JP4566421B2

JP4566421B2 - Transfer device and electronic component mounting device

Info

Publication number: JP4566421B2
Application number: JP2001032486A
Authority: JP
Inventors: 常雄高久
Original assignee: Juki Corp
Current assignee: Juki Corp
Priority date: 2001-02-08
Filing date: 2001-02-08
Publication date: 2010-10-20
Anticipated expiration: 2021-02-08
Also published as: JP2002237695A

Description

【０００１】
【発明の属する技術分野】
本発明は、被移送部をほぼ水平な平面の所定範囲内で任意の位置に移送する移送装置、及び、この移送装置を備え、電子部品を電子回路基板上に搬送して電子部品回路基板に装着する電子部品搭載装置に関する。
【０００２】
【従来の技術】
図４に示すように、電子部品搭載装置４０には、電子部品を吸着・保持し、これら電子部品を電子回路基板上に実装するヘッド４１が備えられている。このヘッド４１は、移送装置５０によってＸ−Ｙ軸方向に移動自在とされるとともに、電子部品を吸着するシャフトを上下に昇降させるサーボモータ及び前記シャフトを回転させるサーボモータを搭載しており、その他にも、空圧電磁弁やセンサ等の機器を搭載している。
【０００３】
前述した移送装置５０には、ヘッド４１をＸ軸方向に移動させるとともにＸ軸方向に沿ったＸ軸ガイド部５２を備えたＸ軸可動部５３と、該Ｘ軸可動部５３をＹ軸方向に移動させるとともにＹ軸方向に沿ったＹ軸ガイド部５４を備えたＹ軸可動部５５と、ヘッド４１をＸ，Ｙ軸方向に駆動するＸ，Ｙ駆動モータ５６，５７等とが備えられている。そして、Ｘ，Ｙ駆動モータ５６，５７を作動することにより、ヘッド４１をＸ，Ｙ軸ガイド部５２，５４に案内させて、ヘッド４１をＸ−Ｙ軸方向に対して移動自在とすることができる。
【０００４】
ここで、移動自在とされるとともに前述した機器を搭載するヘッド４１に電力やエアー等を供給するため、ヘッド４１と筐体４２内部に設置されたコントローラ（図示しない）等との間に電線やエアー配管等の複数のケーブル／ホース４３を配する必要がある。そして、ケーブル／ホース４３を支持・案内する手段として、市販のケーブル支持部材４４を用いていた。
【０００５】
【発明が解決しようとする課題】
ところで、従来の電子部品搭載装置４０においては、市販のケーブル支持部材４４をヘッド４１のＸ，Ｙ軸方向それぞれの移動に対応させるため、ケーブル支持部材４４をＸケーブル支持部材４４ａと、Ｙケーブル支持部材４４ｂとに分けて二箇所に設置していた。
ここで、これらＸ，Ｙケーブル支持部材４４ａ，４４ｂは多数のブロックが連接されて形成され、同一面内において一方向にのみ略Ｕ字状に湾曲する。そして、通常の使用状態においては、これらＸ，Ｙケーブル支持部材４４ａ，４４ｂそれぞれを縦置きにした状態で上下に湾曲するように設置し、ヘッド４１の移動に対応させている。
しかしながら、この場合、ケーブル支持部材４４の移動範囲（移動空間）をヘッド４１の上方に作らねばならず、装置自体の高さ寸法が大きくなってしまい、工場内にこの装置を何台も並べてしまうと工場内にて周囲を見渡せなくなってしまうという問題があった。
【０００６】
そこで、本発明は装置の外形サイズを抑え、小型化を図ることのできる移送装置及び該移送装置を備える電子部品搭載装置を提供する。
【０００７】
【課題を解決するための手段】
請求項１記載の発明は、例えば図１及び２に示すように、被移送部（ヘッド１）をほぼ水平な平面の所定範囲（７）内で任意の位置に移送する移送装置（Ｂ）であって、
前記被移送部と、
該被移送部を移送させる移送手段（２）と、
所定の固定位置（６）から移動する被移送部に接続される柔軟性を有するケーブル等の線状部材（３５）と、
該線状部材を垂れ下がらないように前記固定位置から前記被移送部まで支持するとともに、前記被移送部の移動に合わせて前記線状部材を所定の経路上に配置するケーブル支持部材（３）とを備え、
前記ケーブル支持部材は、前記線状部材をそれぞれ支持する多数のブロック（３０）が連接されて形成され、各ブロックの連接部分においてブロック同士が水平な平面にほぼ沿う方向にだけ屈曲自在とされ、
前記移送手段が、被移送部をほぼ水平なＸ軸方向に移動するとともにＸ軸方向に沿ったＸ軸ガイド部（４）を備えたＸ軸移動手段と、
該Ｘ軸移動手段をＸ軸と直交する水平なＹ軸方向に移動するＹ軸移動手段とを備え、
前記ケーブル支持部材が前記所定範囲の外周部分の前記固定位置に一端部が接続されるとともに、前記Ｘ軸ガイド部に他端部が接続され、前記固定位置から前記Ｘ軸ガイド部まで線状部材を支持する第一の支持部材（３１）と、
前記Ｘ軸ガイド部に一端部が接続されるとともに、前記被移送部に他端部が接続され前記Ｘ軸ガイド部から前記被移送部まで前記線状部材を支持する第二の支持部材（３２）とを備え、
前記ケーブル支持部材の各ブロック同士の連結部分が連結方向に対して左右いずれか一方にだけ屈曲可能とされ、
