JP6037584B2 - Component mounter - Google Patents

Description

  The present invention relates to a component mounter in which a plurality of nozzle holders are provided on a rotary head (rotary head) so as to be lowered at predetermined intervals in the circumferential direction.

  As described in, for example, Patent Document 1 (Japanese Patent Laid-Open No. 2004-39818), a rotary head type component mounting machine is provided with a plurality of nozzle holders in a circumferential direction of the rotary head so as to be lowered at predetermined intervals. At the same time, the suction nozzles are held downward in the respective nozzle holders, and further, the plurality of nozzle holders are held in the plurality of nozzle holders by rotating the rotary head around the R axis (vertical axis) by the R axis drive mechanism. The rotary head is swung in the circumferential direction integrally with the suction nozzle, and at a predetermined position of the swivel trajectory, one nozzle holder is lowered by the Z-axis drive mechanism to suck and mount the components, and the Q-axis The direction (angle) of each component sucked by each suction nozzle held by each nozzle holder is corrected by rotating each nozzle holder around its axis by the drive mechanism. There are things was Unishi.

JP 2004-39818 A

  The suction nozzle held by the nozzle holder needs to use a suction nozzle having an appropriate diameter and pad shape according to the type (size, shape, etc.) of the part to be sucked. For this reason, some suction nozzles held by the nozzle holder can be replaced according to the type of parts to be sucked, but the rotating head cannot be replaced, so it can be attached to the nozzle holder assembled to the rotating head. The type (size, shape, etc.) of the suction nozzles is limited, and the types of parts that can be sucked are limited.

  In order to solve this problem, the present inventor has been studying a configuration in which a rotary head is attached to a head moving mechanism of a component mounter in a replaceable manner. However, the rotary head and the R-axis drive mechanism, the Q-axis drive mechanism, etc. If the entire component suction device including the head drive unit is configured to be removed from the head moving mechanism of the component mounter and automatically replaced, the device portion to be replaced becomes large and expensive.

  Therefore, the present inventor has studied a configuration in which the rotary head can be detached from the head drive unit and can be attached and detached, and the head drive unit can be used in common for all rotary heads to be replaced. However, in this case, when connecting the rotary head to the head drive unit, the nozzle rotary gear mechanism of the rotary head is used as the Q-axis drive mechanism of the head drive unit in order to ensure the positional accuracy of the rotary head in the rotational direction. It is necessary to stably connect, and it is necessary to newly develop a connection structure that realizes this.

  In order to solve the above-described problems, the present invention provides a rotary head provided to be rotatable around an R axis extending in the vertical direction, and a plurality of rotary heads held by the rotary head so as to be lowered at predetermined intervals in the circumferential direction. Nozzle holders, a plurality of suction nozzles respectively held downward by the plurality of nozzle holders, and the plurality of nozzle holders integrated with the plurality of suction nozzles by rotating the rotary head around the R axis. Each of the suction nozzles held by each nozzle holder by rotating the plurality of nozzle holders around the axis of each nozzle holder. In a component mounter configured to move a component suction device having a Q-axis drive mechanism for correcting the direction of each sucked component by a head moving mechanism, the R-axis drive A head drive unit assembled with the Q-axis drive mechanism is attached to the head moving mechanism, and the rotary head holding the plurality of nozzle holders is detachably connected to the head drive unit. The rotary head is provided with a nozzle rotation gear mechanism that transmits the rotational force of the Q-axis drive mechanism to each nozzle holder, and the Q-axis drive mechanism and the nozzle rotation gear mechanism are provided respectively. The ring-shaped clutch member is connected so as to be able to transmit rotation by meshing the unevenness of the ring-shaped clutch member, and the unevenness of both the ring-shaped clutch members is formed so as to arrange a plurality of protrusions and recesses along the circumferential direction of the ring-shaped clutch member It is characterized by being.

  In this configuration, the Q-axis drive mechanism and the nozzle rotation gear mechanism are configured to be coupled so as to be able to transmit rotation by meshing a plurality of concaves and convexes of the ring-shaped clutch members provided in each, so that the nozzle rotation of the rotary head The gear mechanism can be stably coupled to the Q-axis drive mechanism of the head drive unit. Further, since the rotary head can be detached and attached from the head drive unit of the component suction device, the head drive unit can be used in common for all the rotary heads to be replaced. As a result, it is not necessary to assemble a head drive unit to the rotating head to be replaced, and it is possible to reduce the size and cost of the rotating head to be replaced and save space for the replacement work.

