JP6797836B2 - Parts mounting machine - Google Patents

Description

The present invention relates to a component mounting machine having both a function as a claw (chuck) for sandwiching and picking up parts and a function as a suction nozzle for sucking and picking up parts.

In general, a component mounting machine uses a suction nozzle to suck a component supplied by a component supply device and mounts it on a circuit board, but it is difficult to suck the component with the suction nozzle depending on the size and shape of the component. Since there are some, such parts are sandwiched between a pair of claws (chuck), picked up, and mounted on the circuit board. For example, the component mounting machine described in Patent Document 1 (Japanese Unexamined Patent Publication No. 2001-196996) has a configuration in which a suction nozzle and a chuck device are interchangeably mounted on a mounting head, depending on the size and shape of the component. The suction nozzle and the chuck device are replaced and attached to the mounting head.

Japanese Unexamined Patent Publication No. 2001-196996

However, in the configuration of the above-mentioned Patent Document 1, it is necessary to perform a troublesome work of replacing a plurality of component pickup members (suction nozzle and claw) attached to the mounting head according to the size and shape of the component, and the replacement thereof. There is a drawback that the work takes time and the productivity is reduced accordingly.

Therefore, the problem to be solved by the present invention is suction without the troublesome work of replacing a plurality of component pickup members (suction nozzle and claw) held in the mounting head according to the size and shape of the component. The purpose of the present invention is to provide a component mounting machine capable of switching between a function as a nozzle and a function as a claw and improving productivity.

In order to solve the above problems, the present invention has a mounting head that moves between a component pickup position for picking up a component supplied by a component supply device and a component mounting position for mounting the component on a circuit board, and the mounting. It is provided with a plurality of component pickup members attached to the head, and each of the plurality of component pickup members functions as a claw that sandwiches and picks up the component, and is formed in a hollow shape to suck and pick up the component at the tip. The mounting head is configured to also function as a suction nozzle, and the mounting head includes an opening / closing mechanism for opening / closing the plurality of component pickup members when the plurality of component pickup members are used as a claw, and the plurality of component pickup members. A negative pressure supply path that supplies negative pressure to each of the plurality of component pickup members when the is used as a suction nozzle, and a Q-axis rotation mechanism that rotates each of the plurality of component pickup members to correct the component suction angle. It is a common feature that and is provided , and further, it has a feature described later.

In this configuration, the plurality of component pickup members attached to the mounting head are each formed in a hollow shape to function as a suction nozzle, and also open and close to function as a claw. You can switch between the function as a suction nozzle and the function as a claw without having to do the troublesome work of replacing multiple parts pickup members (suction nozzle and claw) attached to the parts according to the size and shape of the parts. It becomes possible to improve productivity. Moreover, since each component pickup member has a configuration in which both the suction nozzle and the claw are used, it is possible to avoid an increase in the size of the mounting head as compared with the configuration in which the suction nozzle and the claw are provided separately, resulting in a compact configuration. can do. Further, when the component pickup member is used as a suction nozzle, the component pickup member can be mounted on the circuit board by correcting the deviation of the suction angle of the component by the Q-axis rotation mechanism.

Further, in the present invention, at least one of the plurality of component pickup members is formed by forming a plurality of component holding surfaces having different shapes along the rotation direction, and when used as a claw, the component pickup is performed by the Q-axis rotation mechanism. By rotating the member, it is preferable to switch the component sandwiching surface that sandwiches the component from the plurality of component sandwiching surfaces according to the shape of the component to be sandwiched. In this way, when the component pickup member is used as a claw, the component sandwiching surface of the component pickup member can be switched to the component sandwiching surface suitable for the shape of the component to be sandwiched, and the component sandwiching surface can be used for the component. Can be stably pinched, and the component can be prevented from falling or misaligning while the mounting head is moving.

Further, in the present invention, when the plurality of component pickup members are used as suction nozzles, the spacing between the plurality of component pickup members is changed by the opening / closing mechanism so that the components attracted to the plurality of component pickup members do not interfere with each other. You may let it. By doing so, it is possible to increase the size of the parts that can be sucked to the plurality of parts pickup members without the parts interfering with each other, and it is possible to prevent the parts suction mistake and the abnormality of the suction posture due to the interference between the parts. Therefore, even relatively large parts can be stably adsorbed.

Further, in the present invention, the plurality of component pickup members may be interchangeably attached to the mounting head. Since there is a limit to the range (size, shape, weight, etc.) of parts that can be picked up by the same parts pickup member, when picking up parts that are outside that range, use the parts pickup member attached to the mounting head. Parts that can be picked up By replacing the parts with pick-up members, the parts can be picked up.

