JPH04345097A - Rotary device of electronic-component suction nozzle - Google Patents

Abstract

PURPOSE:To provide, at low costs, a device in which a suction nozzle sucking an electronic component is turned around its axial line. CONSTITUTION:When a connection member 338 is lowered, a second coupling member 322 is coupled to a suction nozzle 94. When a shaft 370 is turned in this state, a fan-shaped gear 372, a follower gear 296 and a second coupling part 322 are turned, a suction nozzle 94 is turned and the rotary posture around the axial line of the suction nozzle of an electronic component is changed by 90 deg. to the positive direction or the opposite direction. The suction nozzle 94 is coupled to and detached from the second coupling member 322 in such a way that the action of a cam and a roller is converted into the movement in the axial-line direction of the second coupling member 322 by means of an arm, an ascending and descending rod and the like. It is turned in such a way that the roller is coupled alternatively to the right and left groove wall faces of a groove whose width is changed to the lengthwise direction of a grooved cam.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotating device for rotating an electronic component suction nozzle about its axis, and in particular to reducing the cost of the device.

0002

2. Description of the Related Art Electronic component suction nozzles are widely used for taking out electronic components from a component supply device, transporting them to a member to be mounted, etc., but there are cases where it is necessary to rotate them around their axis. For example, if the orientation of the electronic component in the rotational direction about the axis of the suction nozzle is different between when the electronic component is picked up by the suction nozzle in the electronic component supply device and when it is attached to the target member, the suction nozzle should be It is necessary to rotate the electronic components so that they are in an appropriate position for installation.

0003

[Problem to be solved by the invention] However, conventionally,
The suction nozzle is rotated using a motor as a driving source, which has the problem of high equipment cost. The invention as set forth in claim 1 has been accomplished with the object of providing an inexpensive rotating device for rotating an electronic component suction nozzle. In addition to the problem of claim 1, the invention as set forth in claim 2 is directed to providing a rotating device capable of reciprocating a suction nozzle. In addition to the problem of claim 1, the invention set forth in claim 3 has been made with the object of providing a rotation device that can rotate a suction nozzle in multiple stages at different angles. .

0004

[Means for Solving the Problems] In order to solve the above-mentioned problems, a rotating device according to the invention of claim 1 is provided. (b) a first engaging member connected by a rotation transmission means; supported and engaged with the first engagement member;
(c) a cam, a cam follower, and a motion conversion mechanism that converts movement of the cam follower into movement of the second engagement member in a direction parallel to its axis of rotation; (d) a cam, a cam follower, and converting movement of the cam follower into rotation of the second engaging member; and a rotational drive device having a motion conversion mechanism. The rotating device according to the invention of claim 2 includes:
In order to solve the above problem, the rotational drive device is configured to rotate the second engagement member in both forward and reverse directions. In order to solve the above problem, the rotation device according to the third aspect of the invention is configured such that the rotation drive device rotates the second engagement member in a plurality of stages at angles of different magnitudes.

[0005]

[Operation] In the rotating device according to the invention of claim 1, when the suction nozzle is rotated, the second engaging member is moved in a direction parallel to its axis of rotation and engaged with the first engaging member. It is then rotated around its own axis. As a result, the first engaging member is rotated about its axis, and the suction nozzle is also rotated. In the rotating device according to the invention of claim 2, the second engaging member is rotated in both forward and reverse directions while being engaged with the first engaging member, so that the suction nozzle can be rotated in both the forward and reverse directions. be rotated. In the selection device according to the third aspect of the present invention, the second engaging member is rotated at different angles in a plurality of steps, so that the suction nozzle is also rotated at different angles in a plurality of steps.

[0006]

As described above, according to the invention of claim 1, the suction nozzle is rotated by rotating the second engaging member while being engaged with the first engaging member, and Both the axial movement and rotation of the member are performed by cams, and the device can be constructed at a lower cost than when a motor is used to rotate the suction nozzle. A drive source such as a motor is required to operate the cam and cam follower, but the configuration of the cam allows the second engagement member to engage the first engagement member while sharing the drive source with other devices. , the movement of the cam follower that performs the detachment operation and rotation operation can be achieved at desired times, and the cost of the device can be reduced compared to the case where a motor is used as a dedicated drive source. According to the rotating device according to the second aspect of the invention, the rotating device can be constructed at low cost, and various effects can be obtained by rotating the suction nozzle in both forward and reverse directions. For example, if the suction nozzle rotates by an angle smaller than 360 degrees, it is essential to rotate the suction nozzle in both forward and reverse directions in order to rotate the suction nozzle to a predetermined rotational posture. It can be used for. Further, when the suction nozzle rotates 360 degrees or more, the suction nozzle can be quickly rotated to a predetermined rotational posture. When the rotational posture of the suction nozzle is changed, there are two types of rotation angles, large and small, depending on whether the rotation direction is normal or reverse, and if you select the rotation direction with the smaller rotation angle, the suction The rotation angle of the nozzle is small, and the suction nozzle can be quickly rotated to a predetermined position. Claim 3
According to the rotating device according to the invention, the device can be configured at low cost, and the suction nozzle can be quickly rotated to a predetermined posture. If the rotation angle of the second engagement member is one step, and the rotation angle for setting the suction nozzle in a predetermined rotational posture is an integral multiple of the rotation angle of the second engagement member, the suction nozzle is rotated in that rotation angle. In order to obtain the correct posture, it is necessary to perform multiple intermittent rotations, which takes time. For it,
If the rotation angle of the second engagement member is different in multiple stages, and it is supposed to rotate at the minimum unit rotation angle of the suction nozzle and an angle that is an integral multiple of the minimum unit rotation angle, then By combining them, a predetermined rotational posture can be achieved with a minimum number of stops, and the suction nozzle can be rotated efficiently.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. In FIG. 7, 10 is an X-axis table that moves in the X-axis direction (left-right direction in FIG. 7). This X-axis table 10 is guided by a guide rail 12 and moves using a servo motor (not shown) as a drive source. A Y-axis table 14 is placed on the X-axis table 10 and moves in a Y-axis direction perpendicular to the X-axis direction in a horizontal plane. A nut 16 fixed to the Y-axis table 14 is screwed onto a screw shaft 18, and the screw shaft 18 is rotated by the rotation of a servo motor via a timing pulley 20 and a timing belt 22, so that the Y-axis table 14 is attached to a guide rail. 24 and move. A board positioning and supporting device 28 is provided on the Y-axis table 14 to position and support the printed circuit board 26. The printed circuit board 26 can be moved to a position where components are mounted by moving the X-axis table 10 and the Y-axis table 14. The components are sequentially positioned at the component mounting positions. Although not shown, a printed circuit board loading conveyor and a printed circuit board unloading conveyor are provided on both sides adjacent to the board positioning and supporting device 28 in the X-axis direction. The substrate is transported, supplied to the substrate positioning and supporting device 28, and discharged.

