JP5022712B2 - Component transfer device and surface mounter - Google Patents

Description

  The present invention relates to a component transfer apparatus and a surface mounter that place a component at a predetermined position after it is sucked and transported by a suction nozzle.

In this type of component transfer device, the suction nozzle is detachably attached to the nozzle holder. As a specific configuration, for example, as described in Patent Document 1, a ball using a leaf spring and a ball is used. A configuration for holding a suction nozzle inserted in a nozzle holder by a detent structure is known. Specifically, the suction nozzle is provided with a fitting shaft portion that protrudes in the insertion direction into the nozzle holder, and a receiving groove is formed on a side surface of the fitting shaft portion. On the other hand, the nozzle holder is provided with a fitting hole into which the fitting shaft portion is inserted, and a ball housing hole is formed on the outer surface of the nozzle holder so as to penetrate into the fitting hole. A ball is accommodated in the ball accommodation hole, and the ball is pressed from the outside of the nozzle holder toward the inside by the holding spring, and a part of the ball is held in a state of protruding into the fitting hole. . When the fitting shaft portion is inserted into the fitting hole, the ball protruding into the fitting hole fits into the receiving groove so that the fitting shaft portion has a normal depth fitting position with respect to the fitting hole. Fixed to.
Japanese Patent Laid-Open No. 9-254070

  However, in this structure, the processing accuracy of the receiving groove and the ball receiving hole is directly connected to the fixing position accuracy of the suction nozzle.For example, when the opening dimension in the vertical direction of the receiving groove is formed larger than the normal dimension, The back-up position accuracy decreases due to the backlash of the suction nozzle. Such backlash occurs in the same manner because the protruding amount of the ball protruding into the fitting hole is smaller than the normal even when the opening diameter of the ball receiving hole is formed smaller than the normal dimension. Further, such a decrease in positional accuracy can occur in the radial direction and circumferential direction of the suction nozzle as well. And the fact that the fixed position accuracy of the suction nozzle for sucking the component in this way is low, the accuracy of the transfer or mounting position of the component is low in the surface mounting machine, and if the play in the circumferential direction is generated, When the suction nozzle comes into contact with a part for picking up the part, or when the part comes into contact with the placement part for placing the part, the suction nozzle rotates in the circumferential direction with respect to the nozzle holder. Even if the component is transported to a predetermined position, the component cannot be correctly placed at the predetermined position in the circumferential direction by the suction nozzle.

  The present invention has been completed based on the above-described circumstances, and an object thereof is to increase the transfer accuracy by increasing the fixing position accuracy of the suction nozzle and eliminating the backlash.

In a component transfer device in which a main shaft that moves up and down is provided on a transfer head that can be moved laterally, and a suction nozzle for adsorbing a component to the main shaft is removable. A cylindrical nozzle holder having a cylindrical fitting hole that is open to the second end has a cutout portion in a second direction intersecting the axial direction of the fitting hole on the side surface of the lower end portion, and the cutout portion is fitted to the cutout portion. An opening formed in an interpenetrating portion with the hole, a holder pin that fits into the notch and has a total length longer than the length of the opening in the second direction, and a holding spring that biases the holder pin toward the notch In a state where the suction nozzle having a cylindrical shaft portion and a groove portion in a second direction intersecting the axial direction of the shaft portion on the side portion of the shaft portion is mounted on the nozzle holder, The holder pin comes into contact with the groove by the urging force of the holding spring. Is provided with a restricting portion that comes into contact with the shaft portion of the suction nozzle to be fitted and mounted, and when the suction nozzle is fitted and mounted with the shaft portion in contact with the restricting portion, the holder pin is pressed by the urging force of the holding spring. While the holder pin is in contact with the upper receiving surface, the holder pin is also in contact with the stopper surface on the lower side of the notch, and the stopper surface forms an inclined surface that is displaced downward toward the radially outer side. Also good.
According to this configuration, the holder pin comes into contact with the groove portion in the second direction by the biasing force of the holding spring. Thereby, the circumferential position of the suction nozzle is determined, and the backlash of the suction nozzle with respect to the nozzle holder can be eliminated. As a result, the component can be correctly placed at a predetermined position in the circumferential direction by the suction nozzle.
According to said structure, a holder pin contact | abuts to a receiving surface and a stopper surface with the urging | biasing force of a holding spring. Thereby, the position of the suction nozzle in the vertical direction is determined, and the backlash of the suction nozzle with respect to the nozzle holder can be eliminated. Further, if the lowering stroke when sucking or mounting the parts is made constant, the position of the tip of the suction nozzle with respect to the parts at the lower end portion can be kept constant, so that the suction failure or mounting failure, or It is possible to prevent an impact load from being applied to parts during suction or placement.
According to the above configuration, even if the suction nozzle tries to rotate in the circumferential direction, the rotation is restricted by the torsional elastic force of the holding spring. When a rotational force exceeding the torsional elastic force of the holding spring is applied to the suction nozzle, the holding spring is twisted and the receiving surface of the suction nozzle rotates. When the receiving surface rotates, one end side of the holder pin is lifted along a surface orthogonal to the axis of the fitting shaft portion and is separated from the stopper surface, while the other end side is in point contact with the stopper surface. When the holding spring is twisted and its torsional elastic force exceeds the rotational force of the suction nozzle, one end of the holder pin is pushed down by the torsional elastic force of the holding spring, and the suction nozzle is rotated in the return direction while pushing down the receiving surface. The suction nozzle is returned to the fitting position. If the stopper surface is parallel to the surface perpendicular to the axis of the fitting shaft, the outer peripheral surface of the holder pin is lined with the stopper surface even if one end of the holder pin is lifted as the suction nozzle rotates. Since they are in contact, a larger contact resistance is generated than in the case of point contact, and this contact resistance hinders the suction nozzle from rotating in the return direction. Therefore, it is possible to reduce the contact resistance between the holder pin and the stopper surface that is generated when the one end side of the holder pin is pushed down, and to speed up the operation of rotating the suction nozzle in the return direction.

