JPH0435098A - Component mounting device - Google Patents

Abstract

PURPOSE:To realize fine adjusting of component positioning jaw by constituting a shaft for at least one of a pair of component positioning jaws and inducing micro motion at the free end of the component positioning jaw from variation of angle. CONSTITUTION:Eccentric shaft 80 of a component positioning jaw 61a rotates to mainly cause vertical displacement of the component positioning jaw 61a. Eccentric shaft 80 of a component positioning jaw 61b rotates to mainly cause lateral displacement of the component positioning jaw 61b. Consequently, practical purpose can be achieved by providing only one of a pair of component positioning jaws with an adjusting mechanism.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an apparatus for mounting surface-mounted components on a circuit board.

(b) Conventional technology To mount surface mount components on a circuit board, a vacuum suction type pick-and-place device is usually used. Some devices have component positioning jaws on the head that performs pick-and-place operations to center the component around the nozzle.

One example is the one described in JP-A-62-111496.

(c) Problems to be Solved by the Invention The present invention is intended to enable fine adjustment of the component positioning jaws in the above-mentioned component mounting apparatus.

) means to solve the problem In the present invention, the component mounting device is equipped with the following configuration.

(a) A spindle width that is arranged vertically and has a vacuum suction path inside; (c) A nozzle that is installed at the lower end of the spindle and communicates with the vacuum suction path at the time of installation; A power means (d, l) that is swingably supported by a structure that supports the spindle so as to be able to move up and down, and that centers the parts that are attracted to the nozzle by moving their tips close together. , a pair of component positioning jaws (e); a power means (f) for causing the component positioning jaws to open and close; forming a support shaft for at least one of the pair of component positioning jaws; Eccentric shaft that provides slight movement of the free end.

(e) Operation When the eccentric shaft is rotated, the fulcrum of the component positioning jaw moves, and the free end of the component positioning jaw is also displaced accordingly. This allows fine adjustment.

(f) Example Hereinafter, one embodiment will be described based on the drawings.

Overall composition FIG. 1 shows a schematic configuration of a component mounting apparatus 10.

The component mounting device 10 has a box-shaped base 11, on which an XY stage 20, a head section 30, and a nozzle exchange section 14 are mounted.
Components such as 0, a conveyor section 150, a substrate support section 160, and a first component supply section 170 are arranged. 180
is a second component supply section placed beside the base 11.

A first imaging section 191 and a second imaging section 192 are attached to the head section, and a third imaging section 1 is installed beside the conveyor section 150.
93 are arranged. Next, each component will be explained in detail.

XY Stage The XY stage 20 is supported high above the base 11 by supports 21 rising from the four corners of the base 11. 22 is a bridge part that forms part of the XY stage 20,
The upper ends of the two pillars 21 are connected to each other in the direction of the short side of the base 11. A linear slide guide 23 is also a part of the XY stage 20, and connects the upper ends of the two pillars 21 in the long side direction of the base 11. Two linear slide guides 23 support an X-movement block 24.

The X-movement block 24 is moved along the linear slide guide 23 by a ball screw 25 hooked between the two bridge parts 22 and a motor 26 that rotates the ball screw 25. The X-movement block 24 has a built-in Y-movement unit that supports the head section 30 and moves it in a direction perpendicular to the linear slide guide 23. The movement mechanism of the Y-movement unit is also based on a ball screw and a motor, similar to the X-movement block 24.

Head Section The head section 30 is supported in a suspended state by the XY stage 20, and is provided with a mechanism shown in FIGS. 3 and below inside a part of the cover. That is, in FIG. 3, 31 is a vertically arranged spindle, which is supported at the center of a hollow shaft 32 by a slide bearing 33 so as to be able to slide in the axial direction, that is, to be able to move up and down. For the hollow shaft 32,
It is rotatably supported in the frame structure 34 via a bearing 35. That is, the spindle 31 is capable of vertical movement and rotation, and uses the vertical movement to pick and place parts, and the rotation to orient the parts in a predetermined direction.

The mechanisms of vertical movement and rotation will be described later.

