JPH0378299A - Device for mounting parts - Google Patents

Abstract

PURPOSE:To provide a compact device for exchanging tools by bringing a tool holder close to a suction head to attract a diffusion pannel and then carrying and releasing it in a desired position. CONSTITUTION:When a tool 24 to bo replaced is brought above a suction pad 100, a stop lever 46 engaged with a flange 35 on a vertical moving body 18 of a mounting head 12 is released to allow the moving body 18 to descend to a predetermined position. Then the pad 100 is raised and brought into contact with the lower surface of a diffusion pannel 26 so as to attract the tool 24. The pad 100 carries the tool 24 down and places it in a recess 84 of a tool table 85. For another replacement, the table 85 is moved to carry a desired tool to a location where the vertical moving body 18 is on standby, and the tool is mounted on the head 12 in the same manner. It is therefore possible to replace tools by a compact mechanism.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a component mounting device in which a tool having a nozzle for sucking components is exchangeably held by a holding member.

(b) Prior Art A conventional technology for exchanging a tool having a component suction nozzle of this kind is disclosed in Japanese Patent Application Laid-Open No. 145899/1983. When replacing the tool, the swinging claw attached to the holder on which the tool is placed engages and locks the hook provided on the tool by the actuation of the cylinder, and the nozzle shaft is pulled up and the tool is pulled out. .

(c) Problems to be Solved by the Invention However, the prior art described above has a disadvantage in that the structure becomes too round because the tool is fixed with claws.

Therefore, it is an object of the present invention to make it possible to exchange tools without providing an extensive mechanism.

(D) Means for Solving the Problems Therefore, the present invention provides a component mounting device in which a tool having a nozzle for sucking a component is exchangeably held by a holding member, and a suction pad for vacuum sucking the tool. , a member to be attracted by the suction pad provided on the tool; and a relatively moving direction in which the pad and the holding member approach each other in order to cause the member to be attracted to the suction pad, and the target member to be attracted by the suction pad. A moving means is provided for relatively moving the pad and the holding member in a direction in which the member is attracted to them in a direction in which they are separated.

Further, the present invention enables the position of a component to be recognized by a recognition device in a state where the component is attracted to a nozzle, and in a component mounting device in which a tool having the nozzle is exchangeably held by a holding member. a diffusion plate provided on the nozzle to diffuse illumination, a suction pad for vacuum suctioning the diffusion plate, and the pad and the holding member for suctioning the diffusion plate of a tool held by the holding member. and moving means for relatively moving the pad and the holding member in a direction in which they approach each other, and moving the holding member relative to each other in a direction in which the pad and the holding member are separated from each other.

(f) Effects According to the structure of claim 1, the suction pad and the suction target member come close to each other by the moving means, and the suction pad suctions the suction target member of the tool held by the holding member. Thereafter, the suction pad and the holding member that have suctioned the member to be suctioned are relatively moved in a direction away from each other by the moving means, and the tool is removed.

According to the structure of claim 2, the suction pad and the diffusion plate are brought close to each other by the moving means, and the suction pad attracts the diffusion plate of the tool held by the holding member. Thereafter, the suction pad and the holding member that have suctioned the diffusion plate are relatively moved in a direction away from each other by the moving means, and the tool is removed.

(f) Example An embodiment of the present invention will be described below based on the drawings.

In FIGS. 1 and 2, (1) is a component mounting device to which the present invention is applicable. (2> is a pair of supply conveyors, (3) is an X table part, (4) is a pair of discharge conveyors, (5) is a Y hex 1 part, (6> is a chip part ( 7), and (8)
is the tool exchange section.

The supply conveyor (2> conveys the printed circuit board (10),
The board (10) is supplied to the X table section (3), and the discharge conveyor (4) transports the printed circuit board (10) discharged from the X table section (3) to be discharged to a downstream device. It is something.