The following configuration is preferable as an embodiment of the present invention.
The holding spring may be configured by a plate spring that is in line contact with the outer peripheral surface of the holder pin along the axial direction of the holder pin.
According to this configuration, when the suction nozzle rotates in the circumferential direction, and the one end side of the holder pin rotates with this rotation, the holding spring is twisted by the holder pin, and the torsional elasticity of the holder pin is used. Thus, the suction nozzle can be prevented from rotating.

The holding spring may have a configuration in which positioning pieces are provided to sandwich both end portions of the holder pin.
According to this configuration, even if the holder pin moves in the axial direction, since both end portions of the holder pin come into contact with the positioning piece, the holder pin can be accommodated in the receiving groove so as not to fall off.

The holding spring may be configured by laminating a plurality of spring plate members so that the number of laminations increases toward the base end side.
According to this configuration, the elastic force can be increased toward the proximal end side of the holding spring, and the elastic force can be easily adjusted by changing the number of stacked spring plate members.

A nozzle holding member is provided within the movable range of the transfer head and accommodates and holds the suction nozzle. The suction nozzle engages with a positioning portion provided on the nozzle holding member, and the groove portion is circumferential with respect to the nozzle holding member. The nozzle holder has a connecting portion for positioning the notch with respect to the main shaft at a predetermined position in the circumferential direction and connecting to the main shaft, and the main shaft is connected to the transfer head. The main shaft is positioned at a predetermined position in the circumferential direction when the suction nozzle that is rotatable in the circumferential direction is accommodated in the nozzle holding member and when the suction nozzle that is accommodated in the nozzle holding member is attached to the nozzle holder. It is good also as a structure made to raise / lower.
According to such a configuration, the suction nozzle attached to the nozzle holder is moved up and down by positioning the main shaft at a predetermined position in the circumferential direction so that the positioning portion of the suction nozzle and the positioning portion of the nozzle holding member are engaged. Can be positioned and accommodated at a predetermined position in the circumferential direction with respect to the nozzle holding member, and the suction nozzle accommodated in the nozzle holding member can be positioned and attached at a predetermined position in the circumferential direction with respect to the nozzle holder. it can. Accordingly, the suction nozzle and the nozzle holder can be positioned at a predetermined circumferential position where the holder pin can come into contact with the groove portion of the suction nozzle.

The component transfer apparatus of the present invention may be a surface mounter that includes a component supply unit and a substrate transport unit, and mounts components on a substrate on the substrate transport unit.
Thereby, it is possible to provide a surface mounter with high component mounting position accuracy.

The suction nozzle of the present invention is a cylindrical nozzle holder that has a main shaft that moves up and down on a transfer head that is provided so as to be laterally movable, and a cylindrical fitting hole that forms a lower end portion of the main shaft and opens downward. And a notch portion formed in a second direction intersecting the axial center direction of the fitting hole on the side surface of the lower end portion of the nozzle holder, and an interpenetrating portion of the notch portion and the fitting hole. Removably attached to the suction nozzle mounting part that has an opening, a holder pin that fits into the notch and whose overall length is longer than the length of the opening in the second direction, and a holding spring that biases the holder pin toward the notch The suction nozzle body includes a suction nozzle body, the suction nozzle body includes a cylindrical shaft portion that fits into the fitting hole of the nozzle holder, and the axial direction of the shaft portion on a side portion of the shaft portion A holder pin formed extending in a second direction intersecting And a groove portion that comes into contact with the urging force of the holding spring, and a regulation portion that constitutes a part of the nozzle holder is provided at the back end of the fitting hole, and is attached to the fitting hole. The shaft part of the nozzle body is in contact with the restricting part, the holding spring is directly fixed to the nozzle holder, and the holder pin comes into contact with the receiving surface on the upper side of the groove part by the urging force of the holding spring. However, the stopper surface may be in contact with a stopper surface on the lower side of the notch, and the stopper surface may have an inclined surface that is displaced downward toward the radially outer side .

The nozzle holder of the present invention is formed in a cylindrical shape having a cylindrical fitting hole that opens downward, a cylindrical shaft portion that fits into the fitting hole, and a shaft portion of the shaft portion on a side portion of the shaft portion. A suction nozzle for part suction having a groove portion in the second direction intersecting the central direction is detachable and attached to the lower end portion of the main shaft that moves up and down in the transfer head provided so as to be laterally movable. Nozzle holder provided with a nozzle holder body, wherein the nozzle holder body is fitted with the cutout portion in the second direction intersecting the axial direction of the fitting hole on the side surface of the lower end portion. An opening formed in an interpenetrating portion with the hole, a holder pin that fits into the notch and has a total length longer than the length of the opening in the second direction, and a holding spring that biases the holder pin toward the notch The holder pin is a holding spring with the shaft part fitted in the fitting hole. The suction nozzle is configured to abut against the groove portion with an urging force, and is provided with a restricting portion that constitutes a part of the nozzle holder body at the back end of the fitting hole. The holding spring is directly fixed to the nozzle holder body, and the holder pin comes into contact with the receiving surface on the upper side of the groove portion by the urging force of the holding spring. The stopper surface may be in contact with the stopper surface on the lower side of the notch, and the stopper surface may have an inclined surface that is displaced downward toward the radially outer side .

  According to the present invention, the transfer accuracy can be improved by increasing the fixed position accuracy of the suction nozzle.

<Embodiment 1>
A first embodiment of the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, a surface mounter 10 according to an embodiment of the present invention includes a pair of conveyors (hereinafter abbreviated as substrates) B that are arranged on a base 11 and convey a printed circuit board (B). (Corresponding to “substrate transport means” of the present invention) 20, component supply units 30 disposed on both sides of both conveyors 20, and a transfer head 40 for mounting electronic components provided above the base 11. It has. In addition, within the movable range of the transfer head 40 on the base 11 (to the right on the base 11 in FIG. 2), a nozzle in which the suction nozzle 70 can be appropriately replaced according to the type of parts or during maintenance or the like. An exchange station (corresponding to the “nozzle holding member” of the present invention) 34 is provided.

  The component supply unit 30 is provided at a total of four locations, upstream and downstream, on both sides of the conveyor 20. Each component supply unit 30 is provided with a component supply device mounting portion 60 capable of arranging a plurality of component supply devices 50 such as tape feeders in parallel.