The spindle 31 is constructed by joining two upper and lower pipes together, and has a vacuum suction path 36 in the center. A flange 37 and a joint holder 38 are fixed to the upper end of the spindle 31 in a stacked manner in this order. A rotary joint 39 is attached to the joint holder, from which a vacuum hose 40 extends horizontally. In order to keep the direction of the vacuum hose 40 constant, in other words, to prevent the vacuum hose 40 from rotating even if the spindle 31 rotates, the following measures have been taken. That is, the ring 41 is placed outside the joint holder 38. A bearing 42 is interposed between the ring 41 and the joint holder 38, and the tongue 41 is connected to the joint holder 38.
It can be rotated freely.

A stay 43 shown in Fig. 1 is fixed to the upper surface of the ring 41, and the joint 39 passes through the stay 43, whereby the ring 41 and the joint 39 are connected so as not to rotate with each other. 4
4 is a plate-shaped bracket fixed to the side of the ring 41;
A vertical groove 45 is formed from the lower edge, and on both sides of this groove 45,
A roller 46 is attached that rotates around a horizontal axis.

This roller 46 is connected to a lever (
(described later) to stop the rotation of the ring 41 and, in turn, the rotation of the joint 39. As seen in FIG. 4, a tension coil spring 47 is stretched between the ring 41 and the frame structure 34, and applies a downward force to the spindle 31.

The lower end of the spindle 31 is tapered and the nozzle 50 is removably fitted therein.

At the same time, the vacuum suction path 36 communicates with the nozzle 50.

Reference numeral 51 denotes a pair of levers pivotally supported on the outer surface of the spindle 31, which engages a roller 52 at the tip with a groove 53 on the outer surface of the nozzle 50 (FIG. 13) to prevent the nozzle 50 from falling off. . A tension coil spring 54 is located between the pair of levers 51.
is stretched over the lever 51, so that the roller 52
A force is generated that causes the nozzle 50 to come into elastic contact with the nozzle 50. nozzle 50
can be replaced with other types prepared in the nozzle replacement section 140.

A square mount base 60 as shown in FIG. 8 is formed at the lower end of the hollow shaft 32, and two pairs of component positioning jaws 618, 61b are mounted on the mount base 60 as shown in FIG.

62a and 62b are each pivotably supported in a vertical plane. Part positioning jaws 61a, 61b
, 62a, 62b are arranged in space as shown in FIGS. 4, 5, and 9. That is, the pair of component positioning jaws 61a and 61b and the pair of 62a and 62b are respectively pivotally supported on two right-angled sides of the mount base 60, and as a result,
Jaw tips 63 of component positioning jaws 61a, 61b
and the jaw tips 6 of the component positioning jaws 62a, 62b.
4 will sandwich the parts from mutually orthogonal directions.

The opening/closing mechanism of the component positioning cages B-612, 51b, 62a, and 62b is as follows.

In addition, the parts positioning jaws 61a and 61b are also 62a162.
Since the opening/closing mechanism is also the same in case 2, only the component positioning jaws 61a and 61b will be explained here. 1st
As seen in Figure 0, the component positioning jaw 61a,
A tension coil spring 65 is stretched above the center of swing of the jaw tip 63.
63 are energized in the direction away from each other. Protrusions 66a, 66b are formed on opposing sides of the component positioning jaws 61a, 61b, also located above the pivot center. The protrusions 66a and 66b overlap in the depth direction of the paper in FIG. 10, and the roller 68 of the slider 67 scoops up the overlapping portion. When the slider 67 slides upward along the outer surface of the hollow shaft 32, the first
As shown in FIG. 1, the jaw tips 63 and 63 move closer to each other, and if the slider 67 moves downward, the jaw tips 63 and 63 move away from each other. A flange cylinder 69 fitted on the outside of the hollow shaft 32 causes the slider 67 to slide.

The flange tube 69 and the slider 67 are tension coil springs 70.
When the flange tube 69 is pulled up, the slider 67 also rises. As shown in FIG.
Two rollers 73 are vertically spaced apart from each other and are pivotally supported in a vertically elongated hole 72 formed here. 7
Reference numeral 4 denotes a cover fixed to the 7-lunge tube 69 by screws 75, which fits into the recess of the upper extension 71 and functions to maintain the slider 67 on the outer surface of the hollow shaft 32. The cover 74 has legs 76 through which screws 75 pass, and the legs 76
passes through the elongated hole 72.