Next, Y Hen part 1 (5) will be explained in detail. In FIGS. 1 to 3, (12) (12) is a mounting head, which is attached to a head nut (14>(14)) fitted to a head ball screw (13) (13), When the ball screw (13) rotates driven by the head drive motor (15) (15), it is guided by the head linear guide (16) (16) (16) (16) and moves in the Y direction. , the chip components (7) supplied from the component supply section (6) are placed on the printed circuit board (1) by the X table section (3).
0).

The mounting head (12) will be explained in detail. In FIG. 3, ri 18) is a nozzle (19) that sucks the chip component (7).
) is a vertically movable body having a mounting head (12) at the tip.
There are 3 rods that can be moved up and down.

(20) is a stopper mechanism that prevents the vertically movable body 18) from falling, and (21) is a stopper mechanism that prevents the vertically movable body 18) from descending.
(22) is a rotating mechanism that rotates the vertically moving body 18) in the θ direction.

(23) is a lighting unit for illuminating the chip component (7).

The structure of the vertically moving body 18) will be explained in detail. In FIGS. 3 and 4, (24) is a tool having a nozzle (19) at the tip, and a component vacuum passage (25) for sucking the chip component (7) is formed inside. and a diffusion plate (26) for diffusing the light beam and irradiating the component (7).
) is provided. The tool (24) has a nozzle (19) and a diffuser plate (26) depending on the size and shape of the part (7).
) are available in many different sizes.

<27) is a shaft that sucks and holds the tool (24), and is composed of an inner cylinder (28) and an outer cylinder (29), and the inner cylinder <2
8) has a component vacuum passage (30) communicating with the component suction vacuum passage (25) of the tool (24), and an inner cylinder (2).
A tool vacuum passage (31) for sucking the tool (24) is formed between the tool (24) and the outer cylinder (29). A pair of leaf springs (32) are attached to the lower end of the outer cylinder (29).
The tool (24) is removably held at the lower end of the shaft (27) by vacuum suction from the tool vacuum passageway (31) and a leaf spring (32).

(34) is a double pipe joint attached to the upper part of the shaft (27), and consists of a rotation guide nut (36) with a flange (35) formed thereon and a nut (37). The rotation guide nut (36) is rotatable with respect to the shaft (27) via a bearing (38), and is connected to the tool vacuum passage (
31), a vacuum vibrator (39) is fitted up to the outer cylinder of the shaft (27).

A groove (40) is carved all around the part of the shaft (27) that the vacuum vibrator (39) reaches, and a part of the groove (40) is opened (40A) l, the shaft ( 2
7) rotates the rotation guide nut (36) by the rotation mechanism (21).
Even if the tool is rotated inside, the tool vacuum passage (31) will not be affected by the opening (4).
OA> and a groove (40) to communicate with a vacuum vibrator (39).

The nut (37) is fixed to the outer cylinder (29) and rotates as the shaft (27) rotates. (41) is a nut O-ring that seals the tool vacuum passage (31) in the nut (37) to prevent vacuum from leaking; (42) (
42) is a rotary nut O-ring that seals the rotary guide nut (36) from the groove (40) through the bearing (38) to prevent vacuum from leaking. The vacuum vibrator (39) and the component suction vacuum passage 25) are each connected to a vacuum source (not shown) via a valve (not shown). Vacuum vibe (
39) is further connected to a compressed air source via a valve (not shown). (43> is a regulated member whose rotation is regulated by a rotation mechanism (22) fixed to the shaft (27).

Next, the stopper mechanism (20) will be explained in detail. (46
) is a stopper lever having a claw part (47) at the lower end, and a mounting plate (49) attached to the head nut (14).
) The upper end is rotatably attached to a solenoid (50), and swings about a support shaft (51) as the solenoid (50) moves back and forth.

In other words, when the solenoid (50) protrudes in a demagnetized state, the claw portion (47) engages the lower surface of the flange (35) and restricts the downward movement of the vertically movable body (18).
When the solenoid (50) is energized and retreats, the claw (47) comes off from the flange (35) and the vertically moving body 1
8) allows for downward movement.

