JPH03114298A - Electronic component mounting apparatus - Google Patents

Abstract

PURPOSE:To accurately mount a component in a noncontact state on a board by optically recognizing an absorbed component by a visual recognition unit, rotating an absorption head based on the recognized data to regulate the attitude of the component, and positioning a X-Y table. CONSTITUTION:A component mounted by a mounting head A is wound on a reel 3 in a state taped on a component supply unit B to be contained, conveyed to a position directly under an absorption head 54 by a tape feeding pin of the unit B, moved down by an absorbtion nozzle 54, absorbed and picked up. Then, the head 54 is intermittently rotated by an indexing unit 12, and fed to a visual recognition unit E. The unit E detects the position of the component (positional deviation to the nozzle 54) by a camera, and the data is fed back to a controller. Thus, a X-Y table C is moved. The head 54 is again fed by one pitch by means of the unit 12, and the component is conveyed to a position directly under a board 8. Here, the nozzle 54 is moved down to mount the component on the board 8.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an electronic component mounting device that positions electronic components without contact and mounts the electronic components on a substrate.

[Background of the invention]

There are various systems for mounting electronic components on a board. Among them, a device of the same type as the present invention was published in Japanese Patent Application Laid-Open No. 55-2
This is shown in Japanese Patent No. 4491.

This conventional electronic component mounting device has a large number of mounting heads arranged on the underside of a table that rotates intermittently. After the electronic components sent from the component supply section are picked up by the mounting heads, the next station is where the picked up electronic components are The components were positioned from four sides using various claws, and the positioned electronic components were mounted on the board at the next station.

The positioning of the electronic components was performed using a mechanical mechanism.

If electronic components are positioned using a mechanical mechanism like this with a claw-like object, if there is a defect in the electronic component's shape such as a crack or a taper in the mold, the positioning may be incorrect or the component may fall.
There were technical problems that caused problems such as damage.

In addition, the claws used to position ceramic components such as chip resistors are subject to severe wear and require periodic replacement and adjustment, which requires a lot of time and labor. However, since the same claw cannot be used, it is necessary to replace it each time, which takes a lot of time and labor.Also, the mounting head has a rotation function, and a rotation drive source is required for a large number of mounting heads. Since there is only one electronic component, if the mounting orientation of the component changes variously, all the mounting heads will be changed to match the orientation of the electronic component that is currently being mounted. Therefore, when positioning the electronic components, the electronic components have to be oriented in various directions, making positioning of the electronic components extremely difficult, resulting in very poor productivity.

Also, in boat fishing, the feeding mechanism for taping parts is specialized depending on the type of tape, so even if the tape feeding bit is the same, if the mounting pattern is changed (the cross-sectional shape is different). has the inconvenience of having to replace the tape (taping parts) each time.

[Purpose of the invention]

The present invention solves the above-mentioned conventional drawbacks, and eliminates the problem of falling electronic components.
It is an object of the present invention to provide an electronic component mounting device that enables accurate positioning without damage and also improves productivity.

[Summary of the invention]

That is, the present invention positions electronic components without contacting the electronic components, instead of using a mechanical mechanism such as a claw as in the conventional method. The electronic component taped by the supply section is carried below the suction head, and the suction head is rotated while the component is being suctioned by the suction head, thereby rotating the electronic component to adjust its posture and removing the component. A mounting head with a function of transferring and mounting the parts from the supply section onto the board is provided, and a visual recognition section is installed that optically monitors the parts picked up by the suction head and automatically adjusts the rotation of the suction head and do. The present invention is characterized in that an X-Y table is provided for positioning the board on which electronic components are mounted in the x-x direction and for placing the board at a predetermined position below the suction head.

As a second invention, in the above-mentioned mounting head, a table is provided at the lower end of the hollow main shaft, a plurality of suction heads are attached to the table so as to be movable up and down, and - the suction heads are rotated in the hollow part of the Sumo wrestler main shaft. The rotating shaft of the suction head is inserted through the transmission mechanism, and a pair of suction heads are rotated on their own axis.The rotation of the suction heads adjusts the posture of the part, and the rotation of the table allows the suction to be carried out. The head revolves to transfer components from the component supply section onto the board.

A third aspect of the invention is that, in the parts supply unit of the first aspect, the head part has a protrusion that fits into the tape feed hole, the feed locking member is fixed to the table so as to be movable up and down; A feed drive member is fixed to the slider so as to be movable up and down, and has a protrusion that fits into the feed hole of the tape, and the feed locking member and the feed drive member are respectively connected to both ends of the lever via pins, and are attached to the center of the lever. A fulcrum is provided, and a lever is rotated around this fulcrum to alternately move up and down the feed locking member and the feed drive member connected to both ends of the lever, as well as horizontally move the feed drive member via a slider. The system allows parts to be supplied regardless of the type of tape.

A fourth invention is the X-Y table of the first invention, which is provided with a table that determines the position of the substrate in the X-Y direction, and one of the tables in the X or Y direction is fixed with a fixed guide,
By fixing the drive motors that move the table in the X and Y directions at a fixed pace, the inertial force is reduced and the table can be moved at high speed.

The fifth invention is such that, in the visual recognition unit of the first invention, a bank plate is attached to the suction head, and the electronic component that is suctioned is captured as a silhouette image, and a clear image is obtained by eliminating halation caused by a solder surface or a metallic shiny surface. This is what I did.

[Embodiments of the invention]

An embodiment of the present invention will be described in detail below.

First, the outline of this embodiment will be explained using FIG.

In the figure, part A is a mounting head part, and a table 70 is attached to the lower end of the hollow main shaft, and a plurality of suction heads 54 are attached to this table 70 so as to be movable up and down. Section B is a component supply section that carries the taped components below the suction head 54 . Part 0 is an X-
This is a Y table. Section D is a substrate supply section. The E section is a visual recognition section that optically monitors the posture of the component picked up by the suction head 54 and automatically adjusts the rotation of the suction head 54 .

