JPH0350434B2 - - Google Patents

Description

[Detailed description of the invention] Technical field The present invention relates to a component mounting device.

BACKGROUND ART For example, when attaching many types of parts, such as electronic parts, to a printed circuit board or the like, it is often done manually, which is particularly inefficient in production lines with a large amount of work. In addition, manual installation results in large variations in parts installation accuracy, resulting in incorrect installation and
There were many inconveniences, such as forgetting to install them, and many defective products.

In order to compensate for the drawbacks of such manual work, a component mounting device that mounts components under automatic control has recently been developed and used. A component mounting device basically includes a component supply means for sequentially supplying components, and a chuck for gripping the components supplied by the component supply means, moving them in a predetermined direction, and attaching them to a work object (for example, a board). and a positioning drive mechanism that positions and drives the chuck at a component mounting position. Recently, in an effort to further improve component mounting efficiency based on this basic configuration, the component supply means has been designed to be able to supply multiple types of components, and a component mounting device equipped with two or more of the chucks has been developed. being developed. However, in the component mounting device that has already been developed, in order to have the chuck grip the component, the entire large component supply means (consisting of a plurality of cassettes containing a large number of components and a plurality of component supply channels) is attached to the chuck. It is movable along the juxtaposition direction, and the component supply means is reciprocated to correspond to a component gripping position of a predetermined chuck each time a component is supplied. Therefore, a support mechanism for movably supporting the component supply means and a drive mechanism for reciprocating the component supply means are provided, resulting in high costs. Furthermore, since the support mechanism and the drive mechanism are relatively large, this results in an increase in the size of the component mounting device as a whole.

Therefore, in order to solve this problem, the above-mentioned component supply means is made fixed, and a relay mechanism movable along the open end of the component supply path (described above) of the component supply means is provided, and the relay mechanism A component mounting device has been developed that is configured to sequentially receive components from each component supply path and appropriately supply the components to a predetermined chuck. The component mounting device with this configuration can be made smaller than the component mounting device in which the entire component supply means is moved. However, the above-mentioned relay mechanism and a mechanism for guiding and driving the relay mechanism are necessary, and it seems that there is still a long way to go in terms of cost reduction. In addition, from the parts supply means to the relay mechanism, and further from the relay mechanism to the chuck,
The number of transition parts for parts was increasing, and connection failures were occurring. Furthermore, the provision of the relay mechanism increases the time required to feed the parts, and if parts are taken in advance to shorten the time, there is a problem that recovery in the event of a component attachment error becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned points, and its purpose is to provide parts that are easy to downsize as a whole, are low in cost, and have extremely good parts mounting efficiency. Another object of the present invention is to provide a mounting device.

The component mounting device according to the present invention includes a component supply means for sequentially supplying at least two types of components, a plurality of chucks 117 capable of gripping the components, and a component mounting device that allows the chucks to rotate freely and swing within a plane including a rotation center axis. a positioning drive mechanism that movably holds the component, positions it at a position corresponding to the component supply area of the component supply means and the component mounting position of the work object 5, and drives the component to grip and release the component; The component supply means has a plurality of component supply paths 100a each having an open end arranged in the component supply area, and each of the open ends is on a spherical surface centered on the central axis of rotation of the chuck. It is said that

Embodiments Hereinafter, a component mounting device according to the present invention will be described with reference to the accompanying drawings.

In the figure, reference numeral 1 indicates the entire component mounting device. As shown in FIGS. 1 to 4, the component mounting device has a workbench 2 extending in the left-right direction. However, the left and right direction referred to here refers to the direction toward the front indicated by arrow Y.
Arrow X indicates the left direction. Further, the direction of arrow Z is upward. A substrate supply device 3 and a substrate recovery device 4 are arranged on both left and right sides of the workbench 2. A plurality of substrate magazines 7 are placed on the substrate supply device 3 and the substrate recovery device 4, which can store a large number of substrates 5 to be worked on, stacked vertically at predetermined intervals. The board magazine 7 placed on the board supply device 3 is for storing the board 5 before electronic components are attached, which will be described later.
is for storing the board 5 to which electronic components have been attached. As shown in FIG. 1, the substrate magazine 7 is formed in the shape of a rectangular parallelepiped with open sides in the left-right direction (in FIG.
A plurality of track rails (not shown) are formed to extend in the left-right direction and are spaced at regular intervals in the vertical direction. Each board 5 is held at its front and back sides by the track rail.

An elevator mechanism 8 is located at the right end of the substrate supply device 3.
is provided, and the substrate magazine 7 moved onto the elevator mechanism is lowered at predetermined timing by the above-mentioned storage interval of the substrates 5. Furthermore, an elevator mechanism 9 similar to this elevator mechanism 8 is also provided at the left end of the substrate recovery device 4 .

As shown in FIGS. 2 to 6, fixed rail mechanisms 11 and 1 are provided at both left and right ends of the workbench 2.
2 is provided. Each fixed rail mechanism 11 and 12 has a pair of track rails 11a and 12a that can match track rails (not shown) formed in the substrate magazine 7. The fixed rail mechanisms 11 and 12 also include adjustment mechanisms 11b and 12b for adjusting the distance between each pair of track rails 11a and 12a, respectively.

Fixed rail mechanisms 11 on the left and right sides on the workbench 2
and 12, a pair of guide shafts 14,
15 are provided in parallel. A guide shaft 14 located at the front is fixed to the workbench 2, and a guide shaft 14 located at the rear is fixed to the workbench 2.
5 is rotatably attached to the workbench 2 at both ends thereof via a bearing mechanism 15a. A table 17 is slidably attached to both guide shafts 14 and 15. Guide shaft 1
A pair of toothed belt wheels 18a and 18b are rotatably provided near both ends of the guide shaft and behind the guide shaft, and a toothed belt 19 is installed between the two toothed belt wheels. has been done. A portion of this toothed belt 19 is connected to the table 17.
The right toothed belt pulley 18 is connected to the output shaft of a servo motor 21 via other two toothed belts 2a and 20b. That is, the rotation of the servo motor 21 causes the toothed belt 19 to operate, thereby causing the table 17 to reciprocate in the left-right direction.

As is particularly clear in Figures 5 and 6,
A movable rail mechanism 23 including a pair of track rails 23a is mounted on the table 17 so as to be movable in the front-rear direction (in the direction of arrow Y and the opposite direction). This track rail 23a is the track rail 11 of each fixed rail mechanism 11, 12 described above.
A, 12a, and a pair of pulleys 17a spaced apart from each other in the front and rear are provided at both left and right ends of the table 17, which hold the front and rear sides of the board 5. A wire 17b is installed over the. A portion of the wire 17b is connected to a portion of the movable rail mechanism 23 described above.The wire 17b is also attached to the rear end of the table 17 and splined to the guide shaft 15 so as to rotate together with the guide shaft. The wire is wound around a pair of fitted pulleys 17c, and as the guide shaft 15 rotates, the wire is actuated to cause the movable rail mechanism 23 to reciprocate in the front and back direction. ing.
As shown in FIGS. 3 to 5, a servo motor 25 is disposed near the left end of the guide shaft 15 and below the guide shaft, and is fixed to the workbench 2. As shown in FIGS. A toothed belt wheel 15b is attached to the left end of the guide shaft 15, and the toothed belt wheel is connected to the output shaft of the servo motor 25 via two toothed belts 26a, 26b and a toothed belt wheel 26c. connected.

As shown in FIGS. 4 to 6, substrate moving mechanisms 30 and 31 are provided on the workbench 2 at both left and right ends. Left board moving mechanism 3
0, a board 5 is pulled out from a track rail (not shown) formed on a board magazine 7 placed on an elevator mechanism 8, and then transferred to a fixed rail mechanism 11.
This is for moving the board to the substrate holding position by the track rail 23a of the movable rail mechanism 23. However, the board 5 (first board) stored in the board magazine 7 located on the elevator mechanism 8
) are sequentially pushed out by an air cylinder mechanism (not shown) attached to the elevator mechanism 8 by a predetermined amount to the right (counter to the arrow X direction) in the substrate transport direction, and the substrate moving mechanism 30 transports the extruded substrate 5 onto the movable rail mechanism 23.

On the other hand, the substrate moving mechanism 31 located on the right side is
The board 5 on which the electronic components have been attached is pulled out from the track rail 23a of the movable rail mechanism 23,
This is to be inserted through the right fixed rail mechanism 12 into a track rail (not shown) formed in the board magazine 7 on the elevator mechanism 9. Since both substrate moving mechanisms 30 and 31 have substantially the same configuration, the configuration of the right substrate moving mechanism 31 will be described in detail here.

As shown in FIGS. 7, 8, and 9a to 9c, the substrate moving mechanism 31 has a guide shaft 33 that extends parallel to the substrate transport direction, that is, in the left and right directions. The guide shaft 33 is attached to the bracket 33
It is rotatably attached to the workbench 2 via a, etc. This guide shaft 33 has a slider 3
4 is attached so as to be able to reciprocate. Although two sliders 34 are shown in FIGS. 7 and 8, this is to show the movement stroke of the slider, and in reality there is only one slider 34. The slider 34 is spline-fitted to the guide shaft 33, so that when the guide shaft rotates, the slider 34 also rotates. A claw member 35 is fixed to the slider 34 so that its tip can engage with the substrate 5 (see FIG. 1) sent by the movable rail mechanism 23. That is, the claw member 35 is attached to the guide shaft 33
By rotating, it can be attached to and detached from the substrate. An air cylinder mechanism 33c is provided on the left end side of the guide shaft 33 for rotating the guide shaft via the arm member 33b.
is provided.

