 297 ... Memory tag (wireless tag)
299 ... Tag read / write unit hCZ ... Axis of rotation P ... Constant interval

Claims (2)

An XY robot movable in each of the orthogonal XY axis directions;
A component transfer head mounted on the XY robot;
A component supply unit in which a plurality of component supply positions are arranged at regular intervals in the X-axis direction;
A plurality of head units which are provided in the component transfer head and are rotatable around a rotation center in the Z-axis direction orthogonal to the XY axes;
The head unit includes a plurality of sub-heads having suction nozzles at the lower end that are arranged in a circumferential direction around the rotation center and whose suction direction is the Z-axis direction,
The suction nozzles are arranged at a distance that is an integral multiple of the interval between adjacent parts supply positions,
And a nozzle lifting / lowering means capable of simultaneously lowering the plurality of suction nozzles is provided in the head unit ,
The head unit includes an imaging unit that detects the posture of a component held by suction on the suction nozzle of the sub head,
The imaging unit is disposed in a gap between two sets of the suction nozzles adjacent in the circumferential direction, and images the parts sucked and held by the suction nozzle located at the lower end of the sub head,
A rotary type component mounting apparatus , wherein each head unit is provided with a component recognition elevating means for raising the suction nozzle of the arbitrary sub-head rotated at the position of the imaging unit . The imaging unit has a component recognition camera disposed in an intermediate portion between the two head units,
The component sucked by the suction nozzle of the sub head in one of the head units and the component sucked by the suction nozzle of the sub head in the other head unit can be simultaneously recognized by the component recognition camera. The rotary type component mounting apparatus according to claim 1 .

Images