JP4743141B2 - Mounting head for component mounting equipment - Google Patents

Description

  The present invention relates to a mounting head of a component mounting apparatus that sucks supplied components and mounts them on a substrate positioned at a predetermined position.

  The component mounting apparatus picks up a component supplied from a parts feeder by a mounting head and mounts it on a substrate positioned at a predetermined position. The mounting head has a base part provided on a moving stage that moves relative to the substrate, a plurality of shaft holding cylinders attached to the base part, extends vertically through each shaft holding cylinder, and sucks components at the lower end. And a plurality of nozzle shafts biased in the upward movement direction relative to the shaft holding cylinder by the biasing spring. Above the shaft holding cylinder is provided an elevating part that can be moved up and down with respect to the shaft holding cylinder, and the elevating part is provided with a plurality of pneumatic cylinders having piston rods whose lower ends are opposed to the upper ends of the nozzle shafts. Yes.

When you want to move a specific nozzle shaft down, such as when picking up a component supplied from a parts feeder or mounting the picked-up component on a board, press the pneumatic cylinder corresponding to that specific nozzle shaft. And the elevating part is lowered with the piston rod protruding downward. As a result, the piston rod of the pneumatic cylinder to which the compressed air is supplied pushes the opposing nozzle shaft downward against the urging force of the urging spring, so that the specific nozzle shaft to be lowered moves downward. On the other hand, for the nozzle shaft that is not subject to the downward movement, no compressed air is supplied to the corresponding pneumatic cylinder, so that the piston rod cannot push down the nozzle shaft by the lowering of the lifting part, and on the contrary, the nozzle shaft is relatively Will be pushed up and pushed into the elevating part (Patent Document 1).
JP 2001-168599 A

  By the way, in order to increase the mounting efficiency of components in such a mounting head, it is effective to increase the number of components that can be picked up at one time. For this purpose, the diameter of the nozzle shaft is reduced and the interval between the nozzle shafts is reduced. It is conceivable to increase the number of nozzle shafts (by narrowing the nozzle shaft pitch). Alternatively, the mounting head itself can be made compact by narrowing the pitch of the nozzle shaft while keeping the number of nozzle shafts as it is. However, in the conventional mounting head, if the nozzle shaft diameter is simply reduced in order to narrow the nozzle shaft pitch, it is necessary to reduce the diameter of the pneumatic cylinder. ) Is greatly reduced, and when the lifting part is lowered, the thrust generated by the pneumatic cylinder cannot overcome the biasing force of the biasing spring, and the piston rod is pushed into the lifting part, causing the nozzle shaft to move downward. The problem that it becomes impossible to make it arise.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a mounting head for a component mounting apparatus that can reduce the diameter of the nozzle shaft to reduce the pitch, improve the mounting efficiency, and make the mounting head compact. .

The mounting head of the component mounting apparatus according to claim 1 is a mounting head of the component mounting apparatus that picks up the supplied component and mounts it on a substrate positioned at a predetermined position, and moves relative to the substrate. A base portion provided on the stage, a plurality of shaft holding cylinders attached to the base portion, and extending vertically through each shaft holding cylinder, including a suction part for components at the lower end and a shaft by a biasing spring A plurality of nozzle shafts urged in the upward movement direction with respect to the holding cylinder, an elevating part provided above the shaft holding cylinder so as to be movable up and down with respect to the shaft holding cylinder, and provided vertically movable in the elevating part. A plurality of rod members whose lower ends are opposed to the upper ends of the nozzle shafts and mechanically coupled to the lifting and lowering portions of the rod members and their release. A plurality of rod coupling devices and a rod member corresponding to a specific nozzle shaft to be moved downward are coupled to the elevation unit by moving the elevation unit downward while being coupled to the elevation unit by the rod coupling device. Elevating part driving means for pushing down the specific nozzle shaft against the urging force of the urging spring by the rod member , and the rod coupling device is movable in a direction orthogonal to the rod member within the elevating part. A coupling member is provided, and the coupling member is engaged with and disengaged from a small-diameter portion formed at an intermediate portion of the rod member, thereby mechanically coupling the rod member to the lifting portion and releasing it .