The limit position of movement of the pawl member 35 to the left (in the direction of arrow It is called. A pair of pulleys 36a and 36b are arranged near each of the forward and backward positions, and are rotatably attached to the bracket 33a. A wire 37, which is a flexible endless wire, is stretched between both pulleys 36a and 36b, and a portion of the wire is connected to a claw member 35 via a slider 34. A reversible motor 39 as a drive source is disposed near the right end of the guide shaft 33 and below the guide shaft, and is fixed to the workbench 2 via a bracket 39a. Reversible motor 39
A drive pulley 40 is fitted onto the output shaft of the drive pulley 40 , and the drive pulley is frictionally engaged with the wire 37 .

These pulleys 36a and 36b and the wire 37
, reversible motor 39 , and drive pulley 40
A driving means for reciprocating the claw member 35 in the left-right direction is configured. A pair of sensors 42a and 42b are disposed near both left and right ends of the guide shaft 33 to detect when the claw member 35 has reached the forward and backward positions. Further, another sensor 42c is arranged near the center of the guide shaft 33.

When the board 5 on which electronic components have been attached is to be stored in the board magazine 7 placed on the elevator mechanism 9 on the downstream side (in the board transport direction), the board magazine is still in the board storage position. When the substrate has been lowered and is not positioned, it is necessary to temporarily stop the movement of the substrate by the substrate movement mechanism in the middle of the movement. The sensor 42c described above is for this temporary stop.

Next, a supply means for sequentially supplying a plurality of types of electronic components to be attached to the board 5 will be explained.

Figures 1, 2, 4, 10 and 11
As shown in the figure, at the rear upper part of the workbench 2 there are, for example, 40 longitudinal stand cassettes 4 that are parts sources.
4 are arranged side by side in a row in the left-right direction, and are fixed on a support stand 46 fixedly installed on the workbench 2. Note that the support stand 46 and the workbench 2 constitute a part of the base of the component mounting apparatus. Each station cassette is generally shaped like a rectangular parallelepiped, and is provided so as to be inclined downwardly toward the front. The support stand 46
At the top, a guide rail 47 is provided, the cross section of which is shown in FIG. 12, with which the stake cassette 44 engages in its longitudinal direction and at its lower end.

As is particularly clear in FIGS. 11 and 12, support walls 46a are provided on the upper surface of all ends of the support base 46.
is installed protrudingly. A pair of positioning pins 48 and 49 that are spaced apart in the vertical direction and extend parallel to the guide rail 47 project from the rear surface of the support wall 46a. The stay cassette 44 is engaged with these positioning pins 48 and 49 at its end in the component flow direction, that is, at its front end.

The above guide rail 47 and both positioning pins 4
8 and 49 constitute a fixing means for detachably fixing the stake cassette 44 to the support base 46, which is a part of the substrate. Among the pair of positioning pins 48 and 49, the lower positioning pin 49 has a threaded part formed on the outer periphery of the pin body, and a nut 49a forming a part of the positioning pin is screwed into the threaded part. It is being
That is, by rotating this nut 49a, the engagement position of the stay cassette 44 with respect to the positioning pin can be adjusted in the axial direction of the positioning pin. Therefore, the component outlet of the stationary cassette can be accurately positioned with respect to the component supply path, which will be described later.

As shown in FIGS. 13, 14, and 15a to 15c, the stay cassette 44 has a case 52 made of a steel plate or the like in the shape of a rectangular parallelepiped. At the upper and rear ends of the case 52 are handles 52 for holding the station cassette by hand.
a and 52b are provided in a protruding manner. Inside the case 52, a plurality of longitudinal stakes 54 each holding a plurality of electronic components 53 (see FIG. 15b) are stored in a stacked manner. Each stake 54 is positioned by two partition walls 52c, 52d, etc. provided in the case 52 so as to be movable, for example, only in the vertical direction in FIG. 14.

Inside the case 52, at the front end, there is a driver A56.
are arranged, and are attached to the case 52 via a pair of pins 56a so as to be slidable, for example, in the vertical direction in FIG. 15b. A cam member A57 is attached to the front surface of the partition wall 52c located behind the driver A so as to be movable in a direction parallel to the direction in which the driver A moves. A portion of the driver A56 is connected to a cam member A57, so that the cam member A57 moves in the same direction as the driver A56 moves. Note that the driver A56 has a projecting portion 5.
6b is formed, and the drive element A is attached to the case 52.
This overhang 56 can be actuated from the outside of the
b protrudes outside the case 52. A pair of gripping lever members 59 are provided below the cam member A57 to face each other, and a longitudinal pin 59
They are each swingably attached to the partition wall 52c via a. These pair of grip lever members 5
Reference numeral 9 is for positioning the component outlet by tightly gripping the lowermost stake near the component outlet of the stacked plurality of stakes 54 with its free end.

As shown in FIG. 16a, a pair of cam holes 57a are formed at the lower end of the cam member A57.
A pin 59a protruding from the upper end of each gripping lever member 59 is slidably fitted into these cam holes 57a. In other words, the grip lever member 59 is actuated by reciprocating the cam member A57. However, the cam hole 57a
The gripping lever member 59 tightly grips the stake 54 when the cam member A57 is at the upper limit position, and the grip lever member 59 tightly grips the stick 54 when the cam member A57 reaches the lower limit position. The grip lever member 59 is configured to be driven so as to completely release the grip.

A support lever member A61 is located near the driver A56.
is provided extending in the vertical direction, and is swingably attached to the case 52 via a pin 56a at its upper end. The free end portion of the support lever member A61 is bent rearward at a substantially right angle, and the bent portion 61a can be inserted into the second stake 54 following the above-mentioned lowermost stake. An end portion of the second stake in the component outflow direction, that is, a front end portion thereof is supported. As is particularly clear from FIG. 16b, a cam hole 56d is formed at the lower end of the driver A56, and a pin 61b protruding from the center of the support lever member A61 can swing freely into this cam hole 56d. is fitted. In other words, the support lever member A61 swings as the driver A56 reciprocates. However, the cam hole 56d is connected to the bent portion 61a of the support lever member A61 when the driver A56 is at the upper movement limit position.
The support lever member A61 is pulled out from the inside of the second stake 54, and the bent portion 61a is completely inserted into the stake when the driver A56 is at the downward movement limit position. Particularly evident from FIG. 15b, the partition wall 52 is configured to be driven.
A lever member A62 formed in a substantially dogleg shape is arranged behind the lever member A62, and is rotatably attached to the case 52 by a pin 62a at the center thereof. One end 62b formed on the lever member A62 and extending forward is pivotally attached to the driver A56 by a pin 62c. On the other hand, a lever member B63 that is linearly formed and extends rearward is disposed behind the lever member A62, and the front end of the lever B is pivoted to the other end 62d of the lever member A62 by a pin 63a. It is worn.

The lever member B63 extends to the rear of the partition wall 52d. A lever member C65 formed in a T-shape is arranged behind the lever member B63, and is rotatably attached to the case 52 by a pin 65a at the center thereof.
A first end 65b formed on the lever member C65 and extending upward is pivotally attached to the rear end of the lever member B63 by a pin 65c. A coil spring 66 is connected to the second end 65d of the lever member C65. The lever member C65 is biased by the coil spring in the counterclockwise direction in FIG. 15b about the pin 65a.

A rectangular cam member B68 is disposed between the lever member C65 and the partition wall 52d, and is attached to the case 52 via three pins 68a so as to be movable in the vertical direction (for example, in FIG. 15a). ing. A third end 65f formed on the lever member C65 and extending forward is connected to this cam member B.
It is pivotally connected to the upper end of 68 by a pin 68b. A purple retaining lever member B69 is arranged near the cam member B68 and extends in the vertical direction, and the upper end of the lever member B69 is connected to the case 5 via a pin 68a.
It is swingably attached to 2. The free end, ie, the lower end, of the support lever member B69 is bent forward at a substantially right angle, and the bent portion 69a can support the rear end of the lowermost stay 54.

As shown in FIG. 16c, a cam hole 68d is formed at the lower end of the cam member B68, and a pin 69 is provided protruding from the center of the support lever member B69.
b is slidably fitted into this cam hole 68d. That is, as the cam member B68 reciprocates, the support lever member B69 swings. This cam hole 68d is formed so that the bent portion 69a of the support lever member B69 completely supports the rear end portion of the lowermost stay 54 when the cam member B68 is at the upper movement limit position, and the cam member B68 is arranged in a downward direction. The support lever member B69 is configured to be driven so that the bent portion 69a is completely separated from the stake when the movement limit position is reached.

Another support lever member C71 is disposed in front of the support lever member B69 and extends parallel to the support lever member B, and is pivoted to the case 52 at its upper end via a pin 68a. It can be installed freely. The lower end, that is, the free end, of this support lever member C71 is bent forward, and the bent part 71a can be inserted into the rear end opening of the second stay 54, thereby allowing the support lever member C71 to The rear end of the second stay is supported. As shown in FIG. 16c, a cam hole 68 is provided at the lower end of the cam member B68.
Another cam hole 68e is formed next to d, and a pin 71a protruding from the center of the support lever member C71 is slidably fitted into this cam hole 68d. That is, the support lever member C71 is made to swing as the cam member B68 reciprocates. However, the cam hole 68d is located at the bent portion 71 of the support lever member C71 when the cam member B68 is at the upper movement limit position.
the cam member B so that the cam member a is pulled out from the rear end opening of the second stay 54 mentioned above;
The supporting lever member C71 is driven so that the bent portion 71a is completely inserted into the stake when the lever 68 reaches its downward movement limit position.