These sections A-E are mounted on the pivot body 10.

In addition, there is a control device (not shown in Figure 1).
It consists of a separate pivot body), an image input processing section, and a drive system (inside the pivot body 10). In the substrate supply section, the substrate 8 on which components are mounted is conveyed by the conveyor 191, and transferred from the conveyor 191 to the substrate holder of the XY table section C by the chuck D' of the substrate supply section. This board 8 is transported to the lower part of the mounting head section A by an XY table, and components are sequentially mounted on the mounting head section A. After the mounting is completed, the substrate 8 is again transported to the substrate supply section by the XY table, transferred to the conveyor 201 by the chuck D/1, and sent to the next process.

On the other hand, the components to be mounted by the mounting head A are stored in the component supply section B by being wound around the reel 3 in a taped state. It is transported directly below the suction nozzle 5.
4 descends and picks it up. Next, the suction head 5
4 is intermittently rotated by the index unit 12 and sent to the visual recognition section E. The visual recognition unit E uses a camera to determine the position of the part (positional deviation for each suction nozzle).
is detected and the data (ΔX, ΔY, Δθ) is fed back to the control device. The control device issues data to the motor of the XY table section C to move the parts to the mounting position according to a pre-instructed program, but at this time, positional deviation data (ΔX, Δ
Instruct movement data that takes into account Y, Δθ). Accordingly, the XY table section C moves. The suction head 54 is again sent one pitch by the index unit 12 and conveys the component 1 directly below the substrate 8. Here, the suction nozzle descends to mount the component 1 on the substrate 8. Components are mounted on the board 8 by repeating the steps described above once in a while.

Each part will be explained in more detail below.

(Regarding the mounting head section A) Details of the mounting head section will be explained with reference to FIGS. 4 to 8. FIG. 4 is a front view of the mounting head section A, FIG. 5 is a view taken along line A-A in FIG. 4, FIG. 6 is a vertical sectional view showing the mounting head, and FIG. 7 is B in FIG. -B sectional view and Figure 8 are the same (C
-C sectional view.

In FIGS. 4 and 5, an indexing device 12 is fixed on the column 11. As shown in FIGS. index device 12c,
When continuous rotation is applied to the input shaft 13 via the timing belt 15, timing belt 16, etc., the output shaft 30 (sixth
(see figure) has the function of being driven and rotated intermittently. In Figure 6, the main shaft M is connected to the output shaft (pol) 35
A table 70 is fixed to the lower end of the main shaft. Furthermore, four mechanisms including a suction head for suctioning the component 1 (see FIG. 2) are arranged on the outside of the table 70. The center of the main shaft is hollow, and a hollow suction head rotation shaft 72 and a suction head rotation shaft 55 pass through this hollow doubly, and the main shaft and the hollow suction head rotation shaft 72 and Since gaps are provided between the hollow suction head rotation shaft 72 and the suction head rotation shaft 55, the three shafts operate independently.

The outer lower end of the hollow suction head rotating shaft 72 receives the radial direction with a bearing 71, and the lower end is further provided with a gear 66.
is fixed. Further, the lower end of the suction head rotating shaft 55 is rotatably supported by a bushing, and a gear 67 is fixed to the lowermost end with a nut 65. Further, a gear 56 is fixed to the upper end of the suction head rotating shaft 55, and is connected to a gear 59 fixed to the shaft of a pulse motor 60 by a timing belt 58. On the other hand, a similar gear 57 is fixed to the upper end of the hollow suction head rotating shaft 72, and is connected to the timing belt 61 to drive the pulse motor 6.
It is linked to 3. Note that a hollow portion passes through the output shaft 30 of the indexing device 12 from the upper end to the lower end, and the hollow suction head rotation shaft 72 and the suction head rotation shaft 55 pass through this hollow portion.

Next, the nozzle holder 43 is held by a guide 44 so as to be vertically movable and rotatable. Further, the nozzle holder 43 is engaged with the bush 52 so as to be slidable up and down, and the direction of rotation is regulated by a key 51. The bush 52 is rotatably held via a table 70 and a bearing mark. A gear 53a is fixed to the lower outer side of the bush 52. Further, a compression spring 47 is incorporated in the seven flange portions of the nozzle holder 43, and a force is applied to the nozzle holder 43 to constantly lift it upward. Further, a compression spring 49 is incorporated in the hollow portion 48 of the nozzle holder 43, and constantly pushes down the upper end of the suction nozzle 54a. The suction nozzle 54a is attached to the nozzle holder 43
Slide freely up and down inside. Further, the guide 44 is fixed to the table 70. The gear 53a is the gear 6
6, the rotation of the pulse motor 63 is transmitted to the suction nozzle 54 via the bush 52 and the nozzle holder 43.
a, and the suction nozzle 54a can obtain an arbitrary rotation angle by rotation of the pulse motor 63.

Next, the configuration of a vacuum circuit for picking up parts will be explained. Grooves 36a, . From the position where it passed, the pullout is again coming out to the outer periphery of the main shaft 34. The seal ring 31 is fixed to the frame of the indexing device 12 by bolts 32, and its inner diameter is in contact with the main shaft 34 so as to be rotatable. Therefore, there is a slight gap between the outer diameter of the main axis and the inner diameter of the seal ring 31.
In order to prevent vacuum air leakage, an O-ring 37 is attached to the main shaft M side. On the other hand, a groove 45 is cut in the upper outer periphery of the nozzle holder 43, and a part of the groove 45 extends into the hollow part 4.
A horizontal hole 46 is passed through the guide 44, and one end of a pipe 40a is connected to the guide 44 at a position that coincides with the groove 45. The other end of the pipe 40a is connected to the vertical hole 38a of the main shaft 34.