  In the present invention, the rod member that pushes down the nozzle shaft to be moved downward against the urging force of the urging spring is mechanically coupled to the elevating part by the rod coupling device. Since the nozzle shaft diameter is reduced as described above, there is no inconvenience that the generated thrust of the pneumatic cylinder is reduced and the nozzle shaft cannot be moved downward. Therefore, according to the present invention, the diameter of the nozzle shaft can be greatly reduced, and the mounting efficiency can be improved and the mounting head can be made compact by increasing the number of nozzle shafts by narrowing the nozzle shaft. .

  Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of a component mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view of a mounting head according to an embodiment of the present invention, and FIG. 3 is a front view of the mounting head according to an embodiment of the present invention. 4 is a side view of the mounting head according to the embodiment of the present invention. FIG. 5A is a partial sectional side view of the rod coupling device provided in the mounting head according to the embodiment of the present invention. b) is a partial cross-sectional plan view of the rod coupling device, FIG. 6 is a perspective view showing a coupling piston of the rod coupling device included in the mounting head according to one embodiment of the present invention together with a rod member, and FIG. FIG. 7B is a partial cross-sectional side view of the rod coupling device provided in the mounting head in one embodiment of the invention, and FIG. 7B is a partial cross-sectional plan view of the rod coupling device.

  In FIG. 1, the component mounting apparatus 1 has a substrate transport path 3 extending in one horizontal direction (X-axis direction) on a base 2, and a Y-axis table 4 is disposed above the substrate transport path 3. It extends in the horizontal direction (Y-axis direction) orthogonal to the conveyance path 3. One end side of each of two X-axis tables 5 extending in the X-axis direction is supported on the Y-axis table 4, and each X-axis table 5 is movable in the Y-axis direction along the Y-axis table 4 in a cantilever state. It has become. Each X-axis table 5 is provided with a moving stage 6 that is movable in the X-axis direction along the X-axis table 5, and each moving stage 6 is provided with a plurality of suction parts (nozzle parts) 7. 8 is attached. Further, a plurality of parts feeders 9 extending in the Y-axis direction are attached to both sides of the substrate transport path 3 of the base 2 so as to be aligned in the X-axis direction.

The substrate transport path 3 positions the substrate 10 at a predetermined position, and each part feeder 9 supplies a component (electronic component) to a predetermined pickup position. The moving stage 6 moves relative to the substrate 10 positioned on the substrate transport path 3 by the movement of the X-axis table 5 in the Y-axis direction and the movement of the moving stage 6 itself in the X-axis direction. The parts supplied by the parts feeder 9 are picked up by the suction unit 7 included in the board and mounted on the substrate 10.

  2 and 3, the mounting head 8 has a base portion 23 including a flat plate member 21 provided on the moving stage 6 and extending in the vertical direction, and a nozzle holding member 22 attached to the lower portion of the flat plate member 21. A plurality of shaft holding cylinders 24 are attached to the nozzle holding member 22 of the base portion 23 so as to extend in the vertical direction.

  In FIG. 3, each shaft holding cylinder 24 is supported by a plurality of bearings 25 provided inside the nozzle holding member 22 so as to be rotatable about the vertical axis. A gear 26 having outer peripheral teeth is provided at the upper end of each nozzle holding member 22, and each gear 26 meshes with a rack 27 that extends horizontally above the nozzle holding member 22. A torsion spring 29 is inserted into the upper portion of the gear 26 of each shaft holding cylinder 24, one end of which is locked to the shaft holding cylinder 24 and the other end is locked to a spring locking portion 28 attached to the nozzle holding member 22. Therefore, the teeth of the gear 26 are always pressed against the teeth of the rack 27.