Here, the above-mentioned pair of gripping lever members 59
The support lever member B69 and peripheral small members such as pins related thereto constitute a first support means for detachably supporting the lowermost stake 54 described above. Further, the support lever member A61, the support lever member C71, and peripheral small members related thereto constitute a second support means that removably supports the second stake 54 described above. In addition, the above-mentioned driver 56
The above-mentioned first support means and A drive means is configured to drive the second support means from outside the cassette between a support position where the stake is supported and a support release position where the support is released. The first support means is configured such that when the second support means moves from the support release position to the support position, the first support means moves from the support position to the support release position; The timing is set so that the second support means moves to the support release position when the stand returns to the position, and through this series of operations, the empty bottom stake is ejected from the cassette and the second stay is moved to the support release position. A descent to the lowest level is performed. Also,
When the second support means moves from the support position to the support release position, the mutual distance between the stick gripping surfaces of the pair of gripping lever members 59 included in the first support means becomes the thickness of the stick 54: t(15th Figure c)
It is set to be slightly larger than . With this configuration, the second stake released from the support by the first support means can be smoothly moved to the supported position by the first support means, particularly to the close grip position by the grip lever member 59. It goes down.

As shown in FIGS. 14 and 15a to 15c, a shutter 73 is provided within the case 52 of the stake cassette 44 for closing the component outlet of the lowermost stake 54. As shown in FIGS.
The shutter 73 is provided to extend vertically behind the front partition wall 52c, and is attached to the partition wall 52c via a pair of pins 73a (see FIG. 15B).
It is attached so that it can move freely in the vertical direction. The shutter 73 closes the component outlet with its lower end 73b. As shown in FIGS. 15a and 15c, a shutter drive element A75 is located inside the case 52 at the front end of the shutter 73.
, and is attached to the partition wall 52c via a pin 75a so as to be movable in the vertical direction. A projecting portion 75b is provided at the upper end of the shutter drive element A75, and the projecting portion is connected to the shutter 73. That is, the shutter 73 is driven by the shutter drive element A75.
By moving the shutter drive element A, the shutter drive element A is moved in the same direction as the shutter drive element A. Note that the shutter driver A75 is formed with another projecting portion 75d (shown in FIG. It protrudes outside of 52.

On the other hand, on the pin 62a that rotatably supports the lever member A62, another lever member D76, which is bent in a dogleg shape in the same way as the lever member A, is rotatably attached to the pin 62a. attached.
One end 76a formed on the lever member D76 and extending forward is in contact with the upper end of a pin 73c protruding from the side of the shutter 73. Behind the lever member D76, another shutter driver B77 is arranged which is formed linearly and extends rearward, and the front end of the shutter driver B is connected to the other end 76b of the lever member D76 by a pin 76c. It is pivoted.

The shutter drive element B77 extends to the rear outside of the case 52, and its rear end is located near the handle 52b. This shutter drive element B7
7, this can be done with the thumb or the like of the hand holding the handle 52b.

The shutter drive element B77 is biased toward the outside of the case 52 by a coil spring 78 (shown in FIG. 14) provided near the rear end of the shutter drive element B. In addition, the shutter 73 and the shutter drive element A75
is the coil spring 7 placed near these
9 and 80, for example, the upward biasing force in FIG. 15c is applied.

Next, an explanation will be given of an operating mechanism for operating the drive element A56 for discharging and replacing stakes provided in the above-mentioned stake cassette 44, and a drive mechanism for positioning the operating mechanism at a position corresponding to the selected stake cassette. do.

For example, as shown in FIGS. 11, 17, and 18, below a plurality of stake cassettes 44 arranged side by side, there are a pair of stake cassettes 44 extending parallel to each other in the direction in which each stake cassette is arranged, that is, in the left-right direction. A guide shaft 83 is arranged, and is fixed to the support base 46 at both ends thereof. As shown in FIG. 19, slides 84 are slidably attached to these guide shafts. As shown in FIGS. 2 and 5, a pair of toothed belt pulleys 85a and 85b are arranged near both ends of the guide shaft 83, and these are attached to the support base 46. A toothed belt 86 is installed between both toothed belt pulleys 85a and 85b, and a portion of the toothed belt is connected to a slider 84. The toothed belt wheel 85b on the right side is connected to the output shaft of a servo motor 87 arranged near the toothed belt wheel and the other toothed belt 8.
8. That is, as the servo motor 87 rotates, the slider 84 reciprocates.

As is particularly clear from FIG.
4, three air cylinder mechanisms 90, 91, and 92 are arranged side by side in the left-right direction. On the other hand, as shown in FIGS. 11, 12, and 17, 40 pairs of operating lever members 94 and 95 are installed along the front surface of the support wall 46a provided at the front end of the support base 46. It is provided so that it can freely move back and forth. Each pair of operating lever members 94, 9
5 corresponds to one of each of the 40 station cassettes 44 provided. Of the pair of actuation lever members 94 and 95, the upper end 94a of the left actuation lever member 94 can come into contact with the upper end of the protrusion 56b of the stick ejection replacement drive element A56 provided in the stick cassette 44. It's becoming like that.
Furthermore, as is particularly clear from FIG.
It is possible to engage with relay members 90b and 91b fixed to a. That is, the air cylinder mechanism 9
By pulling the actuating rods 90a and 91a, the actuating lever member 94 moves downward,
As a result, the drive element A of the station cassette 44
56 is activated to discharge and replace the stake. however,
The air cylinder mechanism 90 is for moving the drive element A56 to the downward movement limit position, and the operating stroke of the operating rod 90a of the air cylinder mechanism is set to be large. Note that the adjustment of the operating stroke of the operating rod 90a is performed using the relay member 90b.
This is done by a stroke adjustment screw 90c attached to the. Moreover, the air cylinder mechanism 91 is
When the second support means (described above) in the stake cassette 44 moves from the support position (described above) in which the stakes are supported to the support release position, the pair of grip lever members 59 included in the first support means (described above) are moved. This is to set the distance between the stake gripping surfaces to be slightly larger than the thickness t of the stake 54 (as shown in FIG. 15c). For this reason,
The operating stroke of the operating rod 91a of the air cylinder mechanism 91 is set smaller than the operating stroke of the operating rod 90a of the air cylinder mechanism 90. Adjustment of the operating stroke of the actuating rod 91a is also performed by a stroke adjusting screw 91c (shown in FIG. 20) of the same type as the stroke adjusting screw 90c for the actuating rod 90a described above.

As shown in FIG. 12, the actuation lever member 9
The upper end portion 95a of another actuating lever member 95 provided on the right side of the shutter drive element A75 of the shutter drive element A75 provided on the station cassette 44
It is designed so that it can come into contact with the upper end portion of d. Further, as is clear from FIG. 20, the lower end 95b of this operating lever member 95 is connected to the air cylinder mechanism 92.
Relay member 92b fixed to actuation rod 92a of
It is possible to engage with. That is, when the actuating rod 92a of the air cylinder mechanism 92 is pulled, the actuating lever member 95 moves downward, thereby actuating the shutter driver A75 and moving the lowermost stay in the stay cassette 44. 54 component outlet ports are closed. Note that the relay member 92b and the two relay members 90b and 91b described above are lined up in a line in the moving direction of each air cylinder mechanism 90, 91, and 92. Further, the operating stroke of the operating rod 92a is adjusted by a stroke adjusting screw 92c attached to the relay member 92b.

As shown in FIG. 17, three detection sensors 97 are arranged below the slider 84 along the moving direction of the slider, and the support base 46
They are each attached to a part of the frame via a bracket 97a. However, in FIG. 17, the detection sensor 97
Only one is shown. One of these three detection sensors functions for leftward overrun, one for rightward overrun, and the remaining one for origin detection. By using each detection sensor 97, positioning of each slider 84 corresponding to each station cassette 44 is performed by numerical control. A detection piece 84a that can pass through the detection slit 97b of each of these detection sensors 97 is fixed to the lower end of the slider 84.

The slider 84 described above and the relay members 90b, 9
Air cylinder mechanisms 90 and 91 including 1b and 92b
and 92 and peripheral small members related thereto, a drive for discharging and exchanging the stakes provided in the stake cassettes 44 is provided so as to be able to reciprocate along the direction in which the plurality of stake cassettes 44 are arranged side by side. An actuation mechanism for actuating child A56 is configured. In addition, the toothed belt wheels 85a, 8
5b, toothed belt 86, and servo motor 87
The toothed belt 88, the detection sensor 97, and peripheral small members related thereto constitute a drive mechanism that positions the operating mechanism at a position corresponding to the selected stationary cassette 44. .

As shown in FIGS. 4, 10, and 11, ten component guide members 100 are arranged in a row in the left-right direction on the support stand 46 and in front of each station cassette 44. There is. This component guide member 100 is fixed to a support base 46 at the same inclination angle as the stationary cassette 44. As is clear from the above quantity (10 pieces),
One component guide member 100 is provided for each of the four stake cassettes 44.