By connecting the double pull 33a to a vacuum pump (not shown), etc., the groove 36a1, the vertical hole 38a, the pipe 40a1, the horizontal hole 46, the groove 45, the hollow part 48, the suction nozzle 5
A vacuum circuit is configured through the suction nozzle 54a, and the component 1 can be suctioned to the tip of the suction nozzle 54a. The vertical movement of the suction nozzles 54a to 54d during suction and mounting of the component 1 is as follows:
When the pressure levers 22a to 22b swing and the cam follower 41a pushes down the cap 42, the suction nozzle 54a descends together with the nozzle holder 43. In the upward movement, the pressure lever 22a swings upward, and the suction nozzle 54a is lifted upward together with the nozzle holder 43 by the compression spring 47. The pressure lever 22a is operated by cams 17a and 17b, as shown in FIGS. 4 and 5. The pressurizing bar 5-na is fixed to a shaft 21a, and the shaft 21a is rotatably supported by a bracket 20a. The other end of the shaft 21a is fixed to a lever 19a, and the lever 19a, ! The lever 5a is rotatably connected by a rod 18a. Further, the cam follower 26a fixed to the other end of the lever 25a abuts the cam 17a, and the tension spring 2
8a is always in contact with the cam 17a. As a result, the displacement of the cam 17B is transmitted to the pressure lever 22a, and the suction heads 54a to 54d are moved up and down to suction and mount the component 1 (during loading, the vacuum source is turned off and released to the atmosphere). . In addition, the suction mechanism including the suction head 54 has nine
Four pieces are arranged on the table 70 at a pitch of 0°.

Gears 66 are each engaged with opposing gears 53a and 53b. Also, the gear 67 is the gear 53 whose position has been changed by 90'.
c and 53d. Further, as shown in FIG. 6, the position where the component 1 is sucked and the position where the component 1 is mounted are arranged 180 degrees opposite each other with respect to the main shaft 34.

Therefore, if the pulse motor 63 rotates the required amount while the component 1 is being picked up by the suction nozzle 54b and the component 1 is being mounted onto the substrate 8, and the mounting posture of the component 1 is changed, the other suction nozzle 54a
rotates by the same amount. However, the suction nozzle 54a has already
Since there is no part 1 in (it is already mounted), the rotation angle is irrelevant. That is, two gears 66 and 67 are installed on the lower surface of the table 70, gears 53a and 53b facing each other are meshed with the gear 66, and gears 53c and 53d.
is engaged with the gear 67, and two pulse motors 63, 6
By sequentially giving a rotation angle to part 1 at 0, other parts 1
The mounting attitude can be controlled arbitrarily without accumulating the rotation angle.

In the component mounting section configured as described above, intermittent rotational force is applied to the main shaft 34 shown in FIG. 6 via the timing belt 16, timing belt 15, and input shaft 13 shown in FIG. Rotates intermittently. This rotation of the table 70 causes the suction heads 54a to 54 to
d revolves.

On the other hand, the suction heads 54a to 54d are rotated by pulse motors 60 and 63 via a hollow suction head rotation shaft 72 and a suction head rotation shaft 55. This suction head 54
Due to the rotation of a to 54d, the attracted parts are rotated by υ and their postures are adjusted.

Further, when picking up a component from the component supply section A and mounting the component on the board, the timing is determined by the cams 17a, 17b, and the suction heads 54a to 54. Press d down.

Further, the components are transferred from the component supply section B onto the substrate 8 by the above-mentioned revolution of the suction hands 54a to 54d.

In this way, the suction heads 54a to 54d revolve.

Through a combination of rotation and vertical motion, the components supplied to the component supply section B are sucked, the posture of the components is adjusted, and the components are mounted on the board.

(Regarding Parts Supply Section B) Next, the parts supply section B will be explained. As shown in FIG. 2, this mechanism relates to a mechanism for feeding the component 1 housed in the cheep 2 along with the tape to just below the suction nozzle 54, and its configuration is shown in FIGS. 9 to 15.

In FIG. 9, the tape 2 and the tape reel 3 are set on the reel support 82. Reel support 82 is fixed to bracket 80 via bar 81. The tape 2 is pulled out from the tape reel 3 and placed at a predetermined position on the component supply table 87 section.

As shown in FIG. 10, the parts supply table B' has a plurality of parts (
In this example, the structure is such that eight tapes can be supplied, and the tape slides freely on two guide bars 103. Guide bar 103 is fixed to brackets 113 and 114. Rank 8 is displayed at the bottom of parts supply table B'.
The rank 88 engages with a pinion gear 87, and the pinion gear 87 is connected to the motor 85 via a comp ring 86. Bracket 155 is fixed to pace 80 and rotatably supports pinion gear 87. Motor 85 is fixed to bracket 84. Therefore, due to the rotation of the motor 85, the parts supply table B' is moved between the two guide bars 10 through the pinion gear 87 and the rack 88.
3 as a guide, and thereby the component 1 to be suctioned and mounted 9th is moved directly below the suction nozzle 54.

Next, the tape 2 feeding mechanism will be explained. The tape 2 is inserted into a predetermined groove 121 of the table 131 as shown in FIG.
The parts 1 housed in the tape 2 are arranged so as to pass through the tape 2 and come directly below the suction nozzle 54b.