1A and 1B are front views of a mounting head for explaining the opening / closing operation of the first example when the component pickup member according to the embodiment of the present invention is used as a claw. 2A and 2B are front views of the mounting head for explaining the opening / closing operation of the second example when the component pickup member is used as a claw. 3A and 3B are front views of the mounting head for explaining the opening / closing operation of the third example when the component pickup member is used as a claw. 4 (a) and 4 (b) are front views of a mounting head for explaining two usage examples when the component pickup member is used as a suction nozzle. 5 (a) and 5 (b) are bottom views of different component pickup members. FIG. 6 is a block diagram showing a configuration of a control system of a component mounting machine.

Hereinafter, an embodiment embodying a mode for carrying out the present invention will be described with reference to the drawings.
First, the configuration of the component mounting machine will be schematically described.

The parts mounting machine is supplied by a parts supply device 11 (see FIG. 6) such as a tape feeder, a tray feeder, and a bulk feeder, a conveyor 12 that carries in and out a circuit board (not shown), and a parts supply device 11. A mounting head 14 to which two component picking members 13 for picking up parts are exchangeably attached, a component picking position for picking up the components supplied by the component supply device 11 and the component picking position and the components are mounted on the circuit board. A head moving mechanism 15 that moves the component mounting position in the XY direction (horizontal direction), and a camera that captures the component from the lower surface side while moving the component picked up by the component picking member 13 to the component mounting position. It has a configuration including 16 mag.

On the other hand, the mounting head 14 is provided with a holder 21 that replaceably holds the component pickup member 13 so as to be rotatable around an R axis extending its center in the vertical direction, and the holder 21 is centered on the R axis. An R-axis drive mechanism 22 is provided, and the holder 21 is rotated around the R-axis by the R-axis drive mechanism 22, so that the two component pickup members 13 have a circular orbit around the R-axis. Is designed to turn.

Further, the mounting head 14 is provided with two Q-axis rotation mechanisms 23 for rotating each of the two component pickup members 13 about the Q-axis, and each of the two component pickup members 13 is provided. A Z-axis drive mechanism 24 that moves up and down individually is provided. Further, the mounting head 14 is provided with an opening / closing mechanism 25 that enlarges / reduces (opens / closes) the distance between the two component pickup members 13. The R-axis drive mechanism 22 and the Q-axis rotation mechanism 23 are each configured by using an electric actuator such as a motor as a drive source, and the Z-axis drive mechanism 24 and the opening / closing mechanism 25 each drive an electric actuator such as a motor or an air cylinder. It is configured as a source.

Further, the mounting head 14 is provided with a negative pressure supply path (not shown) for supplying negative pressure to each of the two component pickup members 13, and each component pickup member 13 passes through the negative pressure supply path. A negative pressure / positive pressure switching device 26 for switching between a state in which a negative pressure is supplied from a negative pressure source and a state in which a positive pressure (or atmospheric pressure) is supplied from a positive pressure source is provided. The negative pressure / positive pressure switching device 26 is configured by using a solenoid valve or the like.

In this embodiment, each component pick-up member 13 is configured to function as a claw (chuck) that sandwiches and picks up the component, and also functions as a suction nozzle that is formed in a hollow shape and sucks and picks up the component at the tip. Has been done. As shown in FIGS. 5A and 5B, at least one of the two component pickup members 13 (two in this embodiment) is formed with a plurality of component holding surfaces having different shapes along the rotation direction. When used as a claw, the component pickup member 13 is rotated by the Q-axis rotation mechanism 23 to switch the component sandwiching surface for sandwiching the component from among a plurality of component sandwiching surfaces according to the shape of the component to be sandwiched. I am trying to do it. For example, in the example of FIG. 5A, two component holding surfaces, a flat component sandwiching surface and an arc convex component sandwiching surface, are formed on the lower outer periphery of the component picking member 13, and the component picking member 13 is formed. By rotating it by 180 °, it is possible to switch the component holding surface that sandwiches the component. In the example of FIG. 5B, a flat component holding surface, two arc convex component sandwiching surfaces having different radii of curvature, and an arc concave component sandwiching surface 4 are formed on the lower outer periphery of the component pickup member 13. One component holding surface is formed, and each time the component pick-up member 13 is rotated by 90 °, the component sandwiching surface that sandwiches the component can be switched.