The upper end of the cover 74 engages with the flange cylinder 69, thereby preventing the cover 74 from rotating about the screw 75. In addition, the protrusion 77 on the back surface of the cover 74 inserts the roller 73 between it and the seven-lunge tube 69 to ensure smooth movement of the slider 67.
This is a holder that prevents removal and retains b.

The component positioning jaws 61a, 61b, 62a, and 62b are provided with adjustment mechanisms to finely adjust the positions of the swing ends. Taking the component positioning jaws 61a and 61b as an example, the explanation will be based on FIGS. 60, and a first eccentric part 82 and a second eccentric part 83 located on the outside of the mount base 60.A bearing 84 is provided on the outside of the first eccentric part 82. The second eccentric part 83 has a larger diameter than the first eccentric part 82, and serves to prevent the bearing 84 from being pulled out, and supports the component positioning jaws 61a and 61b through the bearing 84. It has a flat part 85 on the holder 78, which can be rotated by holding it with a spanner.
The phase of eccentricity of the second eccentric part 83 is the same as that of the second eccentric part 83, and the direction of the first eccentric part 82 can be seen by looking at the second eccentric part 83 from the outside. The eccentric shaft 80 is fixed to the mount base 60 by a bolt 87 passing through the shaft center portion 81.
Rotation is possible by loosening 7. The effect brought about by the rotation of the eccentric shaft 80 will be explained with reference to FIG. 14. Although the eccentric shaft 80 of the component positioning jaw 61a is depicted with the eccentric portion facing in the horizontal direction, the eccentric shaft 80 arranged in this manner causes the component positioning jaw 61a to be displaced primarily in the vertical direction due to its rotation. cause

The eccentric shaft 80 of the component positioning jaw 61b is depicted with the eccentric portion facing in the vertical direction.
1b to cause a mainly lateral displacement. In addition, even if adjustment mechanisms are not provided on both sides of the pair of component positioning jaws, the practical purpose can be achieved by providing only one of the pair.

A cam device 90 shown in FIGS. 16 to 23 provides vertical movement to the spindle 31 and the flange cylinder 69. 9
1 is a frame of a cam device 90, on which a cam shaft 92 is horizontally supported. The camshaft 92 is connected to a pulse motor 93 fixed to the frame 91, and has two cams 94 and 95 fixed to the outside. A lever 96 is located above the camshaft 92 and is supported by a support shaft 97 so as to be able to swing in a vertical plane.The lever 96 has a force 11 follower roller 98 that contacts the cam 94 in the middle part, and is free. A roller 99 that supports the flange 37 of the spindle 31 is attached to the end. When viewed from the outside, the lever 96 has the shape of two plates parallel to each other.The tip of one of the plates fits between the rollers 46 of the bracket 44 and stops the rotation of the ring 41. ing. The lower number of the camshaft 92 is arranged in two stages, upper and lower.
00 is supported by a support shaft 102 so as to be able to swing in a vertical plane, and has a cam follower roller 103 in contact with a cam 951 at an intermediate portion. The lever 101 is supported by a support shaft 104 so as to be able to swing in a vertical plane, and has a free end O that touches a roller 105 that engages with the flange cylinder 69. lever 10
The free end of the lever 101 and the intermediate portion of the lever 101 are connected through a turnbuckle link 106. Reference numeral 107 is a tension coil spring connected to the lever 101 to pull it up.
A force is generated that presses 03 against the cam 95.

