JPH04354192A - Apparatus and method for mounting electronic component - Google Patents

Abstract

PURPOSE:To efficiently perform a resetting work after a correcting operation of an erroneously mounted electronic component in an apparatus for mounting the component. CONSTITUTION:This mounting apparatus 10 comprises a control unit 30 for stopping a mounting operation when a detecting unit 317 detects an erroneous mounting, then moving a board 20 supported to a rotatably positioning mechanism 400 to an operator side and stopping it.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting apparatus and a mounting method for mounting electronic components on a board mounted on a movable table movable to any position.

0002

[Prior Art] Conventionally, in a mounting device for mounting electronic components on a board, all the lead wires (legs) of the electronic components are
When the lead wires are inserted into a plurality of insertion holes formed in advance on the board, and the tips of all the lead wires protrude to the back side of the board, it is detected that the mounting operation has been correctly performed, and in this detection operation, The setting is such that the next clinch operation continues to be executed only after it is detected that the mounting operation has been correctly executed.

On the other hand, in the detection operation, if at least one lead wire is not inserted correctly and it is detected that the mounting operation has failed, the mounting operation is stopped at that point and an alarm operation such as a warning lamp is activated. is to be executed. When this alarm operation is executed, the operator manually removes the electronic component that was incorrectly mounted, manually mounts the same type of electronic component as the incorrectly mounted electronic component, or
It is set up to manually mark electronic components that have been incorrectly mounted and press the restart button.

0004

[Problem to be Solved by the Invention] However, if a mounting error occurs, the mounting operation will be stopped as described above, so the operator must manually remove the incorrectly mounted electronic component. , the same type of electronic component as the incorrectly mounted electronic component must be manually mounted, or the incorrectly mounted electronic component must be manually marked, but the mounting position on the board must be at the innermost side of the board. This makes such manual work extremely difficult. Therefore, it is necessary to once switch the mounting apparatus to manual drive mode and manually move the board toward the operator, that is, to the front side, and then perform the above-mentioned marking work and the like. It has been pointed out that it is troublesome for an operator to manually move such numbers to the sum, especially when the board is large, and it causes a problem of lowering work efficiency.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an electronic component mounting apparatus that can efficiently correct electronic components that have been mounted incorrectly;
and to provide an implementation method.

[0006]

[Means and Effects for Solving the Problems] In order to solve the above-mentioned problems and achieve the objects, an electronic component mounting apparatus according to the present invention is capable of moving a board on which electronic components are mounted to any position. a mounting means for gripping an electronic component to be mounted and mounting it at a predetermined position on the substrate supported by the substrate supporting means; a driving means for driving the substrate supporting means so that the mounting position on the board coincides with the predetermined position; a detecting means for detecting a mounting error of the electronic component; and a mounting error is detected by the detecting means. a stopping means for stopping the mounting operation in the mounting means when the mounting operation is stopped; and after the mounting operation is stopped by the stopping means, the driving means moves the substrate supported by the substrate supporting means to the operator side. It is characterized by comprising a drive control means for moving and stopping the movement.

Further, in the electronic component mounting apparatus according to the present invention, the drive means includes a servo motor as a drive source for moving the board, and the drive control means moves the board toward the operator. It is characterized in that after moving and stopping, the servo of the servo motor is made free.

[0008]Furthermore, the electronic component mounting method according to the present invention includes a detection step of detecting the mounting state of the electronic component on the board, and, in this detection step, when a mounting error of the electronic component on the board is detected. a stopping process for stopping the mounting operation;
In this stopping process, when the mounting operation is stopped, the board is moved to the operator's side, and the board moved to the operator's side in this moving process is stopped. It is said that

Furthermore, in the electronic component mounting method according to the present invention, when the stopping step is completed, the servo of a servo motor serving as a drive source for the board is made free.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS Below, an electronic component mounting apparatus 10 according to the present invention will be described in detail with reference to the accompanying drawings.