第一の支持部材は、他端部側の部分の複数個のブロックを除くブロックのブロック同士の連結部分が連結方向に対して左右いずれか一方のうちの同じ方に屈曲可能とされるとともに、他端部側の部分の複数個のブロック同士の連結部分が他端部側の部分の複数個のブロックを除くブロック同士の連結部分と逆の方に屈曲可能となっていることを特徴とする。
【０００８】
請求項１記載の発明によれば、ケーブル支持部材は水平な平面にほぼ沿う方向にだけ屈曲自在とされているので、被移送部の移動に際して、垂直な平面に沿う方向に屈曲せずケーブル支持部材が高さ方向の空間内に移動軌跡を描かない。従って、装置内部にてケーブル支持部材の移動軌跡を考慮して高さ方向に空間を設ける必要はなくなるので、少なくとも装置外形における高さを低く抑え、装置の小型化を図ることができる。
また、従来においては、線状部材を固定位置から上下に湾曲するケーブル支持部材の入口近傍まで上方に誘導し、組み付けるのに手間を要していたが、請求項１のような構成にすることにより、線状部材はケーブル支持部材により略同一の高さに配置されるので、上記した手間を省くことができ、線状部材の組付が容易になる。
【０００９】
なお、ケーブル支持部材は、信号や電力等を送るための各種ケーブルのほか、各種チューブやホースのケーブルと同様の柔軟性を有する線状部材を、その線状部材の少なくとも一端部を移動可能に支持するものである。また、ケーブル支持部材としては、市販品を用いることも可能であるが、この場合に、各ブロックの連接部分が垂直な平面に沿う方向にだけ屈曲可能な通常のケーブル支持部材を通常の使用状態に対して９０度傾けて横に寝かして使用することになるので、市販のケーブル支持部材が横に寝かした状態で自重や支持される線状部材の重さに耐える強度を有する必要がある。そして、ケーブル支持部材として市販品を用いる場合には、新規なケーブル支持部材を準備する必要がないので、移送装置のコストを削減できる。
【００１１】
また、請求項１記載の発明によれば、ケーブル支持部材は第一の支持部材と、第二の支持部材とを備え、ケーブル支持部材の屈曲による移動の軌跡をケーブル支持部材の途中の部分でＸ軸ガイド部に接続した状態とすることで規制でき、ケーブル支持部材が予定外の軌跡を描くことを防止することができる。
なお、基本的には、第一の支持部材が、全体をほぼＵ字状に湾曲させた状態で、他端部側がＹ軸方向にほぼ沿って移動し、第二の支持部材が、全体をほぼＵ字状に湾曲させた状態で、他端部側がＸ軸方向にほぼ沿って移動するようになっている。
【００１３】
上述のように第一の支持部材を全体を略Ｕ字状に湾曲させた状態で、他端部側をＹ軸方向に沿って移動させた場合に、略Ｕ字状の湾曲部が被移送部の移動範囲から大きくはみ出す可能性がある。しかし、請求項１のような構成とすることにより、第一の支持部材は、例えば、ほぼＳ字状の状態からほぼＬ字状の状態に形状を変化させながら、他端部をＹ軸方向に沿って移動させることが可能となり、略Ｕ字状の湾曲部が被移送部の移動範囲から大きくはみ出すのを防止することが可能となる。これにより、移送装置の小型化を図ることができる。
【００１４】
請求項２記載の発明は、例えば図１に示すように、請求項１の移送装置を備え、電子部品を電子回路基板上に搬送して電子部品回路基板に装着する電子部品搭載装置（Ａ）であって、
前記被移送部が、前記電子部品を吸着した状態で電子回路基板上に搬送して装着する吸着ノズルを備えてほぼ水平な平面の所定範囲内で任意の位置に移動可能なヘッド（１）であることを特徴とする。
【００１５】
請求項２記載の発明によれば、請求項１に記載の移送装置を備え、被移送部がヘッドであることから、ヘッドの移動に際して請求項１に記載の発明と同様の効果を奏する電子部品搭載装置とすることができる。
【００１６】
【発明の実施の形態】
以下、本発明の移送装置及び電子部品搭載装置に係る実施の形態について図面を参照して説明する。
【００１７】
図１及び２に示すように、電子部品を電子回路基板上に搬送して電子回路基板に装着する電子部品搭載装置（以下、搭載装置と称する）Ａには、搭載装置Ａの内部に移送装置Ｂが備えられている。
【００１８】
移送装置Ｂは被移送部をほぼ水平な平面の所定範囲内で任意の位置に移送する装置であって、前記被移送部に相当するヘッド１と、ヘッド１を移送する移送手段２と、ヘッド１に駆動力等を送る線状部材３５（図２（ａ）参照）と、線状部材３５を支持・案内するケーブル支持部材３とを備えている。
【００１９】
ヘッド１は各種電子部品を吸着した状態で電子回路基板上に搬送して装着する吸着ノズル（図示しない）を備え、ほぼ水平な平面の所定範囲内で任意の位置に移動可能である。
【００２０】
移送手段２はヘッド１を左右方向（Ｘ軸方向）に移動させるＸ軸移動手段と、ヘッド１を前後方向（Ｙ軸方向）に移動させるＹ軸移動手段とを備え、ヘッド１をＸ−Ｙ軸方向に移動可能とすることができる。具体的には、図１に示すように、Ｘ軸移動手段はヘッド１のＸ軸方向の移動を駆動させるＸ軸駆動モータ（図示しない）と、ヘッド１をＸ軸方向に案内するＸ軸ガイド部４とを備え、かつ、ヘッド１がＸ軸ガイド部４に取り付けられている。そして、Ｘ軸駆動モータを作動させると、その駆動力が伝達手段（図示しない）により伝達されて、ヘッド１はＸ軸ガイド部４に案内されるとともにＸ軸方向に移動可能となる。