[0008] Above the board positioning and supporting device 28, an electronic component mounting device 30 is provided. As shown in FIG. 8, the main body of the electronic component mounting apparatus 30 includes a frame 34 supported by a column (not shown) and a base plate 36 arranged in the X-axis direction. A cylindrical cam 38 is fixed to the lower surface of the frame 34, and a rotating shaft 40 is supported by the frame 34 and the cylindrical cam 38 so as to be rotatable around a vertical axis and immovable in the axial direction. The upper end of this rotating shaft 40 is made to protrude above the frame 34, and a plurality of rollers 44 are attached to a large diameter disc part 42 provided at the protruding end so as to be rotatable around a vertical axis. The grooves 48 of the cam 46 are engaged with each other in sequence. Further, as shown in FIG. 10, the lower end portion of the rotating shaft 40 is made to protrude from the cylindrical cam 38, and a large diameter fitting portion 50 is formed, and a turntable 52 is fitted therein. This turntable 52 is supported by a base plate 36 so as to be rotatable around a vertical axis and immovable in the axial direction, and a pin 54 extending downward is fitted into a fitting portion 50. The rotation of the rotating shaft 40 is transmitted. Therefore, when the cam 46 is rotated by a motor (not shown), the plurality of rollers 44 are sequentially engaged with the grooves 48 as the cam 46 rotates, and the rotating shaft 40 is rotated, the turntable 52 is rotated intermittently by 30 degrees. It will be.

Twelve sets of component mounting heads 56 are attached to the turntable 52 at equal angular intervals on one circumference centered on its rotation axis, and the parts supplying heads 56 are moved to respective component supply positions by intermittent rotation of the turntable 52. , part posture 90
position, component orientation detection position, component ejection position, component orientation correction position, component mounting position, suction nozzle detection position, and nozzle selection position (Fig. 8 shows two positions for convenience of illustration).
A set of component suction heads 56 is shown as a representative, and in FIG. 9, only the position of the component mounting head 56 is shown by a chain double-dashed line). The structures of these component mounting heads 56 are the same, and one of them will be representatively explained. The component mounting head 56 is fitted to the turntable 52 via a pair of guide rods 58 (see FIG. 11) so as to be slidable in the vertical direction. A roller 62 (see FIG. 8) is attached to a connecting plate 60 that connects the upper ends of these guide rods 58 so as to be rotatable around an axis extending in the radial direction of the turntable 52, and is formed on the outer peripheral surface of the grooved cam 38. It is engaged with the groove 64. The height of the groove 64 is gradually changed in the circumferential direction as shown in FIG. 8, and when the turntable 52 is rotated, the component mounting head 56 is raised and lowered.

The lower ends of the pair of guide rods 58 are connected by a connecting member 68. Connecting member 68
has a T-shape as shown in FIG. 9, and a lower end portion of a cylindrical piston 70 is fixed as shown in FIG. 10 to a portion between the portions where the pair of guide rods 58 are connected. The upper end side of the piston 70 is fitted airtightly and slidably in the axial direction into a cylinder bore 72 formed in the turntable 52 and extending in the vertical direction.
The cylinder bore 72 is fitted airtightly and slidably in the axial direction into a small diameter guide cylinder 74 that is airtightly fixed in the cylinder bore 72.
An air chamber 76 is formed inside. This air chamber 76 is connected to an air supply source (not shown) through an air passage 78 formed in the turntable 52.
The piston 70 is urged downward by supplying air to the
The roller 62 is always pressed against the lower groove wall surface of the groove 64 to prevent the component mounting head 56 from wobbling. When the component mounting head 56 moves up and down due to the rotation of the turntable 52, the piston 70 moves up and down along the guide tube 74 as shown in FIG. 10, and the volume of the air chamber 76 increases and decreases. of air enters and exits through the air passage 78, and the roller 62 is kept pressed against the groove wall surface of the groove 64 with a constant force.

As shown in FIG. 15, the connecting member 68 is also provided with a fitting portion 82 with a circular cross section extending downward, into which a nozzle holder 84 is fitted rotatably about its axis. A male thread is provided protruding from the lower surface of the fitting part 82 , and a washer 86 is fitted to the tip end passing through the nozzle holder 84 , and a nut 88 is screwed to prevent the nozzle holder 84 from falling out from the connecting member 68 . is prevented. As shown in FIG. 9, the nozzle holder 84 is provided with a sector-shaped arm portion 90 that extends outward in the radial direction of the rotating body 40. First, second, and third suction nozzles 92, 94, and 96 are respectively attached to cylindrical holding portions 91 provided at equal angular intervals along an arc. These suction nozzles 92 to 96 are for suctioning electronic components of different sizes, but have the same structure, and the second suction nozzle 94 will be described as a representative example.

As shown in FIG. 15, the second suction nozzle 94 has a nozzle body 98 that is vertically slidably and rotatably fitted into the holding portion 91 and is axially slidable on the nozzle body 98. The suction tube 100 is fitted into the suction tube 100. The nozzle body 98 is urged by a spring 102 to protrude upward from the holding portion 91 , and the tapered outer circumferential surface 103 is pressed against the tapered inner circumferential surface 104 of the holding portion 91 . On the other hand, the suction tube 100 is urged by the spring 105 to protrude downward from the nozzle body 98, and
The limit of its protrusion is defined by the stopper 106. In addition, the adsorption tube 100 has a passage 10 in the nozzle body 98.
8, a passage 110 in the arm part 90, a passage 112 in the connecting member 68, a passage 114 in the guide tube 74, and the fitting part 50 of the rotating shaft 40 (see FIG. 10), the rotary valve 118 (see FIG. 8), and It is connected to a vacuum source via a hose (not shown) connected to the rotary valve 118 and an electromagnetic directional control valve, so as to supply vacuum to the suction pipe 100. The three suction nozzles 92 to 96 have different diameters of the suction tube 100, and the second suction nozzle 94 in the middle suctions the electronic component 119 that is the largest. A light emitting plate 120 is attached to the suction tube 100, and is configured to receive ultraviolet light and emit visible light when the suction nozzle 94 detects the holding posture of the electronic component 119. A device for detecting this holding posture is disclosed in Japanese Unexamined Patent Publication No. 2-22
This is the same as the detection device described in Japanese Patent No. 4951, and the description thereof will be omitted because it has little relation to the present invention.