The control device 31 of the component mounting machine includes a component supply device 11, a conveyor 12, a head moving mechanism 15, an R-axis drive mechanism 22, a Q-axis rotation mechanism 23, a Z-axis drive mechanism 24, an opening / closing mechanism 25, and negative pressure / positive pressure switching. When controlling the operation of the device 26 or the like and using the two component pickup members 13 as a claw, the head moving mechanism 15 moves the mounting head 14 to the component pickup position, and the opening / closing mechanism 25 moves the two components. With the pickup member 13 open, the Z-axis drive mechanism 24 lowers the two component pickup members 13 to position the components between the two component pickup members 13 as shown in FIGS. 1 to 3. In this state, the opening / closing mechanism 25 closes the two component pick-up members 13 to pick up the components with the components sandwiched between the two component pickup members 13.

At this time, by rotating one or two component pickup members 13 by the Q-axis rotation mechanism 23 according to the shape of the component sandwiched between the two component pickup members 13, the lower outer periphery of the component pickup member 13 is rotated. The component sandwiching surface that sandwiches the component is switched from the plurality of component sandwiching surfaces of the above, and the component is sandwiched between the two component pickup members 13 for picking up. FIG. 2 is a usage example in which only one component pickup member 13 is rotated, and FIG. 3 is a usage example in which two component pickup members 13 are rotated together.

After picking up the parts, the control device 31 of the parts mounting machine moves the mounting head 14 above the camera 16 by the head moving mechanism 15, and the camera 16 captures the parts sandwiched between the two parts picking members 13. After image recognition of the deviation of the sandwiching position and the deviation of the sandwiching angle (direction) of the component, the component pickup member 13 is swiveled by the R-axis drive mechanism 22 to correct the deviation of the sandwiching angle of the component. The mounting head 14 is moved so as to correct the deviation of the pinching position of the component, and the component is mounted on the circuit board. When the two component pickup members 13 are used as the claws, the negative pressure / positive pressure switching device 26 is in a state where each component pickup member 13 is opened to atmospheric pressure (a state in which a negative pressure suction force is not generated). Is maintained at.

On the other hand, when the two component pickup members 13 are used as suction nozzles, the control device 31 of the component mounting machine moves the mounting head 14 to the component pickup position by the head moving mechanism 15, and negative pressure / positive pressure. The switching device 26 switches to a state of supplying negative pressure to the component pickup member 13, the Z-axis drive mechanism 24 lowers the component pickup member 13, and as shown in FIG. 4, the component is at the tip of the component pickup member 13. Is sucked and picked up. At this time, as shown in FIG. 4B, when the dimensions of the parts in the XY direction are large, the two parts are provided by the opening / closing mechanism 25 so that the parts attracted to the two parts pickup members 13 do not interfere with each other. After widening the distance between the pickup members 13, the component is sucked.

After picking up the parts, the control device 31 of the parts mounting machine moves the mounting head 14 above the camera 16 by the head moving mechanism 15 and images the parts adsorbed on the parts picking member 13 with the camera 16 to capture the parts. After image recognition of the deviation of the suction position and the deviation of the suction angle (direction), the component pickup member 13 is rotated by the Q-axis rotation mechanism 23 to correct the deviation of the suction angle of the component and the suction position of the component. The mounting head 14 is moved so as to correct the deviation, and the component is mounted on the circuit board. When the component is mounted on the circuit board, the negative pressure / positive pressure switching device 26 switches to a state of supplying positive pressure to the component pickup member 13 that has attracted the component, and releases the negative pressure suction force. As a result, the component is separated from the component pickup member 13.

Regardless of whether the component pickup member 13 is used by the claw or suction nozzle method, the range (size, shape, weight, etc.) of the components that can be picked up by the same component pickup member 13 is limited. When picking up a detached part, the component pickup member 13 attached to the mounting head 14 is replaced with a component pickup member 13 capable of picking up the component. This makes it possible to pick up the component.

According to the present embodiment described above, the two component pickup members 13 attached to the mounting head 14 are each formed in a hollow shape and function as a suction nozzle, and also open and close to function as a claw. Because it is configured as a suction nozzle, it does not require the troublesome work of replacing the two component pickup members 13 (suction nozzle and claw) attached to the mounting head 14 according to the size and shape of the component. It is possible to switch between the function of and the function as a claw, and productivity can be improved. Moreover, since each component pickup member 13 is configured to serve as both a suction nozzle and a claw, it is possible to avoid an increase in the size of the mounting head 14 and to be compact as compared with a configuration in which the suction nozzle and the claw are separately provided. It can be configured.

Further, when the component pickup member 13 is used as the suction nozzle, the Q-axis rotation mechanism 23 can be used to correct the deviation of the suction angle of the component and mount it on the circuit board. Further, when the component pickup member 13 is used as a claw, it can be mounted on the circuit board by correcting the deviation of the holding angle by the R-axis drive mechanism 22.