また、Ｙ軸移動手段はヘッド１のＹ軸方向の移動を駆動させるＹ軸駆動モータ（図示しない）と、Ｘ軸方向に配設された前述のＸ軸ガイド部４と直交するとともに左右にそれぞれ所定間隔を隔て平行に配設されるＹ軸ガイド部５とを備えている。なお、Ｙ軸ガイド部５はＸ軸ガイド部４の左右端部が係合されて、Ｘ軸ガイド部４をＹ軸方向に案内するようになっている。そして、Ｙ軸駆動モータを作動させると、その駆動力が伝達手段（図示しない）により伝達されて、Ｘ軸ガイド部４はＹ軸ガイド部５に案内されるとともに、ヘッド１はＹ軸方向に移動可能となる。
これらの構成により、ヘッド１はＸ−Ｙ軸方向に移動可能とされている。
【００２１】
ここで、Ｘ−Ｙ軸方向に移動可能とされるヘッド１には、電子部品を吸着するシャフトを上下に昇降させるサーボモータ及び前記シャフトを回転させるサーボモータが搭載され、その他にも、基板マークを識別するＣＣＤカメラ、各種センサ等が搭載されている。このヘッド１に電力、信号、エアー等を配給するため、複数の各種ケーブル、ホース、チューブ等（以下、線状部材３５とする（図２（ａ）参照））が、ヘッド１と搭載装置Ａ内部に設置されたコントローラ（図示しない）等との間に配設されている。従って、これらの線状部材３５は、後述するケーブル支持部材３（図１参照）に支持されてヘッド１の移動に追従するようになっている。なお、線状部材３５はヘッド１の移動に追従できるように柔軟性を有している。
【００２２】
ケーブル支持部材３は、図１に示すように、全体形状が略筒状とされた長尺な部材であって、先端部３ａがヘッド１に固定されるとともに、基端部３ｂが搭載装置Ａ内部に設置されたコントローラ（図示しない）等に続く仲介位置に設けられた固定位置６に固定されている。そして、このケーブル支持部材３は該ケーブル支持部材３の内部に形成された中空部分に前述した線状部材３５が挿通されて（図２（ａ）参照）、線状部材３５が垂れ下がらないように固定位置６からヘッド１まで線状部材を支持し、ヘッド１の移動に合わせて線状部材３５を所定の経路上に配置するものである。すなわち、ケーブル支持部材３はヘッド１と固定位置６との間において、基端部３ｂが固定位置６に固定された状態で、ヘッド１の移動に伴い略水平な平面上で蛇行するような動作がなされ、線状部材３５を固定位置６からヘッド１まで支持・案内するようになっている。従って、線状部材３５はケーブル支持部材３により略同一の高さに配置されるので、従来のように、線状部材３５を固定位置から上下に湾曲するケーブル支持部材の入口近傍まで上方に誘導し、組み付ける手間を要することがなく、線状部材３５の組付が容易になる。
【００２３】
また、ケーブル支持部材３は、図２に示すように、多数のブロック３０が連接されて形成され、各ブロック３０の連接される連接方向を直線状にした場合に左右のいずれか一方にだけ屈曲するようになっている。
詳しくは、図２（ａ）に示すように、各ブロック３０は断面略四角枠状とされたプラスチック製の枠体であって、三方向に対し断面コ字状の側部３０ａが備えられ、残る開放された状態の一方向がフタ状板材３４によって取り外し可能に少なくとも一部が閉塞されており、線状部材３５を前記断面コ字状の側部３０ａの内部にセット後、該フタ状板材３４を取り付ける構造となっている。側部３０ａの前側（前側部３０ｂ）には外側に突出する丸い凸部３０ｃが形成され、側部３０ａの後側（後側部３０ｄ）には上下に貫通する丸い孔３０ｅが形成されている。そして、連接される各ブロック３０の側部３０ａ間において、前側部３０ｂの凸部３０ｃが後側部３０ｄの孔３０ｅに嵌合されると、各ブロック３０同士が連接されるとともに、これら各ブロック３０間で回動移動できるようになっている。
【００２４】
さらに、この場合、前側部３０ｂと後側部３０ｄとの連接部分にはストッパ機構が設けられ、このストッパ機構により連接された各ブロック３０同士の連接部分での屈曲方向が規制されるようになっている。詳しくは、図２（ａ）（ｂ）に示すように、後側部３０ｄには台形状に内側に突出した台形凸部３０ｆが形成され、また前側部３０ｂには台形凸部３０ｆよりやや大きな幅を有した台形凹部３０ｇが形成されており、前側部３０ｂと後側部３０ｄとが連接された際に、台形凸部３０ｆは台形凹部３０ｇに嵌合され、各ブロック３０同士の回動に伴い、台形凸部３０ｆは台形凹部３０ｇの所定の幅範囲内でその動きが規制されるような機構とされている。従って、各ブロック３０の連接方向を直線状とした場合、上記ストッパ機構によって、一方向に対しては各ブロック３０同士が互いに屈曲しないように規制され、他方向に対しては所定の角度に達するまで屈曲することが許容されるようになっている。
【００２５】
また、ケーブル支持部材３は、図１に示すように、第一の支持部材３１と第二の支持部材３２とから構成され、これら第一及び第二の支持部材３１，３２の接続部分（以下、接続部３３と称する）がＸ軸ガイド部４の略中央に固定されている。
【００２６】
第一の支持部材３１は、一端部が前述した固定位置６に接続されるとともに、他端部が接続部３３に接続され、ヘッド１のＹ軸方向の移動により、略Ｓ字状の状態から略Ｌ字状の状態に（又は、略Ｌ字状の状態から略Ｓ字状の状態に）形状が変化するようになっている。詳しくは、固定位置６側の部分の複数個のブロック３０同士の連結部分（固定位置６側の連結部分）と、接続部３３側の部分の複数個のブロック３０同士の連結部分（接続部３３側の連結部分）とにおいて、前述した各ブロック３０同士の前側部３０ｂに対する後側部３０ｄを上下逆転させて連接することにより、固定位置６側の連結部分はヘッド１側に向かう一方向に屈曲可能とされ、接続部３３側の連結部分は固定位置６側の連結部分と逆の方向に屈曲可能とされている。