Furthermore, the holding portion 91 of the nozzle body 98
As shown in FIG. 15, a first engaging member 121 is provided at an upper end portion that protrudes from the spring 102 and receives one end of the spring 102. The first engaging member 121 has a circular cross section, and is provided with a tapered fitting portion 122 whose diameter gradually decreases toward the upper side. In this embodiment, the first engaging member 121 is provided concentrically and integrally with the suction nozzle 94, so that the first engaging member 121 can rotate around its own axis on the nozzle holder 84. It is held and connected to the suction nozzle 94 by a rotation transmission means.

The three suction nozzles 92 to 96 are alternatively moved to the use position by the rotation of the nozzle holder 84. In this embodiment, the use position is as shown in FIG. The rotation axis of the body 84 (point A1 in the figure)
It is set at a position indicated by point A2 on a straight line L2, which is located at a position rotated 6 degrees from a straight line L1 connecting the rotational axis of the turntable 52 (indicated by point O) and the rotational axis of the turntable 52 (indicated by point O). Each of the 12 sets of component mounting heads 56 provided on the turntable 52 has three suction nozzles 92.
- 96, each of which is provided with a light emitting plate 120 that emits light to the electronic component, but the light emitting plate 120 of the second suction nozzle 94, which attracts the largest electronic component, provides sufficient light to the electronic component. In this case, the use position is set to the above position so that the suction nozzles of adjacent component mounting heads 56 do not collide with each other.

The rotational position of the nozzle holder 84 is determined by positioning the positioning pin 124 (see FIG. 15) provided on the connecting member 68 into the three recesses 126 provided on the nozzle holder 84,
128, 130. As shown in FIG. 14, the connecting member 68 is provided with a protrusion 132 that protrudes toward the center of the turntable 52, and a positioning pin 124 is vertically slidable at a position on the protrusion 132 on the straight line L1. It is fitted. As shown in FIG. 15, a conical engagement protrusion 134 whose diameter gradually decreases downward is formed at the lower end of the positioning pin 124, and a spring 136 causes the engagement protrusion 134 to protrude downward from the protrusion 132. It is biased in the direction. Locating pin 1
24 also has a rod 138 erected in an upwardly extending direction, the upper end of which projects from the protrusion 132, and is provided with a large-diameter engagement head 140. On the other hand, as shown in FIG. 9, the nozzle holder 84 is provided with a fan-shaped part 142 that protrudes toward the center of the turntable 52, and the recesses 126, 128, and 130 are spaced apart by 26 degrees to hold the nozzle holder 84. First to third suction nozzles 92 to 9
6 are respectively provided at positions for positioning them in the state in which they are moved to the use position.

Further, the nozzle holder 84 is formed with a cylindrical portion 148 that surrounds the washer 86 and the nut 88, which prevents the nozzle holder 84 from falling off the connecting member 68, and is centered on its axis. The cylindrical portion 148 has a tapered groove 150 that is open on its lower surface and whose diameter gradually increases toward the bottom.
is formed. The tapered grooves 150 are formed at separate positions in the diametrical direction of the cylindrical portion 148, and three sets of two tapered grooves 150 are provided at intervals of 26 degrees.

As mentioned above, three suction nozzles 92 to 96
are selectively moved to the use position by rotation of the nozzle holder 84, but which suction nozzle is in the use position is determined by the reflection provided on the holding part 91 that holds the suction nozzles 92 to 96. Detected by shining light onto the surface. Among the three holding parts 91, as shown in FIG.
Two reflective surfaces 154 are provided on the outer surface in the radial direction of the turntable 52 of the holding part 91 that holds the second suction nozzle 94.
, 156 are arranged vertically. Furthermore, as shown in FIG. 9, the holding part 91 that holds the first suction nozzle 92 is provided with one reflective surface 158 at the same height as the lower reflective surface 156, and holds the third suction nozzle. One reflective surface 160 is provided on the holding portion 91 at the same height as the upper reflective surface 154 . These reflective surfaces 154 to 160 are provided at an angle of 15 degrees with respect to the outer circumferential surface of the holding part 91 so that the lower side is farther away from the holding part 91. It has a higher reflectance.

As shown in FIG. 12, the reflective surfaces 154 to 160 are irradiated with light by two sets of fiber sensors 162 and 164 provided at the suction nozzle detection position. A support base 166 is attached to the lower surface of the base plate 36 by a mounting member 168, and fiber sensors 162 and 164 are provided on this mounting member 168 in a line in the vertical direction. These fiber sensors 162 and 164 are respectively fixed to mounting members 168 in main bodies 170 and 171, and are connected to fiber cables 172 and 164 from main bodies 170 and 171, respectively.
174 is extended. fiber cable 17
A light emitting fiber and a light receiving fiber are accommodated in the three suction nozzles 92 to 9 of the component mounting head 56 moved to the suction nozzle detection position.
6, the suction nozzle is positioned in the usage position, and is oriented to emit and receive light at right angles to the reflective surfaces located above and below the suction nozzle, and the suction nozzle type is detected. The light emitted by the fiber sensors 162 and 164 also hits parts of the holding part 91 other than the part provided with the reflective surface, but the reflective surfaces 154 to 160 are silver and the other parts are black. 160 are inclined with respect to the outer peripheral surface of the holding part 91, so that the reflective surfaces 154 to 1
While the strong specularly reflected light from 60 is received by the light receiving fiber, the reflected light from portions other than the reflecting surface is weak and the specularly reflected light does not enter the light receiving fiber. and,
When both light receiving fibers of the two fiber sensors 162 and 164 receive light, it is determined that the second suction nozzle 94 is used, and when only the upper fiber sensor 162 receives light, the third suction nozzle is used. If it is determined that the first suction nozzle 96 is being used and only the lower fiber sensor 164 receives light, it is determined that the first suction nozzle 92 is being used, and if neither fiber sensor 162 or 164 is receiving light. It is determined that some kind of abnormality has occurred.