  The transfer head 40 is movable in a region extending between the component supply unit 30 and the mounting position on the substrate B so that an electronic component can be picked up from the component supply unit 30 and mounted on the substrate B. Specifically, the transfer head 40 is movably supported by a transfer head support member 42 extending in the X-axis direction (substrate transport direction of the conveyor 20), and the transfer head support member 42 is Y at both ends thereof. It is movably supported by a guide rail 43 extending in the axial direction (a direction orthogonal to the X axis in a horizontal plane). The transfer head 40 is driven in the X-axis direction by the X-axis motor 44 via the ball screw shaft 45, and the transfer head support member 42 is driven by the Y-axis motor 46 via the ball screw shaft 47. Axial driving is performed.

  A plurality of main shafts 41 are mounted on the transfer head 40 side by side in the X-axis direction. Each spindle 41 is driven in an up-and-down direction (a direction orthogonal to the X-axis direction and the Y-axis direction) by an elevating mechanism using a Z-axis motor (not shown) as a drive source, and an R-axis motor (not shown). It is driven in the rotational direction by a rotational drive mechanism as a drive source. In FIG. 2, reference numeral 12 denotes an image pickup apparatus, which picks up an image of the state of the electronic component sucked by the transfer head 40 and positions the electronic component relative to the main shaft 41 (X-axis direction, Y-axis direction, or R). Axis direction) can be detected. The imaging device 12 is also provided with a side view camera (not shown) that images the lower end portion of the main shaft 41 from the side.

  The main shaft 41 has a cylindrical shape, and a negative pressure is supplied to the inside of the main shaft 41 by air pressure supply means (not shown) from the component suction to the transportation of the component and the lowering of the main shaft 41, and the positive pressure at the moment of mounting the component. It comes to be supplied. At the lower end of the main shaft 41, a mounting shaft portion 49 for mounting a later-described nozzle holder 80 is formed protruding downward. The lower end side of the inner peripheral surface of the mounting shaft portion 49 is enlarged in diameter, and a step is formed in the upper end portion of the enlarged diameter portion 48, and the stepped portion of the compression coil spring S accommodated in the enlarged diameter portion 48 is formed. A spring receiving portion for the upper end side.

  The nozzle holder 80 has a cylindrical shape and is connected to the main shaft 41 so as to be movable in the axial direction. A mounting recess 82 that fits with the mounting shaft portion 49 of the main shaft 41 is formed on the upper end side of the nozzle holder 80, and a suction nozzle 70, which will be described later, is replaced as needed during mounting setup or mounting on the lower end side of the nozzle holder 80. A fitting hole 81 for fitting with the fitting shaft portion (corresponding to the “shaft portion” of the present invention) 71 is formed to open downward. In the nozzle holder 80, an intermediate wall 83 is provided between the fitting hole 81 and the mounting recess 82, and a communication hole that connects the inside of the fitting hole 81 and the inside of the mounting recess 82 near the center of the intermediate wall 83. 84 is formed to penetrate therethrough. The communication hole 84 is formed to be smaller than the diameter dimension of the compression coil spring S, and the compression coil spring S is formed between the upper end side opening edge of the communication hole 84 and the upper end side step portion of the enlarged diameter portion 48 of the main shaft 41. In this way, the nozzle holder 80 is constantly biased downward. In addition, the opening edge part of the fitting hole 81 is provided with an inclined surface having a wide opening from the inside of the fitting hole 81 toward the outside in the axial direction, so that the fitting shaft part 71 of the suction nozzle 70 is fitted into the fitting hole. A guide surface 81A is formed for guiding when inserted into 81.

  The lower surface of the intermediate wall 83 (corresponding to the “regulator part” of the present invention, hereinafter referred to as “regulator part”) 83A is flattened so as to be perpendicular to the axial direction of the fitting hole 81 by milling or the like. The dimension is set so that the length L1 from the lower end of 80 to the inner end of the fitting hole 81 falls within the allowable error range with respect to the set length.

A fixing hole 91 is formed in the mounting shaft portion 49 of the main shaft 41 at a portion above the enlarged diameter portion 48 so as to penetrate in the radial direction. A fixing pin 90 is fitted and fixed to the fixing hole 91 by a tight fit, and one end side of the fixing pin 90 protrudes from the fixing hole 91. Since the nozzle holder 80 is usually shipped from the factory while being attached to the main shaft 41, it can be considered to constitute a part of the main shaft 41. The nozzle holder 80 can be replaced by removing the fixing pin 90 as necessary during maintenance.
On the other hand, a long hole 85 is formed in the mounting recess 82 of the nozzle holder 80 so as to penetrate in the radial direction. As shown in FIG. 5, the long hole 85 has a shape that is long in the vertical direction, and the compression coil spring S is mounted in the enlarged diameter portion 48 so that the nozzle holder 80 is biased downward with respect to the mounting shaft portion 49. Then, the upper end of the long hole 85 is brought into contact with the fixing pin 90, whereby the vertical positioning is performed. When an upward impact force acts on the tip of the suction nozzle 70, which will be described later, the compression coil spring S can be bent to absorb the impact (buffing function), and the elasticity of the compression coil spring S allows the nozzle to be absorbed. The holder 80 can be returned to the original position.
The long hole 85 and the fixing pin 90 correspond to the “connecting portion” of the present invention, and the nozzle holder 80 is positioned by positioning a notch 86 of the nozzle holder 80 described below at a predetermined position in the circumferential direction with respect to the main shaft 41. 41.

  The nozzle holder 80 is provided with a notch 86 cut out in a direction orthogonal to the axial direction of the fitting hole 81 (corresponding to the “second direction” of the present invention), thereby fitting. An opening 89 is formed at an interphase with the hole 81. The opening 89 communicates the inside and the outside of the fitting hole 81 at the center of the notch 86. A pair of support surfaces 87 are formed on both sides of the opening 89 so as to support both ends of a holder pin 100 described later. An upward stopper surface 88 is formed on the lower wall surface of the wall portions constituting the notch 86.