なお、後側部３０ｄを上下逆転させた場合においては、前記フタ状板材３４が反対面となるため、線状部材３５をセットする場合の障害となる。屈曲方向の関係（３０ｆと３０ｇの角度）のみを逆転することとし、フタ状板材３４は他のブロック３０と同じ向きの特別ブロックを使用することにより、上記障害を解消させることが可能となる。
【００２７】
第二の支持部材３２は、一端部が接続部３３に接続されるとともに、他端部がヘッド１に接続され、ヘッド１のＸ軸方向の移動により、全体を略Ｕ字状に湾曲させた状態で他端部がＸ軸方向にほぼ沿って移動するようになっている。
【００２８】
従って、これら第一及び第二の支持部材３１，３２の構成により、ケーブル支持部材３は、ヘッド１の移動に伴い、図１及び３に示すような所定範囲７内にて予定された軌跡を描くとともに線状部材を固定位置６からヘッド１まで支持・案内するようになっている。また、ケーブル支持部材３は第一の支持部材３１と、第二の支持部材３２とを備え、ケーブル支持部材３の屈曲による移動の軌跡をケーブル支持部材３の途中の部分（すなわち、接続部３３）でＸ軸ガイド部４に接続した状態とすることで規制し、ケーブル支持部材３が予定外の軌跡を描くことを防止している。
【００２９】
次に、搭載装置Ａ，移送装置Ｂを作動させた場合の動作、詳しくはヘッド１の移動に伴うケーブル支持部材３の動作について、図３を参照して説明する。
【００３０】
ケーブル支持部材３の先端部３ａに固定されたヘッド１がＸ軸方向に移動した場合、第二の支持部材３２は一端部側が接続部３３に固定されて、全体をほぼＵ字状に湾曲させた状態で、他端部側（先端部３ａ側）がＸ軸方向にほぼ沿って移動する。
【００３１】
また、ヘッド１がＹ軸方向に移動した場合、第一の支持部材３１は一端部側（基端部３ｂ側）が固定位置６に固定され、他端部側が接続部３３に固定されて、全体をほぼＳ字状に湾曲させた状態からほぼＬ字状に湾曲させた状態（ほぼＬ字状に湾曲させた状態からほぼＳ字状に湾曲させた状態）に形状を変化させ、他端部側がＹ軸方向にほぼ沿って移動する。
そして、上記したケーブル支持部材３のＸ−Ｙ軸方向への動作が組み合わせられて、ケーブル支持部材３は所定範囲７内にて予定された移動軌跡を描いて線状部材を支持・案内する。
【００３２】
以上、本実施の形態に係る搭載装置Ａ，移送装置Ｂによれば、ケーブル支持部材３は水平な平面にほぼ沿う方向にだけ屈曲自在とされているので、ヘッド１の移動に際して、ケーブル支持部材３は高さ方向の空間内に移動軌跡を描くことはなく、少なくとも装置外形における高さを低く抑え、装置の小型化を図ることができる。
加えて、第一の支持部材３１は、略Ｓ字状の状態から略Ｌ字状の状態（又は、略Ｌ字状の状態から略Ｓ字状の状態）に形状を変化させてヘッド１のＹ軸方向への移動に対応するようになっているので、略Ｕ字状の湾曲部が所定範囲７からはみ出すことがなく、水平方向における移動範囲を小さくし、さらに装置の小型化を図ることができる。
【００３３】
なお、本実施の形態においては、接続部３３をＸ軸ガイド部４の略中央に固定してケーブル支持部材３の動作をＸ，Ｙ軸方向それぞれにおいて動作を規制するようにしたが、接続部３３を必ずしもＸ軸ガイド部４に固定する必要はなく、種々の改良並びに設計の変更を行うことにより、ケーブル支持部材３が所定範囲７内で移動軌跡を描くようにすればよい。
【００３４】
【発明の効果】
請求項１記載の発明によれば、装置外形における高さを低く抑え、移送装置の小型化を図ることができる。また、線状部材の組付作業を容易に行うことができる。
【００３５】
また、請求項１記載の発明によれば、ケーブル支持部材が予定外の軌跡を描くことを防止することができる。
【００３６】
また、請求項１記載の発明によれば、移送装置の小型化を図ることができる。
【００３７】
請求項２記載の発明によれば、請求項１に記載の発明と同様の効果を奏する電子部品搭載装置とすることができる。
【図面の簡単な説明】
【図１】本実施の形態に係る移送装置及び電子部品搭載装置を示す斜視図である。
【図２】本実施の形態に係るケーブル支持部材の一部を示す（ａ）斜視図（ｂ）側面図である。
【図３】前記ケーブル支持部材の移動軌跡を説明するための平面図である。
【図４】従来の電子部品搭載装置を示す斜視図である。
【符号の説明】
Ａ電子部品搭載装置
Ｂ移送装置
１ヘッド（被移送部）
２移送手段
３ケーブル支持部材
４Ｘ軸ガイド部
６固定位置
７所定範囲
３０ブロック
３１第一の支持部材
３２第二の支持部材
３５線状部材[0001]
BACKGROUND OF THE INVENTION
The present invention includes a transfer device that transfers a transferred portion to an arbitrary position within a predetermined range of a substantially horizontal plane, and includes the transfer device, which transports an electronic component onto an electronic circuit board to form an electronic component circuit board. The present invention relates to an electronic component mounting apparatus to be mounted.