As a result of detecting the type of the suction nozzle positioned at the use position in this way, if the nozzle is different from the nozzle that will be used next to suction the component, the nozzle selection device at the nozzle selection position A suction nozzle is selected (changed). Inside the rotating shaft 40, there is a
As shown in FIG. 15, a cylindrical rotating member 176 is fitted to be rotatable around its axis, and its lower end passes through the turntable 52, and a rod 178 is movable up and down inside. Penetrating. rod 1
The upper end of the lever 78 projects from the rotating member 176, and one end of the lever 180 is connected by a shaft 182 so as to be rotatable around a horizontal axis. This lever 180
The other end is rotatably supported on a horizontal shaft 184 attached to the frame 34, as shown in FIG. A cam follower (not shown) is attached to the longitudinally intermediate portion of the lever 180 and is brought into contact with the outer peripheral surface of the cam 186 by the biasing force of a spring (not shown).
, and the rod 178 is raised and lowered accordingly.

The lower end of the rod 178 projects from the rotating member 176, as shown in FIG. 15, and is rotatably connected to one end of a rotating arm 190 by a horizontal shaft 192. The rotating arm 190 has a shaft 196 attached to a bracket 194 fixed on the support base 166 at its longitudinal intermediate portion, as shown in FIGS. 15 and 16.
A roller 200 is rotatably supported around a horizontal axis by a roller 200, and a yoke portion at the other end is attached to a lifting member 198 that is movable in the vertical direction on a bracket 194 so as to be rotatable around a horizontal axis. is engaged with. The elevating member 198 is fitted to two guide pins 202 erected on the bracket 194 so as to be able to rise and fall, and the engaging body 204 is fitted so that it can slide in the vertical direction and rotate around its own axis. has been done. Engagement body 204
has a circular cross-sectional shape, and its axis is concentric with the cylindrical portion 148 of the component mounting head 56 positioned at the nozzle selection position. The upper end of the engaging body 204 is made to protrude upward from the elevating member 198, a plate-shaped bracket 206 is fixed, and the upper end portion of the engaging body 204 protrudes from the elevating member 198 by a spring 208 disposed between the elevating member 198 and the bracket 206. It is biased in the direction. As shown in FIGS. 15 and 17, on the upper surface of the bracket 206, tapered protrusions 210 whose width becomes narrower toward the upper side are provided at two locations separated in the diametrical direction. Further, the bracket 206 is fixed in a direction extending toward the rotating member 176, and a roller 212 is attached to the protruding end thereof so as to be rotatable around an axis in the vertical direction.

The elevating member 198 provided with the engaging body 204 in this manner is moved by the rod 17 due to the rotation of the cam 186.
8 is raised and lowered, and the rotating arm 190 is rotated to move up and down, and the tapered protrusion 210 of the engaging body 204 fits into the tapered groove 150 provided in the nozzle holder 84.
be forced to leave. A U-shaped stopper member 214 is fixed to the upper surface of the lever 180 with the U-shaped opening facing downward, and a stopper bar 216 engages with this stopper member 214 to prevent rotation of the lever 180. This prevents the engaging body 204 from engaging the nozzle holder 84. The stopper bar 216 is provided on the frame 34 so as to be movable in a direction parallel to the axis of rotation of the lever 180, and is at a position where it engages with the stopper member 214 and prevents rotation of the lever 180 by energizing and demagnetizing the solenoid. Then, the lever 180 is moved to a position where it is separated from the stopper member 214 and allows the lever 180 to rotate.

As shown in FIGS. 15 and 17, the elevating member 198 also has a positioning release bar 220 erected on its upper surface, which moves up and down together with the elevating member 198. An engaging portion 222 is formed at the upper end of the positioning release bar 220 and is bent in the opposite direction to the rotating member 176 side and toward the center of the elevating member 198, so that the component mounting head 56 can be positioned at the nozzle selection position. When the protrusion 132 of the connecting member 68 and the engaging head 1 of the positioning pin 124 are positioned in the
It is fitted into the gap between 40 and 40.

Turntable 52 of the rotating member 176
As shown in FIG. 15, a drive lever 230 is attached to the lower end portion protruding from the drive lever 230 so as to be immovable relative to each other, immovable in the axial direction, and extending outward in the radial direction. The tip of the drive lever 230 is a yoke portion 232 as shown in FIG. When the drive lever 230 rotates, the engaging body 204 is rotated.

On the other hand, the turntable 5 of the rotating member 176
As shown in FIGS. 13 and 14, a lever 236 is fixed to the upper end portion protruding from 2 in a horizontally extending state. A roller 238 is attached to the protruding end of this lever 236 so as to be rotatable around the vertical axis, and a yoke portion 2 at the tip of another lever 240 is attached to the frame 34 so as to be rotatable around the vertical axis.
42 so as to be relatively movable in the vertical direction. The frame 34 has a guide rod 244 extending vertically.
A sleeve 246 is rotatably and axially slidably fitted therein, and the lever 240 is fixed to the lower end of the sleeve 246. Also, lever 2
A roller 250 as a cam follower is attached to the lower side of the portion adjacent to the yoke portion 242 of 40 so as to be rotatable around an axis in the vertical direction, and is moved as the grooved cam 252 rotates. There is.

A stepped groove 254 is formed in the grooved cam 252, as shown in FIGS. 18 and 19. The stepped groove 254 is formed by a first groove 256 and a second groove 258 having different depths and widths overlapping each other in the radial direction of the grooved cam 252. Although the first groove 256 and the second groove 258 each have a width that changes along the longitudinal direction, the second groove 258 is wider and is formed on the upper side. The first groove 256 has a narrowest part, which is slightly larger than the diameter of the roller 250, a part where the groove width gradually increases symmetrically from both longitudinal ends of this part, and the width of the gradually increasing part is the widest. It consists of a part and a part of the same width. The width of the second groove 258 is the narrowest, and the width of the second groove 258 is the same as the narrowest part of the first groove 256, and the width of the gradually increasing part of the first groove 256 is symmetrical from both longitudinal ends of that part. It consists of a part whose width gradually increases and a part whose width is the same as the widest part of the gradually increasing part. first and second grooves 256,
Each part of the grooves 258 has the same dimension in the longitudinal direction and is formed at the same position in the longitudinal direction, and is formed on the left side of each groove 256, 258 (when the groove cam 252 rotates clockwise in FIG. 18 in the direction indicated by the arrow, groove wall surfaces 260, 262 on the left side toward the upstream side in this moving direction, and groove wall surfaces 264, 266 on the right side (on the right side when facing the upstream side in the moving direction). are flush with each other at the narrowest part of the groove.