(Description of the overall configuration) As shown in FIGS. 1 to 3, in this embodiment, the mounting apparatus 10 picks up one component W from among 20 electronic components W of 10 shapes at a pick-up position. Parts supply device 100 that selectively supplies parts
Then, the component W supplied from the component supply device 100 to the pick-up position is picked up and conveyed to the insert position, and at this insert position, the circuit board 20 is
a turret table device 200 to be inserted into the circuit board 20; and a clinch device 30 for clinching the electronic component W inserted into the circuit board 20 by the turret table device 200.
0, and in order to arbitrarily set the position and rotational attitude of the component W with respect to the circuit board 20 at the insert position, the circuit board 20 is linearly moved along the X-axis and the Y-axis, and
The substrate rotation and positioning device 400 is configured to be roughly divided into a substrate rotation and positioning device 400 for rotationally driving around a vertical axis. In this embodiment, the electronic component W is composed of, for example, a package type IC.

(Description of Parts Supply Apparatus) As shown in FIG. 4, the above-mentioned parts supply apparatus 100 stores workpieces W of 10 shapes and 20 parts in a predetermined number on a stake S, and then feeds each part. Work supply units 124 each having stacks S are arranged in a line along the direction indicated by arrow A. This component supply apparatus 100 includes a moving mechanism 114 that reciprocates each workpiece supply unit 124 on a straight line along the above-mentioned direction A through the pick-up position Q1. That is,
In this component supply device 100, this moving mechanism 11
4, the workpiece W of the desired part type is selectively brought to the pick-up position Q1.

Here, as shown in FIG. 4, the component supply devices 100 in this mounting apparatus 10 are arranged in the front and back inclined at a predetermined angle with respect to the horizontal plane, and each one is arranged in the direction indicated by the arrow A. A pedestal 12 attached to extend
6 fixed on a base (not shown). A guide rail 128 extending along the direction of arrow A is fixed on each pedestal 126 . Each guide rail 12
8, a sliding member 130 is fitted in a state extending along the direction of the arrow A so as to be slidable along the direction shown by the arrow A. On each sliding member 130, pedestals 132 are formed at predetermined intervals along the direction of arrow A.

On the other hand, each workpiece supply includes a chute table 134 extending in the direction indicated by arrow B so as to be inclined by the above-mentioned predetermined angle, and a corresponding receiving table 132 fixed to the lower surface of this chute table 134. It is provided with a pair of front and rear mounting bases 136 that are removably latched to the front and rear mounting bases.

[0015] Also, each workpiece is supplied from a chute table 134.
A cassette 138 is located approximately in the center of the cassette 138 and includes a plurality of stacks of corresponding stakes S, and the stake S at the bottom of this cassette 138 slides down in the direction shown by arrow B and onto the chute stand 134. The present invention includes a workpiece separation mechanism 140 for separating the workpieces W taken out one by one (separating them from the next workpiece), and an empty stake discharge mechanism 142 for discharging the empty stakes.

[0016] With such a configuration, each work supply is
By attaching and detaching the mounting base 136 to the corresponding pedestal 132, each of the components can be independently attached to and detached from the frame 126 as a fixed portion.

Here, an opening 134a large enough for one stick S to be inserted is formed in the middle portion of the above-mentioned chute base 134. The above-mentioned cassette 138 is attached in a state located above this opening 134a.

In this manner, in each workpiece supply cassette 138, the stake S brought to the lowest stage is
From there, the workpiece W is taken out by sliding down along the direction of inclination of the chute table 134 as shown by arrow B, and is stopped when it comes into contact with a stopper 134b formed at the front end of the chute table 134. It is set to maintain its position. Note that a separation position P1 of the workpiece W is defined at the position where the stopper 134b comes into contact.

Here, the above-mentioned front and rear pairs of sliding members 13
0, a ball screw 144 constituting the moving mechanism 114 is located behind each sliding member 130 located at the rear as indicated by the arrow A.
It is arranged so as to extend along the direction. Each rear sliding member 130 is screwed into this ball screw 144, and this ball screw 144 is connected to a drive motor 145 (FIG.
The sliding member 130 (therefore, the work supply attached to the sliding member 130 through the engaged state of the pedestal 132 and the mount 136) is rotated by the sliding member 130 (as shown in FIG. ) is indicated by arrow A on the guide rail 128.
It will move along the direction.