As is clear from FIG. 21, FIG. 22, and FIG.
Four component supply paths 1 for supplying components (see FIG. 15b) to a component gripping position by a chuck, which will be described later.
00a is formed. Each of these parts supply path 1
The rear end portion of 00a, that is, the right end portion in FIG. 21, is inserted into an opening 46b formed in the support wall 46a shown in FIG. and is aligned with the component outlet of the lowermost stake 54 in the stake cassette. As shown in FIG. 21, each component supply path 100a
has a straight part 100b and a curved part 100c, and the head of the curved part is larger than the head of the straight part 100b. Further, the bottom surface of the curved portion 100c is inclined so as to become lower toward the center of curvature of the curved portion.

As shown in FIG. 24, the parts guide member 100
An arm member 101 is located near the open end of each component supply path 100a formed in the component supply direction, that is, the end in the component supply direction.
is arranged, and is swingably attached at one end to the component guide member 100 via a pin 101a. The arm member 101 is a pin 101
The free end of the arm member is urged in a direction toward the open end of the component supply path 100a by a spring member 102 fitted onto the outside of the arm member 100a. A stopper 103 is provided at the free end of the arm member 101 to abut the first of the plurality of electronic components 53 supplied through the component supply path 100a and stop the first component at a component gripping position by a chuck, which will be described later. installed. Note that the arm member 101 is
If the free end of the arm member is swung by hand or the like so as to move away from the open end of the component supply path 100a, the stopped positioning state of the electronic components 53 by the stopper 103 is released, and each electronic component 53 is moved away from the component. It can be made to flow out from inside the supply path 100a to the outside all at once.

Here, the stopper 103 is provided with a threaded part 103a, and the threaded part 103a is fitted into the free end of the arm member 1001 so that the stopper 103 can be attached to a nut screwed into the threaded part. 10
By tightening 3b, the arm member 101
is attached to. Therefore, these nuts 10
By appropriately changing the tightening position of the stopper 3b, the position of the stopper 103 can be adjusted in the moving direction of the first electronic component. With this configuration, even when electronic components of different sizes are fed through one component supply path, the electronic components of each size can be accurately positioned and stopped at the component gripping position by the chuck. This is possible.

The above-mentioned parts guide member 100 and stopper 10
3 and peripheral small members related to these,
A guide means is provided for guiding the electronic components sequentially flowing out from the station cassette 44, which is a component source, to the component gripping position of the chuck.

Further, the guide means and the station cassette 44
, the above-mentioned fixing means for fixing the stay cassette to the support base 46 as a base, the above-mentioned operating mechanism including each air cylinder mechanism 90, 91, 92, etc., and the operating mechanism consisting of a toothed belt 86, etc. The drive mechanism for moving the electronic components and the peripheral small members related thereto constitute a component supply means for sequentially supplying at least two types of electronic components.

Next, a chuck for gripping the electronic component supplied by the component supplying means, moving the electronic component in a predetermined direction, and attaching it to the substrate 5 (shown in the first figure) which is the work target will be described.

As shown in FIGS. 2 to 4, a housing 107 made of a steel plate or the like is provided on the workbench 2 in front of the support base 46, and a frame 108 is provided within the housing. There is. The frame 108 includes a pair of horizontal frames 109 and 110 that extend in the left-right direction and are spaced apart from each other in the vertical direction.

As is particularly clear from FIGS. 25 and 26, a boss 112 extending in the vertical direction is fixed to the lower horizontal frame 110. A total of 10 bosses 112 are provided, and each boss 112 is connected to the component guide member 1.
It is arranged corresponding to 00. A cylindrical shaft 113 is provided inside each boss 112,
In addition, the boss 1 is connected to the boss 1 via the ball bearing 113a.
It is rotatably attached to 12. Brackets 114 are fixed to the lower ends of these shafts 113. As is particularly clear from FIG. 27, the brackets 114 are formed to have a U-shaped cross section, and chucks 117 are disposed within the U-shapes of each bracket. That is, the chuck 117 is rotatable about the central axis of the boss 112, which serves as a fixed shaft. Further, the chuck 117 is attached to the bracket 114 by a pin 118 at its upper end so as to be swingable in a plane containing the central axis of rotation of the chuck. pin 11
A coil spring 119 is connected to the chuck 117 via a lever 118a, and the chuck 117 is applied with a bias force in the clockwise direction in FIG. 26, for example, about the pin 118.

As shown in FIGS. 28a-e and also in FIG. 29, the chuck 117 has a frame 121. There is a pin 12 on the center axis of the frame 121.
A protruding pin 1a is provided, and an outer casing wire 122 is connected to the pin. The pin 118 that swingably supports the frame 121 is offset by a distance L from the central axis of the frame, so that when the outer casing wire 122 is pulled upward, the frame 121 and therefore the chuck 117 The whole swings counterclockwise in FIG. 26 about the pin 118. Note that the outer casing wire is a wire consisting of a flexible tube and a core wire inserted through the tube, and is used to drive an object by activating the core wire.

A slider 124 is provided within the frame 121 so as to be slidable in the vertical direction. An outer casing wire 125 is connected to the upper end of the slider 124 for driving the slider. Further, a coil spring 126 is connected to the slider 124 to bias the slider downward. A pair of claw members 128 for gripping the electronic component 53 are provided at the lower end of the slider 124, facing each other in the left-right direction.
In addition, a pin 128a is provided at a substantially central portion to swing between a gripping position and a non-gripping position in mutually opposing directions.
It is swingably attached to the slider 124 via. Both claw members are urged toward the non-grasping position by a coil spring 129 interposed between the two claw members. As shown in FIG. 29, a small slider 130 is provided within the slider 124 so as to be slidable within a predetermined range in the vertical direction. The slider 124 also includes a coil spring 132 that applies a downward bias force to the small slider. small slider 1
30 is connected to an outer casing wire 133 for moving the small slider upward. On the other hand, the upper end portions of each claw member 128 are bent in a direction toward each other, and a miniature ball bearing 134 rotatably attached to a small slider 130 is mounted on the opposing surface of both bent portions. are in contact with each other. That is, when the outer casing wire 133 is pulled upward, the small slider 130 moves, thereby causing the pair of claw members 128 to swing toward the above-mentioned gripping position where the electronic component 53 is gripped. It is.

As shown in Figure 28 b, c, d and e,
On the left side of the frame 121 is a subframe 136.
is attached by screws 137. A pair of guide shafts 138 are attached to the subframe 136, extending parallel to each other in the front-rear direction and spaced apart from each other in the up-down direction. Guide shaft 1
A pair of claw members 139 for gripping the electronic component 53 are slidably attached to 38 . That is, both claw members 139 can grip the electronic component 53 in a direction perpendicular to the component gripping direction by the electronic component gripping claw members 128 described above. A pair of lever members F140 and G141 are provided on the left side surface of the sub-frame 136, facing each other in the left-right direction, and are pivoted to the sub-frame 136 via pins 140a and 141a at each central portion. It can be installed freely. The upper ends of these lever members F140 and G141 are connected to coil springs 14.
3, and the two lever members are urged by the coil spring 143 in a direction in which the upper ends of the lever members approach each other. Lever member F
The lower end portions of the lever member G140 and the lever member G141 are pivotally connected to a pin 139a that projects from both the claw members 139. Lever member F140 and lever member G14
A slider 144 extending in the vertical direction is disposed between the subframes 136 and 144, and is attached to the subframe 136 so as to be slidable in the vertical direction. An outer casing wire 145 is connected to the upper end of the slider 144 for pulling the slider upward. As shown in Figure 28c,
A pin 144a is provided protruding from the lower end of the slider 144, and this pin 144a is connected to the lever member G.
141 near the upper end of the lever member F140
It can be engaged with a protrusion 141b protrudingly provided on the opposite surface. Further, the tip of this protrusion 141b is connected to a tapered portion 140b formed at the upper end of the lever member F140.
can be engaged with. That is, by pulling the outer casing wire 145 upward, the lever member F140 and the lever member G141
are caused to swing in a direction in which the lower ends of both lever members approach each other, thereby causing both claw members 139
is adapted to move and grip the electronic component 53.

Each of the chucks 117 described above is located at a position shown by a solid line in FIG. It moves between the positions shown by the dotted chain line, that is, the component supply area of the component supply means described above.

Next, we will discuss the positioning drive mechanism that positions any one of the chucks 117 described above at a position corresponding to the component supply area and component mounting position described above, and drives the electronic component 53 to grip and release it. explain.

For example, as shown in FIGS. 25 and 26, the frame 108 has a vertical frame 15 at its rear.
0, and a bracket 150a extending parallel to the horizontal frames 109 and 110 is attached to the front surface of the vertical frame. As is clear from No. 26, a shaft 151 that extends in the vertical direction is arranged behind the boss 112, and
The above bracket 150a and the lower horizontal frame 11
0 at both ends thereof ball bearings 152
It is rotatably attached via the A toothed belt pulley 153 is rotatably attached to a substantially intermediate portion of the shaft 151 via a ball bearing 154. An electromagnetic clutch 155 is provided above the toothed belt pulley 153 for transmitting the rotational force of the toothed belt pulley to the shaft 151.
Another toothed belt wheel 157 is attached to the shaft 151 below the toothed belt wheel 153.
This toothed belt pulley 157 is connected by a toothed belt 159 to a toothed belt pulley 158 fitted onto a cylindrical shaft 113 rotatably attached to the boss 112. An electromagnetic brake 160 is also provided at the lower end of the shaft 151 to stop rotation of the shaft.