  Each shaft holding cylinder 24 is provided with a nozzle shaft 31 provided at the lower end thereof with the aforementioned suction part 7 for parts in the vertical direction. Each nozzle shaft 31 is provided in a state in which it can move in the vertical direction with respect to the shaft holding cylinder 24 and is constrained from rotating about the vertical axis, and an end member 32 having a diameter larger than the diameter of the nozzle shaft 31 at the upper end. Is provided. A shaft biasing spring 33, which is contracted between the end member 32 and the gear 26 of the shaft holding cylinder 24, is inserted into the nozzle shaft 31. The nozzle shaft 31 is inserted into the shaft holding cylinder 24 by the shaft biasing spring 33. Is constantly energized in the upward movement direction. Therefore, each nozzle shaft 31 has a predetermined upward movement position in which the upper surface 7a of the suction portion 7 is brought into contact with the lower surface 24a of the shaft holding cylinder 24 from below (normally when no pressing force is applied from above) (see FIGS. 2 and 3). The position of the nozzle shaft 31 shown in FIG.

  A guide rail 34 extends in the vertical direction above the shaft holding cylinder 24 on the front side of the flat plate member 21 (the side on which the nozzle holding member 22 is provided). A lifting plate 35 arranged in parallel with 21 is slidably provided via a slide portion 36 on the rear surface. A lift motor 38 is fixed to the upper front portion of the flat plate member 21 via a motor holding portion 37, and a feed screw 39 that is driven to rotate by the lift motor 38 extends downward on the rear surface side of the lift plate 35. Yes. The feed screw 39 is screwed into a nut portion 40 provided on the rear surface of the lift plate 35. When the lift motor 39 is rotated by driving the lift motor 38, the lift plate 35 moves up and down along the guide rail 34. Move in the direction.

  A plurality of rod members 42 whose lower ends are opposed to the upper ends of the nozzle shafts 31 are provided inside the elevating block 41 so as to be movable in the vertical direction with respect to the elevating block 41. Each rod member 42 is a piston rod of a cylinder 43 built in the elevating block 41 and is always biased downward by a rod member biasing spring 44 provided in the cylinder 43.

  A flat plate-shaped rod stopper 45 extending horizontally between the shaft holding cylinder 24 and the lifting block 41 is provided at the lower part of the front surface of the lifting plate 35. The rod stopper 45 has a position corresponding to each nozzle shaft 31. Is provided with a shaft moving hole 46 penetrating in the vertical direction. Each shaft moving hole 46 has an inner diameter larger than the outer diameter of the corresponding end member 32 of the nozzle shaft 31 and smaller than the outer diameter of the lower end of the corresponding rod member 42.

When the elevating motor 38 is driven from the control device 47 provided in the component mounting apparatus 1 to rotate the feed screw 39, the elevating plate 35 is moved in the vertical direction as described above, and accordingly, the elevating block 41 is moved to the shaft holding cylinder 24. Go up and down. Here, the range in which the elevating plate 35 moves in the vertical direction, that is, the elevating range of the elevating block 41 is limited between a predetermined upward movement position and a downward movement position. The raising / lowering block 41 is normally located at the upward movement position (FIG. 2). At this time, the lower end of each rod member 42 abuts the upper surface of the rod stopper 45 from above, and each nozzle shaft 31 is located at the normal position. The upper end (the upper end of the end member 32) is located in the shaft moving hole 46 of the rod stopper 45. At this time, the lower end of the rod member 42 facing up and down and the upper end of the nozzle shaft 31 (the end member 32) are spaced apart with a slight clearance. This is because, when the upper end of the nozzle shaft 31 and the lower end of the rod member 42 are in contact with each other, when the nozzle shaft 31 is rotated around its axis as will be described later, resistance due to friction is generated, and rotation control of the nozzle shaft 31 is performed. This is because inconvenience occurs.