On the other hand, on this chute stand 134,
The above-mentioned work separation mechanism 140 is disposed on the side in the direction of arrow B relative to the cassette 138. This workpiece separation mechanism 140 is configured to be operated by pneumatic pressure as a pneumatic actuating means, and a pneumatic cylinder 14 is connected to an electromagnetic switching valve (not shown) via an air supply mechanism 146.
It is equipped with 8.

Air from a pneumatic source (not shown) is supplied to the upper part of the pneumatic cylinder 148 by an electromagnetic switching valve, so that it protrudes downward, and by being supplied to the lower part, it is pulled upward. A piston rod 150 is provided.

The work separation mechanism 140 also includes a swing stay 154 whose central portion is rotatably supported on the chute table 134 via a support shaft 152. A lower end of the above-mentioned pneumatic cylinder 148 is attached to a portion of the swing stay 154 that is offset toward the arrow B side from the shaft support with a piston rod protruding downward. Further, one end of the swing stay 154 on the arrow B side is bent 90 degrees so that it can substantially come into contact with the upper surface of the chute base 134 with the piston rod 150 being pushed downward. At the other end of this swing stay 154, there is a workpiece W sliding down on the chute table 134.
A presser mechanism 156 is attached that presses and locks the upper surface of the holder.

As shown in detail in FIG. 3, the holding mechanism 156 includes a housing 158 that is fixed to the other end of the swing stay 154 and has a substantially cylindrical shape with an open bottom surface, and can protrude downward from the housing 158. The holding member 160 is arranged to be movable up and down, and a coil spring 162 always urges the holding member 160 downward.

As described above, this work separation mechanism 140
As shown in FIG.
52 in the clockwise direction, and the locking portion 154a defined at one bent end of the swing stay 154 is brought to a position away from the upper surface of the chute base 134. As a result, the workpiece W at the locking position P2 is released from the locking state by the locking portion 154a, passes under the locking portion 154a, and slides down to the separation position P1.

Note that in this unlocked state, the presser mechanism 156
When the other end of the swing stay 154 to which this stay is attached is biased downward, the workpiece W has slipped to the standby position P3 defined immediately after the locking position P2.
is held down and stopped.

From this state, in the work separation mechanism 140, the supply of air to the pneumatic cylinder 148 is stopped, so that the piston rod 150 is pulled upward by the biasing force of a return spring (not shown), and the swing stay 154 is , around the support shaft 154, a pneumatic cylinder 148
It will rotate counterclockwise based on its own weight. As a result, the holding mechanism 156 is in a state where it does not hold down the workpiece W at the standby position P3, and
The workpiece W in the position will slide down toward the locking position P2.

On the other hand, in response to the counterclockwise rotation of the swing stay 154, the locking portion 154a thereof is biased downward, and as a result, the locking state by the locking portion 154a is achieved and the locking portion 154a is moved to the standby position. The workpiece W that has slipped down from P3 is locked at the locking position P2.

[0028] Furthermore, as the workpiece W slides down from the standby position P3 toward the locking position P2, the work W slides down from the standby position P3.
In this case, the workpiece W slides down from the stake S at the workpiece supply position due to its own weight, and is held at the standby position P3 by coming into contact with the rear end of the workpiece W that is locked at the locking position P2. Become.

In this way, only one workpiece W is brought to the separation position P1 in a separated state. In this way, the separation position P1 of the next work W
The series of separation operations is completed.

In this way, in each workpiece supply, with one workpiece W being separated and held at the separation position P1, the above-mentioned moving mechanism 114 moves the component supplying device 1.
By moving 00 along the direction indicated by arrow A, the work W held at the separation position P1 in the work supply containing the desired part type of work W is brought to the pick-up position Q1.

As shown in FIG. 4, a detection mechanism 164 is provided which vertically crosses the rear part of the workpiece W at the standby position P3 to detect whether or not the workpiece W exists at the standby position P3. is installed. This detection mechanism 1
64 is composed of a photocoupler, and includes a light emitting element 164a located above and a light emitting element 164a located below.
The light receiving element 164b receives the light emitted from the light receiving element 164b. That is, in this detection mechanism 164, in a state in which the light receiving element 164b receives light from the light emitting element 164a, it is detected that the workpiece W is not present at the standby position P3, and in a state in which the light from the light emitting element 164a is not received. , the presence of the work W at the standby position P3 is set to be detected.