As shown in FIG.
Toothed belt wheels 163, 164, 165, and 16 are provided on the right side of a, and on the center and left end portions of the bracket.
6 are arranged respectively. A toothed belt 167 as a timing belt is installed over each pair of toothed belt wheels 163 and 164 and 165 and 166, respectively. This toothed belt 167 engages with each of the ten toothed belt wheels 153 arranged in parallel. Further, another toothed belt 168 is installed between toothed belt wheels 164 and 165 provided at the center of the bracket 150a. Toothed belt wheel 163 placed on the right side of the bracket 150a
A pulse motor 169 (shown in the third figure) is disposed near the pulse motor, and a toothed belt pulley 170 fitted to the output shaft of the pulse motor and the toothed belt pulley 16
A toothed belt 171 is installed on 3. That is, as the pulse motor 169 rotates, the shaft 151, the shaft 113, and therefore the chuck 117 are rotated. However, a total of 10 electromagnetic clutches 155 provided at the upper end of each shaft 151 are selectively connected to the toothed belt pulley 153, and therefore the toothed belt 16.
7. That is, the ten chucks 117 are rotated one by one.

As shown in FIG. 26, a disk member 174 is attached to the upper end of the shaft 113 that supports the chuck 117 coaxially with the shaft.
As shown in FIGS. 31 and 32, elongated holes 174a and round holes 174b are formed concentrically on the main surface of the disc member 174 at regular intervals (for example, 90 degrees) in the circumferential direction of the disc member. formed on top. Near the disk member 174, there is a pair of photo sensors 17 as transducers that cooperate with the disk member to generate electric signals corresponding to the elongated hole 174a and the round hole 174b as a predetermined shape change.
5,176 are arranged.

As is clear from FIG. 32, the same circumferential ends of the long hole 174a and the round hole 174b and the disk member
When the angle formed by the two straight lines connecting the rotation centers of the photo sensors 175 and 176 is α, the angle formed by the two straight lines connecting the optical axis centers of the photo sensors 175 and 176 and the rotation center of the disc member 174 is also α. The above-mentioned round hole 174b
has a small diameter, so that even if the rotation angle of the disc member 174 deviates by one pulse of the pulse motor 169, the photo sensor 176 can detect this. Further, the long hole 174a is connected to the disk member 174.
However, the photo sensor 175 is formed so that the photo sensor 175 is turned on even if the circular hole 174b and the optical axis of the photo sensor 176 are shifted counterclockwise by, for example, 5 pulses of the pulse motor 169 from the rotational angular position where the optical axis of the photo sensor 176 matches.

As is particularly clear from FIGS. 3, 4, 25, and 26, as well as FIGS. 33 and 34, there is a shaft 178 extending in the left-right direction on the horizontal frame 109 of the frame 108. and is rotatably attached to the horizontal frame 109 via a bearing mechanism 179. As shown in FIG. 3 and FIG.
2 and 138. A total of 11 toothed belt wheels 184 are rotatably attached to the shaft 178 at positions corresponding to the respective chucks 117 described above. However, the leftmost toothed belt wheel 184 is for a square cross-section wire attachment device to be described later. On the right side of each toothed belt pulley 184 is an electromagnetic clutch 186 for selectively transmitting the rotational force of the shaft 178 to each toothed belt pulley.
is provided. In addition, each toothed belt wheel 184
Another toothed belt wheel 187 is fixed to the left side surface of the belt.

A total of 10 toothed belt pulleys 188 are arranged below the horizontal frame 109 at positions corresponding to the toothed belt pulleys 184 described above.
It is rotatably attached to the frame 108 by 8a. The toothed belt pulley 184 and the toothed belt pulley 188 are connected by a toothed belt 189. A substantially disc-shaped cam member 191 is coaxially attached to each of these toothed belt pulleys 188.

As is particularly clear from FIGS. 25 and 26,
Above each cam portion 191 is a pair of lever members H1.
92 and lever member I193 are arranged to extend parallel to each other in the front-rear direction, and are connected to the frame 108 via pins 194 at their respective rear ends.
It is attached so that it can swing freely. A ball bearing 195 as a cam follower is attached to the center of each lever member H192 and I193.
It is in contact with the outer periphery of 91.

Connecting pieces 192a and 19 are provided near the free ends of the lever member H192 and the lever member I193, respectively.
3a are attached, and each connecting piece is connected to outer casing wires 122 and 125 for positioning and driving the chuck 117 described above. However, the right connecting piece 193a is connected to the outer casing wire 122,
Further, the left connecting piece 192a is connected to the outer casing wire 125. Here, each connection piece 192a and 193a is connected to each lever member H19.
2, I193 is movable along the axial direction, whereby the operating stroke of each outer casing wire 122 and 125 can be adjusted. That is, each connecting piece 192a, 193a functions as an adjusting mechanism for adjusting the operating stroke of both outer casing wires.

As shown in FIGS. 25 and 26, a pair of air cylinder mechanisms 200 and 201 extending in the vertical direction are arranged near the free ends of each lever member H192 and I193. A pair of sliders 200a and 201a guided by a guide shaft 202 extending in the vertical direction are attached to the operating rod of each air cylinder mechanism. Each of these sliders 200a and 201a is connected to outer casing wires 133 and 145 for driving the chuck 117 described above. However, the right slider 201a is connected to the outer casing wire 133, and the left slider 200a is connected to the outer casing wire 14.
It is connected with 5.

As is particularly clear from FIGS. 4, 34, and 35, another toothed belt pulley 187 rotatably attached to the shaft 178 together with the toothed belt pulley 184 is located in front of the toothed belt pulley 184. It is connected by a toothed belt pulley 204 and a toothed belt 205 arranged at. The rotating support shaft 206 of the toothed belt pulley 204 has seven disk members 207a, 20 having a predetermined shape change in the circumferential direction.
7b, 207c, 207d, 207e, 207f
and 207g are fitted in a row. Seven photo sensors 208 correspond to each of these disk members.
a, 208b, 208c, 208d, 208e,
208f and 208g are provided. Each of these photo sensors cooperates with each of the disk members 207a to 207g to issue an electric signal corresponding to the predetermined shape change to a control device to be described later.
Note that the photo sensors 208a, 208b, 208
c is the electronic component 5 made by the chuck 117, respectively.
3 into the base 5, bending of the terminal of the electronic component by the clinch device described later, and the vertical movement of an anvil (described later) included in the clinch device. Further, the photo sensors 208d, 208e, and 208f respectively cause the chuck 117 to grip and release the electronic component 53, rotate the chuck to the component mounting position and rotate the Alvin accordingly, and move the chuck to the component supply area. This is to issue a timing signal for the rotation of the Further, the rightmost photo sensor 208g is connected to the other six disc members 207a to 207 excluding the disc member 207g.
This is for detecting the origin of the rotation angle of f.

The above-described boss 112, shaft 113, bracket 114, and coil spring 119,
Outer casing wire 122, 125, 13
3,145, shaft 151,178, and toothed belt pulley 153,157,158,163,16
4,165,166,170,184,187,
188, 204, electromagnetic clutch 155, toothed belt 159, 167, 168, 171, 18
2,183,189,205 and electromagnetic brake 1
60, pulse motor 169, and disk member 17
4, 207a, 207b, 207c, 207d,
207e, 207f, 207g and photo sensors 175, 276, 208a, 208b, 208
c, 208d, 208e, 208f, 208g
, three-phase induction motor 181 , and electromagnetic clutch 18
6, cam member 191, and lever member H192
, lever member I193, and coil spring 1
97, air cylinder mechanisms 200, 201, and peripheral small members related thereto, one of the chucks 117 described above is positioned at a position corresponding to the component supply area and the component mounting position described above. In addition, a positioning drive mechanism is configured that is driven to grip and release the electronic component 53. As is clear from the above description, the positioning drive mechanism positions the chuck 117 at the open end of a selected component supply path from among the plurality of component supply paths 100a (shown in FIG. 21). Further, as shown in FIGS. 21 and 22, the open end of each component supply path is arranged on a spherical surface centered on the central axis of rotation of the chuck 117.

Next, a clinch device for clinching the terminals of the electronic component 53 inserted into the board 5 will be described.

As shown in FIG. 3, a total of 10 anvils 221 are arranged on the workbench 2, corresponding to the 10 chucks described above, and each of the chucks 117 is placed on the workbench 2. It is rotatably attached around the same axis as the rotation center axis. Although not shown, each umber 221 has a third
The chuck 117 is rotated by a mechanism substantially similar to the mechanism for rotationally driving the chuck 117 as shown in FIG. Further, it is caused to reciprocate in the vertical direction by another mechanism (not shown).

As shown in FIGS. 36a to 36c and FIG. 37, the main body 221a of each anvil 221 is provided with a pair of lever members 222 for clinching, that is, bending, the terminal 53a (shown in FIG. 36) of the electronic component 53. are provided facing each other. Each lever member 222 is attached to the main body 221a of the anvil 221 via a pin 222a at its center so as to swing in directions facing each other.

The lower end portions of each lever member 222 are bent in a direction away from each other. Further, the terminals 53a of the electronic component 53 are clinched at the upper ends of both lever members. The angular position of each lever member 222 shown in FIG. 36b, ie, the position in which the upper ends of both lever members are closed, is referred to as the non-clinch position of the lever member. On the other hand, the angular position of the lever member when the upper ends are opened and the terminals 53a of the electronic component 53 are clinched is referred to as the clinch position. Each lever member 222 swings between the clinch position and the non-clinch position. Each lever member 222 is urged toward the non-clinch position by a pair of spring members 222b that are fitted onto the pin 222a.