The roller 250 has first and second grooves 256,
258, in a direction substantially parallel to the axis of the grooved cam 252. Moving. As a result, the levers 240, 236 are rotated and the rotating member 176 is rotated,
The drive lever 230 is connected to the engaging body 204 via the roller 212.
Rotate.

The first groove 256 and the second groove 258 have different widths, and the rotation angle of the engaging body 204 differs depending on which groove it engages with. In this embodiment, the width of the gradually increasing portion of the first groove 256 is such that the engaging body 204 can be rotated by 26 degrees, and the width of the gradually increasing portion of the second groove 258 is a dimension that rotates the engaging body 204 by 5 times.
It is sized to rotate twice, and when changing the rotation angle of the engaging body 204, the depth of insertion of the roller 250 into the stepped groove 254 is changed. As shown in FIG. 20, an air cylinder 270 is vertically attached to a portion of the frame 34 that supports the sleeve 246 in a vertically movable manner. , a pair of engagement rollers 276 are rotatably attached with a gap in the vertical direction, and the sleeve 2
An engagement plate 278 (see FIG. 14 and FIG. 20) fixed to the upper end of 46 is sandwiched therebetween. This engagement plate 278 is fixed to a lever 280 fixed to the upper surface of the sleeve 246. Therefore, when the piston rod 272 is expanded or contracted, the sleeve 246 is raised or lowered via the engagement plate 278, and the lever 240 is also raised or lowered, and the roller 2
50 is raised and lowered to a depth where it engages with the first groove 256 and a depth where it engages with the second groove 256. In this embodiment, the sleeve 246 and the air cylinder 270 constitute a fitting depth changing device.

Further, the roller 250 is connected to the first and second cam grooves 2.
The direction of rotation of the engaging body 204 changes depending on which of the left and right groove wall surfaces 260 to 266 of the engaging body 204 is engaged with. As shown in FIG. 14, an air cylinder 284 is attached to the protruding end of the lever 280 fixed to the upper surface of the sleeve 246.
A piston rod 286 is connected by a ball joint, and by selectively communicating the two air chambers of the air cylinder 284 with an air supply source and the atmosphere, the piston rod 286 is expanded and contracted, and the lever 280 is rotated. be moved. As a result, the sleeve 246 is rotated, the lever 240 is also rotated, and the roller 250 is rotated.
is pressed against either of the left and right groove wall surfaces 260 to 266. In this state, air continues to be supplied to one air chamber,
The roller 250 is always kept pressed against one of the groove wall surfaces.

In this embodiment, if the grooved cam 252 rotates clockwise in FIG. 13 and moves to the right in FIG.
When engaged with the groove wall surface 264 on the right side of 56,
The engaging body 204 is rotated 26 degrees clockwise in FIG. 17, and when engaged with the left groove wall surface 260, is rotated 26 degrees counterclockwise. On the other hand, roller 2
50 is engaged with the right groove wall surface 266 of the second groove 258, the engaging body 204 is rotated 52 degrees clockwise, and when engaged with the left groove wall surface 262, the engaging body 204 is rotated 52 degrees clockwise. will be rotated 52 degrees counterclockwise. By rotating the engaging body 204 while being engaged with the cylindrical portion 148 of the nozzle holder 84, the nozzle holder 84 is rotated and a suction nozzle is selected. Union 204 and engagement body 20
A device that engages and disengages the cylindrical portion 148 and rotates the nozzle selection device constitutes a nozzle selection device.

The first to third suction nozzles 92 to 96 rotate the electronic components picked up at the component supply position about the axis of the nozzle in both forward and reverse directions with respect to the orientation when the electronic components are mounted on the printed circuit board 24. If there is a difference of 90 degrees, the rotational attitude is changed by 90 degrees at the part attitude 90 degree change position. As shown in FIG. 3, the base plate 36 has a component orientation 9
3 of the component mounting head 56 moved to the 0 degree change position
Of the suction nozzles 92 to 96, a shaft-shaped main body 292 of an engagement unit 290 is placed at a position concentric with the axis of the suction nozzle positioned at the use position, and is rotatable around the axis and in a direction parallel to the axis. movably fitted. The main body of the electronic component mounting device 30 also serves as the main body of the rotating device. A small-diameter driven gear 296 is provided at the protruding end of the base plate 36 of the main body 292, and an Oldham joint 298 is provided below the driven gear 296. The Oldham joint 298, as shown in FIG.
It has a first moving member 302 and a second moving member 304 which are held movably in two mutually orthogonal directions in a horizontal plane by a holding member 300 fixed to the main body 292. Between the holding member 300 and the first moving member 302, a ball 310 is accommodated in grooves 306 and 308 formed in these members 300 and 302, respectively, and the first moving member 302 moves in one direction in the horizontal direction. It is like that. Further, between the first moving member 302 and the second moving member 304, a ball 316 is accommodated in grooves 312, 314 formed in these members 302, 304, respectively, and the second moving member 304 is connected to the first moving member. It is arranged to move in a direction perpendicular to the moving direction of 302 in a horizontal plane. This second moving member 304 is urged upward by a spring 318 disposed between it and the holding member 300, and has a tapered hole 320 that is open on its lower surface and that corresponds to the tapered fitting portion 122. This tapered hole 320 functions as an engaging portion. The portion in which the tapered hole 320 is formed is the second engaging member 322, and the second moving member 304 and the second engaging member 322 are integrally provided.

On the other hand, the upper end of the main body 292 of the engagement unit 290 is rotatably but immovably connected to a moving member 330 as shown in FIG. It can be raised and lowered by. The moving member 330 is supported by a guide member 334 fixed to the upper surface of the base plate 36 so as to be movable up and down. Further, the rotating arm 332 is attached to the frame 34 by a shaft 336 so as to be rotatable around a horizontal axis, and the moving member 330 is connected to one end of the rotating arm 332 by a connecting member 338 rotatably attached. A lower end of a lifting rod 340 is rotatably connected to the other end of the rotating arm 332, and an upper end of the lifting rod 340 is connected to a separate shaft attached to the frame 34 by a shaft 342 so as to be rotatable around a horizontal axis. The arm 344 is rotatably connected to one end of the arm 344.