The rollers 124a to 124C are rotatably supported by a lever 125, and the lever 125 is attached to the bracket 152 so that the bin 1
It is rotatably supported via 53. Also, one end of the tension υ spring 154 is attached to the lever 125, and the other end is attached to the bolt 156.
is fixed to the roller 124a through the lever 125.
= 124c holds down the tape 2 and prevents the tape 2 from floating up from the groove 121a. The tape 2 has a feed hole 2' as shown in FIG. 1, and a feed locking member 13 has fixed pin-shaped protrusions 140 and 134 that engage with the feed hole 2'.
5 and a feed drive member 150 having the same shape. In this embodiment, both of the members 150 and 135 are fixed with two bottles 140 and 134, respectively, aligned with the pinches of the feed holes of the tape 2. When practicing the present invention, the number of bins 140, 134 may be set arbitrarily. Further, the feed locking member 135 and the feed drive member 150 do not necessarily have to be constructed in the same shape.

In this example, in order to guide these members in the vertical direction,
The main body portion is formed into a cylindrical shape, and cylindrical guides 133 and 149 are provided to fit around the main body portion.

On the other hand, an arm 126 is fixed to the table 131, and a guide 133 fitted onto the above-mentioned feed locking member 135 is fixed to this arm 126. As a result, the feed locking member 135
ii It is guided so as to be able to freely reciprocate and slide vertically with respect to the tape 2 . The tape feeding direction (x
- supports the slider 147 so as to be slidable in the direction of the x′ force;
A guide 149 fitted onto the feed drive member 150 is fixed to this slider 147. Thereby, the feed drive member 150 is slidably guided perpendicularly to the tape 2 and can slide together with the slider 147 in the feed direction of the tape 2 (x-x' force direction). 147
A placket portion is formed to fix the bin 143, and a lever 145 is rotatably supported using the bin 143 as a fulcrum. In this embodiment, the lever 145 is formed into a T-shape, and its central portion is supported by a pin 142, and elongated holes 141 and 146 are provided at both ends of the long sides, and these elongated holes and the aforementioned feeder are connected to each other. The stop member 135 and the feed drive member 150 are connected by a pin and an elongated hole, respectively. As a result, when a force in the X direction and a force in the X' direction are applied alternately to the tip of the vertical side of the T-shaped lever 145, the lever 145 reciprocates with the rotation of the bottle 143 and moves together with the slider 147. It slides back and forth in the x-x' force direction. The rotation of the lever 145 causes the υ feed locking member 135 and the feed drive member 150 to alternately slide up and down, and the pins 134 and 1 fixed to the upper ends thereof.
40 is inserted into and removed from the feed hole of the tape 2. Also, the same lever 1
45 is caused to reciprocate and translate in the x-x' force direction together with the slider 147. 144144' is the lever 14 mentioned above.
This is a stopper bolt for regulating the rotation angle of 5. By adjusting the rotation angle of the lever 145 using this stopper bolt, the depth at which the pins 134 and 140 engage with the feed holes of the tape 2 can be adjusted. In order to restrict the sliding stroke of the slider 147 in the x-x' direction, a cutout groove 148 is formed in the slider 147, and
A stroke adjustment means 138 configured to press a ball 136 against this notch groove 148 by a spring 137 is attached to the arm 12.
Fixed at 6. The stroke adjustment means formed by the ball/spring/notch groove elastically locks the position of the slider 147, and allows the slider 147 to slide when subjected to a force stronger than the locking force. In order to reciprocate the tip of the vertical side of the lever 145 in the x-x' force direction, a dog 90 and a cam follower 127 are provided. 145 so that it can rotate freely. 128 is a bush that slidably supports the rod 129, and 130 is a spring that urges the rod 129 toward the right in the figure to bring the cam follower 127 into contact with the dog 90. The dog 90 is slidably supported by a bracket 89 as shown in FIG. The lever 100 swings about a pin 92, and its end is slidably engaged with a locking member 91 having a T-groove fixed to the lower surface of the dog 90, and the other end is engaged with a tension spring 1.
It is pulled downward by 01. Moreover, the rod 93 is rotatably engaged with the lever 100. As a result, the movement of the rod 93 in the Y-Y' direction is controlled by the lever 100.
The force is transmitted to the dog 90 via the locking member 91 and causes the rod 129 to slide in the x-x' force direction via the cam follower 127.

Next, the operation of the feeding mechanism configured as above will be explained with reference to FIGS. 13 to 15. Figure 13 shows rod 129
shows a state in which it has moved to the right. In this state, lever 1
45 rotates in the counterclockwise direction in the figure, and the slider 14
Along with 9, it is being pulled to the right. Therefore, the feed locking member 135 rises to engage the pin 134 with the feed hole of the tape 2. This feed locking member 135 is connected to the arm 12.
Since it is fitted to the guide 133 fixed to 6, x - x
It does not move in the 'force direction' and the tape 2 is locked so that it does not move in the x-x' force direction.

Next, when the rod 129 moves to the left, the lever 145 rotates clockwise as shown in FIG. 14, lowering the feed locking member 135 and raising the feed drive member 150. As a result, the pin 13 of the feed locking member 135
4 is removed from the feed hole of the tape 2, and the feed drive member 15
0 pin 140 engages with the feed hole of the tape 2. As shown in the figure, after the stopper bolt 144 comes into contact with the slider 147 and the rotation of the lever 1450 is locked, when the rod 129 moves further to the left in the figure, the slider 147 moves
5 and slide to the left.

At this time, the feed drive member 150 fitted into the guide 149 fixed to the slider 147 is moved to the left in the figure, and feeds the tape 2 to the left in the figure. When the rod 129 moves to the right again, as shown in FIG.
rises and stops the movement of the tape 2 in the direction of the x - x' force,
After the feed drive member 150 is lowered, it is pulled to the right, and when the ball 136 engages with the cutout groove 148 of the slider 147 as shown in FIG. 13, the slider 147 is stopped from sliding in the X direction (rightward direction).