Moreover, in this embodiment, since a plurality of component holding surfaces having different shapes are formed on the lower outer periphery of the component pickup member 13 along the rotation direction, the shape of the component to be sandwiched when the component pickup member 13 is used as a claw. By rotating the component pick-up member 13 by the Q-axis rotation mechanism 23 according to the above, the component sandwiching surface that sandwiches the component can be switched to the component sandwiching surface suitable for the shape of the sandwiching component from among the plurality of component sandwiching surfaces. As a result, the component can be stably sandwiched on the component sandwiching surface, and the component can be prevented from falling or misaligning while the mounting head 14 is moving.

Further, in the present embodiment, when the component pickup member 13 is used as a suction nozzle, the space between the two component pickup members 13 is provided by the opening / closing mechanism 25 so that the components attracted to the two component pickup members 13 do not interfere with each other. The size of the parts that can be sucked to the two parts pickup members 13 without interfering with each other can be increased, and parts suction mistakes and abnormal suction postures due to the interference between the parts can be prevented. This has the advantage that even relatively large parts can be stably adsorbed.

The present invention is not limited to the above embodiment, and the mounting head 14 is replaceably attached to a component pickup member having a different shape, or three or more component picking members are interchangeably attached to the mounting head 14. The shape of the component pickup member may be changed, such that only one component holding surface may be formed on the lower outer periphery of the component pickup member, or the component pickup member may be formed in a straight line. It goes without saying that various changes can be made within the range that does not deviate from the gist, such as changing as appropriate.

11 ... Parts supply device, 12 ... Conveyor, 13 ... Parts pickup member, 14 ... Mounting head, 15 ... Head movement mechanism, 21 ... Holder, 22 ... R-axis drive mechanism, 23 ... Q-axis rotation mechanism, 24 ... Z-axis drive Mechanism, 25 ... Opening / closing mechanism, 26 ... Negative pressure / positive pressure switching device, 31 ... Control device

Claims (4)

A mounting head that moves between the component pickup position that picks up the components supplied by the component supply device and the component mounting position that mounts the component on the circuit board.
It is provided with a plurality of component pickup members attached to the mounting head.
Each of the plurality of component pick-up members is configured to function as a claw that sandwiches and picks up the component, and also functions as a suction nozzle that is formed in a hollow shape and sucks and picks up the component at the tip.
The mounting head includes an opening / closing mechanism for opening and closing the plurality of component pickup members when the plurality of component pickup members are used as a claw, and the plurality of component pickup members when the plurality of component pickup members are used as suction nozzles. a negative pressure supply passage for supplying a negative pressure to each of the component pick-up member, and the Q-axis rotating mechanism for rotating each of the plurality of component pick-up member for the component suction angle correction is provided,
At least one of the plurality of component pickup members has a plurality of component holding surfaces having different shapes formed along the rotation direction, and when used as a claw, the component pickup member is rotated by the Q-axis rotation mechanism. , A component mounting machine characterized in that the component sandwiching surface that sandwiches the component is switched from the plurality of component sandwiching surfaces according to the shape of the component to be sandwiched . A mounting head that moves between the component pickup position that picks up the components supplied by the component supply device and the component mounting position that mounts the component on the circuit board.
It is provided with a plurality of component pickup members attached to the mounting head.
Each of the plurality of component pick-up members is configured to function as a claw that sandwiches and picks up the component, and also functions as a suction nozzle that is formed in a hollow shape and sucks and picks up the component at the tip.
The mounting head includes an opening / closing mechanism for opening and closing the plurality of component pickup members when the plurality of component pickup members are used as a claw, and the plurality of component pickup members when the plurality of component pickup members are used as suction nozzles. A negative pressure supply path that supplies negative pressure to each of the component pickup members and a Q-axis rotation mechanism that rotates each of the plurality of component pickup members to correct the component suction angle are provided.
Wherein the plurality of component pick-up member, part products mounter characterized by being replaceably mounted to said mounting head. At least one of the plurality of component pickup members has a plurality of component holding surfaces having different shapes formed along the rotation direction, and when used as a claw, the component pickup member is rotated by the Q-axis rotation mechanism. The component mounting machine according to claim 2 , wherein the component sandwiching surface that sandwiches the component is switched from the plurality of component sandwiching surfaces according to the shape of the component to be sandwiched. When the plurality of component pickup members are used as suction nozzles, the spacing between the plurality of component pickup members is changed by the opening / closing mechanism so that the components attracted to the plurality of component pickup members do not interfere with each other. The component mounting machine according to any one of claims 1 to 3 .

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