A roller 346 as a cam follower is attached to the arm 344 around the horizontal axis.
Spring 3 stretched between 44 and frame 34
The cam 350 is engaged with the outer circumferential surface of the cam 350 by a biasing force 48 . A cam surface is formed on the outer peripheral surface of the cam 350, and when the roller 346 moves along the cam surface, the arm 344 is rotated, and the elevating rod 340 is moved up and down. As a result, the rotating arm 332 rotates, the moving member 330 is raised and lowered, and the second engaging member 322 is moved in the axial direction, so that the tapered hole 320 is fitted into the tapered fitting portion 122. At this time, even if there is a shift in the stop position of the component mounting head 56 and a shift in the suction nozzle positioned at the use position, the first and second moving members 302 and 304 of the Oldham joint 298 move in the horizontal direction. Then, the tapered hole 320 is fitted into the tapered fitting portion 122 concentrically. In this embodiment, the first engagement member 121
The second engaging member 322 is engaged with and disengaged from the suction nozzle that is integrally and concentrically provided, and the moving member 330, the rotating arm 332, the connecting member 338, the lifting rod 340, and the arm 344 are connected to the roller. 346 into movement in a direction parallel to the rotational axis of the second engaging member 322, the cam 350 and the roller 3
Together with 46, it constitutes an engagement/disengagement device.

Note that a stopper plate 356 is fixed to the upper surface of the rotating arm 332, and a stopper bar 358 comes into contact with this stopper plate 356, thereby preventing the rotating arm 332 from rotating. The mating member 322 is prevented from moving in the axial direction. The stopper bar 358 is provided on the frame 34 so as to be movable in the horizontal direction, and the stopper plate 358 is moved by energizing and demagnetizing the solenoid.
56 and a retracted position.

The driven gear 296 provided on the main body 292 of the engagement unit 290 is meshed with a sector-shaped gear 372 fixed to a rotating shaft 370, as shown in FIG. The rotating shaft 370 is inserted into a cylindrical member 374 supported by the frame 34 and the base plate 36 so as to be rotatable about an axis in the vertical direction, and a sector gear 372 is fixed to the lower end protruding from the cylindrical member 374. ing. Also,
The upper end of the rotating shaft 370 is made to protrude from the cylindrical member 374, and is fixed in such a direction that the lever 376 extends in the horizontal direction, as shown in FIG. A roller 378 as a cam follower is attached to the protruding end of the lever 376 so as to be rotatable about an axis in the vertical direction, and is moved by rotation of the grooved cam 380.

A groove 382 is formed in the grooved cam 380 as shown in FIGS. 5 and 6. The width of this groove 382 changes in the longitudinal direction. That is, the groove 382 has a narrowest part, which is slightly larger than the diameter of the roller 378, a part where the groove width gradually increases symmetrically from both longitudinal ends of this part, and the width of the gradually increasing part is the widest. It consists of a part and a part of the same width. The rollers 378 are located on the left and right sides of the grooved cam 380 (the grooved cam 380 is
If it rotates clockwise and moves to the right as shown by the arrow in FIG. , moves in the axial direction of the grooved cam 380 when engaging the portion where the width of the groove gradually increases. As a result, the lever 376 is rotated and the rotating shaft 370
Then, the fan-shaped gear 372 rotates, the driven gear 296 is rotated, and the second engagement member 322 is rotated about its axis. In this embodiment, the driven gear 296, the rotating shaft 370, the sector gear 372, and the lever 376 constitute a motion conversion mechanism that converts the movement of the roller 378 into the rotation of the second engagement member 322, and the grooved cam 380 and the roller 378 constitutes a rotational drive device, and the width of the gradually increasing portion of the cam groove 382 is the same as that of the second engaging member 322.
The dimensions are such that it rotates 90 degrees.

The direction of rotation of the second engaging member 322 changes depending on which of the left and right groove wall surfaces 384 and 386 of the groove 382 the roller 378 engages with. A piston rod 394 of an air cylinder 392 is connected via a bracket 390 to the longitudinally intermediate portion of the lever 376 to which the roller 378 is attached.
By selectively communicating the air chambers with an air supply source and the atmosphere, the piston rod 394 is expanded and contracted, the lever 376 is rotated, and the roller 378 is moved between the left and right groove walls 384 and 386. pressed to one side. In this state, air continues to be supplied to one of the air chambers, and the roller 3
78 is always kept pressed against one of the groove wall surfaces. In this way, the groove wall surface that the roller 378 engages changes depending on which of the two air chambers air is supplied to, but in this embodiment, the piston rod 394
When the roller 378 is contracted, the right groove wall 3
86, the second engagement member 322 is rotated 90 degrees counterclockwise in FIG. The mating member 322 will be rotated 90 degrees clockwise. In this embodiment, the air cylinder 392 moves the roller 378 to the left and right groove wall surfaces 384, 3 of the groove.
This constitutes a selective biasing means for selectively pressing against the 86.

Note that the grooved cam 380 is rotated by a motor (not shown), which rotates the turntable 52, and this motor also rotates the cam 350, which constitutes the locking/disengaging device. It is also a driving source for the cam 252 for rotating the engaging body 204 and the cam 186 for moving the engaging body 204 in the axial direction. Each device is composed of separate elements but shares a driving source, and has 12 sets of component mounting heads 56.
movement to each working position, engagement and disengagement of the second engagement member 322 with the first engagement member 121, rotation of the second engagement member 322, and engagement and disengagement of the engagement body 204 with the cylindrical portion 148. , cams 380, 350, 252, and 186 are configured so that the engagement bodies 204 rotate at appropriate times.

In the electronic component mounting apparatus configured as described above, the component mounting head 56 picks up the component at the component supply position, and then moves to a 90-degree component orientation change position, a component orientation detection position, a component discharge position, and a component orientation correction position. The electronic component is moved to a component mounting position through various positions, etc., and electronic components are mounted on the printed circuit board 26. After installation, at the suction nozzle detection position,
The currently used suction nozzle is detected, and it is determined whether the type is the same as the suction nozzle that will be used next based on the installation program. If the type is different, the suction nozzle that will be used next at the nozzle selection position is determined. The suction nozzle to be used is selected (changed).