Next, the vertical movement drive mechanism (21) will be explained in detail.

When the vertical movement motor (56>) rotates the vertical movement pole screw (54), the vertical movement plate (57) attached to the vertical movement nut (55) moves from the linear guide (53) provided on the mounting plate (49). ) (53).The vertically movable plate (57) has locking members at three locations that engage with the lower surface of the flange 35) to support the vertically movable bodies (18), (18), and (18), respectively. Stop pins (58) (58) (5g>) are provided, and when the stopper lever (46) is unlocked, the vertically movable body 18) is supported by the stop pin (58) by rotation of the motor (56). It moves up and down while being touched.

Next, the rotation mechanism (22) will be explained in detail. In FIGS. 3 and 4, (60) is a block vertically installed on the mounting plate (49), (61) is a rotating bearing body embedded in the block (60), and ( 62) is a vertically movable guide body that is guided by the rotary bearing body (61) and rotates in the θ direction. The shaft (27) is guided by the vertical movement guide body (62) and can move up and down.

A timing pulley (64) is fitted to the outer periphery of the lower part of the vertical movement guide body (62), and a motor timing pulley (66) is fitted to the lower part of the nozzle rotation motor (65) installed in the block (60). is attached to the shaft. Motor (6
5) drives the vertically movable guide body (62) via both pulleys (64), (66) and a timing belt (67) stretched between both pulleys (64), (66).
performs rotation.

A rotation prevention roller (6
A pair of detents (69) having a rotation stopper (8) are formed, and the regulated member (43) fixed to the shaft (27)
) are engaged with the rollers (68) from both sides to restrict rotation of the shaft (27) in the θ direction. Therefore,
When the vertical movement guide body (62) is rotated by the motor (65>), the shaft (27) and the nozzle (19) are rotated in the θ direction via the rotation stopper (69) and the regulated member (43). Become.

(70) is a board recognition camera that is attached to the mounting head (12) and recognizes the position of the printed circuit board (10).

In Fig. 1 and Fig. 3, (71) and (71) are component recognition cameras, and the nozzle (19) is connected to the component supply section (6).
The chip component (7) that was picked up and taken out by the mounting head (1
2), and the camera (71) recognizes the suction position, posture, lead bending, lead floating, etc.

Two component recognition cameras (71) (71) are installed in parallel, and the installation interval is the same as the interval at which the vertically movable bodies (18) (18) (18) are attached to the mounting head (12). Of the two recognition cameras (71) (71), one has low magnification and is for large parts (7), and the other has high magnification and is for small parts (7) or narrow lead wire spacing. Used to recognize part (7). 2 recognition cameras <71
) (71), the high-magnification camera (71) is installed high to enable more detailed recognition, and the low-magnification camera (71) is installed low to enable recognition from a wider angle. You can. In this embodiment, the right side in FIG. 3 has a low magnification, and the left side has a high magnification camera (71).

Here, the lighting unit (23) attached to the lower part of the mounting head (12) will be explained. The lighting unit (23) is equipped with a chip component (7) that is attracted to the nozzle (19).
) can be recognized by the camera (71), the chip component (7)
It is intended to illuminate. In Figures 3, 5, and 6, (73> is a frame fixedly attached to the mounting plate (49), and pins (75) (75) (75) (7
5) are placed at the four corners. (74) is the nozzle (19
) (19) (19) pin on top (75) (75) (75)
(75) LED for light emission installed on
This is a lighting board with a large number of (76) arranged on the bottom surface, and the part through which the shaft (27) passes and moves up and down is open.

At the bottom of the lighting board (74), one unit diffuser plate (77) is connected to pins (75) (75) (7) at regular intervals.
5) (75), and L E D (76
) is transmitted and diffused to equalize the brightness and darkness depending on the location. The light beam made uniform by the unit diffuser plate (77) is transmitted through the diffuser plate (26) and diffused to become a more uniform light beam, which is then irradiated onto the chip component (7). The unit diffuser plate (77) is also open at the portion through which the shaft (27) passes.