  On the other hand, when the elevating block 41 is in the downward movement position (FIG. 4), each nozzle shaft 31 is in a state of passing through the shaft moving hole 46 provided in the rod stopper 45 from below to above. Here, the urging force of the rod member urging spring 44 that urges the rod member 42 downward is set smaller than the urging force of the shaft urging spring 33 that urges the nozzle shaft 31 upward. When 41 is lowered from the upward movement position to the downward movement position, the rod member 42 is moved relatively upward by the corresponding nozzle shaft 31 and is pushed into the cylinder 43 from below (on the right side of FIG. 4). (See rod member 42 and nozzle shaft 31).

  In the elevating block 41, a rod coupling device 50 for mechanically coupling the rod member 42 to the elevating block 41 and releasing it is provided corresponding to each rod member 42. As shown in FIGS. 5 and 6, the rod coupling device 50 includes a piston moving space 51 formed by extending horizontally in the elevating block 41, a coupling piston 52 movably provided in the piston moving space 51, A compressed air supply path 54 that opens into one cylinder chamber 53a of the two cylinder chambers 53a and 53b in which the piston moving space 51 is partitioned by the piston 52 and supplies the compressed air into the cylinder chamber 53a and the other cylinder chamber 53b. The piston urging spring 55 is provided inside and urges the coupling piston 52 toward the compressed air supply path 54. A control valve 56 for supplying and discharging the compressed air into and from the cylinder chamber 53a is provided in the compressed air supply path 54 connected to each piston moving space 51. Each control valve 56 is connected to each control device 47 provided in the component mounting apparatus 1 from the control device 47. Independently controlled.

  The coupling piston 52 is provided with a rod member movement groove 52a that extends elliptically in the movement direction of the coupling piston 52 and penetrates in the vertical direction. The rod member 42 penetrates the rod member movement groove 52a in the vertical direction. It extends. For this reason, the coupling piston 52 can move in the direction perpendicular to the rod member 42 in the piston moving space 51 while relatively moving the rod member 42 in the rod member moving groove 52a. The coupled piston 52 is biased toward the compressed air supply path 54 by the piston biasing spring 55 when the compressed air is not supplied from the compressed air supply path 54 into the cylinder chamber 53a (the position of the coupled piston 52 in this state is initially set). (Referred to as a position) (FIG. 5), when the compressed air is supplied from the compressed air supply passage 54 into the cylinder chamber 53a, the coupling piston 52 pushes and contracts the piston urging spring 53 to move within the piston moving space 51. It will be in the state moved to the opposite side to the initial position (the position of the coupling piston 52 in this state is called the operating position) (FIG. 7).

A small-diameter portion 42a having an outer diameter smaller than that of the other portion is formed at the intermediate portion of the rod member 42. When the lower end of the rod member 42 is in contact with the upper surface of the rod stopper 45 from above, the small-diameter portion 42a is formed. Is located in the piston movement space 51. On the other hand, the inner surface of the rod member moving groove 52a of the coupling piston 52 is provided with a protruding portion 52b protruding from the compressed air supply path 54 side toward the piston urging spring 55 side (that is, toward the rod member 42 side). When the coupling piston 52 moves from the initial position to the operating position while the lower end of the rod member 42 is in contact with the upper surface of the rod stopper 45 from above, the protrusion 52b formed on the coupling piston 52 is The small diameter portion 42a is fitted from the side of the rod member 42. When the coupling piston 52 is thus fitted into the small diameter portion 42a of the rod member 42, the rod member 42 is locked to the lifting block 41 via the coupling piston 52, and the rod member 42 is mechanically attached to the lifting block 41. Combined (FIG. 7).

  When the specific nozzle shaft 31 is moved downward from the state where the elevating block 41 is located at the upward movement position, the control device 47 first controls the control valve 56 of the rod coupling device 50 corresponding to the specific nozzle shaft 31. Then, compressed air is supplied into the cylinder chamber 53 a of the rod coupling device 50. As a result, in the rod coupling device 50 of the rod member 42 corresponding to the nozzle shaft 31 that is subject to the downward movement, the coupling piston 52 moves from the initial position to the operating position and fits into the small diameter portion 42a of the rod member 42. The rod member 42 is coupled to the lifting block 41.