(Description of turret table device) Next,
The configuration of the turret table device 200 will be explained in detail. As shown in FIG. 6, this turret table device 200 is a rotating turret table device that is attached via a mounting stay 50 to a portion of a base 40 (shown in FIG. 2) located above a circuit board 20 on which a workpiece W is mounted. A support member 216, a first rotary table (head turret table) 217 rotatably supported by the rotary support member 216 around a rotation axis C0 inclined by an angle α with respect to the vertical axis; A plurality of head units 2181 to 21810 (numbered clockwise as 1st, 2nd, . . . , 10th) are installed at equal intervals around the outer circumference of the rotary table 217, in this embodiment, 10 head units. ) and a head turret motor 219 for intermittently rotating the first rotary table 217 by 36 degrees in one rotational direction, for example, clockwise.

Here, each head unit 2181 to 2
1810 are basically configured in the same way, and in the following description, when a common configuration is concerned, the reference numeral (218) is used without adding a subscript, and only when it is related to each head unit. , reference sign with subscript (2
181 to 21810).

The head turret motor 219 is set to be driven and controlled by a control unit 30 via a first motor driver 220a, and this control unit 30 controls each of the pick-up position and insert position. In the head unit 218 located next (on the upstream side in the rotational direction, in other words, on the counterclockwise side),
If the pick-up or insert operation is not performed, the next rotation stop is skipped and the rotation is continued until the head unit 218 where the pick-up or insert operation is to be performed is located at the pick-up or insert position. is set to .

Further, the work W mentioned above has 10 shapes and 20
Consists of parts, each head unit 2181
The workpiece gripping sections 21810 to 21810 are specially set to correspond to 10 types of workpieces W1 to W10, respectively. For example, the workpiece gripping section of the first head unit 2181 is configured to be able to grip only the workpiece W1 formed in the first type of shape. Also,
The workpiece gripping section of the second head unit 2182 is configured to be able to grip only the workpiece W2 formed in the second type of shape. Note that the work gripping portion of each head unit 218 is connected to the first rotary table 21.
7. It is fixed to the fixed head main body 225 so that it can be attached or detached as desired, that is, it can be replaced.

Here, the central axis C1 of each head unit 218 is set to be inclined by an angle α with respect to the rotational axis C0 of the turret table device 200, as shown. The central axis C1 of the head unit (indicated by reference numeral 218A) located at the insert position is set to exactly align with the vertical axis.
180 of head unit 218A in insert position
The head unit (designated 218B) located on the opposite side is arranged to be brought into a pick-up position in the component supply apparatus 100, tilted at an angle 2α with respect to the vertical axis.

That is, the pick-up surface of the component supply device 100 is inclined at an angle of 2α with respect to the horizontal plane, and as a result, at the pick-up position, the central axis of the head unit 218B is at an angle of 90 degrees with respect to the pick-up surface. In other words, head unit 2
18B will be accessed perpendicularly to the pickup surface.

Each head unit 218 is arranged as shown in FIG.
As shown in FIG. 2, a mounting body 222 is provided that is fixed to a corresponding side surface of the first rotary table 217. This attachment body 222 has a through hole 222a formed along the central axis, and a hollow cylindrical thick shaft 223 is inserted through the through hole 222a so as to be movable along the axial direction. Further, a solid thin shaft 224 is inserted into the thick shaft 223 so as to be movable along the axial direction.

A hollow cylindrical head body 225 with an open bottom surface is detachably attached to the lower end of the thick shaft 223. Further, the lower end of the thin shaft 224 passes through the upper surface of the head main body 225 and projects upwardly. A tapered part 224b is connected to the lower end of the diameter part 224a and has a tapered surface set to decrease its diameter as it goes downward. The small diameter portion 224c is integrally formed with the small diameter portion 224c.