Reference numeral 110 in FIG. 20 is an AC motor fixed to the frame 91, which plays the role of transmitting rotation to the timing pulley 111 fixed to the hollow shaft 32 via the timing belt 112.The rotation of the hollow shaft 32 is Figures 6 to 8
It is transmitted to the spindle 34 by the mechanism shown in the figure. That is, a transmission piece 113 is fixed to the spindle 31, and this transmission piece 113 extends outside through a sling 114 formed at a corner of the mount base 60. The transmission piece 113 protruding from the hollow shaft 32 is attached to the mount base 60
It is sandwiched between a pair of rollers 115 that are pivotally supported. In order to maintain rotational transmission from the hollow shaft 32 regardless of whether the spindle 31 is up or down, the portion of the transmission piece 113 located outside the mount base 60 has a sufficient length in the vertical direction. Note that in order to eliminate backlash in the rotational direction of the hollow shaft 32 and spindle 31, one roller 115 has a
As with the positioning jaws, an eccentric shaft adjustment mechanism is used to allow slight lateral movements.

Reference numeral 120 in FIG. 23 is a brake mechanism provided for the camshaft 92. The brake mechanism 120 includes a brake wheel 121 fixed to a camshaft 92, a brake shoe 122 swingably mounted on the frame 91, a spring 123 that brings the brake shoe 122 into contact with the brake wheel 121, and a spring 123. The main component is a solenoid 124 that pulls the brake shoe 122 in a direction opposite to the applying force. Brake wheel 121 and brake shoe 1
22 is composed of a pinion and a rack.

A current flows through the solenoid 124 at the same time as the component mounting device 10 is energized, and the brake shoe 122 is separated from the brake wheel 121 as shown in FIG. When the power supply to the component mounting device 10 is cut off, the brake shoe 122 comes into contact with the brake wheel 121, as shown in FIG. 25, and the rotation of the camshaft 92 is stopped.

A frame 1 having a rectangular planar shape is attached to the lower end of the frame structure 34.
Fix 30. On two opposing sides of the frame body 130, one illumination body 1 is installed on each side so as to illuminate the center direction of the frame body 130.
Attach 31. The illumination body 131 is made of a cold cathode ray tube.

Nozzle exchange unit The nozzle exchange unit 140 always holds a plurality of types of nozzles,
The nozzle at the lower end of the spindle 31 is replaced depending on the type of parts, but the mechanism is not the main point of the present invention, so the explanation will be omitted. No. Publication, JP-A-1-1211
Suffice it to say that the mechanism described in Publication No. 38 and the like is adopted. This nozzle can be roughly divided into a normal type nozzle 50 as shown in FIGS. 10 to 13, and a 19
There are two types of image recognition nozzles 141 shown in the figure. Image recognition nozzle 141 is flat pack I
This is for handling parts whose position is determined by image recognition, as shown in C, and has a horizontal background plate 142 above the parts suction section. The background plate 142 is made of transparent plastic and has a rectangular planar shape, and is provided with a special reflective layer 143 on the top surface, which scatters and reflects light incident from the edge portion at the interface with the reflective layer 143, and emits it from the bottom surface. It is.

Conveyor Section The conveyor section 150 has a fixed rail section 151 and a movable rail section 152. “Movable” of the movable rail portion 152 means
This means that the distance between the fixed rail portion 151 and the fixed rail portion 151 can be adjusted. Fixed rail part 151, movable rail part 152
Both have a belt 153 on the inner surface, and use this to convey the circuit board 1.

A positioning means for stopping the circuit board 1 at a fixed position is provided inside the conveyor section 150, but this is not shown.

Board support part The board support part 160 supports the circuit board 1 positioned on the conveyor part 150 from below, and prevents the circuit board 1 from bending even if the spindle 31 applies pressure.

A mechanism similar to that described in Japanese Unexamined Patent Publication No. 59-29492 can be employed.

First component supply unit The first component supply unit 170 is composed of a plurality of component supply modules 171 arranged in a row.

The individual component supply modules 171 are shown in FIGS.
Normal surface mount components 2 (chip capacitors,
A tape containing components 2 is fed out from a reel 172 and supplied one by one. As the parts supply module 171,
The one described in Japanese Patent No.-52960 can be adopted.