[0002]
[Prior art]
As shown in FIG. 4, the electronic component mounting apparatus 40 includes a head 41 that sucks and holds electronic components and mounts these electronic components on an electronic circuit board. The head 41 is movable in the XY axis direction by the transfer device 50, and is equipped with a servo motor that moves up and down a shaft that adsorbs electronic components and a servo motor that rotates the shaft. In addition, devices such as pneumatic solenoid valves and sensors are installed.
[0003]
In the transfer device 50 described above, the head 41 is moved in the X-axis direction and the X-axis movable portion 53 including the X-axis guide portion 52 along the X-axis direction, and the X-axis movable portion 53 is moved in the Y-axis direction. A Y-axis movable part 55 having a Y-axis guide part 54 along the Y-axis direction and X and Y drive motors 56 and 57 for driving the head 41 in the X and Y-axis directions are provided. . Then, by operating the X and Y drive motors 56 and 57, the head 41 can be guided to the X and Y axis guide portions 52 and 54 so that the head 41 is movable in the XY axis direction. it can.
[0004]
Here, in order to supply electric power, air, etc. to the head 41 on which the above-described devices are mounted, it is possible to move between the head 41 and a controller (not shown) installed in the housing 42. It is necessary to arrange a plurality of cables / hoses 43 such as air pipes. A commercially available cable support member 44 is used as a means for supporting and guiding the cable / hose 43.
[0005]
[Problems to be solved by the invention]
By the way, in the conventional electronic component mounting apparatus 40, in order to make the commercially available cable support member 44 correspond to each movement of the head 41 in the X and Y axis directions, the cable support member 44 is connected to the X cable support member 44a and the Y cable support. It was divided into the member 44b and installed in two places.
Here, the X and Y cable support members 44a and 44b are formed by connecting a large number of blocks, and are curved in a substantially U shape only in one direction within the same plane. In a normal use state, the X and Y cable support members 44a and 44b are installed so as to bend up and down in a vertically placed state, and correspond to the movement of the head 41.
However, in this case, the moving range (moving space) of the cable support member 44 must be made above the head 41, and the height of the device itself becomes large, and many devices are arranged in the factory. There was a problem that it was impossible to look around in the factory.
[0006]
Therefore, the present invention provides a transfer device that can reduce the external size of the device and reduce the size, and an electronic component mounting device including the transfer device.
[0007]
[Means for Solving the Problems]
The invention described in claim 1 is a transfer device (B) for transferring a transferred portion (head 1) to an arbitrary position within a predetermined range (7) of a substantially horizontal plane, as shown in FIGS. 1 and 2, for example. There,
The transferred part;
A transfer means (2) for transferring the transferred part;
A linear member (35) such as a flexible cable connected to the transferred part moving from the predetermined fixed position (6);
A cable support member (3) for supporting the linear member from the fixed position to the transferred portion so as not to hang down, and arranging the linear member on a predetermined path in accordance with the movement of the transferred portion. And
The cable support member is formed by connecting a large number of blocks (30) that respectively support the linear members, and in the connecting portion of each block, the blocks can be bent only in a direction substantially along a horizontal plane ,
An X-axis moving means provided with an X-axis guide portion (4) along the X-axis direction while the transfer means moves the transferred portion in a substantially horizontal X-axis direction;
Y-axis moving means for moving the X-axis moving means in a horizontal Y-axis direction orthogonal to the X-axis,
One end portion of the cable support member is connected to the fixed position of the outer peripheral portion of the predetermined range, and the other end portion is connected to the X-axis guide portion, and the linear member extends from the fixed position to the X-axis guide portion. A first support member (31) for supporting
A second support member (32) having one end connected to the X-axis guide portion and the other end connected to the transferred portion and supporting the linear member from the X-axis guide portion to the transferred portion. )
The connecting portion between the blocks of the cable support member can be bent only to the left or right with respect to the connecting direction,
The first support member is configured such that the connecting portion of the blocks of the blocks excluding the plurality of blocks on the other end side portion can be bent to the same one of the left and right with respect to the connecting direction, A connecting portion between a plurality of blocks on the other end portion side can be bent in a direction opposite to a connecting portion between blocks excluding the plurality of blocks on the other end portion side. .
[0008]
According to the first aspect of the present invention, since the cable support member can be bent only in the direction substantially along the horizontal plane, the cable support is not bent in the direction along the vertical plane when the transported portion is moved. The member does not draw a movement trajectory in the space in the height direction. Accordingly, there is no need to provide a space in the height direction in consideration of the movement trajectory of the cable support member inside the apparatus, so that at least the height of the apparatus outer shape can be suppressed and the apparatus can be downsized.