The component (7) can be illuminated even with only the unit diffuser plate (77), but in the case of a small component (7), the portion of the unit diffuser plate (77) that the shaft (27) passes through can illuminate the component (7). Therefore, the small part (7) is equipped with a unit diffuser plate (
Since the diffused light from the unit diffuser plate (77) no longer shines, the diffuser plate (26>) functions to transmit and diffuse the diffused light from the unit diffuser plate (77) again to illuminate the component (7). The illumination light transmitted through the diffuser plate (26) is reflected in the component (7).
A diffuser plate (26) is prepared according to the size of the component (7) so that the entire area is irradiated. The small part (7) can be illuminated with a large diffuser plate (26), but the nozzle (19) that attracts the small part (7) is equipped with a small diffuser plate (26).
26) requires less space. If the diffuser plates (26) are for parts of normal size, they will not come into contact with each other even if they are held by three shafts (27).

Large diffuser plate (26) for even larger parts (7)
If this is necessary, the tool (24) having the large diffuser plate (26) may be held by the vertically movable bodies <18) (18) at both ends. The lighting board (74) requires a larger area for each part (7) than the diffuser plate (26), so if a lighting unit is provided for each vertically moving body (18), the nozzle (19) L because the space between
E D (76)... are arranged and integrated. When recognizing parts for each nozzle (19), the necessary range of LE
Although L E D (76) is designed to emit light, every time a component is recognized, L E D (76)... may all emit light.

Next, the X table section (3) will be explained. In Fig. 1, (81) is an X table on which the printed circuit board (10) supplied to the supply conveyor (2) (2) is placed, and a nut (not shown) that fits into the X ball screw (82) is attached. The X linear guide (84) (84) is attached by rotating the X pole screw (82) by the X motor (83).
Move in the X direction along.

The chip component (7) that has been attracted by the nozzle (19) and moved by the mounting head (12) is moved in the Y direction of the mounting head (12) and in the X direction of the X table (81>).
It is mounted on the printed circuit board (10) on the table (81).

Next, the tool exchange section (8) will be explained in detail. In Figures 1 and 7, (85) is a type of tool (24) placed side by side in the X direction due to the different sizes and shapes of the nozzle (19) and diffuser plate (26). This is a tool table for storage. A recess (86) is formed in the tool table (85) to match the size of the diffuser plate (26) so that the tool (24) does not shift. A through hole (87) is open for tool exchange.

Several types of tool tables (85) are prepared depending on the type of tools (24), and are replaceably attached to the movable table (88). As shown in FIG.
) is provided with locating pins (78) at two locations, and the tool table (85) has a locating hole (79) into which one of the bins (78) fits without any gaps, and the other one. An elongated hole (80) into which is inserted is bored.

The tool table (85) has locating pins (78) (78) mounted on the moving table (88) in the positioning hole (79) and the elongated hole (
80) and positioned in the position.
)(89)(89)(89) is fixed with a claw cap.

A work receiving box (90) is further attached to the moving table (88), so that chip parts (7) determined to be defective by the parts recognition camera (71) can be placed side by side in the X direction. The moving table (88) has a tool pole screw (
91) is attached to the tool nut (92) that fits, and the tool motor (93) is attached to the pole screw (91).
) is rotated to move in the X direction along the tool linear guide (94). Therefore, the tool table (8
1) and the work receiving box (90) will move in the X direction.

In FIG. 9, (95) is a cylinder fixedly provided on a base (96), and a pad holding member is connected to a rod (97) of the cylinder (95) via an attachment piece (98). (
99) is installed.

The pad holding member (99) is cylindrical and has a suction pad (100) penetrated therein for exchanging the tool (24), but the suction part of the suction pad (100) is widened to form a stepped part, and the suction pad (100) is expanded to form a step. A spring (
101) engages with the stepped portion to urge and support the suction pad (100) upward. The upper surface of the suction pad (100) has a recess formed in the center so that the nozzle (19) escapes when the cylinder (95) comes into contact with the lower surface of the diffuser plate (26) of the tool (24) to be replaced when the cylinder (95) is activated. ing.