  As shown in FIG. 3, a mounting surface 111 that continues to the notch 86 is formed above the notch 86 in the nozzle holder 80. A pair of screw holes 112 penetrating through the intermediate wall 83 of the nozzle holder 80 and reaching the communication hole 84 are formed at the end of the mounting surface 111 opposite to the notch 86. The base end portion of the holding spring 110 is fixed to the mounting surface 111 by being inserted into a pair of through holes provided on the base end side of the holding spring 110 and screwed into both screw holes 112.

  The holding spring 110 serving as a so-called cantilever spring is composed of three spring plate members having different lengths, and the spring plate member on the mounting surface 111 side is the longest among the three spring plate members, and the length from the base end side is gradually increased. Are stacked so as to be shorter. That is, the holding spring 110 is configured such that a plurality of spring plate members are laminated so that the number of laminations is increased toward the base end side, so that it is less likely to be elastically deformed toward the base end side.

  As shown in FIGS. 3 and 4, the holder pin 100 has a cylindrical shape and is disposed in the notch 86 while being pressed from the outside of the nozzle holder 80 toward the inside by the holding spring 110. The outer peripheral surface of the holder pin 100 is in line contact with the distal end side of the holding spring 110. The holder pin 100 is formed to be longer than the length in the second direction of the opening 89 of the nozzle holder 80, and both end portions of the holder pin 100 are in contact with both bearing surfaces 87 by the urging force of the holding spring 110. As shown in FIG. 6, it is held in the notch 86. At this time, a part of the outer peripheral surface of the holder pin 100 protrudes into the fitting hole 81 through the opening 89 of the notch 86.

  Note that a pair of positioning pieces 114 are bent and formed on both side edges on the distal end side of the longest spring plate member of the constituent springs of the holding spring 110 so as to face each other. Both positioning pieces 114 prevent the holder pin 100 from falling off in the axial direction by sandwiching both end portions of the holder pin 100 disposed in the notch 86.

  The suction nozzle 70 has a cylindrical shaft portion, and a flange portion 72 that protrudes in the radial direction is formed near the axial center of the shaft portion. A fitting shaft portion 71 to be inserted into the fitting hole 81 of the nozzle holder 80 is provided above the flange portion 72 in the suction nozzle 70. The distal end surface (hereinafter referred to as the abutting surface) 77 of the fitting shaft portion 71 abuts on the restricting portion 83 </ b> A when the fitting shaft portion 71 reaches the fitting position of the normal depth with respect to the fitting hole 81. Thus, the movement of the fitting shaft portion 71 to the back side of the fitting hole 81 is restricted.

  The abutting surface 77 is flattened in a direction perpendicular to the axial direction of the fitting shaft portion 71 by milling or the like, and is formed so as to be in surface contact with the restricting portion 83A. Further, the length L2 from the lower end of the suction nozzle 70 to the abutting surface 77 is dimensioned so as to fall within an allowable error range with respect to the set length.

  On the other hand, a component suction portion 78 that sucks components is provided below the flange portion 72 in the shaft portion of the suction nozzle 70. A suction pad (not shown) used for sucking a large electronic component can be attached to the lower end portion of the component suction portion 38. The suction nozzle 70 has no suction pad for a small chip component, and has a suction pad attached to a large electronic component. A negative pressure is supplied through the suction nozzle 70 and the suction nozzle 70, and an electronic component can be sucked and picked up by a suction force generated by the negative pressure.

  The tip edge portion of the fitting shaft portion 71 of the suction nozzle 70 is provided with an inclined surface having a diameter dimension that decreases toward the tip side, thereby guiding when the fitting shaft portion 71 is inserted into the fitting hole 81. A guide surface 73 for performing the above is provided. Further, the tip edge portion of the fitting shaft portion 71 of the suction nozzle 70 contacts the outer peripheral surface of the holder pin 100 that has entered the fitting hole 81, and the holder pin 100 is displaced from the inner side of the nozzle boulder 80 to the outer side. On the other hand, a riding surface 74 is formed that reduces the operating force when riding on the outer peripheral surface of the fitting shaft portion 71 for fitting.

  In the fitting shaft portion 71 of the suction nozzle 70, a receiving groove 75 serving as a groove portion of the present invention is formed at a position near the flange surface 72 corresponding to the riding surface 74 and the axial direction. The receiving groove 75 has a portion corresponding to the notch 86 in the fitting shaft portion 71 that has reached the fitting position in a direction perpendicular to the axial direction of the fitting shaft portion 71 (“second” in the present invention). In this embodiment, it is the same direction as the direction orthogonal to the axial direction of the fitting hole 81. Of the wall surfaces constituting the receiving groove 75, the wall surface on the upper side (the distal end side of the fitting shaft portion 71) is a receiving surface 76.

  When the fitting shaft portion 71 of the suction nozzle 70 is inserted into the fitting hole 81 of the nozzle holder 80, the holder pin 100 is pushed up by the fitting shaft portion 71 while abutting against the stopper surface 88 in the notch portion 86. When the fitting shaft portion 71 is further pushed into the fitting hole 81, the receiving surface 76 of the receiving groove 75 coincides with the position of the holder pin 100 in the axial direction, and the holder pin 100 is moved by the biasing force of the holding spring 110. While abutting against the stopper surface 88, it is pushed back to a position where it abuts against the receiving surface 76. 7 to 9 show this state. FIG. 8 is a cross-sectional view taken along the line III-III of the plan view shown in FIG. 5, and the holding spring 110 is omitted for simplification of the drawing. 10 shows a cross-sectional view taken along line II of the cross-sectional view shown in FIG. 8, and FIG. 11 shows a cross-sectional view taken along line II-II of the cross-sectional view shown in FIG. As described above, the holder pin 100 is in a state of being in line contact with only the three surfaces of the holding spring 110, the stopper surface 88, and the receiving surface 76 when the fitting shaft portion 71 is in the fitting position with respect to the fitting hole 81. Be bound.

  Furthermore, the receiving surface 76 forms an inclined surface that is displaced upward (to the distal end side of the fitting shaft portion 71) toward the outer side in the radial direction with the shaft center of the fitting shaft portion 71 as the center. Accordingly, the holding spring 110 presses the holder pin 100 inward from the outside of the nozzle holder 80, and the holder pin 100 receives a force from the stopper surface 88 and receives a force in a direction toward the inner side of the fitting hole 81. By applying to 76, the suction nozzle 70 can be urged in the direction (upward) in which the abutment surface 77 contacts the restricting portion 83A. As a matter of course, the holding spring 110 can also be biased in the radial direction in which the outer peripheral surface of the fitting shaft portion 71 contacts the inner peripheral surface of the fitting hole 81 (C portion in FIG. 7).