  In this case, the unevenness of both ring-shaped clutch members may be formed in, for example, a rectangular wave shape, a triangular wave shape, or a sawtooth shape, but is preferably formed in a trapezoidal wave shape. If the concave and convex portions of both ring-shaped clutch members are formed in a trapezoidal wave shape, even when the concave and convex portions of both ring-shaped clutch members are meshed, even if the positions in the circumferential direction (rotating direction) of both ring-shaped clutch members are shifted, The unevenness of both ring-shaped clutch members can be easily meshed, and the circumferential displacement of both ring-shaped clutch members can be automatically corrected by the inclined surfaces of the uneven surfaces, and the rotation of the rotary head The position accuracy in the direction can be easily secured.

  In the present invention, the ring-shaped clutch member of the Q-axis drive mechanism is attached to the Q-axis drive mechanism so as to be movable up and down and urged downward by a first spring member. The play (backlash) in the vertical direction when the concave and convex portions are engaged with each other may be configured to be packed by the ring-shaped clutch member of the Q-axis drive mechanism biased downward by the first spring member. In this way, when replacing the rotary head connected to the head drive unit, the height position of the unevenness of the ring-shaped clutch member of the nozzle rotary gear mechanism of the rotary head varies from one rotary head to another due to manufacturing tolerances and the like. In addition, the play in the vertical direction between the two ring-shaped clutch members can be packed by the ring-shaped clutch member of the Q-axis drive mechanism, and the two ring-shaped clutch members can be connected without rattling in the vertical direction.

  Furthermore, the present invention may be configured such that the ring-shaped clutch member of the Q-axis drive mechanism is attached so as to be rotatable in the circumferential direction and is urged in the rotating direction by the second spring member. In this way, the play in the rotational direction of the engagement of the concave and convex portions of both ring-shaped clutch members can be packed with the ring-shaped clutch member of the Q-axis drive mechanism, and both ring-shaped clutch members are rattled in the rotational direction. Can be linked together.

FIG. 1 is a perspective view showing a state in which a rotary head is removed from a head drive unit of a component suction device according to an embodiment of the present invention. FIG. 2 is a perspective view of the head drive unit of the component suction device as viewed obliquely from below. FIG. 3 is a cross-sectional view of the main part of the head drive unit of the component suction device. FIG. 4 is a perspective view of the entire rotary head. FIG. 5 is a perspective view of the upper side of the rotary head. FIG. 6 is a partially enlarged longitudinal sectional view of the ring-shaped clutch member of the Q-axis drive mechanism. FIG. 7 is a block diagram showing the configuration of the control system of the component mounter.

Hereinafter, an embodiment embodying a mode for carrying out the present invention will be described.
First, the structure of the component adsorption | suction apparatus 10 of a component mounting machine is demonstrated.

  As shown in FIG. 1, a plurality of nozzle holders 12 are held at a predetermined interval in the circumferential direction on the rotary head 11 of the component suction device 10, and components are respectively placed below the nozzle holders 12. The suction nozzle 13 for suction is engaged and held so that it can be exchanged downward (detachable).

  The rotary head 11 is held exchangeably (detachable) by an R shaft 22 (see FIG. 2) extending below the head drive unit 21 moved by the head moving mechanism 20 (see FIG. 7) of the component mounting machine. The head drive unit 21 is assembled with an R-axis drive mechanism 23 (head rotation drive mechanism) that rotates the R-axis 22. The R-axis drive mechanism 23 rotates an R-axis gear 24 (toothed surface not shown) fixed to the upper end of the R-axis 22 by an R-axis motor 25 to rotate the rotary head 11 around the R-axis 22. Thus, the plurality of nozzle holders 12 are configured to rotate integrally with the plurality of suction nozzles 13 in the circumferential direction of the rotary head 11.