Further, in the past, it took time to guide and assemble the linear member upward from the fixed position to the vicinity of the entrance of the cable support member that is bent up and down. Thus, since the linear member is arranged at substantially the same height by the cable support member, the above-described labor can be saved, and the assembly of the linear member is facilitated.
[0009]
Incidentally, the cable support members, in addition to various types of cables for signaling, power, etc., the linear member having the same flexibility and cable various tubes and hoses, movable at least one end portion of the linear member To support. In addition, a commercially available product can be used as the cable support member, but in this case, a normal cable support member that can be bent only in a direction along a vertical plane with the connecting portion of each block is in a normal use state. Therefore, it is necessary to have a strength that can withstand the weight of the linear member to be supported by the commercially available cable support member in a state where it is laid down sideways. And when using a commercial item as a cable support member, since it is not necessary to prepare a new cable support member, the cost of a transfer apparatus can be reduced.
[0011]
Further, according to the first aspect of the invention, the cable support member comprises a first support member and a second support member, the trajectory of movement by bending of the cable support member in the middle portion of the cable support member It can control by setting it as the state connected to the X-axis guide part, and it can prevent that a cable support member draws an unscheduled locus.
Basically, the first support member is curved in a substantially U shape, and the other end side moves substantially along the Y-axis direction, and the second support member The other end is moved substantially along the X-axis direction in a substantially U-shaped curved state.
[0013]
As described above, when the other end side is moved along the Y-axis direction with the entire first support member curved in a substantially U shape, the substantially U-shaped curved portion is transferred. There is a possibility that it will protrude greatly from the moving range of the part. However, with the configuration as in claim 1 , the first support member changes the shape of the first support member from, for example, a substantially S-shaped state to a substantially L-shaped state, while the other end portion is in the Y-axis direction Accordingly, it is possible to prevent the substantially U-shaped curved portion from greatly protruding from the movement range of the transferred portion. Thereby, size reduction of a transfer apparatus can be achieved.
[0014]
The invention according to claim 2 is an electronic component mounting apparatus (A) comprising the transfer device according to claim 1, for example as shown in FIG. 1, and transporting the electronic component onto the electronic circuit board and mounting it on the electronic component circuit board. Because
A head (1) having a suction nozzle for transporting and mounting the electronic component on an electronic circuit board in a state where the electronic component is sucked, and being movable to an arbitrary position within a predetermined range on a substantially horizontal plane; It is characterized by being.
[0015]
According to the second aspect of the present invention, since the transfer device according to the first aspect is provided and the portion to be transferred is a head, an electronic component that exhibits the same effect as the first aspect of the invention when moving the head It can be a mounting device.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a transfer device and an electronic component mounting device according to the present invention will be described with reference to the drawings.
[0017]
As shown in FIGS. 1 and 2, an electronic component mounting apparatus (hereinafter referred to as a mounting apparatus) A that transports an electronic component onto an electronic circuit board and mounts the electronic component on the electronic circuit board includes a transfer device inside the mounting apparatus A. B is provided.
[0018]
The transfer device B is a device for transferring the transferred portion to an arbitrary position within a predetermined range of a substantially horizontal plane, and includes a head 1 corresponding to the transferred portion, a transfer means 2 for transferring the head 1, and a head 1 includes a linear member 35 (see FIG. 2A) that sends a driving force or the like to 1 and a cable support member 3 that supports and guides the linear member 35.
[0019]
The head 1 includes a suction nozzle (not shown) that is transported and mounted on an electronic circuit board in a state where various electronic components are sucked, and can be moved to an arbitrary position within a predetermined range on a substantially horizontal plane.
[0020]
The transfer unit 2 includes an X-axis moving unit that moves the head 1 in the left-right direction (X-axis direction), and a Y-axis moving unit that moves the head 1 in the front-rear direction (Y-axis direction). It can be movable in the axial direction. Specifically, as shown in FIG. 1, the X-axis moving means includes an X-axis drive motor (not shown) that drives movement of the head 1 in the X-axis direction, and an X-axis guide that guides the head 1 in the X-axis direction. And the head 1 is attached to the X-axis guide portion 4. When the X-axis drive motor is operated, the driving force is transmitted by a transmission means (not shown), so that the head 1 is guided by the X-axis guide portion 4 and is movable in the X-axis direction.
The Y-axis moving means is orthogonal to the Y-axis drive motor (not shown) for driving the movement of the head 1 in the Y-axis direction and the aforementioned X-axis guide portion 4 disposed in the X-axis direction and to the left and right respectively. And a Y-axis guide portion 5 disposed in parallel at a predetermined interval. The Y-axis guide portion 5 is configured such that the left and right ends of the X-axis guide portion 4 are engaged to guide the X-axis guide portion 4 in the Y-axis direction. When the Y-axis drive motor is operated, the driving force is transmitted by a transmission means (not shown), the X-axis guide part 4 is guided to the Y-axis guide part 5, and the head 1 is moved in the Y-axis direction. It becomes movable.
With these configurations, the head 1 is movable in the XY axis directions.
[0021]
Here, the head 1 that is movable in the X-Y axis direction is equipped with a servo motor that moves up and down a shaft that adsorbs an electronic component and a servo motor that rotates the shaft. A CCD camera, various sensors, and the like are installed. In order to distribute power, signals, air, etc. to the head 1, a plurality of various cables, hoses, tubes, etc. (hereinafter referred to as a linear member 35 (see FIG. 2A)) are connected to the head 1 and the mounting device A. It is arranged between a controller (not shown) and the like installed inside. Therefore, these linear members 35 are supported by a cable support member 3 (see FIG. 1) described later and follow the movement of the head 1. The linear member 35 is flexible so that it can follow the movement of the head 1.