First, the engaging body 204 is engaged with the nozzle holder 84, and this engagement is carried out by the roller 250.
This is done while the groove is engaged with the narrowest part of the groove. When the elevating member 198 is raised and the tapered protrusion 210 of the engaging body 204 is fitted into the tapered groove 150, the positioning release bar 220 is raised and the engaging portion 222 thereof is raised.
engages with the engaging head 140 of the positioning pin 124, disengages the positioning pin 124 from the recess, and removes the nozzle holder 84.
is in a state where it can rotate.

When the engaging body 204 is rotated with the rotation of the grooved cam 252, the nozzle holder 84 is rotated, and the direction and angle of rotation are as follows.
The roller 250 is determined based on the detected type of suction nozzle and the type of suction nozzle to be used next, and is engaged with the groove wall surface of the groove whose rotation direction and rotation angle are obtained. This selection is made when the roller 250 is engaged with the narrowest portion of the groove, as shown by adding an A to the reference number of the roller 250 shown by a two-dot chain line in FIG. grooves 256, 25
8, the groove wall surface 260~
266 and the roller 250 is small, and even if the engaged groove wall surface is changed from left to right, there is little impact when the roller 250 contacts the groove wall surface. , 266 are flush with each other, the roller 250 is placed in the first groove 256 or the second groove 258.
This is because it can be moved to the depth where it engages without any problem.

For example, if the second suction nozzle 94 is currently being used and the first suction nozzle 92 is to be used next, it is necessary to rotate the nozzle holder 84 counterclockwise by 26 degrees. , and the roller 250 is engaged with the left groove wall surface 260 of the first groove 256 . And roller 25
0 engages with the groove width gradually increasing portion as indicated by B in FIG. One suction nozzle 92 is moved to the use position. When the grooved cam 250 rotates and the roller 250 engages with a portion with a constant groove width as shown with C, the rod 178
is raised, and the engaging body 204 is lowered to disengage the tapered protrusion 210 and the tapered groove 150, and the rotation of the engaging body 204 is no longer transmitted to the nozzle holder 84. At this time, as the engaging body 204 descends, the positioning release bar 220 is also lowered, and the positioning pin 12
4 is lowered by the force of the spring 136, and the engaging protrusion 134 fits into the recess 126 to position the nozzle holder 84. Therefore, the grooved cam 252 rotates further,
When the roller 250 reaches the part where the groove width gradually decreases as indicated by D, the engaging body 204 rotates in the opposite direction, but the nozzle holder 84 is moved to the use position by the predetermined suction nozzle. The engaging body 204 is rotated by the same angle in the opposite direction to that when the nozzle holder 84 was rotated, and returns to the position before nozzle selection.

If the suction nozzle to be used is not changed, the stopper bar 216 is engaged with the stopper member 214 to prevent the lever 180 from rotating. Since the cam 186 that rotates the lever 180 is constantly rotating, the lever 180 is prevented from rotating so that the engaging body 204 does not engage the nozzle holder 84 when the suction nozzle is not changed. Therefore, the grooved cam 252 is constantly rotating, and even when the suction nozzle to be used is not changed, the engaging body 252
04 is rotated, and this rotation causes the nozzle holder 84 to rotate.
will not be transmitted to.

Furthermore, when the component mounting head 56 picks up an electronic component at the component supply position, the rotational posture of the electronic component around the axis of the suction nozzle, and the rotational posture when the electronic component is mounted on the printed circuit board 26 at the component mounting position. Toga,
If there is a 90 degree difference in the forward or reverse direction,
At the part attitude 90 degree change position, the attitude is changed by 90 degrees. In this case, when the component mounting head 56 is moved to the component posture 90 degree changing position, the axis of the suction nozzle positioned at the use position, that is, the axis of the first engaging member 121 and the axis of the second engaging member 322 are almost concentric. First, the second engaging member 322 is lowered, and the tapered hole 320 is fitted into the tapered fitting portion 122. The grooved cam 380 that rotates the second engaging member 322 is constantly rotating, and the second engaging member 322 is engaged with the suction nozzle by the roller 378 as shown with A in FIG.
This is done while the groove 382 is engaged with the narrowest part. Also, at this time, the groove wall surface 3 with which the roller 378 engages
84,386 selections are made. The direction in which the suction nozzle should be rotated, forward or backward, is determined by the type of electronic component that has been suctioned based on the placement program.
The roller 378 is engaged with one of the left and right groove wall surfaces 384 and 386 so that this direction can be obtained.

Now, if the attitude of the electronic component is to be rotated 90 degrees in the positive direction (clockwise in FIG. 2), the roller 37
8 is engaged with the left groove wall surface 384. When the grooved cam 380 rotates, the roller 378 comes into engagement with the portion of the cam groove 382 where the groove width gradually increases as indicated by B, the rotating shaft 370 is rotated, and the fan-shaped gear 372 rotates, the driven gear 296 is rotated, the second engaging member 322 is rotated, and the suction nozzle is rotated 90 degrees in the forward direction. roller 37
As shown in 8 with C, when the groove width reaches a certain portion, the second engaging member 322 is raised and disengaged from the suction nozzle. Therefore, when the roller 378 reaches the part where the groove width gradually decreases as shown by the letter D, the second engaging member 322 will rotate in the opposite direction, but the suction nozzle will not rotate to a predetermined position. The second engaging member 322 is rotated by the same angle in the opposite direction to that when the suction nozzle was rotated, and returns to the position before the nozzle rotation.

Note that when the rotational attitude of the electronic component is not changed, the stopper bar 358 is engaged with the stopper plate 356 to prevent the rotation arm 332 from rotating. Since the cam 350 that rotates the rotation arm 332 is constantly rotating, the second engagement member 322 is rotated so as not to engage the first engagement member 121 when the rotational posture of the electronic component is not changed. This prevents the arm 332 from rotating. therefore,
The grooved cam 380 also rotates all the time, and the second engaging member 322 is rotated even when the rotational attitude of the electronic component is not changed, but this rotation is not transmitted to the suction nozzle.

As described above, in this embodiment, the rotation of the suction nozzle is caused by the action of the cams 350, 380 and the rollers 346, 378 as cam followers.
2 is engaged with the suction nozzle and rotated, and the device can be constructed at a lower cost than when a dedicated motor is used.