  A Q-axis gear 27 (toothed surface not shown) serving as a drive source for the Q-axis drive mechanism 26 (nozzle rotation drive mechanism) is rotatably inserted into the R-axis 22, and the Q-axis gear 27 is rotated by a Q-axis motor 28. Thus, it rotates around the R axis 22.

  As shown in FIG. 2, a plurality of (for example, four) engaging members 31 for detachably engaging and holding the rotary head 11 are provided at the lower end portion of the R shaft 22 so as to be movable in the vertical direction. In the vicinity of each engagement member 31, an air cylinder (not shown) for driving the engagement member 31 in the vertical direction is provided. Each engagement member 31 is formed in an L shape or a J shape, and is arranged at equal intervals in the circumferential direction of the R shaft 22, and the direction of the claw portion of each engagement member 31 is the positive direction of the R shaft 22. They are aligned so as to be in the same direction as the rotation direction (or reverse rotation direction).

  On the other hand, the rotary head 11 is provided with a nozzle rotation gear mechanism 32 (see FIGS. 4 and 5) that transmits the rotational force of the Q-axis gear 27 to each nozzle holder 12. The nozzle rotation gear mechanism 32 bites a cylindrical gear 33 (tooth surface not shown) held concentrically on the upper side of the rotary head 11 and a small gear 34 attached to each nozzle holder 12. In addition, the Q-axis gear 27 of the head drive unit 21 and the cylindrical gear 33 of the nozzle rotation gear mechanism 32 are connected so as to be able to transmit rotation by meshing the concave and convex portions of ring-shaped clutch members 51 and 52 described later. By rotating the cylindrical gear 33 and rotating the small gear 34 of each nozzle holder 12, each nozzle holder 12 rotates around the axis of each nozzle holder 12 and is held by each nozzle holder 12. The direction (angle) of each component sucked by each suction nozzle 13 is corrected.

  The inner diameter of the cylindrical gear 33 is slightly larger than the outer diameter of the R shaft 22 so that the R shaft 22 of the head drive unit 21 can be inserted into the cylindrical gear 33. As shown in FIG. 5, a plurality of long hole-like shapes for inserting and engaging each engaging member 31 of the R shaft 22 at a position inside the cylindrical gear 33 in the upper surface portion of the rotary head 11. Engagement holes 35 are formed at equal intervals in the circumferential direction.

  A head mounting portion (not shown) for mounting the replacement rotary head 11 is provided at a predetermined position within the movement range of the head drive unit 21 of the component mounter. This head mounting portion is configured so that a plurality of types of rotary heads 11 can be mounted. When the rotary head 11 placed on the head placement portion is attached to the head drive unit 21, the R shaft 22 of the head drive unit 21 is inserted into the cylindrical gear 33, and each engagement member 31 of the R shaft 22 is inserted. Each of the engagement heads 31 is inserted into the engagement holes 35 of the rotary head 11 and the R shaft 22 is rotated by the rotation of the R shaft gear 24 to engage the engagement members 31 with the end edges of the engagement holes 35. The engaging member 31 is pulled up and held. The head drive unit 21 can hold various types of rotary heads 11 and can also hold a single nozzle mounting head (not shown).

  The Q-axis gear 27 of the Q-axis drive mechanism 26 and the cylindrical gear 33 of the nozzle rotation gear mechanism 32 are formed by meshing the concave and convex portions of the ring-shaped clutch members 51 and 52 (see FIGS. 2 and 4) having the same diameter. It is connected so that rotation can be transmitted. The ring-shaped clutch member 51 of the Q-axis gear 27 is formed by a member different from the Q-axis gear 27, and the ring-shaped clutch member 52 of the cylindrical gear 33 is formed integrally with the upper end portion of the cylindrical gear 33. Yes. Needless to say, the ring-shaped clutch member 52 of the cylindrical gear 33 may be formed of another member. The concave and convex portions of both ring-shaped clutch members 51 and 52 are formed in the same shape and formed so that a plurality of convexities and concave portions are arranged at equal pitches along the circumferential direction of the ring-shaped clutch members 51 and 52. Yes. The unevenness of both the ring-shaped clutch members 51 and 52 may be formed in, for example, a rectangular wave shape, a triangular wave shape, or a sawtooth shape, but in this embodiment, it is formed in a trapezoidal wave shape.