Inside the suction pad (100) there is a vacuum air passage for vacuum suction (
104) are formed and open at several locations on the upper surface of the suction pad (100). The vacuum air passage (104) is connected from below the suction pad (100) to a vacuum source (not shown) via a valve (not shown).

The through hole (87) opens at a position large enough to accommodate the suction pad (100) that has been moved upward by the operation of the cylinder (95). The suction pad (100) is attached to the mounting head (1
The mounting head (12) is located at the intersection of the trajectory through which the nozzle (19> held in
) are provided, so there are also two suction pads (100).
There are several. When the cylinder (95) is activated, the suction pad (100) is attached to the lower surface of the diffusion plate (26) of the tool (24) held by the vertically movable body (18) with a spring (
101), it is located at a position where it comes into contact with the other end of the force.

Next, the component supply section (6) will be explained. In FIGS. 1 and 10, the component supply unit (6) in this embodiment is a tape component supply unit that supplies the chip components (7) that have been completely accommodated on the tape (105)! (106) are arranged in parallel. There are many types of chip components (7) supplied by the tape component supply device (106), and usually one supply device (106) is used.
06) supplies one type of chip component (7), and a large number of supply devices (106) supply various kinds of components (7), but adjacent supply devices (106) are arranged in parallel with a predetermined interval. It is set up.

Vertical moving body 18 attached to the mounting head (12)
) is mentioned above, but the vertically moving body (1
8) (18) The installation interval of (18) matches the installation interval of the supply device (106), and the installation interval of the tool (24)
) is suitable for the part (7), the three nozzles (19) (19) (19) can descend at the same time and pick up the part (7>(7)(7)) at the same time. However, if there are supply devices (106) for supplying large parts (7), they cannot be installed at equal intervals.

The operation of the above configuration will be explained below.

First, the exchanging operation of the tool (24) will be explained based on FIGS. 11 to 20. The tool (24) is replaced in a timely manner depending on the type of part (7) to be picked up.

First, the mounting head (12) holding the tool (24) to be replaced is driven by the motor (15) and is attached to the linear guide (1) via the pole screw (13) and nut (14).
6) in the X direction and select the tool you want to exchange (24
) is positioned above the suction pad (100). At this time, the moving table (85) to which the tool table (85) is fixed
8) is driven by the motor (93) and moves in the X direction along the linear guide (94) via the pole screw (91) and nut (92), and the tool (2) of the mounting head (12)
The recess (86) on which the suction pad (10
0), as shown in Figure 11.

Then, the stopper lever (46), which is engaged with the flange (35) of the vertically movable body 18) holding the tool (24) to be replaced, is released from the flange (35) by the operation of the solenoid (50). Then, the pole screw (54) is rotated by the drive of the motor (56), and the vertical moving plate (57) is lowered along the linear guide (53) via the nut (55) and supported by the locking pin <58>. vertically moving body (
18) descends while being guided by the vertical movement guide body (62).

When the tool (24) has been lowered to the predetermined position shown in FIG. 12, the motor (56) stops and the tool (24>) stops.

Then, the cylinder (85) is actuated, the rod (97) rises, the suction pad (100) passes through the through hole (87) via the mounting piece (98) and the pad holding member (99), and the diffusion plate rises. The nozzle (19) escapes and comes into contact with the lower surface of (26). The rod (97) is raised further by the spring (1).
Due to the urging force of 01), the suction pad (100) moves against the diffusion plate (
26) and rises to the state shown in FIG. 13.