Second component supply unit The second component supply unit 180 mainly includes a cabinet 181 placed beside the base 11.
The positioning part 182 installed on the base 11 along with the positioning part 182 also becomes a part of the component. cabinet 181
is equipped with a Cartesian coordinate type robot 183, which picks up a multi-lead component 3 (FIG. 19) such as a flat pad IC from a tray (not shown) in the cabinet 181, and places it on a positioning section 182 (positioning). Part 1
At 82, a plurality of jaws push the multi-lead component 3 to roughly position it so as not to bend the leads. Then, the head section 30 approaches the positioning section 182 and picks up the multi-lead component 3.

Imaging unit First imaging unit 191, second imaging unit 192, third imaging unit 19
3 are mainly composed of industrial television cameras.

The first imaging section 191 and the second imaging section 192 are attached to the head section 30. The first imaging unit 191 is used to recognize the fiducial mark printed on the circuit board 1, and the second imaging unit 192 is used to recognize the foot pattern (the leads of the multi-lead component 3) also printed on the circuit board 1. Used to recognize the land pattern to be soldered.

The third imaging section 193 is installed beside the positioning section 182 so as to look upward, and the third imaging section 193 is installed near the positioning section 182 so as to look upward.
It is used to recognize a multi-lead component 3 that is attracted to.

- The automatic control system of the control unit component mounting apparatus 10 is as shown in FIG. 200 is a main body control unit, the central part of which is a central processing unit 201, which includes a memory 202,
A CRT 203 and keyboard 204 are included. The central processing unit 201 is connected via a pass line 205 to a lighting controller 206 , an XY stage 207 , a head controller 208 , a nozzle replacement controller 209 , a conveyor controller 210 , and a substrate support controller 21
11 controls the component supply unit controller 212. The lighting controller 206 controls the lighting section 213, which includes a first imaging section 1911, a second imaging section 192,
This is a collective name for the illumination units that are respectively combined with the third imaging unit 193, and the illumination body 131 is also included in this.

A recognition section 220 is provided separately from the main body control section 200.

This consists of a central processing unit 221, an attached memory 222, and a CRT.
223, and an A/D conversion unit 225 and an image processing unit 226 connected to the central processing unit 221 via a pass line 224.
Consisted of. The A/D conversion section 225 is the first imaging section 1
91, a second imaging section 192, and a third imaging section 193. Further, the central processing section 221 is connected to the central processing section 201 of the main body control section 200 by a communication line 230. A communication line 231 with external equipment is also connected to the central processing unit 201 .

Before starting the moving parts mounting device 10, the spindle 31 is in the raised position, and the brake shoe 122 is attached to the brake wheel 121.
is in contact with. When energized for operation, solenoid 1
24 operates to separate the brake shoe 122 from the brake wheel 121, and the camshaft 92 becomes rotatable.

We will begin the big-and-place work for the parts below, but first we will start with the spindle 31j and the normal nozzle 5.
The explanation will proceed assuming that 0 is attached. At the start of the operation, the XY stage 20 moves the head section 30 onto any component supply module 171 of the first component supply section 170. Here, the pulse motor 93 moves the camshaft 92 to the first
When rotated clockwise in the figure from the angular position of FIG. 8 to the angular position of FIG. The free end of lever 100.101 also lowers,
As a result of the flange tube 69 descending, the component positioning hole El
612, 61b, 62a, and 62b are opened outward (. After picking up the part 2, when the camshaft 92 is rotated counterclockwise, the spindle 31 rises together with the part 2. The cam 94
．． Due to the cam curve 95, there is no movement in the flange tube 69 until the nozzle 50 reaches the height shown in FIG. When the nozzle 50 reaches the height shown in FIG. 17, the spindle 31 stops rising despite the rotation of the camshaft 92, and the flange cylinder 69 starts rising instead. Then, the component positioning jaws 618.61b and 62a162b close,
The part 2 is brought to the center of the nozzle 50. If part 2 is pinched, the part positioning jaws cannot be closed any further.
The subsequent excessive stroke of the flange tube 69 is absorbed by the extension of the tension coil spring 70 (FIG. 12).

Following or simultaneously with centering part 2, AC servo motor 110 rotates hollow shaft 32 to orient part 2 in a predetermined direction. While these operations are being performed, the XY stage 20 moves the head section 30 to a predetermined coordinate position on the circuit board 1.