  The ring-shaped clutch member 51 of the Q-axis gear 27 is attached to the Q-axis gear 27 so as to be movable up and down and is urged downward by a plurality of first spring members 53 (see FIG. 6). . As a result, the ring-shaped clutch of the Q-axis gear 27 urged downward by the plurality of first spring members 53 in the play in the vertical direction when the concave and convex portions of the ring-shaped clutch members 51 and 52 are engaged with each other. The member 51 is used for packing. In the present embodiment, the plurality of first spring members 53 are each formed of a compression coil spring or the like and are arranged at equal intervals along the circumferential direction of the ring-shaped clutch member 51, and the ring-shaped clutch member 51 as a whole. The plurality of first spring members 53 are uniformly biased downward.

  Further, the ring-shaped clutch member 51 of the Q-axis gear 27 is attached to a small-diameter portion 27a (see FIG. 3) formed on the lower surface side of the Q-axis gear 27 so as to be rotatable in the circumferential direction, and a tension coil. It is urged | biased by the 2nd spring member 54 which consists of a spring etc. in the rotation direction (clockwise direction of FIG. 3). In this embodiment, as shown in FIG. 3, two second spring members 54 are arranged on both sides in the diameter direction of the ring-shaped clutch member 51, and one end of each second spring member 54 is ring-shaped by a stopper 55. It is attached to the clutch member 51, and the other end of each second spring member 54 is attached to the head drive unit 21 side by a stopper 56.

  As shown in FIG. 3, a stopper convex portion 57 for preventing the ring-shaped clutch member 51 from rotating is formed on the outer peripheral portion of the small-diameter portion 27 a of the Q-axis gear 27, and is rotated by the second spring member 54. The ring-shaped clutch member 51 is prevented from rotating by the end surface of the notched portion 58 of the ring-shaped clutch member 51 being in contact with the stopper convex portion 57.

  In addition to the R-axis drive mechanism 23 and the Q-axis drive mechanism 26, a Z-axis drive mechanism (not shown) using a Z-axis motor 37 (see FIG. 7) as a drive source moves together with the head drive unit 21. The nozzle holder 12 is moved down at a predetermined stop position on the orbit of the nozzle holder 12 by the Z-axis drive mechanism.

  The component mounter is equipped with a camera 61 (see FIG. 7) that images the reference marks on the circuit board, and the camera 61 is moved integrally with the component suction device 10 by the head moving mechanism 20. The camera 61 is also used as a camera for imaging the reference mark 62 (see FIGS. 4 and 5) of the rotary head 11 on the head mounting portion in addition to the reference mark on the circuit board. The reference mark 62 of the rotary head 11 is formed on the upper surface of the convex (teeth) at a predetermined position of the ring-shaped clutch member 52 formed integrally with the upper end portion of the cylindrical gear 33, and the reference mark 62 is imaged by the camera 61. The image is processed by the control device 41 (see FIG. 7) of the component mounting machine, thereby detecting the position of the reference mark 62 and detecting the rotational phase of the cylindrical gear 33.

  The head drive unit 21 of the component suction device 10 configured as described above is supported by the head moving mechanism 20 of the component mounter and moves in the XYZ directions. The component mounter control device 41 (see FIG. 7) controls the head moving mechanism 20, the R-axis motor 25, the Q-axis motor 28, and the Z-axis motor 37 of the head drive unit 21 in accordance with the production program. Control the operation of sucking the components supplied from the feeder 42 set on the suction nozzle 13 and mounting them on the circuit board, and holding the rotary head 11 on the head mounting portion on the head drive unit 21. Control.