As can be easily understood with reference to FIG.
During the rightward movement of the rod 129, the sliding of the slider 147 creates a gap between the locking Salert dog 90 and the cam follower 127, and the rod 129 stops. If a means for regulating the sliding stroke of the slider 147 (a ball spring and a notch on the upper side) is provided as in this embodiment described above, the feeding pitch of the tape 2 can be adjusted without changing the lifting height of the dog 90. be able to. As is clear from the operations explained with reference to FIGS. 13 to 15, the feed locking member 135 of this embodiment slides only in the vertical direction with respect to the tape 2, and the pin 134 is inserted into the feed hole of the tape 2. Insert and remove it straight. Also,
Similarly, the feed drive member 150 causes the pin 140 to be inserted straight into and removed from the feed hole of the tape 2. This feed drive member 150 also moves in the x-x' direction until the feed locking member 135 finishes lowering (i.e.
0) until the slider 147 reaches the ball 136.
and the notch groove 148, the bottle 1
40 does not enter the feed hole obliquely. The reason is that the slider 1 must be rotated in the clockwise direction of the lever 145 only after it is braked by the stopper bolt 144.
This is because the ball 47 overcomes the locking force caused by the ball and the notch and is not subjected to the force of sliding to the left. As described above, after the bottle 140 of the feed drive member 150 is reliably inserted into the feed hole of the tape, the feed drive member 150 feeds the bottle by a predetermined stroke, and the feed locking member 135 is used for the rest of the period.
Since the tape 2 is held in place, the nine pitches in which the tape 2 is fed can be maintained accurately and constant.

Further, the feed locking member 135 and the feed drive member 150 move up and down in the vertical direction, and the stopper bolt 144°144
' to adjust the stroke in the vertical direction depending on the type of tape 2 to correspond to various types of tape 2.

By the operation explained above, the tape 21f is fed, but the second
As shown in the figure, in order to take out the component 1 housed in the tape 2, it is necessary to peel off the upper tape 4. Next, a mechanism for peeling off and winding up this upper tape will be explained.

In FIG. 12, the upper tape 4 is attached to the tape guide 156a.
The tape is peeled off from the tape 2 by being pulled in the opposite direction to the feeding direction of the tape 2 from a point past the point. The peeled upper tape 4 is wound up by a take-up reel 111.

As shown in FIG. 9, the take-up reel 111 is attached to the pressing roller 107 so as to come into contact with two points, the support roller 109 and the drive roller 110.
It is pressed by υ. The pressing roller 107 is lever 1
06, and the lever 106 is supported by a bracket 104 with a pin 105.

A cross-sectional structure of the drive row 2110 is shown in FIG. The main body 115 of the drive roller is rotatably supported by a bracket 117 by a bearing 118, and the rotation is caused by the motor 11.
2 (see FIG. 10) and is transmitted to the roller body 115 via the spline shaft 116 and bush 119. Bracket 117 is fixed to table 131. Therefore, as mentioned above, when the table 131 slides in the left and right direction by the motor 85, it is natural that the bracket 117
also slides left and right. For this reason, spline shaft 1
The relationship between the bushing 119 and the bushing 119 is such that only rotation is transmitted and the bushing 119 can freely move in the axial direction. The number of take-up rollers 111 that are in contact with one drive roller 2110 is the same as the number of tapes 2 set. Therefore, there is always slippage between the drive roller 110 and the take-up roller 111, and the tape 2 Only when the length is sent, the operation of winding up the extra length is performed. Further, the fixed cutter 97 shown in FIG. 9 is fixed to the pace 7 via a bracket 95 and a support 94, and the movable cutter 96 is moved by the vertical movement of the rond 98 while maintaining a constant gap with the fixed cutter 97. , the pitch-fed tape 2 is sequentially cut into pitch dimensions and dropped.

(Regarding the xy table C) Next, the xy table section C that moves in the X direction and the Y direction so that the board 8 is positioned and the component 1 is mounted at a predetermined position will be described. Figure 16 is a plan view of the XY table section.
Figure 17 is a sectional view taken along line FF in Figure 16, and Figure 18 is a cross-sectional view of Figure 16.
A cross-sectional view taken along line GG in the figure is shown.

In FIG. 16, the table 163 is connected to the guides 169, 1
70 and held by the frame 162.

A rank 164 is fixed to the frame 162, and the motor 1
A pinion 165 fixed to the shaft 185 from 66 through a camp ring 168 meshes with the rank 164. Therefore, when the motor 166 is rotated, the table 163 moves in the Y-Y' direction via the rack 164. Furthermore, as shown in FIG. 17, stays 186 and 186' are fixed to both sides of the table 163, and a guide bar 171 is held at the lower ends of the stays 186 and 186'. The guide bar 171 is guided from both sides in the X direction by rollers 175 and 175'. The rollers 175 and 175' are held by a slide block 179 via a bracket 178, and a rack 181 is fixed to one end of the slide block 179. A block 180 that slidably holds the slide block 179 is fixed to the sub space 177.

Motor flaket 1 held on sub-base 177
47 holds a motor 182, and the pinion 187 is engaged with the rank 181 via a shaft 148. As a result, the table 163 slides in the X direction due to the rotation of the motor 182. On the sub-base 177 are rollers 174, 174 similar to the roller 175, as shown in FIG.
', 189, 189' are rotatably held on the block 173. However, the roller held by block 173 cannot move in both the X and Y directions. Furthermore, side blocks 160a are provided at both ends of the sub-base 177,
160b and a slide shaft 161a in the Y direction.
, 161b. Substrate 8 (see Figure 16)
is supplied onto the jig 251 on the XY table at the substrate supply position (position of arrow Q) as shown in FIG.
(The supply means will be described later). In FIG. 16, the substrate 8 is positioned after the substrate is supplied with a sufficient amount of substrate pressing rollers 257 and 258.
The substrate 8 is moved by the force of the spring 259 to the reference rollers 252a~
This is done by pressing it against 252d. Board 8 is XY
After positioning on the table, the xy table moves to the working position (position indicated by arrow P). However, if the XY table is configured as described above, at the working position P, the motor 182 is rotated, and the table 163 integrated with the guide bar 171 is moved in the X direction via the rollers 175 and 175'. arbitrary positioning is possible.