A detachable ring 226 is removably screwed onto the lower part of the head main body 225. A pair of mounting pieces 226a, 22 are provided on both sides of the detachable ring 226, extending downward from each side and spaced apart from each other in the front and rear.
6b are fixed respectively. Each pair of mounting pieces 226a, 2
At the lower end of 26b are horizontally extending support shafts 227a, 22.
7b is provided in a stretched state. These support shafts 227a, 227b have gripping pieces 228a, 2
28b are rotatably supported in the middle in the same vertical plane.

The lower ends of both the gripping pieces 228a and 228b are provided with gripping claws 228 for gripping the workpiece W from both sides.
a1 and 228b1, and the upper end has a fold that is bent so as to face each other, passes through the side of the lower part of the thin shaft 224, and extends to the upper part of the opposing gripping pieces 228b and 228a. The curved portions 228a2 and 228b2 are integrally formed. In addition, both gripping pieces 228a, 2
A coil spring 229 is tensioned on 28b so as to bias the upper ends of each other in a direction that separates them from each other. Further, at the tip of each bent portion 228a2, 228b2, a roller 230a, which rolls into contact with the outer peripheral surface of the thin shaft 224 from the opposite side, is provided.
230b are each attached rotatably around its own central axis.

[0042] When the workpiece W is being gripped in a pick-up operation or an insert operation to be described later, the thin shaft 224 is moved against the head main body 2 with its small diameter portion 224c being held between the rollers 230a and 230b.
It is set to protrude downward from 25, and the work W
When the grip is released, the thin shaft 224 is set so that its large diameter portion 224a further protrudes downward from the head body 225 so that it is held between the rollers 230a and 230b.

In this way, the coil spring 229
Due to the urging force of , both rollers 230a and 230b
In the state where the small diameter portions 224c of 24 are held from opposite sides, both gripping claws 228a1 and 228b1 are close to each other so as to be separated by an appropriate distance to grip the corresponding work W from both sides, and the thin shaft 224 is Further protruding downward, both rollers 230a and 230b are connected to the large diameter portion 224a.
When the gripping pieces 228a and 2 are held from opposite sides, the gripping pieces 228a and 2
28b is set so that both gripping claws 228a1 and 228b1 are separated from both sides of the corresponding work W to release the gripping state.

That is, in this embodiment, in each head unit 218, the portion below the detachable ring 226 is set as a gripping portion configured to have a shape and size corresponding to the corresponding workpiece W. has been
By removing the attachment/detachment ring 226 from the lower end of the head body 225, the gripping portion can be replaced with respect to the head body 225 in order to specifically handle a workpiece W of another shape.

Specifically, when the shapes of the workpieces W are different, the gripping width, that is, the gripping pieces 228a
, 228b will have different opening widths. Here, in this embodiment, this opening width is the same as that of both rollers 230a,
If the contact position of 230b to the thin shaft 224 is kept constant and the lengths of the gripping pieces 228a and 228b are kept constant, they can be changed by appropriately changing the arrangement positions of the support shafts 227a and 227b. . That is, in this example,
Detachable ring 2 in head unit 218 shown in FIG.
For example, if the workpiece gripping section constituted by the portion located below 26 is set to be optimal for gripping a first type of workpiece having a predetermined shape, although not shown, The head unit 218C shown in FIG. 12 is set to be optimal for gripping a second type of workpiece having a different shape from the first type of workpiece.

In particular, in this embodiment, each head unit 218 is equipped with a workpiece gripping section set according to the corresponding workpiece, and the mounting position thereof is at the head of the detachable ring 226. This is uniquely defined by the attachment position to the main body 225. Here, the attachment position of the detachable ring 226 to the head body 225 is set constant across all head units 218. As a result, according to this embodiment,
Even if the workpiece gripping section is replaced, the positioning of the replaced workpiece gripping section must be done using the removable ring 226.
By attaching this to the head body 225, it will be automatically executed.

On the other hand, as shown in FIG.
A driven portion 223a is provided at the upper end of 23 to selectively engage with a thick shaft drive roller 231a or 238a, which will be described later, in order to push it downward. The upper end of the thin shaft 224 extends further upward than the upper end of the thick shaft 223, and a thin shaft drive roller 22 (described later) is attached to this upper end to push it downward.
1b or 238b selectively engages the driven portion 224d
is provided.