  When the control device 41 of the component mounter holds the rotary head 11 on the head mounting portion on the head drive unit 21, the camera 61 images the reference mark 62 of the cylindrical gear 33 of the rotary head 11, By processing the image, the position of the reference mark 62 is detected, and the rotational phase of the cylindrical gear 33 is detected. Thereafter, the head moving mechanism 20 moves the R axis 22 of the head driving unit 21 to above the rotating head 11 on the head mounting portion, and the Q axis motor 28 rotates the Q axis gear 27 of the head driving unit 21. The phase is matched with the rotational phase of the cylindrical gear 33 of the rotary head 11. Thereafter, the head drive unit 21 is lowered by the head moving mechanism 20 to insert the R shaft 22 into the cylindrical gear 33, and the unevenness of the ring-shaped clutch member 51 of the Q-axis gear 27 is changed to the ring-shaped clutch member 52 of the cylindrical gear 33. Are engaged with each other so as to be able to transmit the rotation, and the engaging members 31 of the R shaft 22 are inserted into the engaging holes 35 of the rotary head 11, and the R shaft gear 24 is rotated by the R shaft motor 25. Then, after rotating the R shaft 22 to engage each engaging member 31 with the end edge portion of each engaging hole 35, each engaging member 31 is pulled up by an air cylinder (not shown) and engaged. Hold. As a result, the ring-shaped clutch of the Q-axis gear 27 in which the play (backlash) in the vertical direction when the concave and convex portions of both the ring-shaped clutch members 51 and 52 are engaged is urged downward by the plurality of first spring members 53. The ring-shaped clutch member 51 of the Q-axis gear 27 is energized in the rotational direction by the second spring member 54 while being packed with the member 51, so that the unevenness of both the ring-shaped clutch members 51, 52 is achieved. The play in the rotational direction of the meshing is packed. Thereby, the operation of connecting the rotary head 11 to the head drive unit 21 is completed.

  In the present embodiment described above, the ring-shaped clutch member 51 of the Q-axis gear 27 and the ring-shaped clutch member 52 of the cylindrical gear 33 are formed so that a plurality of protrusions and recesses are arranged along the circumferential direction, respectively. The two ring-shaped clutch members 51 and 52 are connected so as to be able to transmit rotation by meshing a plurality of concaves and convexes of both, but as a comparative example, a protrusion provided at one location of the cylindrical gear 33 is connected to the Q axis. A configuration is conceivable in which the cylindrical gear 33 and the Q-axis gear 27 are connected so as to be able to transmit rotation by being sandwiched between two rollers provided in the gear 27. However, in the configuration of this comparative example, the cylindrical gear 33 and the Q-axis gear 27 are coupled so as to be able to transmit rotation at one place, and therefore the force that rotates the Q-axis gear 27 causes the rotation of the rotary head 11. There is a possibility.

  On the other hand, in the present embodiment, the ring-shaped clutch member 51 of the Q-axis gear 27 and the ring-shaped clutch member 52 of the cylindrical gear 33 are rotated and transmitted by meshing a plurality of irregularities formed along the circumferential direction thereof. Since the connection is possible, the cylindrical gear 33 of the rotary head 11 can be stably connected to the Q-axis gear 27 of the head drive unit 21, and the swing of the rotary head 11 can be prevented. Furthermore, since the rotary head 11 can be detached and attached from the head drive unit 21, the head drive unit 21 can be used in common for all the rotary heads 11 to be replaced. As a result, it is not necessary to assemble the head drive unit 21 to the rotating head 11 to be replaced, and it is possible to reduce the size and cost of the rotating head 11 to be replaced and to save space for replacement work.

  In addition, in this embodiment, the irregularities of both the ring-shaped clutch members 51, 52 are formed in a trapezoidal wave shape, so that when the irregularities of both the ring-shaped clutch members 51, 52 are meshed, Even if the position in the circumferential direction (rotation direction) is shifted, the concave and convex portions of both ring-shaped clutch members 51 and 52 can be easily meshed, and both ring-shaped clutch members 51 and 52 are inclined by the inclined surfaces of the concave and convex sides. Can be automatically corrected, and the positional accuracy of the rotary head 11 in the rotational direction can be easily secured.

  Further, in this embodiment, the ring-shaped clutch member 51 of the Q-axis gear 27 is attached to the Q-axis gear 27 so as to be movable up and down, and is urged downward by the first spring member 53, whereby both ring-shaped clutches Since the play (backlash) in the vertical direction when the concaves and convexes of the members 51 and 52 are engaged is configured to be packed by the ring-shaped clutch member 51 of the Q-axis gear 27 urged downward by the first spring member 53. Even when the rotary head 11 connected to the head drive unit 21 is replaced, the height position of the unevenness of the ring-shaped clutch member 52 of the cylindrical gear 33 of the rotary head 11 varies from one rotary head 11 to another due to manufacturing tolerances. The vertical play between the two ring-shaped clutch members 51, 52 can be packed by the ring-shaped clutch member 51 of the Q-axis gear 27, and the two ring-shaped clutch members 51, 52 are moved in the vertical direction. It can be connected without rattling.