The inside of the main body 221a of the anvil 221 is a so-called cylinder, and a piston 223 is fitted into the cylinder. A drive rod 224 is attached to the upper surface of the piston 223 for pressing and driving the lower end portions, ie, the bent portions, of each lever member 222 so that the lever members 222 swing toward the clinch position. A ball bearing 225 is attached to the upper end of the drive rod 224.
is attached, so that the upper end of the drive rod and the bent portion of the lever member 222 can smoothly engage with each other.

The ten anvils 221 including the lever member 222, etc. described above, a mechanism for rotationally driving each of the anvils, a mechanism for feeding compressed air into a cylinder formed in the anvil, and the like. A clinch device for clinching the terminal 53a of the electronic component 53 inserted into the board 5 is constituted by the related small peripheral members.

Next, a mounting device for fitting test terminals provided on the board 5 to form a circuit check into holes formed in the board 5 will be described. However, the test terminal is made of a rectangular cross-section wire.

As shown in FIG. 3, the leftmost chuck 117 out of a total of 10 chucks 117 is
A part of the attachment device 228 is provided further to the left of the frame 108, and is fixed to the frame 108 as a whole.

As shown in FIGS. 38, 39, 40a-c and 41, the mounting device has a bracket 229 fixed to the frame 108 as a base body. A slider 230 is attached to the bracket 229 so as to be movable in the vertical direction. A pair of coil springs 231 are connected to the slider 230 to apply an upward bias force to the slider. As is particularly clear from FIG. 42, at the lower end of the slider 230, a head portion 233 is attached to the pair of cantilever-shaped support shafts 233.
It is swingably attached via 4. This head portion 233 is connected to test terminals 2 made of rectangular cross-section wire rods of a predetermined length, which are sequentially supplied from a supply means to be described later.
35 (shown in Figure 39) to move the test terminal in a predetermined direction and fit it into a round hole (not shown) formed in the substrate 5 that is the work target, and the central axis is attached to the slider 230 so as to match the moving direction of the slider 230, that is, the vertical direction. Further, the above-mentioned pair of support shafts 234 are provided in protruding positions facing each other at symmetrical positions with respect to the central axis of the head portion. That is, the head portion 233 is movable in the direction of its central axis and swingable within a plane including the central axis, and the test terminal 235 it grips is moved in the direction of the central axis and attached to the board 5. It makes them fit in.

For example, as shown in FIG.
A wire 236 is connected to the head 33 for swinging the head portion about a support shaft 234, for example, counterclockwise in FIG. 40b. A coil spring 237 is also connected to the head portion 233 and biased clockwise in FIG. 40b around the support shaft 234. The upper end of the wire 236 described above reaches a control mechanism that is disposed above the head section 233 and controls the head section. The control mechanism includes each chuck 117 described above.
Of the plurality of electromagnetic clutches 186 (shown in the third figure) for positioning and driving the chuck, the leftmost Toothed belt pulley 184 and electromagnetic clutches 186 and 186 provided further to the left of the
and a toothed belt wheel 187. Also,
The control mechanism includes a drive mechanism 239 which is located below the toothed belt wheel 184 and has the same configuration as the air cylinder mechanisms 200, 201, lever members 192, 193, etc. shown in FIGS. 25 and 26. (as shown in the third diagram). The wire 236 mentioned above is pulled upward by this drive mechanism. That is, the control mechanism for controlling the head section 233 is constructed substantially similarly to a portion of the positioning drive mechanism for the chuck 117.

For example, as shown in FIG.
0 is connected to another wire 241, and the control mechanism drives the slider, and thus the head section 233, in the direction of the central axis of the head section via the wire. However, the wire 241 is connected to the slider 230 after being installed on a pulley 242 rotatably provided on the bracket 229.
By pulling the wire 241 upward, the head portion 233 moves downward against the bias force of the coil spring 231.

For example, as shown in FIGS. 40a and 40b and FIG.
A pair of claw members 243 for gripping 35 are provided facing each other. Each claw member 243 is connected to the main body 233a of the head portion 233 via a pin 243a in the center so as to swing in directions opposite to each other.
is attached to. A ball bearing 243b is attached to the upper end of each claw member 243. Further, each claw member grips the test terminal 235 at its lower end. The angular position of each claw member 243 shown in FIG. 40b, that is, the position where the lower ends of both claw members are closed, is referred to as the terminal gripping position of the claw member. On the other hand, the angular position of the claw member when each of the lower ends is fully opened is referred to as a non-gripping position. Each claw member 243 swings between the terminal gripping position and the non-gripping position. Note that each claw member is biased toward the non-gripping position by a small coil spring (not shown).

The interior of the main body 233a of the head portion 233 is a so-called cylinder, and a piston 245 is fitted into the cylinder. However, the cylinder is located on the central axis of the head portion 233. The lower surface of the piston 245 is provided with an upper end portion of each claw member, that is, a ball bearing 2, so that each claw member 243 swings toward the above-mentioned terminal gripping position.
Drive rod 24 for pressing and driving the part 43
6 is installed. In addition, the piston 245
is the coil spring 2 installed inside the cylinder.
47 applies an upward biasing force.

As shown in FIG. 39, a roll 251 in which a single long rectangular cross-section wire 250 is spirally wound is arranged behind the head portion 230.
Further, it is rotatably supported by a support shaft 251a. A bracket 252 is placed in front of the roll.
is fixedly installed, and five vertical guide pulleys 253 and five horizontal guide pulleys 254 are provided at the rear end and center of the bracket, respectively.
Furthermore, guide members 255 and 256 are arranged behind and in front of each guide pulley, respectively. As is clear from Fig. 38, the vertical guide pulley 2
53 and the outer peripheral surfaces of the horizontal guide pulley 254 are Vs that engage with the four ridges of the rectangular cross-section wire rod 250, respectively.
Shaped grooves 253a and 254a are formed. Each V-shaped groove is formed by an inner wall forming an angle equal to the angle formed by the two surfaces forming each edge of the rectangular cross-section wire 250. . Further, the guide members 255 and 256 are formed with a rectangular guide hole (not shown) that is slightly larger than the cross-sectional dimension of the square cross-section wire 250, and the square cross-section wire is inserted into the guide hole. There is.

A slider 259 is installed at the front end of the bracket 252.
is arranged and attached to the bracket so as to be movable in the front and rear direction. A coil spring 260 is connected to the slider 259 to apply a rearward bias force to the slider. Further, a wire 261a is connected to the slider 259 for driving the slider forward. The wire 261a is connected to a drive mechanism 239 (shown in the third figure) via a pulley 261b. Fourth
As is particularly clear from FIG. 3, a pair of claw members 262 for gripping the rectangular cross-section wire 250 are provided at the front end of the slider 259 so as to face each other in the left-right direction. Each claw member 262 is attached to the slider 259 at its center by a pin 262a so as to swing in directions facing each other. A ball bearing 262b is attached to the upper end of each claw member 262. Further, each claw member grips a square cross-section wire rod 250 at its lower end. The angular position of each claw member 262 shown in FIG. 43, ie, the position where the lower ends of both claw members are closed, is referred to as the wire gripping position of the claw member. On the other hand, the angular position of the claw member when each of the lower ends is fully opened is referred to as a non-gripping position. Each claw member 262 swings between the wire gripping position and the non-gripping position. Note that each claw member 262 is urged toward the non-grip position by a small coil spring 263 provided between each claw member.

A slide pin 264 is arranged between both claw members 262, and is attached to the slider 259 so as to be movable in the vertical direction. This slide pin 264 is configured to press and drive the upper end portion of each claw member, that is, the ball bearing 262b portion with its upper end tapered portion, so that each claw member 262 swings toward the wire gripping position. It is something. An outer casing wire 265 is connected to the upper end of the slide pin 264 for pulling the slide pin upward. This outer casing wire 265 is also pulled by the aforementioned drive mechanism 239 (shown in the third figure).

The above-mentioned vertical guide pulley 253, horizontal guide pulley 254, guide members 255, 256, slider 259, coil springs 260, 26
3, a claw member 262, a slide pin 264,
These and related peripheral small members constitute a feeding means for feeding the rectangular cross-section wire 250 by a predetermined length and with angle adjustment. Note that by adjusting the angle of the rectangular cross-section wire 250 using the vertical guide pulley 253, the horizontal guide pulley 254, etc., accurate rectangular adjustment is possible.
Each of these guide pulleys is inexpensive, so the cost is low.

As shown in FIGS. 38 and 39, a sub-bracket 268 is disposed on the wire feeding direction side of the feeding means, and
It is fixed at 52. As is particularly clear from FIGS. 44a and 44b, a pair of cutters 270 are attached to the sub-bracket 252 for cutting the rectangular cross-section wire 250 fed by the feeding means. The pair of cutters 270 are arranged so as to sandwich the rectangular cross-section wire rod 250 to be fed from the left and right directions, and are configured to reciprocate in opposite directions in a direction perpendicular to the feeding direction of the rectangular cross-section wire rod 250, in this case in the left-right direction. There is. Note that a bias force is applied to both cutters 270 in a direction to separate them from each other by a coil spring 271 provided inside the cutters.