Further, when moving largely in the Y direction to the substrate supply position Q, first position the guide bar 171 in the X direction to a position where it is guided by the rollers 174 and 174', and then move in the Y direction. The guide bar 171 is disengaged from the rollers 175 and 175', sequentially passes through fixed rollers, and is guided by fixed rollers 260 and 260' to reach the substrate supply position. If the Y direction is positioned here, the X direction has already been positioned by the fixed roller, so the positioning necessary for supplying the substrate is completed. With the above-described configuration, the motors 182 and 166 for movement in both the X and Y directions can be fixed on the sub-base 177, and even when moving over a long distance from the work position to the substrate supply position. Guide bar 171 may be relatively short. This requires less inertia when moving the table, which is very advantageous when the table is small and operates at high speed.

Next, the substrate supply section will be explained.

FIG. 19 is a plan view of the substrate supply section, the additional figure is a sectional view taken along the line H-H in FIG. 19, and FIGS.
Details of the substrate chuck parts D' and D' in the figure are shown.

In FIG. 19, the substrate is held on six XY tables. Further, substrate guides 192, 192' and a stopper 193 are attached to the substrate supply conveyor 191. Reference numeral 201 denotes a substrate discharge side conveyor, which is driven in the direction of the arrow.

The substrate chuck parts D' and D' are connected by a connecting plate 205 as shown in FIG. In the figure, a block 202 and a block 210 are connected by a connecting plate 205 and are further slidably supported by a guide shaft 200. The guide shaft 200 is supported by two platens 195a and 195b fixed to the sub-base 194. The blocks 202 and 210 also have shafts 2
03 and 212 are slidably engaged. A plate 190a is fixed to the upper end of the shaft 203, and a gray plate 190b is fixed to the upper end of the shaft 212.
a and 190b are each connected by a connecting plate 208. Also, a cylinder 207 is attached to the center of the connecting plate 205, and the cylinder 2070 is attached to the connecting plate 205.
8. Therefore, the cylinder 207
Plate 190a with +fl+2o3.212 as a guide
, 190b can each perform up and down movements.

Further, as shown in FIG. 19, a cylinder 198 attached to a bracket 197 fixed to the sub page 2194
The rond tip is connected to the block 2 through the L fitting 199.
10.

Therefore, the plates 190a and 190b are connected to the shaft 200
Using the cylinder 198 as a guide, the cylinder 198 slides arbitrarily in the px-x direction. Also, 196a, 196b t/i
Adjust the stroke using the stomper bolt. 213°214 shown in the redundant figure is the shock amplifier and cylinder 1.
It cushions the impact at the forward and reverse ends of the 98. Next, in FIGS. 21 and 22, the gears 207 and 206 are in mesh with each other, and the shaft 206' is fixed to the grate 190a.
, 207'. Further, the lever 203 is attached to the gear 207, and the lever 20 is attached to the gear 206.
4 are connected to each other, and the other end of the lever 203 is rotatably connected to a rod of the cylinder 202. The other end of the cylinder 202 is swingably supported by a block 217. Further, the claws 214 and 215 are slidably supported by a shaft 213, and the shaft 213 is supported by platens 212 and 211 fixed to the grate 190a. Pins 208 and 205 are fixed to the claws 214 and 215, respectively, and protrude upward through the elongated hole of the plate 190a, and abut against the levers 203 and 204. That is, when the rod of the cylinder 202 is retracted, the lever 203 hits the pin 208 and the claw portion 214 moves in the opening direction, and at the same time the lever 203, gears 207 and 20
6, the lever 204 hits the pin 205 and the claw part 215
also move in the direction of opening. When the rod of the cylinder 202 protrudes, the claws 214 and 215 move in the closing direction to chuck the substrate, contrary to the above operation. In addition, the claw part 21
A spring 216 is attached to the end face of 4215 and provides a force for closing the claw portion (a force for chucking the substrate).

The substrate chuck mechanism having the above-described structure is provided at two locations, D' section and D71 section.

Next, explaining the substrate supply operation, FIG. 19 shows the state immediately before the substrate is supplied and discharged. That is, the substrates flowing on the supply conveyor 191 are stopped by the stopper 193. On the other hand, the board on the XY table (on which component 1 has been mounted) is mounted on the clamp lever 262.
hits the stopper 261, opening the clamp. Further, the claw portions 214 and 215 are connected to the cylinder 20.
2 to keep it open. In the above state, the chuck parts α and D'' are lowered by the cylinder 207, respectively.

The clamp cylinder 202 closes at the lower end, and the claw portion 214
, 215 simultaneously chucks the substrate on the conveyor 191 and the substrate on the XY table.

Next, the cylinder 207 works to raise the chuck parts D' and D". Thereafter, the cylinder 198 moves forward, and the chuck part D' moves onto the XY table and the chuck part D' moves onto the discharge conveyor 201. .Here again, cylinder 2
07 is activated to lower the chuck parts DI and Dll, the cylinder 202 opens the claw parts 214 and 215, and each substrate is set on the XY table, and the other hand is placed on the discharge conveyor 201. Discharge.

By simultaneously supplying and discharging the substrates 8 in this manner, the time required for replacing the substrates is shortened.

(About visual recognition section E) Next, the visual recognition section E will be explained.