The present embodiment has the above-described structure, and the operation thereof will be described subsequently.
First, an operation for attaching the suction nozzle 70 to the nozzle holder 80 will be described. When the fitting shaft portion 71 of the suction nozzle 70 is inserted into the fitting hole 81 of the nozzle holder 80, the leading end of the fitting shaft portion 71 is inserted into the fitting hole 81 by the guiding function of the guide surface 81A and the guide surface 73. On the other hand, it can be inserted smoothly. While the suction nozzle 70 is being inserted, the riding surface 74 comes into contact with the outer peripheral surface of the holder pin 100, and the holder pin 100 is displaced outwardly from the inner side of the nozzle holder 80 while the holding spring 110 is bent outward. The holder pin 100 rides on the outer peripheral surface of the fitting shaft portion 71. When the suction nozzle 70 is inserted into the fitting hole 81 as it is, the holder pin 100 is fitted into the receiving groove 75 as shown in FIG. 7, and the outer peripheral surface of the holder pin 100 is connected to the receiving surface 76 of the receiving groove 75. The suction nozzle 70 reaches the fitting position by the line contact and the abutting surface 77 abutting against the restricting portion 83A. At this time, the holder pin 100 is pressed from the outer side of the nozzle holder 80 by the holding spring 110 to receive a drag force from the stopper surface 88, and at the same time, the receiving surface 76 extends from the holder pin 100 to the fitting hole 81. Receives force in the direction toward the back. Therefore, the holding spring 110 is urged through the holder pin 100 in a direction in which the abutting surface 77 comes into contact with the regulating surface 88, and the fitting shaft portion 71 is held in the fitting position with respect to the fitting hole 81.

  Subsequently, when the main part 41 is lowered and the electronic component is adsorbed by the adsorbing nozzle 70, the tip of the adsorbing nozzle 70 comes into contact with the electronic component and an external rotation force in the R-axis direction acts on the adsorbing nozzle 70. When the direction of the component at the time is different from the direction of the component at the time of mounting, the main shaft 41 is rotated by the R-axis motor, and the rotation external force in the R-axis direction is applied to the suction nozzle 70 by the inertial force when the rotation is stopped. The operation in the case of acting will be described. FIG. 9 is a view showing a state where the suction nozzle 70 in FIG. 8 is rotated. 12 is a cross-sectional view taken along the line IV-IV of the cross-sectional view shown in FIG. 9. A portion in FIG. 9 is two points of the cross-section in the portion where the holder pin 100 and the receiving surface 76 in FIG. A cross section at the position indicated by the broken line A is shown, and a portion B in FIG. 9 indicates a cross section at the position indicated by the two-dot broken line B.

  When the suction nozzle 70 tries to rotate in the circumferential direction, the rotation of the suction nozzle 70 is restricted by the torsional elastic force of the holding spring 110. When the rotational force of the suction nozzle 70 exceeds the torsional elastic force of the holding spring 110, the holding spring 110 is twisted counterclockwise with the holder pin 100 and the receiving surface 76 is half-turned from the state shown in FIG. 11 to the state shown in FIG. Rotate clockwise. At this time, as shown in FIG. 9, the holder pin 100 is lifted by a portion A (the back side portion in the drawing) of the holder pin 100. As the torsional displacement of the holding spring 110 increases, the torsional elastic force of the holding spring 110 increases. When the torsional elastic force of the holding spring 110 exceeds the rotational force of the suction nozzle 70, the A portion of the holder pin 100 is pushed down. The holding spring 110 returns to the clockwise direction by torsional elasticity. Then, the receiving surface 76 rotates in the clockwise direction, and the suction nozzle 70 returns to the fitting position. Therefore, it is possible to prevent the suction nozzle 70 from rotating in the circumferential direction by using the torsional elasticity of the holding spring 110.

  The suction nozzle 70 is replaced in the setup change according to the type of the substrate. Further, in the mounting machine having the nozzle replacement station 34 as in this embodiment, the suction nozzle 70 is replaced even during mounting on one substrate. May be performed. As described above, when the suction nozzle 70 is repeatedly attached to and detached from the nozzle holder 80, the contact portion between the outer peripheral surface of the holder pin 100 and the receiving surface 76 and the stopper surface 88 of the receiving groove 75 may be worn. However, even if they are worn, the abutting surface 77 and the regulating surface 88 are in contact with each other, so that they are hardly worn. Therefore, even if the contact portion between the outer peripheral surface of the holder pin 100 and the receiving surface 76 and the stopper surface 88 of the receiving groove 75 is worn, the abutting surface 77 is worn as long as the suction nozzle 70 can be pushed upward. Therefore, the suction nozzle 70 is fixed at a predetermined fitting position without causing a change in the fixing position of the suction nozzle 70 due to surface contact with the regulating surface 88.

As described above, this embodiment can provide the following effects.
1. The suction nozzle 70 can be held in the fitting position without any backlash in any of the axial direction, radial direction, and circumferential direction.
2. Even when the contact portion between the holder pin 100 and the stopper surface 88 and the receiving surface 76 is worn, the suction nozzle 70 can be fixed at a predetermined fitting position.
3. Since the outer peripheral surface of the holder pin 100, the stopper surface 88, and the receiving surface 76 are in line contact, they are less likely to wear than in the case of point contact using a ball, and the durability of the suction nozzle 70 can be improved.

4). Since the torsional elasticity of the holding spring 110 is used, even if the suction nozzle 70 rotates in any direction in the circumferential direction, the rotation can be prevented by the single holding spring 110.
5. By adjusting the number of stacked spring plate members, the length dimension, and the like, the elastic force, the bent shape, and the like of the holding spring 110 can be easily adjusted.
6). By reducing the backlash of the suction nozzle 70, it is possible to further improve the mounting accuracy when mounting the electronic component on the substrate.