At this time, a valve (not shown) is switched and compressed air is supplied into the vacuum vibrator (39), the groove (40), and the tool vacuum passage (31), and the vacuum ventilation passage (104) is supplied with compressed air.
The diffuser plate (26) is suctioned to the suction pad (100) by a vacuum source (not shown) through the suction pad (100). After this, cylinder (9
5) is activated and the rod 97) is lowered, the tool (2) is lowered.
4) is pressed by the compressed air in the tool vacuum passage (31) and moves against the urging force of the leaf spring (32).
0) and descends. Then, the tool (24) is placed in the recess (86) of the tool table (85) as shown in FIG. At this time, each pulp is switched and the inside of the tool vacuum passage (31) and vacuum ventilation passage (104) is at atmospheric pressure.

Thereafter, the vertically movable body (18) is driven by the motor (15) and rises to the position shown in FIG. 15. Then the tool table (
85) is driven by the motor (93) and moves vertically.
8) Place the type of tool (2) you want to use in the waiting position.
4) Position it as shown in Figure 16.

Then, the vertical moving body (18) is moved to the 17th position by the motor (15).
As shown in the figure, when the tool vacuum passage (31) is suctioning a vacuum, the suction pad (100) rises due to the operation of the cylinder (95) and the tool (24) is sucked into the vacuum ventilation passage (31).
104) while adsorbing the shaft (27)
are fitted as shown in Fig. 18. Then, the tool (24
) is the urging force of the leaf spring (32) and the tool vacuum passage (31)
It is held in the shaft 27) by vacuum suction through the shaft.

After this, the suction pad (100) is moved to the vacuum ventilation channel (104).
The suction via the cylinder (95) is stopped, and the cylinder (95) is lowered as shown in FIG. 19, and the vertically movable body (18) is raised as shown in FIG. 20 by the motor (15). Thus Toolk 24)
The exchange operation ends.

In addition, if you want to replace the tool table (85) in order to place a diffuser plate (26) of another size, please use the bolts (8
9), remove the tool table (85), and insert the new tool table (85) into the positioning hole (79) and slotted hole (80).
is fitted to the locating pin (78) and placed @, and then tighten the bolt (
89) can be used for tightening.

Next, the operation of mounting the chip component (7) onto the printed circuit board (10) will be explained. At this time, the tool was replaced as described above, and the rightmost nozzle (19
) and diffuser plate 26) are for large parts (7), and the central nozzle (19) and diffuser plate (26) are for small parts (7).
) and the left end nozzle 19) and diffuser plate (26) are for small parts (7).

First, the printed circuit board (10) is placed on the supply conveyor (2) (2).
) and supplied to the X-table section (3), the Benont substrate (10) is placed on the X-table (81).

Next, the mounting head (12) is mounted on the linear guide (16) by rotation of the ball screw (13) driven by the motor (15).
) to the parts supply section (6). At this time,
All three vertically movable bodies 18) are locked by stopper levers (46). First, for example, the rightmost nozzle (19) out of the three nozzles (19) supplies the tape component supply device (106) with the large component (7) to be taken out next.
), the right end solenoid (50) is energized, the stopper lever (46) is attracted, the claw portion (47) is disengaged from the flange (35), and the vertically movable body (18) is unlocked.

The vertically moving body (18) is then driven by the motor (56).
The part (7) descends while being supported by the locking pin (58).
The parts are adsorbed by a vacuum source (not shown) in the vacuum passage (25) 2.
The component is attracted to the tip of the nozzle (19) through the vacuum passage (30) and rises.

Then, the solenoid (SO) protrudes and the stopper lever (4
6) swings about the support shaft (51), the claw portion (47) engages with the lower surface of the flange (35), and the vertically movable body (18) is locked. Next, the mounting head (12) moves and the center nozzle (19) is located above the supply device (106) that supplies the small part (7) to be taken out next. In the same way, the part (7) is attracted, and then the vertical moving body (18) is locked to the stopper lever (46).
t.

Ru.

Next, in the same way as described above, the left end nozzle (19) performs a suction operation for the small part (7) to be taken out next.

After the three nozzles (19) adsorb the component (7), the mounting head (12) is moved to the recognition camera (7) by the motor (15).
1) (71) Move to the sky. At this time, the rightmost nozzle (19) is located above the low-magnification recognition camera (71) on the right, and the center nozzle (19) is located above the high-magnification camera (71) on the left.