The suction nozzle 54 descends in the component supply section B mentioned above, and after suctioning the component 1 stored on the tape 2, the suction nozzle 5
4 is raised, and when indexed by the indexing device 12, the part 1 is conveyed to the visual recognition section. Part 1
FIG. 5 shows the state in which the tape 2 is stored. As is clear from this figure, the component 1 is housed in the recess 6 of the tape 2 with a gap therebetween, so that it can move freely within the recess 6. Therefore, the posture of the component 1 sucked by the suction nozzle 54 varies. Therefore, in this state,
When mounted on the board 8, positional deviation occurs, resulting in poor connection and the like.

Therefore, the posture of the component 1 is detected using a configuration as shown in FIG. n, and the component 1 is mounted after being corrected.

A reflection plate 231 having a mirror 232 below the suction nozzle 54d that has suctioned the component 1 is held in a lens barrel 234 of the optical system by a holder 233, and a camera 239 is connected to the other end of the lens barrel 234. The entire detection system is fixed to the base 7 by a bracket 238.

With this detection system, the image of the component 1 is reflected by the mirror 232 and reaches the camera 239 via the optical systems 234 and 237, and this image is processed by an image processing device (not shown) using a microcomputer. Recognize the position and shape of part 1. Based on this data, while indexing to the next mounting position, the angle correction amount is applied to the pulse motors 63 and 60 shown in FIG. 5 to rotate the suction head 54 so as to achieve a predetermined rotation angle. If the motors 166 and 182 of the XY table section C which positions the board 8 are positioned at a position equal to the shift amount in the XY direction plus the feed correction amount, the component 1 is mounted on the board 8 at a predetermined position. As shown in FIG. 24, a back plate 230 is installed on the lower surface of the nozzle holder 43, and lamps 235a, 235
b are placed obliquely below the bank plate 230, and the part 1 is not directly illuminated, but the lower surface of the bank plate 230 is illuminated, thereby capturing the part 1 as a silhouette image. As a result, a clear image can be obtained without causing halation or the like due to the solder surface of the component 1 or the shiny metal surface. Next, the image input to the camera 239 is converted into a voltage signal and sent to the image processing section. In the image processing section, as shown in FIG. 26, part 1 (4 corners a, b,
c, d) is captured, the scanning direction of the screen is A.
- Scan sequentially from the top side in the direction of +D, making the background part white,
When component 1 is displayed in binary black, point a1 where black starts to appear
The point where black disappears C1 The point where the point where black begins becomes discontinuous, that is, the point where monotonous increase or monotonous decrease changes.

d is determined and the position of component 1 is calculated using these four points as the four vertices of component 1. Based on this result, the amount of correction is determined. It is assumed that the juncture 0 is the original position of the image of the component 1, and that the sides of the image of the component 1 should be parallel to the x and y axes. At this point a
, b, c, d as a(xl+yl) b(x2.
y2) (!(')C51"!5) a(xu+y
q), then the slope Δ0 is:

Then, assuming that the rotation angle is corrected by rotating the part by Δ0 around the rotation center (=image center of the suction head 54) 0, the coordinates P(x□) of the image center of the part.

yo) moves to P'(Xo 1 yo'). Xo′,y
o' is yO'iqT舊3]n(θ0+θ) θo = jan-1dan.

0 Here, Xo 0 is based on the above, Δθ x oL, y o/ is sent as a correction value to the control microcomputer as data,
Δθ is xo′, y to the pulse motors 63 and 60 in FIG.
0' issues a command from the microcomputer as a correction value to the motors 182 and 166 in FIG. 18, and when each operates by the correction amount, the component 1 is mounted in the correct position.

In the visual recognition section configured in this way, the suction head 5
4, the posture of the component 1 being sucked is optically recognized, the recognized data is converted into an electrical signal, the suction head 54 is rotated by this electrical signal, the posture of the component 1 is adjusted, and the XY table is rotated. By performing the alignment, the component 1 is accurately mounted on the substrate 8 without contact.

〔Effect of the invention〕

As detailed above, according to the electronic component mounting apparatus of the present invention,
The suction head picks up the parts supplied by the parts supply section, the visually recognized parts optically recognize the parts, and the suction head is rotated based on the recognized data to determine the posture of the parts. Since the position of the XY table is determined at the same time as the adjustment, the parts can be accurately mounted on the board without touching the parts at all, and there is no possibility of positioning errors due to burrs or defective shapes of the parts. It is possible to mount components directly on the board without any problems, and
Falling and breaking of parts does not occur at all.

Also, since it is non-contact, there is no need for periodic inspection, adjustment, and replacement of the claws as in the past, so there is no time spent on these, and productivity can be greatly improved. did it.

In addition, in the parts supply section, a feed locking member and a feed drive member that move vertically up and down are provided, and the tape is fed via a lever.
Since the stroke and the stroke of the above-mentioned vertical movement can be adjusted, it can be used with various types of tapes (components), eliminating the need to replace the parts supply section, and greatly improving productivity. .

In addition, in the mounting head part, a suction head rotation axis is provided concentrically with the main axis that rotates the table, and the two suction heads are rotated on their own axis to adjust the attitude of the component. Since the parts are transferred by rotating the robot, the posture of the parts can be adjusted and transferred quickly, and productivity can be greatly improved.

Also, attach the drive motor of the XY table to the fixed plate, and
Along with the weight of the Y table, the X
Since one of the X and hy directions of the Y table is fixed to make it easier to accept the substrate, the moving speed of the XY table can be increased, and the alignment of the substrate is made easier.
We were able to significantly improve productivity.

In addition, since the visual recognition unit captures the parts as silhouette images, there is no halation caused by the solder or metallic shiny surfaces of the parts, clear images can be obtained, and the system can be applied to a variety of parts. , an accurate posture of the component can be obtained, making the positioning of the component more accurate.