  In this way, when the rod member 42 corresponding to the nozzle shaft 31 to be moved downward is coupled to the lifting block 41, the control device 47 drives the lifting motor 38 to lower the lifting block 41. As a result, the rod member 42 coupled to the lifting block 41 is lowered integrally with the lifting block 41 while maintaining the state where the lower end is in contact with the upper surface of the rod stopper 45, and the nozzle shaft 31 directly below each of them. The upper end of the end member 32 (the upper end of the end member 32) is abutted in the shaft moving hole 46, and the nozzle shaft 31 to be moved downward is resisted against the biasing force of the shaft biasing spring 33 (the shaft biasing spring 33 is Pushing down (while pressing down) (see nozzle shaft 31 on the left side of FIG. 4). On the other hand, since the corresponding rod member 42 is not coupled to the lifting block 41 with respect to the nozzle shaft 31 that is not subject to the downward movement, the nozzle shaft 31 cannot be pushed down even if the lifting block 41 is lowered. Are relatively pushed up by the nozzle shaft 31 and pushed into the elevating block 41 (see the right nozzle shaft 31 in FIG. 4). Therefore, as a result, only the nozzle shaft 31 that is to be moved downward moves downward, and the suction portion 7 at the lower end of the nozzle shaft 31 protrudes below the mounting head 8.

  When the lowered nozzle shaft 31 is returned to the normal position, the controller 47 drives the lifting motor 38 while the rod member 42 corresponding to the nozzle shaft 31 being moved downward is coupled to the lifting block 41. Then, the elevating block 41 is raised to the upward movement position. When the elevating block 41 moves up, the nozzle shaft 31 moves up by the urging force of the shaft urging spring 33 and returns to the normal position. When the elevating block 41 moves up to the up position, the control device 47 controls the control valve 56 of the rod coupling device 50 corresponding to the rod member 42 coupled to the elevating block 41, and the cylinder of the rod coupling device 50 is controlled. Supply of pressurized air into the chamber 53a is stopped. As a result, the coupling piston 52 that has been fitted into the small-diameter portion 42a of the rod member 42 is pressed by the urging force of the piston urging spring 55 to be separated from the rod member 42 and returned to the initial position. Thus, the rod member 42 can move relative to the lifting block 41 in the vertical direction.

  Note that when a component picked up by the nozzle shaft 31 is mounted on the substrate 10, it may be necessary to rotate the nozzle shaft 31 about the vertical axis. The rotation of the nozzle shaft 31 is controlled by the control device 47. Then, a rack driving means (for example, a motor) (not shown) is driven, the rack 27 is moved in the longitudinal direction thereof, and the shaft holding cylinder 24 is rotated about the vertical axis through the gear 26 engaged with the rack 27. As described above, since the rotation of the nozzle shaft 31 about the vertical axis relative to the shaft holding cylinder 24 is restricted, the nozzle shaft 31 held by the nozzle shaft 31 rotates about the axis as the shaft holding cylinder 24 rotates about the axis. To do.

As described above, in the mounting head 8 of the component mounting apparatus 1 according to the present embodiment, the rod member 42 that pushes down the nozzle shaft 31 to be moved downward against the biasing force of the shaft biasing spring 33 is the rod coupling. Since it is mechanically coupled to the lifting block 41 by the device 50, since the diameter of the nozzle shaft is reduced as in the prior art, the thrust generated by the pneumatic cylinder is reduced and the nozzle shaft cannot be moved downward. Such inconvenience does not occur. For this reason, according to the mounting head 8 in the present embodiment, the diameter of the nozzle shaft 31 can be greatly reduced, and the mounting efficiency is improved and the mounting is improved by narrowing the nozzle shaft 31 and increasing the number of nozzle shafts 31. The head 8 can be made compact.