[0022]
As shown in FIG. 1, the cable support member 3 is a long member whose overall shape is substantially cylindrical. The distal end portion 3 a is fixed to the head 1, and the proximal end portion 3 b is mounted on the mounting device A. It is fixed at a fixed position 6 provided at an intermediary position following a controller (not shown) installed inside. In the cable support member 3, the linear member 35 described above is inserted into a hollow portion formed inside the cable support member 3 (see FIG. 2A), so that the linear member 35 does not hang down. The linear member is supported from the fixed position 6 to the head 1, and the linear member 35 is arranged on a predetermined path in accordance with the movement of the head 1. That is, the cable support member 3 operates in a meandering manner on a substantially horizontal plane as the head 1 moves, with the base end 3 b fixed at the fixed position 6 between the head 1 and the fixed position 6. The linear member 35 is supported and guided from the fixed position 6 to the head 1. Therefore, since the linear member 35 is disposed at substantially the same height by the cable support member 3, the linear member 35 is guided upward from the fixed position to the vicinity of the entrance of the cable support member that is bent up and down as in the prior art. However, it is possible to easily assemble the linear member 35 without the need for assembling.
[0023]
Further, as shown in FIG. 2, the cable support member 3 is formed by connecting a large number of blocks 30, and is bent only to either the left or right when the connecting direction of the blocks 30 is linear. It is supposed to be.
Specifically, as shown in FIG. 2 (a), each block 30 is a plastic frame having a substantially rectangular frame shape in cross section, and is provided with a side portion 30a having a U-shaped cross section in three directions. One direction of the remaining open state is at least partially closed by the lid-like plate material 34 so that the linear member 35 is set inside the side portion 30a having the U-shaped cross section, and then the lid-like plate material. 34 is attached. A round convex portion 30c protruding outward is formed on the front side (front side portion 30b) of the side portion 30a, and a round hole 30e penetrating vertically is formed on the rear side (rear side portion 30d) of the side portion 30a. . And if the convex part 30c of the front side part 30b is fitted in the hole 30e of the rear side part 30d between the side parts 30a of each connected block 30, each block 30 will be connected and these each block It can be rotated between 30.
[0024]
Further, in this case, a stopper mechanism is provided at the connecting portion between the front side portion 30b and the rear side portion 30d, and the bending direction at the connecting portion between the blocks 30 connected by the stopper mechanism is regulated. ing. Specifically, as shown in FIGS. 2 (a) and 2 (b), a trapezoidal convex portion 30f protruding inward in a trapezoidal shape is formed on the rear side portion 30d, and the front side portion 30b is slightly larger than the trapezoidal convex portion 30f. A trapezoidal concave portion 30g having a width is formed, and when the front side portion 30b and the rear side portion 30d are connected, the trapezoidal convex portion 30f is fitted into the trapezoidal concave portion 30g, so that each block 30 rotates. Accordingly, the trapezoidal convex portion 30f has a mechanism that restricts its movement within a predetermined width range of the trapezoidal concave portion 30g. Accordingly, when the connecting direction of the blocks 30 is linear, the stopper mechanism restricts the blocks 30 from bending with respect to one direction and reaches a predetermined angle with respect to the other direction. Bending is allowed.
[0025]
Further, as shown in FIG. 1, the cable support member 3 includes a first support member 31 and a second support member 32, and a connection portion (hereinafter referred to as a connection portion) between the first and second support members 31 and 32. , Referred to as a connection portion 33) is fixed to the approximate center of the X-axis guide portion 4.
[0026]
One end of the first support member 31 is connected to the fixing position 6 described above, and the other end is connected to the connection portion 33, and the head 1 moves from the substantially S-shaped state by movement in the Y-axis direction. The shape changes to a substantially L-shaped state (or from a substantially L-shaped state to a substantially S-shaped state). Specifically, a connecting portion (a connecting portion on the fixed position 6 side) of the plurality of blocks 30 on the portion on the fixed position 6 side and a connecting portion (a connecting portion 33) on the portion on the connecting portion 33 side. The connecting portion on the fixed position 6 side is bent in one direction toward the head 1 side by connecting the rear side portion 30d with respect to the front side portion 30b of the blocks 30 to each other upside down. The connecting portion on the connection portion 33 side can be bent in the direction opposite to the connecting portion on the fixed position 6 side.
In addition, when the rear side portion 30d is turned upside down, the lid-like plate material 34 becomes the opposite surface, which is an obstacle when the linear member 35 is set. By reversing only the relationship in the bending direction (angle between 30 f and 30 g), and using a special block in the same direction as the other blocks 30 for the lid-like plate material 34, the above obstacle can be eliminated.
[0027]
The second support member 32 has one end connected to the connection portion 33 and the other end connected to the head 1, and the whole of the second support member 32 is bent in a substantially U shape by moving the head 1 in the X-axis direction. In the state, the other end is moved substantially along the X-axis direction.
[0028]
Therefore, with the configuration of the first and second support members 31 and 32, the cable support member 3 follows a predetermined trajectory within the predetermined range 7 as shown in FIGS. 1 and 3 as the head 1 moves. While drawing, the linear member is supported and guided from the fixed position 6 to the head 1. The cable support member 3 includes a first support member 31 and a second support member 32, and the locus of movement due to the bending of the cable support member 3 is a part of the cable support member 3 (that is, the connection portion 33). ) To prevent the cable support member 3 from drawing an unscheduled trajectory.