[Brief explanation of drawings]

Fig. 1 is an external view of an electronic component mounting device according to the present invention, Fig. 2 is an external view of an electronic component mounting device according to the present invention;
The figure is an external view of the electronic component, FIG. 3 is a sectional view taken along line LL in FIG. 2, FIG. 4 is a front view of the mounting head, and FIG. 5 is taken along line AA in FIG. 4. 6 is a vertical sectional view of the mounting head, 7 is a sectional view taken along line B-8 in 6, 8 is a sectional view taken along line C-C in 6, and 9 is a part supply view. Fig. 10 is a side view of the section, Fig. 10 is a view taken along line D-D in Fig. 9;
The figure is a sectional view taken along line E-E in Figure 10, and Figure 12 is Figure 1O-B.
13 to 15 are operation process diagrams in Fig. 12, Fig. 16 is a plan view of the XY table, Fig. 17 is a sectional view taken along line FF in Fig. 16, and Fig. 18 is a sectional view of the FIG. 16 is a G-C sectional view, FIG. 19 is a plan view of the substrate supply section, and FIG.
9 is a sectional view taken along line H-H, and FIG. 21 is a cross-sectional view taken along line D' shown in FIG. 19.
, A plan view showing a partially enlarged view of part D'.
1 is a vertical sectional view, FIG.
The figure is a plan view showing the state of parts, and FIG. 26 is an explanatory diagram shown to explain part detection. DESCRIPTION OF SYMBOLS 1... Parts, 2... Tape, 3... Tape reel, 8... Board, 12... Index device, (9)
...Output shaft, M...Hollow main shaft, 54a to 54d
... Suction head, 53°66, 67... Gear (transmission mechanism), 55... Suction head rotating shaft, 72... Hollow suction head rotating shaft, 230... Bankme plate, 231 ...reflector, huh? A...Mounting head section B...Component supply section C...XY table D...Substrate supply section E...Visual recognition section 32...Mirror, 39...Ka

Claims (6)

[Claims] 1. There is a component supply section that carries the taped electronic components below the suction head, and a component supply section that sucks the supplied components, rotates the electronic components in the sucked state, adjusts the posture of the electronic components, and removes the electronic components. A mounting head unit that transfers and mounts the electronic components from the component supply unit onto the board; a visual recognition unit that optically monitors the posture of the electronic components picked up by the suction head and automatically adjusts the rotation of the suction head; An electronic component mounting device comprising an X-Y table that positions a board to be mounted in the X-Y direction and places the board at a predetermined position below the suction head. 2. A component supply unit that carries the taped electronic components below the suction head, and a table that is attached to the lower end of the hollow main shaft and allows multiple suction heads to revolve simultaneously. A mounting head section is provided with a suction head rotating shaft that is inserted into the hollow part of the main shaft and rotates a pair of suction heads via a transmission mechanism, and an electronic component that is suctioned to the suction head. A visual recognition unit that optically monitors the posture of the suction head and automatically adjusts the rotation of the suction head, and an X-Y position of the board on which electronic components are mounted.
An electronic component mounting device comprising an X-Y table for directional positioning and for placing a board at a predetermined position below the suction head. 3. In the electronic component mounting device according to claim 2, the head section has a groove on the outer periphery of its main shaft, a vertical hole in the wall of the main shaft so as to communicate with the groove, and a hollow space between the vertical hole and the suction head. A seal ring is fitted around the outer periphery of the main shaft, and the seal ring is passed through and communicated with the vertical hole through the groove, and the suction head is connected from the through hole of the seal ring to the hollow part of the suction head. An electronic component mounting device characterized by forming a communicating vacuum circuit. 4. The head has a protrusion that fits into the tape feed hole so that it can move up and down, and the feed locking member is fixed to the table, while the head has a protrusion that fits into the tape feed hole so that it can move up and down. The drive member is fixed to the slider, the feed drive member and the feed locking member are connected with pins to both ends of the lever, and a fulcrum is provided in the center of the lever, and the lever is rotated about the fulcrum to lock the feed lock. There is a component supply section that moves the stop member and the feed drive member vertically alternately and horizontally moves the feed drive member via a slider, and a component supply section that sucks the supplied components and rotates the electronic components in the sucked state. a mounting head section that moves to adjust the posture of the electronic component and transfers and mounts the electronic component from the component supply section onto the board; and a mounting head that optically monitors the posture of the electronic component picked up by the suction head and sucks it. Electronic component mounting consisting of a visual recognition unit that automatically adjusts the rotation of the head, and an X-Y table that positions the board on which the electronic component is mounted in the X-Y direction and places the board at a predetermined position below the suction head. Device. 5. There is a component supply section that transports the taped electronic components below the suction head, and a component supply section that sucks the supplied components, rotates the electronic components in the sucked state, adjusts the posture of the electronic components, and removes the electronic components. A mounting head section that transfers the electronic components from the component supply section onto the board; a visual recognition section that optically monitors the posture of the electronic components picked up by the suction head and automatically adjusts the rotation of the suction head; and a visual recognition section that automatically adjusts the rotation of the suction head. The
An electronic component mounting device consisting of a Y table. 6. There is a component supply section that carries the taped electronic components below the suction head, and a component supply section that sucks the supplied components, rotates the electronic components in the sucked state, adjusts the posture of the electronic components, and removes the electronic components. The mounting head that transfers and mounts the electronic components from the component supply section onto the board and the suction head that attaches the back plate to the suction head captures the electronic components that are suctioned as a silhouette image, converts this image into an electrical signal, and uses this signal to suction the electronic components. A visual recognition unit that automatically adjusts the rotation of the head, and an
- An electronic component mounting device consisting of a Y table.