<Embodiment 2>
Next, a second embodiment of the present invention will be described with reference to FIGS. In the second embodiment, the inclination angle of the stopper surface 88 of the nozzle holder 80 in the first embodiment is changed, and description of other overlapping structures, operations, and effects is omitted. In FIGS. 13 and 14, the holding spring 110 is omitted for simplification of the drawing. 14 is a view showing a state in which the suction nozzle 70 in FIG. 13 is rotated. A portion in FIG. 14 shows a cross section corresponding to the two-dot broken line A in FIG. In FIG. 14, a portion B shows a cross section corresponding to the two-dot broken line B.

  The stopper surface 121 of the nozzle holder 120 in the present embodiment forms an inclined surface that is displaced downward toward the outer side in the radial direction with reference to the axial center of the fitting hole 81. The holder pin 100 is in line contact with the stopper surface 121 when the fitting shaft portion 71 is in the fitting position. Here, when a rotational force exceeding the torsional elastic force of the holding spring 110 acts on the suction nozzle 70 in the circumferential direction, the receiving surface 76 of the fitting shaft portion 71 of the suction nozzle 70 rotates in the circumferential direction and As the surface 76 rotates, the holder pin 100 rotates and the holding spring 110 is twisted. At this time, the A portion (the back side portion in the drawing) of the holder pin 100 is lifted and separated from the stopper surface 121, so that the B portion (the front side portion in the drawing) of the holder pin 100 is in point contact with the stopper surface 121. When the torsional elastic force of the holding spring 110 exceeds the rotational force of the suction nozzle 70, the A portion of the holder pin 100 is pushed down by the torsional elasticity of the holding spring 110, the holder pin 100 is rotated, and the receiving surface 76 is Rotating in the return direction, the portion A of the holder pin 100 comes into contact with the stopper surface 121, and the suction nozzle 70 returns to the predetermined fitting position. If the holder pin 100 remains in line contact with the stopper surface 121, even if the holder pin 100 tries to rotate in the return direction, the contact resistance becomes larger than in the case of point contact, so that the suction nozzle 70 is placed in the fitting position. The operating speed to return to will decrease. Therefore, according to this embodiment, there is an effect that it is possible to speed up the returning operation until the suction nozzle 70 is returned from the position rotated in the circumferential direction to the fitting position.

<Embodiment 3>
Next, a third embodiment of the present invention will be described with reference to FIGS. The surface mounter 10 according to the third embodiment has the same structure as that of the surface mounter 10 according to the first embodiment. The description of the overlapping structure will be omitted, and only the structure related to the present embodiment will be described. That is, in this embodiment, the suction nozzle 70 attached to the nozzle holder 80 can be positioned and accommodated at a predetermined position in the circumferential direction with respect to the nozzle replacement station 34 provided on the base 11, and the nozzle replacement station 34 so that the holder pin 100 can contact the receiving groove 75 even when the nozzle of the suction nozzle 70 is automatically replaced. It is designed to be accessible.

  First, the structure on the nozzle holder 80 side will be described. The circumferential phase difference between the notch 86 of the nozzle holder 80 and the fixing hole 91 of the main shaft 41 is set to be 0 ° ± 2 °. The R-axis motor is adjusted so that the protruding direction of the fixing pin 90 press-fitted into the fixing hole 91 of the main shaft 41 is on the front side in the Y-axis direction, and this position is recognized by the control device as the R-axis direction origin. When the main shaft 41 is set to the R-axis direction origin position and the nozzle holder 80 is mounted on the main shaft 41, the notch 86 of the nozzle holder 80 is on the front side in the Y-axis direction.

  Next, the structure on the suction nozzle 70 side will be described. A notch (corresponding to the “positioning portion” of the present invention) 72 a is formed in the flange portion 72 of the suction nozzle 70. The circumferential phase difference between the notch 72a and the receiving groove 75 is set to be 0 ° ± 2 °. When the suction nozzle 70 is mounted on the nozzle holder 80 when the main shaft 41 is at the R-axis direction origin position, the holder pin 100 comes into contact with the receiving groove 75 and the notch 72a is on the front side in the Y-axis direction.

  Next, the structure on the nozzle replacement station 34 side will be described. As shown in FIGS. 15 to 17, the nozzle replacement station 34 has a large-diameter first recess 38 a that houses the flange portion 72 of the suction nozzle 70 and a small-diameter second recess 38 b that houses the component suction portion 78. A plurality of nozzle holding portions 38 are provided. Various suction nozzles 70 are accommodated in the nozzle holding portion 38 in a state where the fitting shaft portion 71 of the suction nozzle 70 protrudes upward.

  In addition, the nozzle replacement station 34 is slidably provided with a shutter member 35 for holding the suction nozzles 70 on the nozzle holding portions 38 by engaging both side portions of the upper surface of the flange portion 72 and sucking them. A positioning pin (corresponding to the “positioning portion” of the present invention) 36 that is engaged with the notch 72a of the nozzle 70 projects from the front side in the Y-axis direction on one side of the first recess 38a. As a result, when the suction nozzle 70 is accommodated in the nozzle holding portion 38, the positioning pin 36 is engaged with the notch 72 a of the suction nozzle 70, and the receiving groove 75 of the suction nozzle 70 is in contact with the nozzle holding portion 38. It is determined at a predetermined position in the circumferential direction.

  The shutter member 35 is made of a plate material in which a plurality of arc-shaped cutouts 35 a having a slightly larger diameter than the flange portion 72 of the suction nozzle 70 are formed at predetermined intervals, and is slid along the upper surface of the nozzle replacement station 34. Is possible. As shown in FIG. 16, in the shutter member 35, the nozzle holding part 38 is located between the arcuate cutouts 35a facing each other, and the suction nozzle 70 is inserted into the nozzle holding part 38 through the arcuate cutouts 35a. As shown in FIG. 17, each arc-shaped notch 35 a is positioned between adjacent nozzle holding portions 38 and the suction nozzle 70 accommodated in the nozzle holding portion 38 is projected as shown in FIG. 17. It is configured to be displaced to a locking position that can be held by 35b.