Then, the right end and center stopper levers (46) (46
) unlocks the vertical movable bodies (18) (1B) by energizing the solenoids (50) (50), and the right end and center vertical movable bodies (18) (18) descend by driving the motor (56). Then, when the large component (7) attracted by the rightmost nozzle (19) is located at the focal position of the recognition camera (71), the nozzle (19) stops. Then, L E D (7
6) ... emits light and the light beams diffused by the unit diffuser plate (77) and the diffuser plate (26) are irradiated onto the component (7), and the recognition camera (71) detects the adsorption position and orientation of the component (7). Recognize. Next, the small part (7) attracted to the central nozzle (19) by the drive of the motor (56) is positioned at the focus position of the left recognition camera (71).

Then, the LEDs (76) in the necessary range around the central shaft (27>) emit light, and the component (7) is illuminated through the unit diffuser plate (77) and the diffuser plate (26). 7) is recognized. Next, the motor (56) (
7) When driven, the mounting plate (49) moves upward, and the vertically movable body 18) at the right end and center moves upward. The vertically movable body (18) is locked by demagnetizing the solenoid (50) and swinging the stopper lever (46).

After that, the mounting head (12) moves to the right in Fig. 3, and the left end nozzle (19) that is sucking the small part (7) is positioned above the left recognition camera (71). Then it stops. Then, the left end solenoid (50) is energized, the vertically movable body (18) is unlocked by the stopper lever (46), and the vertically movable body (18) is lowered by the drive of the motor (56), and the recognition camera (71) is moved. The component (7) to be attracted by the nozzle (19) is positioned at the focal point of the nozzle (19).

Then, the LED (76) around the shaft (27) on the left end
)(76)... emits light, and the recognition camera (71) recognizes the part (7). Thereafter, the vertically movable body 18) moves upward and is locked by the stopper lever (46).

In this way, the parts (7) are recognized by the recognition cameras (71) (71).
) Through the rotation of the pole screw (82), the linear guide (8
4) in the X direction.

The part (7) is ranked based on the recognition result of the recognition camera (71) (71).

In addition, if there is an angular deviation in the θ direction, the motor (65) rotates the pulley (64) by the angle to correct the angular deviation.
The vertical movement guide body (62) is rotated along the rotation bearing body (61) via the timing belt (66) and the timing belt (67). At this time, the rotation of the rotation bearing body (61) causes the regulated member (43) to stop rotating (69).
), and the nozzle (19) rotates by the correction angle. When the nozzle (19) rotates, the nut (37) rotates together with the shaft (27), but the rotation guide nut (36) does not rotate, and the shaft (27) is guided by the bearing (38) and rotates with the rotation guide nut (36). 36) It will rotate inside.

After that, the right end solenoid (50) is energized, the stopper lever (46) is released, the nozzle (19) is lowered by the drive of the motor (56), and the printed circuit board (10) is moved.
Part (7>) is attached to.

The nozzle cage 9) that has been installed is moved upward by the drive of the motor (56). Thereafter, the vertically moving body (18) that has moved upward is locked by the stopper lever (46). Thereafter, the parts 7) sucked by the remaining two nozzles (19) are also attached to the printed circuit board (10) in the same manner as described above. At this time, each vertically movable body 18) is locked to the stopper lever (46).

When the mounting operation of the component (7) is completed on all three pieces as described above, the mounting head (12) selects the next component (7) to be mounted.
Move to the parts supply section (6>) to take out.

Next, if the component (7) to be taken out is stored in three adjacent supply devices (106) and the diffuser plate (26) and nozzle (19) are for the component (7), the mounting head (
12) moves so that each nozzle (19) is positioned above each supply device (106) and then stops. Then, the stopper levers (46) of all three vertically movable bodies (18) (18) (18) are unlocked, and the three vertically movable bodies (18) (18) <18) are driven by the motor (56). Start descending at the same time. And each nozzle (19) is connected to the part (7).
), the vertically moving body (18) (18) (18) becomes 3
This upward moving stopper lever 46) is connected to the vertically moving body (t8).
)(t8) (18) is locked.