  Although the embodiments of the present invention have been described so far, the present invention is not limited to those shown in the above-described embodiments. For example, in the rod coupling device 50 according to the above-described embodiment, a coupling member (coupling piston 52) that is movable in a direction orthogonal to the rod member 42 in the elevating block 41 is formed in the intermediate portion of the rod member 42. The rod member 42 is mechanically coupled to and released from the lifting block 41 by being engaged with and disengaged from the small diameter portion 42a. However, the rod coupling device 50 is provided corresponding to each rod member 42. As long as the mechanical connection of each rod member 42 to the lifting block 41 and the release thereof are performed, the configuration is not limited to the configuration described in the above embodiment. However, the configuration shown in the above embodiment is advantageous in terms of cost because the rod member 42 can be mechanically coupled to and released from the lifting block 41 with a very simple configuration.

  In the above-described embodiment, the rod member 42 is constantly biased downward by the biasing spring (rod member biasing spring 44) provided in the cylinder 43. Instead of providing a biasing spring, or by providing a biasing spring, and supplying pressurized air into the upper cylinder chamber in which the biasing spring in the cylinder 43 is provided, the rod member 42 is biased downward. It may be. Even in this case, the biasing force that biases the rod member 42 downward needs to be set smaller than the biasing force of the shaft biasing spring 33 that biases the nozzle shaft 31 upward.

  The diameter of the nozzle shaft can be reduced and the pitch can be narrowed, so that the mounting efficiency can be improved and the mounting head can be made compact.

The perspective view of the component mounting apparatus in one embodiment of this invention The side view of the mounting head in one embodiment of the present invention The front view of the mounting head in one embodiment of the present invention The side view of the mounting head in one embodiment of the present invention (A) Partial cross-sectional side view of a rod coupling device included in a mounting head according to an embodiment of the present invention (b) Partial cross-sectional plan view of a rod coupling device included in a mounting head according to an embodiment of the present invention The perspective view which shows the coupling piston of the rod coupling device with which the mounting head in one embodiment of this invention is provided with a rod member (A) Partial cross-sectional side view of a rod coupling device included in a mounting head according to an embodiment of the present invention (b) Partial cross-sectional plan view of a rod coupling device included in a mounting head according to an embodiment of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 6 Moving stage 7 Adsorption part 8 Mounting head 10 Board | substrate 23 Base part 24 Shaft holding cylinder 31 Nozzle shaft 33 Shaft biasing spring (biasing spring)
38 Lifting motor (lifting unit driving means)
41 Lifting block (lifting part)
42 Rod member 42a Small diameter portion 50 Rod coupling device 52 Coupling piston (coupling member)

Claims (1)

A mounting head of a component mounting apparatus that picks up supplied components and mounts them on a substrate positioned at a predetermined position, and a base portion provided on a moving stage that moves relative to the substrate, and is attached to the base portion A plurality of shaft holding cylinders and a plurality of nozzles that extend through the shaft holding cylinders in the vertical direction and are provided with a suction portion for the component at the lower end and are urged in the upward movement direction relative to the shaft holding cylinder by the urging springs A plurality of shafts, an elevating part provided above the shaft holding cylinder so as to be movable up and down with respect to the shaft holding cylinder, and a plurality of moving parts provided in the up-and-down part so as to be movable in the vertical direction and having the lower ends opposed to the upper ends of the nozzle shafts A rod member, a plurality of rod coupling devices that are provided corresponding to each rod member and perform mechanical coupling to and release from each rod member, and are subject to downward movement A rod member corresponding to a fixed nozzle shaft is moved down in a state where the rod member is coupled to the lifting unit by the rod coupling device, and the specific nozzle shaft is biased by the rod member coupled to the lifting unit. The rod coupling device includes a coupling member that is movable in a direction orthogonal to the rod member within the lifting unit, and the coupling member is disposed in the middle of the rod member. A mounting head for a component mounting apparatus, wherein the rod member is mechanically coupled to and released from the lifting portion by engaging and disengaging a small diameter portion formed in the portion .

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