  Furthermore, in the present embodiment, the ring-shaped clutch member 51 of the Q-axis gear 27 is attached so as to be rotatable in the circumferential direction and is configured to be biased in the rotating direction by the second spring member 54. The play in the rotational direction of the engagement of the concave and convex portions of the ring-shaped clutch members 51 and 52 can be packed by the ring-shaped clutch member 51 of the Q-axis gear 27, and the ring-shaped clutch members 51 and 52 are rattled in the rotational direction. It is possible to connect without notice.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention, for example, the structure for engaging and holding the rotary head 11 with the head drive unit 21 may be appropriately changed. Can be implemented.

  DESCRIPTION OF SYMBOLS 10 ... Component adsorption device, 11 ... Rotary head, 12 ... Nozzle holder, 13 ... Adsorption nozzle, 20 ... Head moving mechanism, 21 ... Head holding unit, 22 ... R axis, 23 ... R axis drive mechanism (head rotation drive mechanism) , 24 ... R-axis gear, 25 ... R-axis motor, 26 ... Q-axis drive mechanism (nozzle rotation drive mechanism), 27 ... Q-axis gear, 28 ... Q-axis motor, 31 ... engaging member, 32 ... nozzle rotation gear mechanism , 33 ... cylindrical gear, 34 ... small gear, 35 ... engagement hole, 37 ... Z-axis motor, 41 ... control device, 42 ... feeder, 51, 52 ... ring-shaped clutch member, 53 ... first spring member, 54 ... second spring member, 57 ... stopper projection, 61 ... camera, 62 ... reference mark

Claims (4)

A rotary head provided to be rotatable around an R axis extending in the vertical direction;
A plurality of nozzle holders held by the rotary head so as to be able to descend at predetermined intervals in the circumferential direction;
A plurality of suction nozzles which are respectively held downward by the plurality of nozzle holders and suck parts;
An R-axis drive mechanism for rotating the plurality of nozzle holders in the circumferential direction of the rotary head integrally with the plurality of suction nozzles by rotating the rotary head around the R-axis;
A component comprising: a Q-axis drive mechanism that corrects the orientation of each component sucked by each suction nozzle held by each nozzle holder by rotating the plurality of nozzle holders around the axis of each nozzle holder. In the component mounter configured to move the suction device by the head moving mechanism,
A head drive unit in which the R-axis drive mechanism and the Q-axis drive mechanism are assembled is attached to the head moving mechanism,
The rotary head holding the plurality of nozzle holders is detachably connected to the head drive unit,
The rotary head is provided with a nozzle rotation gear mechanism that transmits the rotational force of the Q-axis drive mechanism to each nozzle holder,
The Q-axis drive mechanism and the nozzle rotation gear mechanism are connected so as to be able to transmit rotation by meshing the concave and convex portions of the ring-shaped clutch members provided in each, and the concave and convex portions of both ring-shaped clutch members are connected to the circle of the ring-shaped clutch member. A component mounter characterized in that a plurality of protrusions and recesses are arranged along a circumferential direction.   2. The component mounting machine according to claim 1, wherein the unevenness of the ring-shaped clutch members is formed in a trapezoidal wave shape. The ring-shaped clutch member of the Q-axis drive mechanism is attached to the Q-axis drive mechanism so as to be vertically movable, and is biased downward by a first spring member,
The vertical play when the concave and convex portions of the two ring-shaped clutch members are engaged with each other is configured to be packed by the ring-shaped clutch member of the Q-axis drive mechanism biased downward by the first spring member. The component mounter according to claim 1 or 2, characterized in that   The ring-shaped clutch member of the Q-axis drive mechanism is attached so as to be rotatable in the circumferential direction thereof and is biased in the rotational direction by a second spring member. Component mounter.

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