The circuit board 1 is coated with adhesive at the component mounting position in a previous process (by screen printing or using a dispenser), and is positioned on the conveyor section 150t.

Furthermore, the positional deviation of the circuit pattern on the circuit board 1 is checked by the first imaging section 191 recognizing the reference mark, and corrected during the movement of the XY stage 20. When the spindle 31 is lowered and the component 2 is transferred to the circuit board 1, one cycle of the pick and place operation is completed. When the positioning accuracy of the component positioning jaws 61a, 61b, 62a, and 62b decreases due to wear of the jaw tips 63, 64, etc., the eccentric shaft 80 is rotated to restore the accuracy.

When installing the multi-lead component 3 using the image recognition nozzle 141, the upward movement of the spindle 31 is stroked.
Stop before the limit. In other words, the state is shown in FIG. 19, and the image recognition nozzle 141 is in the position of the component position
It is outside the operating range of 61a, 61b, 62a, and 62b. At this time, the background plate 142 is at the same height as the illumination body 131, and when the illumination body 131 is turned on, the light from there is directed to the background plate 1.
42 and changes direction downward by the reflective layer 143, highlighting the silhouette of the multi-lead component 3. The head section 30 in this state is placed on the third imaging section 193, and the misalignment of the multi-lead component 3 with respect to the image recognition nozzle 1414 is checked.

After that, the head part 30 is moved onto the circuit board 1, and the second
The foot pattern checked by the imaging unit 192 is superimposed with the deviation corrected.

Even if there is a power outage accident during pick-and-place work, the brake mechanism 120 stops the rotation of the camshaft 92, so the spindle 31 will not fall and the circuit board 1 will not be damaged or the nozzle will be damaged. There is no need to worry.

(G) Effects of the Invention According to the present invention, the component positioning jaws are slightly moved by simply changing the angle of the eccentric shaft, making the operation extremely simple.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a partially cutaway perspective view of a component mounting device, Fig. 2 is a block diagram showing a control system, Fig. 3 is a sectional view of the main parts of the head, and Fig. 4 is a partially cutaway perspective view of the component mounting device. This figure is a side view of the portion shown in FIG. 3, and FIG. 5 is a side view of the portion shown in FIG. 3 viewed from a direction perpendicular to FIG. 4. FIG. 6 is a partial sectional view of a part of the head section taken along a plane different from that in FIG. 3, and FIG. 7 is a front view of the portion shown in FIG. 6. Figure 8 is a bottom view of the head.
FIG. 9 is a bottom view of only the component positioning jaw, with the component positioning jaw removed and partially broken away. 1θ to 12 are partial front views showing the opening/closing mechanism of the component positioning jaw and its movement, and FIG. 13 is a partial sectional view presented for the same purpose. FIGS. 14 and 15 are a partial front view and a partial sectional view illustrating the fine adjustment mechanism of the component positioning jaw. FIGS. 16 to 19 are explanatory diagrams of the functions of the cam, and FIGS. 20 to 22 are horizontal sectional views showing the structure of the cam device and the lever related thereto. FIG. 23 is a sectional view showing the brake mechanism section, and FIGS. 24 and 25 are partial front views showing the structure and operation of the brake mechanism. 1... Component mounting device, 31... Spindle, 36...
. . . Vacuum suction path, 50 . . . Nozzle, 141 . . . Image recognition nozzle, 90. 93 . 62b... Component positioning jaw, 80... Eccentric shaft.

Claims (1)

[Claims] (1) A component mounting device having the following configuration. (a) A spindle that is arranged vertically and has a vacuum suction passage inside (b) A nozzle that is attached to the lower end of the spindle and communicates with the vacuum suction passage at the time of attachment (c) Pick and place of parts on the spindle (d) A power means for providing vertical movement for the spindle, which is swingably supported by a structure that supports the spindle so as to be movable up and down, and centers the parts attracted to the nozzle by moving their tips close together. , paired part positioning jaws. (e) a power means for causing the component positioning jaws to open and close; (f) eccentricity constituting a spindle of at least one of the pair of component positioning jaws and causing slight movement of the free end of the component positioning jaws due to angular changes; shaft.