A pair of lever members 272 are provided above each cutter 270 so as to face each other in the left-right direction. Each lever member 272 has a pin 2 at its center so as to swing in opposite directions.
72a to sub-bracket 268. A ball bearing 272b is attached to the upper end of each lever member 272.
Further, the lower end of each lever member is pivotally attached to each cutter 270 described above via a pin 270a. That is, by swinging both lever members 272 in opposite directions, both cutters 270 reciprocate in opposite directions. Each lever member 2 shown in Figures 44a and b
The angular position 72, that is, the position where both cutters 270 can cut the rectangular cross-section wire 250 is referred to as the wire cutting position of the lever member. On the other hand, the angular position of each lever member when the lower end of each lever member is fully opened is referred to as a non-cutting position. Each lever member 272 swings between the wire cutting position and the non-cutting position.

A slide pin 27 is provided between both lever members 272.
4 is arranged, and the sub-bracket 26
8 so as to be able to reciprocate in the vertical direction. This slide pin 274 is for pressing and driving the upper end portion of each lever member, that is, the ball bearing 272b portion with its upper end tapered portion so that each lever member 272 swings toward the wire cutting position. It is. A wire 275 is connected to the upper end of the slide pin 274 for pulling the slide pin upward. The upper end of this wire 275 is connected to the drive mechanism 239 (third
(as shown) and is pulled by the drive mechanism. As is clear from FIG. 39, a downward bias force is applied to the slide pin 274 by a small coil spring 277.

Here, the above-described feeding means and the cutter 270
A supply means for manufacturing and supplying a rectangular cross-section wire cut to a predetermined length, that is, a test terminal 235, is constituted by the above.

As shown in FIGS. 45a and 45b, the angle of the rectangular cross-section wire 250 is adjusted so that both cutters 270 are cut close to each other in the diagonal direction of the cross section. Therefore, Figures 46 a to c
As shown in FIG. 2, the cross section of the tip of the test terminal 235 obtained by cutting has two slopes 235a that are joined to each other on the diagonal surfaces of the terminal.

Note that a control device consisting of a microprocessor or the like is provided at a predetermined position of the component mounting device.

FIG. 47 shows the relationship between the control device 280 and the photo sensors 208a to 208g also shown in FIG. As described above, these photo sensors 208a to 208g constitute detection circuits 281 to 290 that supply timing signals indicating the state of each chuck 117 to the control device 280. Obviously, the total number of detection circuits is ten in total. Detection circuit 28
1 is supplied with a power supply voltage via relay switches rl ₁ ¹ and rl ₁ ² . Further, the detection circuit 290 is supplied with a power supply voltage via relay switches RL ₁₀ ¹ and RL ₁₀ ² , and the other detection circuits 282 to 2
89 is similarly supplied with voltage via a relay switch. A total of 20 relay switches RL ₁ ¹ to RL ₁₀ ² are controlled by a control device 280 that controls 10 relay coils.
By supplying a current to each of RL ₁ to RL ₁₀ , one set at a time, such as rl ₁ ¹ and rl ₁ ² , is turned on. i.e. each relay switch RL ₁ ¹
or rl ₁₀ ² is a plurality of detection circuits 281 to 290
It serves as a selective power supply switch for selectively supplying power supply voltage to. As mentioned above, the timing signals emitted from each of the detection circuits 281 to 290 are transmitted to the control device 280, and the control device operates the positioning drive mechanism 291 in response to the timing signals, thereby causing the selected The chuck 117 is positioned and driven.

Next, the operation of the component mounting apparatus having the above-mentioned configuration will be briefly explained along with the component mounting procedure with reference to FIGS. 48 to 52b.

When a command signal for attaching a component is issued, one board 5 is pushed out by a predetermined amount onto the workbench 2 from the upstream board magazine 7 shown in FIG. Next, the substrate moving mechanism 30 shown in FIG. 5 moves the pushed out substrate 5 onto the movable rail mechanism 23 on the table 17. Then, the servo motor 21 and the servo motor 25 are rotated, and the board is moved in the X-Y direction, and the mounting device 228 (third
(as shown).

At the same time as the board 5 is positioned directly below the mounting device, the wire 236 shown in FIG. 39 is pulled and the head portion 233 of the mounting device is swung to a position where it grips the supplied test terminal. It will be done. After this, the piston 24 shown in FIG.
5. Therefore, the drive rod 246 is activated and the claw member 243 grips the test terminal 235. Claw member 2
43 grips the test terminal, the wire 2 described above
36 is loosened, and the head portion 233 returns to a position perpendicular to the main surface of the substrate 5. Here, it is confirmed that the movement of the table 17 is completed, that is, the positioning of the substrate 5 is completed. If this is not completed, wait without engaging the electromagnetic clutch 186. When the positioning of the board 5 is completed, the third
The wire 241 shown in FIG.
be fitted inside. When the test terminal 235 is inserted, the grip of the test terminal by the claw member 243 is released, and at the same time, the wire 241 is loosened. In this way, the insertion of the test terminal 235 into the board 5 is completed.

Next, the above-mentioned control device again drives the table 17 and the movable rail mechanism 23 (see FIG. 5, etc.) to start moving the substrate 5 directly below the desired chuck 117. The controller then selects the chuck and engages the electromagnetic clutch 155 corresponding to the selected chuck. Next, an electromagnetic clutch 186 (33rd
(shown). At this time, shaft 1 has already been
78 is rotating, thereby rotating the seven disc members 207a to 207g shown in FIGS. 34 and 35. Then, first, the pulse motor 169 rotates by a desired amount, so that the bracket 11
4 is rotated, and the selected chuck 117 is rotated so that the direction in which the chuck can swing is backward, that is, in the direction of the component guide member 100. When the chuck 117 is rotated by a predetermined angle, the engagement state of the electromagnetic clutch 186 described above is temporarily released, and thereafter, the electromagnetic clutch 155, the disc member 174 shown in FIGS. 31 and 32, and the pair of photo sensors 175 , 176, the rotation angle of chuck 117 is accurately corrected.
Here, the correction of the rotation angle of chuck 117 will be described in detail. The photo sensor 176 is used to accurately determine the rotational angular position of the chuck 117, and the photo sensor 175 is used to detect whether the chuck is shifted clockwise or counterclockwise from its normal position. belongs to.

The control device 280 (shown in FIG. 47) described above first checks whether the round hole 174b is aligned with the optical axis of the photo sensor 176.
Check whether it is on. Photo sensor 1
76 is on, the rotation angle of chuck 117 is not corrected. Due to backlash between the toothed belt 167 for rotating the chuck 117 and the toothed belt wheel 153, the chuck 117 may shift clockwise or counterclockwise in FIG. 32 by, for example, three pulses of the pulse motor 169. If so, the above-mentioned control device confirms this direction using the photo sensor 175 and the elongated hole 174a. If the deviation is clockwise, the photo sensor 175 is in the OFF state, and if the deviation is counterclockwise, the photo sensor 176 is in the ON state. The control device thereby confirms the deviation in the rotational direction. Once the direction of the rotational deviation is confirmed, the pulse motor 169 is rotated one pulse at a time in the direction that corrects the deviation, and the photo sensor 176
Continue this until it turns on.

Chick 1 for the above parts guide member 100
When the rotation of 17 is completed, the electromagnetic clutch 18
6 is engaged again, and each disk member 207a to 207g shown in FIGS. 34 and 35 is rotated again. As a result, the chuck 117 is first swung backwards about the pin 118 as shown in FIG. 26, and the claw member 128 of the chuck grips the electronic component 53 as shown in FIG. reach a possible position. In addition, this check 11
7 is achieved by pulling the outer casing wire 122 shown in FIG. 28b, for example. Further, at this time, the claw member 128 is in the open state,
That is, it is in the non-grasping position. Next, the outer casing wire 12 also shown in FIG. 28b
5 is loosened, the slider 124 projects toward the electronic component 53 due to the biasing force of the coil spring 126, and the claw member 128 reaches the electronic component gripping position. Furthermore, the outer casing wire 133 for gripping the electronic component is pulled, and the electronic component 53 is gripped by the claw members 128. After this, the outer casing wire 125 is pulled and the slider 12
4 is housed in the frame 121, and at this position, the wire 145 is pulled and the claw member 139 grips, that is, positions, in a direction perpendicular to the gripping direction by the claw member 128. Further, the outer casing wire 122 is loosened and the chuck 117 returns to the position shown by the solid line in FIG.

Next, the pulse motor 169 rotates a desired amount.
Therefore, the bracket 114 rotates and the chuck 117
can be rotated. Note that at this time, the rotation of Albin 221 shown in FIG. 36 is also performed at the same time.

Next, the outer casing wire 145 is loosened, and the gripping state of the electronic component 53 by the claw members 139 is released. Thereafter, the engaged state of the electromagnetic clutch 186 is temporarily released, and the electromagnetic clutch 15
5, disk member 174, photo sensor 175 and 1
76, accurate rotation angle correction of the chuck is performed. At the same time, it is confirmed that the table 17 has been moved to the desired position. If the movement has not been completed, wait for the movement to be completed.

Then, the raising operation of Albin 221 shown in FIG. 36 is performed. At the same time, the outer casing wire 125 is loosened and the slider 124 protrudes in the direction approaching the board 5, and the terminal 53a of the electronic component 53 is inserted into the terminal hole (not shown) of the board 5, as shown in FIG. 36b. Inserted. Thereafter, as shown in FIG. 48, the terminal 53a of the electronic component 53 is clinched by Alvin 221. Next, the outer casing wire 133 is loosened, the grip of the electronic component 53 by the claw members 128 is released, and the electronic component is attached to the board 5. Thereafter, the albin 221 is lowered, and the electromagnetic clutch 186 is disengaged, so that the disk members 207a to 207a shown in FIG. 35 etc.
The rotation of 7g stops. However, at this time, each of the disk members is stopped at its original position by the rightmost disk member 207g among the disk members.