[0029]
Next, the operation when the mounting device A and the transfer device B are operated, specifically, the operation of the cable support member 3 accompanying the movement of the head 1 will be described with reference to FIG.
[0030]
When the head 1 fixed to the distal end portion 3a of the cable support member 3 moves in the X-axis direction, one end of the second support member 32 is fixed to the connection portion 33, and the whole is curved in a substantially U shape. In this state, the other end side (tip end 3a side) moves substantially along the X-axis direction.
[0031]
When the head 1 moves in the Y-axis direction, the first support member 31 has one end side (base end 3b side) fixed to the fixing position 6 and the other end side fixed to the connection portion 33. Change the shape from a state where the whole is bent into an approximately S shape to a state where it is bent into an approximately L shape (a state where it is bent from an approximately L shape into an approximately S shape), and the other end The part side moves substantially along the Y-axis direction.
Then, the above-described movement of the cable support member 3 in the X-Y axis direction is combined, and the cable support member 3 supports and guides the linear member while drawing a predetermined movement locus within the predetermined range 7.
[0032]
As described above, according to the mounting device A and the transfer device B according to the present embodiment, the cable support member 3 can be bent only in a direction substantially along a horizontal plane. 3 does not draw a movement locus in the space in the height direction, and at least the height of the outer shape of the device can be kept low, and the device can be downsized.
In addition, the shape of the first support member 31 is changed from the substantially S-shaped state to the substantially L-shaped state (or from the substantially L-shaped state to the substantially S-shaped state). Since it corresponds to the movement in the Y-axis direction, the substantially U-shaped curved portion does not protrude from the predetermined range 7, the moving range in the horizontal direction is reduced, and the apparatus is further downsized. Can do.
[0033]
In the present embodiment, the connection portion 33 is fixed to the approximate center of the X-axis guide portion 4 to restrict the operation of the cable support member 3 in the X and Y axis directions. It is not always necessary to fix 33 to the X-axis guide portion 4, and the cable support member 3 may draw a movement locus within the predetermined range 7 by performing various improvements and design changes.
[0034]
【The invention's effect】
According to invention of Claim 1, the height in an apparatus external shape can be restrained low and size reduction of a transfer apparatus can be achieved. Moreover, the assembly | attachment operation | work of a linear member can be performed easily.
[0035]
Moreover, according to invention of Claim 1, it can prevent that a cable support member draws an unscheduled locus | trajectory.
[0036]
Moreover, according to invention of Claim 1 , size reduction of a transfer apparatus can be achieved.
[0037]
According to invention of Claim 2 , it can be set as the electronic component mounting apparatus which has an effect similar to the invention of Claim 1 .
[Brief description of the drawings]
FIG. 1 is a perspective view showing a transfer device and an electronic component mounting device according to the present embodiment.
FIG. 2A is a perspective view and FIG. 2B is a side view showing a part of a cable support member according to the present embodiment.
FIG. 3 is a plan view for explaining a movement locus of the cable support member.
FIG. 4 is a perspective view showing a conventional electronic component mounting apparatus.
[Explanation of symbols]
A Electronic component mounting device B Transfer device 1 Head (portion)
2 Transfer means 3 Cable support member 4 X-axis guide portion 6 Fixed position 7 Predetermined range 30 Block 31 First support member 32 Second support member 35 Linear member

Claims

A transfer device for transferring a transferred part to an arbitrary position within a predetermined range of a substantially horizontal plane,
The transferred part;
Transport means for transporting the transported part;
A linear member made of any one of a cable , a hose, and a tube having flexibility, which is connected to a transferred part moving from a predetermined fixed position;
A cable support member for supporting the linear member from the fixed position to the transferred portion so as not to hang down, and arranging the linear member on a predetermined path in accordance with the movement of the transferred portion. ,
The cable support member is formed by connecting a large number of blocks that respectively support the linear members, and the blocks can be bent only in a direction substantially along a horizontal plane at the connecting portion of each block ,
The transfer means moves the transferred part in a substantially horizontal X-axis direction and has an X-axis movement means provided with an X-axis guide part along the X-axis direction;
Y-axis moving means for moving the X-axis moving means in a horizontal Y-axis direction orthogonal to the X-axis,
One end portion of the cable support member is connected to the fixed position of the outer peripheral portion of the predetermined range, and the other end portion is connected to the X-axis guide portion, and the linear member extends from the fixed position to the X-axis guide portion. A first support member that supports
A second support member having one end connected to the X-axis guide portion and the other end connected to the transferred portion and supporting the linear member from the X-axis guide portion to the transferred portion; Prepared,
The connecting portion between the blocks of the cable support member can be bent only to the left or right with respect to the connecting direction,
The first support member is configured such that the connecting portion of the blocks of the blocks excluding the plurality of blocks on the other end side portion can be bent to the same one of the left and right with respect to the connecting direction, A connecting portion between a plurality of blocks on the other end portion side can be bent in a direction opposite to a connecting portion between blocks excluding the plurality of blocks on the other end portion side. Transfer device.

An electronic component mounting apparatus comprising the transfer device according to claim 1 and transporting an electronic component onto an electronic circuit board and mounting the electronic component on the electronic circuit board.
The transported part is a head that includes a suction nozzle that is transported and mounted on an electronic circuit board in a state in which the electronic component is sucked and is movable to an arbitrary position within a predetermined range of a substantially horizontal plane. An electronic component mounting device.