The present embodiment has the above-described structure, and the operation thereof will be described subsequently.
First, when exchanging the suction nozzle 70, the shutter member 35 is displaced to the open position shown in FIG. 16 so that the suction nozzle 70 can be received in the empty nozzle holding portion 38, and the spindle 41 is moved to the R-axis direction origin position. Then, the suction nozzle 70 mounted on the nozzle holder 80 is accommodated in the empty nozzle holding portion 38 by being lowered. Then, the shutter member 35 is slid to the locking position shown in FIG. 17, the flange portion 72 of the suction nozzle 70 is locked to the shutter member 35, and then the main shaft 41 is raised to remove the suction nozzle 70 from the nozzle holder 80. Let

  Next, the transfer head 40 is moved above the center of the nozzle holding part 38 in which another suction nozzle 70 is accommodated. Then, the suction member 70 is mounted on the nozzle holder 80 by displacing the shutter member 35 to the open position to release the holding state of the suction nozzle 70 and lowering the main shaft 41 with the R axis direction origin position. Thus, the replacement of the suction nozzle 70 is completed. At this time, the holder pin 100 of the nozzle holder 80 comes into contact with the receiving groove 75, and the suction nozzle 70 is fixed at a predetermined fixed position. Thereafter, the main shaft 41 is raised.

  When the suction nozzle 70 is not exchanged, the flange of the suction nozzle 70 is set by setting the shutter member 35 at the locking position while the suction nozzle 70 is accommodated in the nozzle holding portion 38 of the nozzle exchange station 34. The portion 72 is engaged with the shutter member 35 and the suction nozzle 70 is held in the nozzle holding portion 38. At this time, the positioning pin 36 is engaged with the notch 72 a of the suction nozzle 70, whereby the receiving groove 75 of the suction nozzle is positioned at a predetermined circumferential position with respect to the nozzle holding portion 38.

  As described above, in this embodiment, even when the nozzle is automatically replaced, the suction nozzle 70 can be accommodated in the nozzle holding portion 38 in a state where the suction nozzle 70 is positioned at a predetermined position in the circumferential direction. The receiving groove 75 of the nozzle 70 and the holder pin 100 of the nozzle holder 80 can be brought into contact with each other.

<Other embodiments>
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.

(1) In the present embodiment, the holder pin 100 and the holding spring 110 are provided at one place with respect to the suction nozzle 70. However, according to the present invention, a plurality of places may be provided. Alternatively, two locations may be provided at positions opposed to each other in the radial direction.
(2) In the present embodiment, the nozzle holder 80 is exemplified as a cylindrical shape. However, according to the present invention, if the nozzle holder 80 has a circular fitting hole 81, the outer shape is in another form. For example, the outer shape of the nozzle holder 80 may be rectangular.

(3) In the present embodiment, the abutting surface 77 is in contact with the restricting portion 83 </ b> A and the fitting position of the suction nozzle 70 is determined. However, according to the present invention, for example, the flange portion 72 has the fitting hole 81. You may make it contact | abut to an opening edge part and the fitting position of the suction nozzle 70 may be determined. That is, the flange portion 72 may correspond to the “abutting surface” of the present invention, and the opening edge portion of the fitting hole 81 may correspond to the “regulating surface” of the present invention.
(4) In the present embodiment, the holding spring 110 made of a plurality of spring plate members is illustrated, but according to the present invention, the holding spring may be a coil spring.

(5) In the present embodiment, the holding spring 110 formed by laminating a plurality of spring plate materials is illustrated, but according to the present invention, a holding spring made of one spring plate material may be used.
(6) In the present embodiment, the component transfer apparatus according to the present invention is applied to the surface mounter 10. However, according to the present invention, the components are sequentially carried and loaded on the inspection socket in order to inspect the IC components. It may be applied to a component inspection apparatus called a so-called IC handler.
(7) In this embodiment, the notch 86 is illustrated as being formed in a direction perpendicular to the axial direction of the fitting hole 81, but according to the present invention, the notch 86 is the axial center of the fitting hole 81. It may be formed in a second direction that intersects the direction. In this case, the receiving groove 75 may be formed in the second direction intersecting with the axial direction of the fitting shaft portion 71. In short, if the cutout direction of the cutout portion 86 and the receiving groove 75 are both the same direction (second direction), the cutout direction of the cutout portion 86 is a direction perpendicular to the axial direction of the fitting hole 81. The notch direction of the receiving groove 75 may not be a direction orthogonal to the axial direction of the fitting shaft portion 71.

The front view which shows the surface mounting machine in Embodiment 1. The plan view An exploded perspective view showing a state in which the suction nozzle and the nozzle holder are disassembled The perspective view which shows the state by which the adsorption nozzle and the nozzle holder were assembled The top view which shows the state by which the adsorption nozzle and the nozzle holder were assembled Sectional drawing which shows the state which the adsorption nozzle removed from the nozzle holder Sectional drawing which shows the state in which the suction nozzle was attached to the nozzle holder (III-III sectional view taken on the line in FIG. 5) Sectional drawing which shows the state in which the holder pin in the fitting position is contacting the receiving surface and the stopper surface Sectional drawing which shows the state which the suction nozzle in FIG. 8 rotated Sectional drawing which shows the state which exists in the position which the both ends of the holder pin in the fitting position floated from both bearing surfaces (II sectional view taken on the line in FIG. 8) Sectional drawing which shows the state which the outer peripheral surface and receiving surface of the holder pin in the fitting position were in line contact (II-II sectional view taken on the line in FIG. 8) Sectional drawing which shows the state which the adsorption nozzle in FIG. 11 rotated (IV-IV sectional view taken on the line in FIG. 9) Sectional drawing which shows the state in which the holder pin in a fitting position is contacting the receiving surface and the stopper surface in Embodiment 2. Sectional drawing which shows the state which the suction nozzle in FIG. 13 rotated Sectional drawing which shows the state which accommodated the suction nozzle in the nozzle holding part in Embodiment 3. Sectional drawing which shows the state which accommodated the suction nozzle in the nozzle holding part Plan view showing the holding state of the suction nozzle