Furthermore, in this embodiment, the device for engaging and disengaging the second engaging member 322 from the suction nozzle and the device for rotating the second engaging member 322 use a motor as a common driving source. However, each movement is independently transmitted to the second engagement member 322. Therefore, for example, if the member that transmits movement in the axial direction to the second engagement member also serves as the member that transmits rotation,
Both the inertia force of the components of the engagement/disengagement device and the inertia force of the components of the rotary drive device are applied to the member, and vibrations are likely to occur during movement, but if they are transmitted separately. The inertial force of the motion conversion mechanism is small, vibration is small, and the second engaging member 322 can be engaged, disengaged, and rotated with high accuracy, and the accuracy of correcting the rotational posture of the electronic component can be improved.

Furthermore, in this embodiment, the first engaging member 121 and the suction nozzle are provided concentrically and integrally,
Because it is a rotation transmission means, they are connected by a rotation transmission means such as a gear, and compared to a case where the shaft centers are different, the number of parts is reduced, and the dimension in the direction perpendicular to the shaft center is reduced. It's small enough.

[0049] In the above embodiment, the rotational attitude of the electronic component was changed only by 90 degrees in the forward or reverse direction at the 90-degree component attitude change position.
If you repeat this change operation twice, it will become 1 in both forward and reverse directions.
It can be changed by 80 degrees.

Furthermore, the grooved cam 380 for rotating the second engaging member 322 has two stages having different depths and widths in the longitudinal direction, as in the case of selecting the three suction nozzles 92 to 96. A groove may be formed so that the second engaging member 322 can be rotated by 90 degrees and 180 degrees in both forward and reverse directions. In this case, similarly to the nozzle selection device, a depth changing device is provided to change the insertion depth of the grooved cam 380 of the roller 378 into the stepped groove.

Furthermore, the grooved cam for rotating the second engaging member 322 has a stepped groove formed by three or more overlapping grooves having different depths and widths, and the wider the groove, the higher the groove is. , and the rotation angle of the second engaging member 322 may be changed in three or more stages.

Furthermore, the rotating device according to the present invention can be used not only for changing the rotational attitude of an electronic component but also for rotating a suction nozzle.

[0053] In addition, the present invention can be practiced with various modifications and improvements based on the knowledge of those skilled in the art without departing from the scope of the claims, such as by changing the configurations of the cam and cam follower. .

[Brief explanation of drawings]

FIG. 1: Component posture 9 in the upper part of an electronic component mounting apparatus equipped with a rotating device for an electronic component suction nozzle, which is an embodiment of the present invention.
It is a front sectional view at a 0 degree change position.

FIG. 2 is a plan view of the portion of the electronic component mounting apparatus shown in FIG. 1;

FIG. 3 is a front sectional view of the lower part of the electronic component mounting apparatus at a position where the component posture is changed by 90 degrees.

FIG. 4 is a front sectional view showing an Oldham joint provided in the rotating device.

FIG. 5 is a developed view of a grooved cam that is a component of the rotational drive device of the rotating device.

FIG. 6 is a sectional view taken along line VI-VI in FIG. 5;

FIG. 7 is a perspective view showing the electronic component mounting device together with a printed circuit board conveying device.

FIG. 8 is a front sectional view of a main part of the electronic component mounting apparatus.

FIG. 9 is a plan view showing the arrangement of a component mounting head of the electronic component mounting apparatus.

FIG. 10 is a front sectional view showing the lower part of the electronic component mounting apparatus.

FIG. 11 is a diagram illustrating how the component mounting head is supported by a turntable.

FIG. 12 is a front view showing a fiber sensor provided at a suction nozzle detection position of the electronic component mounting apparatus.

FIG. 13 is a front cross-sectional view at a nozzle selection position on the upper part of the electronic component mounting apparatus.

14 is a plan view of the portion shown in FIG. 13 of the electronic component mounting apparatus.

FIG. 15 is a front sectional view showing the component mounting head at a nozzle selection position of the electronic component mounting apparatus.

FIG. 16 is a plan view showing a connection between a rotating arm and an elevating member of a nozzle selection device that selects a suction nozzle held by the component mounting head.

FIG. 17 is a plan view showing engagement between the drive lever and the engagement body of the nozzle selection device.

FIG. 18 is a developed view of a grooved cam that is one element constituting the nozzle selection device.

[Figure 19] XVIII-XVIII in Figure 18
FIG.

FIG. 20 is a front view showing a fitting depth changing device constituting the nozzle selection device.

[Explanation of symbols]

30 Electronic component mounting device 34 Frame 36 Base plate 56 Parts mounting head 84 Nozzle holder 92 First suction nozzle 94 Second suction nozzle 96 Third suction nozzle 121 First engaging member 122 Taper fitting part 296 Driven gear 320 Tapered hole 322 Second engaging member 332 Rotating arm 338 Connecting member 340 Lifting rod 344 Arm 346 Roller 350 cam 370 Rotation axis 372 Sector gear 376 Lever 378 Roller 380 Groove cam

Claims (3)

[Claims] 1. A rotation device for rotating a suction nozzle that is rotatably supported by a nozzle holder around its own axis and that sucks and holds an electronic component, the rotation device being rotatably supported by the nozzle holder around its own axis. A first engaging member supported and connected to the suction nozzle by a rotation transmission means, and a first engaging member rotatable about an axis concentric with the axis of the first engaging member and parallel to the axis. a second engaging member supported movably in the direction and having an engaging portion that can be engaged with and disengaged from the first engaging member; a cam; a cam follower; and movement of the cam follower by the second engaging member. an engagement/disengagement device that engages and disengages a second engagement member from the first engagement member, comprising a motion conversion mechanism that converts the movement of the member in a direction parallel to the axis of rotation thereof; a cam; and a cam follower; A rotation device for an electronic component suction nozzle, comprising: a rotation drive device including a motion conversion mechanism that converts movement of the cam follower into rotation of the second engagement member. 2. Claim 1, wherein the rotational drive device rotates the second engaging member in both forward and reverse directions.
A rotating device for an electronic component suction nozzle described in . 3. The rotating device for an electronic component suction nozzle according to claim 1, wherein the rotational drive device rotates the second engaging member in a plurality of stages at angles of different magnitudes.