After this, the mounting head (12) uses the component recognition camera (71)
After moving to the sky and performing the same recognition operation as described above,
It moves to the X table section (3) and performs the same component mounting operation as described above.

The above-mentioned operations are repeated to perform the component mounting operation, but in some cases, such as when the held nozzle (19) cannot pick up the component (7) to be taken out, one or more There are cases where only the two nozzles <19> pick up the component (7>) and the component is mounted.

Further, depending on the case, the tool (24) may be replaced at a timely manner in the manner described above.

In addition, when the recognition camera (71) recognizes the part (7) sucked by the nozzle (19), if it is a defective product such as a bent lead or a floating part, it will not be attached to the printed circuit board (10) and will be rejected. It is placed on the box (90). When a defective part (7) is placed on the work receiving box (90), be careful not to place it on top of the previously placed defective part (7). Mobile platform (8
8) is driven by the motor (93) and the linear guide (94
〉 before being placed.

The defective parts (7) placed in the work receiving box (90) can be taken out by the worker, corrected, and reused.

For correcting defective parts (7), a separate correction station may be provided, and the parts may be automatically transferred from the work receiving box (90) to the station, corrected, and then reused.

When the mounting of components onto the printed circuit board (10) placed on the X table (81) is completed as described above, the board (10) is transferred to the discharge conveyor (4), and transports and discharges the substrate (10).

(G) Effects of the Invention By virtue of the above-described features, the present invention allows tools to be replaced without the need for an extensive mechanism.

Further, according to the present invention, when performing component recognition, there is no need to make any special modifications to the tool such as providing a hook.

[Brief explanation of drawings]

Fig. 1 is a plan view of a component mounting device to which the present invention is applied;
The figure is a front view of the device, Figure 3 is a perspective view of the mounting head, Figure 4 is a longitudinal cross-sectional view of the vertically movable body, Figure 5 is a partially cutaway plan view of the lighting unit, and Figure 6 is the illumination unit. A partially cutaway front view, FIG. 7 is a perspective view of the tool exchange section, FIG. 8 is a perspective view showing the structure in which the tool table is attached to the moving table, FIG. 9 is a side view of the main parts of the tool exchange section, FIG. 10 is a perspective view of the parts supply section, and FIGS. 11 to 20 are side views showing tool exchange operations. (1>...Component mounting device, (8)...Tool exchange section, (12)...Mounting head, (18>...Vertical moving body, (19)...Nozzle, (24)... ...Tool, (26)...Diffusion plate, (27)...Shaft, (28)...Inner cylinder, (29>...Outer cylinder, (
32)...Plate spring, (95)...Cylinder, (
96)...Base, (97)...Rod, (9
8) Mounting piece, (99) Pad holding member, Vacuum ventilation path. (100)...Suction pan (104)

Claims (2)

[Claims] (1) In a component mounting device in which a tool having a nozzle for suctioning a component is exchangeably held by a holding member, a suction pad for vacuum suctioning the tool and the suction pad provided on the tool are suctioned. A member to be attracted, and the pad and the holding member in a state in which the pad and the holding member are moved relatively in a direction in which they approach each other in order to cause the member to be attracted to the suction pad, and the member to be attracted is adsorbed. A component mounting device characterized by comprising a moving means for relatively moving the parts in a direction of separating the parts. (2) The position of the part can be recognized by the recognition device while the part is attracted to the nozzle, and the tool with the nozzle is replaceably held by the holding member. a diffusion plate provided on the nozzle for diffusion; a suction pad that vacuum-adsorbs the diffusion plate;
In order to attract the diffusion plate of the tool held by the holding member, the pad and the holding member are moved relative to each other in a direction toward each other, and the pad and the holding member with the diffusion plate adsorbed are moved together. A component mounting device characterized by comprising a moving means for relatively moving in a separating direction.