Explanation of symbols

10 ... Surface mounter 34 ... Nozzle exchange station (nozzle holding member)
36 ... Positioning pin (positioning part)
40 ... Transfer head 41 ... Main shaft 70 ... Suction nozzle 71 ... Fitting shaft (shaft)
72a ... Notch (alignment part)
75 ... receiving groove (groove)
76 ... Receiving surface 77 ... Abutting surface 80, 120 ... Nozzle holder 81 ... Fitting hole 83A ... Regulating portion 85 ... Long hole (connecting portion)
86 ... Notch 88, 121 ... Stopper surface 89 ... Opening 100 ... Holder pin B ... Printed circuit board

Claims (8)

In a component transfer apparatus in which a main shaft that moves up and down is provided on a transfer head that is provided so as to be able to move laterally, and a suction nozzle for adsorbing a component to the main shaft is removable
A cylindrical nozzle holder that forms a lower end portion of the main shaft and has a cylindrical fitting hole that opens downward,
A notch portion in a second direction intersecting the axial direction of the fitting hole on the lower end side surface;
An opening formed in an interpenetrating portion between the notch and the fitting hole;
A holder pin that fits into the notch and has a total length longer than the length of the opening in the second direction;
A holding spring for biasing the holder pin to the notch,
In a state where the suction nozzle having a cylindrical shaft portion and a groove portion in the second direction intersecting the axial center direction of the shaft portion on a side portion of the shaft portion is mounted on the nozzle holder. The holder pin is adapted to abut against the groove portion by the urging force of the holding spring,
In the upper part of the fitting hole, there is provided a restricting portion with which the shaft portion of the suction nozzle to be fitted and mounted comes into contact, and in the fitting and mounting state of the suction nozzle with the shaft portion in contact with the restricting portion,
The holder pin abuts on the receiving surface on the upper side of the groove by the urging force of the holding spring, while the holder pin also abuts on a stopper surface on the lower side of the notch,
The component transfer device in which the stopper surface has an inclined surface that is displaced downward toward the outer side in the radial direction. The component transfer apparatus according to claim 1, wherein the holding spring is configured by a plate spring that is in line contact with an outer peripheral surface of the holder pin along an axial direction of the holder pin. The component transfer apparatus according to claim 1 , wherein the holding spring is provided with positioning pieces that sandwich both end portions of the holder pin. The holding spring component transfer apparatus according to claim 2 or claim 3 is constructed by laminating a plurality of spring plate members so many number of layers as the base end side. A nozzle holding member that is disposed within a movable range of the transfer head and holds and holds the suction nozzle;
The suction nozzle has a positioning portion that engages with a positioning portion provided in the nozzle holding member and positions the groove portion at a predetermined position in the circumferential direction with respect to the nozzle holding member;
The nozzle holder has a connecting portion for positioning the notch portion at a predetermined position in the circumferential direction with respect to the main shaft and connecting to the main shaft,
The main shaft is rotatable in the circumferential direction with respect to the transfer head, and when the suction nozzle attached to the nozzle holder is accommodated in the nozzle holding member, and the suction nozzle accommodated in the nozzle holding member is wherein when mounting the nozzle holder, the component transfer apparatus according to any one of claims 1 to 4, characterized in that so as to lift and position the spindle in the circumferential direction by a predetermined position. The surface mounting machine which is a component transfer apparatus as described in any one of Claim 1 thru | or 5 provided with a component supply part and a board | substrate conveyance means, and mounts components in the board | substrate on a board | substrate conveyance means. A main shaft that moves up and down on a transfer head provided so as to be laterally movable, a cylindrical nozzle holder that forms a lower end portion of the main shaft and has a cylindrical fitting hole that opens downward, and a lower end of the nozzle holder A notch formed in a second direction intersecting the axial center direction of the fitting hole on the side of the part, an opening formed in an interpenetrating portion of the notch and the fitting hole, Fits into the notch and is detachable from the suction nozzle mounting part having a holder pin whose overall length is longer than the length of the opening in the second direction and a holding spring that biases the holder pin toward the notch A suction nozzle having a suction nozzle body to be attached,
The suction nozzle body is
A cylindrical shaft portion that fits into the fitting hole of the nozzle holder, and a side portion of the shaft portion that extends in the second direction intersecting the axial direction of the shaft portion, A holder pin is provided with a groove portion that comes into contact with the biasing force of the holding spring,
A restriction portion that constitutes a part of the nozzle holder is provided at the back end of the fitting hole, and the fitting portion is fitted in the fitting nozzle mounted state in which the shaft portion is in contact with the restriction portion. The shaft portion of the suction nozzle body that is fitted and fitted in the joint hole is in contact with the restricting portion, the holding spring is directly fixed to the nozzle holder, and the holder pin is attached to the holding spring. The holder pin abuts on a stopper surface on the lower side of the notch, while abutting on the receiving surface on the upper side of the groove with force.
The suction nozzle is characterized in that the stopper surface has an inclined surface that is displaced downward toward the outer side in the radial direction . It is formed in a cylindrical shape having a cylindrical fitting hole that opens downward, and a cylindrical shaft portion that fits into the fitting hole, and a side portion of the shaft portion with respect to the axial center direction of the shaft portion A nozzle holder body attached to a lower end portion of a main shaft that moves up and down in a transfer head provided so as to be detachable can be attached and detached, and a suction nozzle for component suction having a groove portion in the intersecting second direction. A nozzle holder comprising:
The nozzle holder body is
A notch in the second direction intersecting the axial direction of the fitting hole on the lower end side surface, and an opening formed in an interpenetrating portion of the notch and the fitting hole;
A holder pin that fits into the notch and has a total length longer than the length of the opening in the second direction;
A holding spring for biasing the holder pin to the notch,
In a state where the shaft portion is fitted in the fitting hole, the holder pin comes into contact with the groove portion by the biasing force of the holding spring,
A restriction portion that constitutes a part of the nozzle holder body is provided at the back end of the fitting hole, and the shaft portion of the suction nozzle that is fitted and fitted into the fitting hole serves as the restriction portion. The holding spring is directly fixed to the nozzle holder body, and the holder pin comes into contact with the receiving surface on the upper side of the groove portion by the urging force of the holding spring, while the holder pin is It is designed to come into contact with the stopper surface below the notch,
The nozzle holder is characterized in that the stopper surface has an inclined surface that is displaced downward toward the outer side in the radial direction .

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