Thereafter, the above operation is repeated for each electronic component.

The board 5 with all the electronic components attached is
For example, the substrate is transported near the downstream fixed rail mechanism 12 shown in FIG.
1, it is stored in the substrate magazine 7 on the downstream side via the fixed rail mechanism.

Thereafter, the above operation is repeated for each board, and as a result, the elevator mechanisms 8 and 9 shown in FIG. 1 etc. move the board magazine 7 up and down.
All components have been attached to the board.

Next, a description will be given of ejecting and replacing the stakes 54 stored in a stack in the stake cassette 44, which is a parts source, as shown in FIG. 14, for example.

When all the electronic components 53 flow out from the lowest stack among the stacked stacks 54 and the stack becomes empty, the above-mentioned control device detects this using a predetermined detection means, and the control device shown in FIGS. 17 and 18 The slider 84 shown in the figure is moved to a position corresponding to the stake cassette 44 containing the stake. After this, each air cylinder mechanism 90 to 92 shown in FIG. 18, for example, is activated. As a result, the shutter 73 shown in FIG. 15 is brought into a closed state, and at the same time, the stake 54 is discharged and replaced as shown in FIGS. 49a to 49d and 50a to 52b.

In addition, regarding the rotation angle correction of the chuck 117 mentioned above, the disk member 174 (FIGS. 31 and 32)
For example, instead of providing a large number of holes such as the long hole 174a and the round hole 174b in the hole 174a (shown in the figure), it is also possible to provide only a hole 174c (shown in FIG. 32) as a single shape changing part. Rotation angle correction in this case will be explained.

First, the control device 280 (described above) controls the disk member 1
74, therefore the chuck 117 is connected to the pulse motor 16.
9, the photo sensor 176 or the photo sensor 175 is rotated counterclockwise at high speed until the hole 174c coincides with the optical axis of the photo sensor 176 or 175. For example, when the hole 174c coincides with the optical axis of the photo sensor 176 and the photo sensor is turned on, the disk member 174 is stopped. However, the photo sensor 176
Even if the pulse motor 169 is stopped immediately after turning on, the stopping position of the chuck 117 will deviate from the normal rotational angular position by several pulses due to operational delay and inertia of the driving force transmission system. Therefore,
The pulse motor 169 is rotated pulse by pulse in the direction to correct the deviation, and this rotation is continued until the photo sensor 176 is turned on again. Further, when the hole 174c coincides with the optical axis of the photo sensor 175 due to the high-speed rotation in the counterclockwise direction described above, the control device 280 rotates the disk member 174 at a predetermined angle clockwise, that is, the photo sensors 175 and 17
It is rotated by an angle that is several pulses larger than the separation angle of 6. Thereafter, the above-described procedure is repeated to correct the rotation angle.

Effects of the Invention As detailed above, the component mounting device according to the present invention includes a component supply means that has a plurality of component supply paths 100a with open ends arranged in the component supply area and supplies a plurality of types of components; A plurality of chucks 117 capable of gripping the parts; and a plurality of chucks 117 capable of holding the chucks rotatably and swingably in a plane including the central axis of rotation, and transporting the chucks to the parts supplying area of the parts supplying means and the parts to be worked on 5. It has a positioning drive mechanism that is positioned at a position corresponding to the mounting position and is driven to grip and release the component.

In this way, by positioning the chuck at the component supply position of the fixed component supply means (the open end of the component supply path) and gripping the component, it is possible to use the already developed component mounting device. Ancillary mechanisms for parts supply such as those provided, i.e., mechanisms for driving the parts supply means in a component mounting device that enables the parts supply means, and relays for relaying parts from the fixed parts supply means to the chuck. This eliminates the need for the relay mechanism and its drive mechanism in devices equipped with such a mechanism. Therefore, the entire component mounting device can be made smaller and the cost can be reduced.

Furthermore, as mentioned above, in the component mounting device according to the present invention, the complicated incidental mechanisms such as the above-mentioned relay mechanism are eliminated, so the unstable factors are reduced compared to the component mounting device having these incidental mechanisms. , the reliability of the device itself has improved.

Further, in the component mounting device according to the present invention, the open end of the component supply path 100a is arranged on a spherical surface centered on the central axis of rotation of the chuck 117. For example, if the chuck has one rocking node (although it is not necessary to have one), the part gripping part of the chuck, that is, the tip part moves on a spherical surface together with the rotational movement of the chuck. . Therefore,
By arranging the open end of the component supply path on the spherical surface as described above, unnecessary movements of the chuck can be omitted and components can be supplied quickly and smoothly. Therefore, the parts mounting efficiency is extremely good.

[Brief explanation of drawings]

FIG. 1 is a schematic perspective view of the entire component mounting device according to the present invention, FIG. 2 is a plan view of the entire component mounting device, and FIGS. 3 and 4 show the internal structure of the main parts of the component mounting device. 5 and 6 are respectively a front view and a side view, FIGS. 5 and 6 are a plan view and a front view of the workbench, FIGS. 7 to 44 a and b are detailed views of each part of the internal structure, and FIGS. 45 a and b 46A to 46C are plan views, front views, and side views of test terminals, and FIG. 47 is a block diagram showing the input/output switching function of the control system of the component mounting device. Figures 48 to 52 a and b are diagrams for explaining the operation of the component mounting device. Explanation of symbols of main parts, 1... Parts mounting device,
2... Workbench, 3... Board supply device, 4... Board collection device, 5... Board, 7... Board magazine,
8, 9... Elevator mechanism, 11, 12... Fixed rail mechanism, 14, 15, 33, 83, 138,
202... Guide shaft, 15b, 18a, 1
8b, 27, 85a, 85b, 153, 157,
158, 163, 164, 165, 166, 17
0,184,187,188,204...Toothed belt pulley, 17...Table, 19,20a,20
b, 26a, 26b, 86, 88, 159, 16
7,168,171,182,183,189,
205... Toothed belt, 21, 25, 87... Servo motor, 23... Movable rail mechanism, 30, 3
1...Substrate moving mechanism, 33c, 90, 91, 9
2,200,201...Air cylinder mechanism, 3
4,84,124,144,200a,201
a, 230, 259...Slider, 35, 12
8,139,243,262...Claw member, 37,
236, 241, 275... Wire, 39... Reversible motor, 40... Drive pulley, 42
a, 42b, 42c...Sensor, 44...Station cassette, 46...Support stand, 46a...Support wall, 47...Guide rail, 48, 49...Positioning pin, 52...Case, 52a, 52b ...Handle, 53...Electronic component, 53a...Terminal, 54...
...Stay, 56...Driver A, 57...Cam member A, 59...Gripping lever member, 61...Support lever member A, 62...Lever member A, 63...
Lever member B, 65... Lever member C, 66, 7
8, 79, 80, 119, 126, 129, 13
2,143,197,231,237,247,
260, 263, 271, 27...Coil spring, 68...Cam member B, 69...Support lever member B, 71...Support lever member C, 73...Shutter, 73...Shutter driver A, 76...
... Lever member D, 90b, 91b, 92b ... Relay member, 77 ... Shutter driver B, 94, 9
5... Actuation lever member, 97... Detection sensor, 1
00... Parts guide member, 100a... Parts supply path, 100b... Straight part, 100c... Curved part,
101...Arm member, 102...Spring member, 1
03...stopper, 107...housing, 10
8...Frame, 109,110...Horizontal frame, 112...Boss, 113,151,178...
...Shaft, 114,229,252...Bracket, 117...Chuck, 121...Frame, 122,125,133,145,265...
... Outer casing wire, 130 ... Small slider, 136 ... Subframe, 140 ... Lever member F, 141 ... Lever member G, 150 ... Vertical frame, 155, 186 ... Electromagnetic clutch, 1
60... Electromagnetic brake, 169... Pulse motor, 174, 207a, 207b, 207c, 2
07d, 207e, 207f, 207g...disc member, 174a...long hole, 174b...round hole, 1
74c...hole, 175, 176, 208a, 20
8b, 208c, 208d, 208e, 208
f, 208g...Photo sensor, 179...Bearing mechanism, 181...Three-phase induction motor, 191
...Cam member, 192...Lever member H, 192
a, 193a...Connection piece, 193...Lever member, 206...Rotation shaft, 221...Anvil,
222... Lever member, 223, 245... Piston, 224, 246... Drive rod, 228...
...Mounting device, 233...Head part, 234...Cantilever support shaft, 235...Test terminal, 235a
... Slope, 239 ... Drive mechanism, 250 ... Square cross-section wire, 253 ... Vertical guide pulley, 253
a, 254a... V-shaped groove, 254... Horizontal guide pulley, 255, 256... Guide member, 264,
274...Slide pin, 268...Sub bracket, 270...Cutter, 272...Lever member, 280...Control device, 281, 282, 28
3,284,285,286,287,288,
289, 290...Detection circuit, 291...Positioning drive mechanism.

Claims (1)

[Claims] 1 A component supply means for sequentially supplying at least two types of components, a plurality of chucks 117 capable of gripping the components, and holding the chucks rotatably and swingably within a plane including a rotation center axis. a positioning drive mechanism that positions the component supply area of the component supply means and a position corresponding to the component attachment position of the work object 5, and drives the component to grip and release the component; A component mounting device comprising a plurality of component supply paths 100a each having an open end arranged in the component supply area, and each of the open ends being on a spherical surface centered on the rotation center axis of the chuck.