Further, as shown in FIG. 6, an insert drive mechanism 232 is provided adjacent to the head unit 218A for performing an insert operation only in the head unit 218A that has been rotated to the insert position. ing.

This insert drive mechanism 232 has driven parts 223a and 224 formed on the thick shaft 223 and thin shaft 224, respectively, of the head unit 218A in the insert position.
A thick shaft drive roller 231a and a thin shaft drive roller 231b that respectively engage with d are attached to the lower end, and a thick shaft drive roller 231a and a thin shaft drive roller 231b are respectively attached to the lower end,
The connecting rods 234a and 234b are vertically movably supported via support members 233a and 233b.

Here, these two connecting rods 234a
, 234b include insert drive cam mechanisms 235a, 2
35b are connected to each other, and these drive cam mechanisms 23
5a and 235b rotate the cam member (not shown) once (36
0 degrees), the connecting rods 234a, 2
34b, while gripping the workpiece W, the gripping portion of the head unit 218A is held in its entirety (that is, both connecting rods 23
4a, 234b) and inserts the workpiece W into the circuit board 20, the gripping state is released by driving only the thin shaft 224 to protrude downward. After that, the entire head unit 218A is raised a little, and then only the thin shaft 224 is pulled upward again to return to the gripping state, and the entire head unit 218A is raised to the upper standby position. .

[0051] These drive cam mechanisms 235a, 235
b are set to be driven in synchronization with each other by a head insert motor 236 for inserts common to both. This head insert motor 236 is configured to be reversible, and by rotating in the counterclockwise direction, performs the above-mentioned insert operation, and by rotating in the clockwise direction, performs the return operation in the reverse direction. It turns out. This head insert motor 236 is set to be driven and controlled by the control unit 30 via the second motor driver 220b. Although the details will be described later, the control unit 30 is configured to complete one insert operation by simultaneously driving both drive cam mechanisms 235a and 235b one rotation.

Since the insert drive mechanism 232 is configured in this manner, the head unit 218A, which has been rotated to the insert position, can insert the workpiece W held therein onto the circuit board 20.

Further, the pick-up drive mechanism 237 for executing the pick-up operation only in the head unit 218B that has been rotated to the pick-up position,
It is provided adjacent to this head unit 218B.

This pick-up drive mechanism 237 operates by moving the thick shaft 22 of the head unit 218B in the pick-up position.
3 and the driven parts 223a and 2 formed on the thin shaft 224, respectively.
24d, a thick shaft drive roller 238a and a thin shaft drive roller 238b, and a thick shaft drive roller 238a.
and connecting rods 290a and 290b, each of which has a narrow shaft drive roller 238b attached to its lower end and is supported via support members 239a and 239b to be able to move up and down.

Here, these two connecting rods 290a
, 290b are connected to drive cam mechanisms 291a and 291b, respectively. These drive cam mechanisms 291a, 29
1b, by rotating a cam member (not shown) one rotation (360 degrees), the head unit 21 is released from the gripping state via the connecting rods 290a, 290b.
8B as a whole (i.e., both connecting rods 290a
, 290b), descends along the axis inclined by an angle 2α with respect to the vertical axis, grips and picks up the workpiece W from the component supply device 100, and then maintains the gripping state. The device is configured to be raised as a whole to the upper standby position in this state.

[0056] These drive cam mechanisms 291a, 291
b are set to be driven in synchronization with each other by a head pickup motor 292 for pickup common to both. The head pickup motor 292 is configured to be reversible, and by rotating forward clockwise, performs the above-mentioned pick-up operation, and by rotating reversely counterclockwise,
The return operation will be in the opposite direction. This head pickup motor 292 is set to be driven and controlled by the control unit 30 via the third motor driver 220c. Furthermore, although the details will be described later, the control unit 30 is configured to complete one pick-up operation by driving both drive cam mechanisms 291a and 291b one rotation at the same time.

As described above, the pick-up drive mechanism 237
Since the head unit 218B is rotated to the pick-up position, the head unit 218B can pick up the workpiece W from the component supply mechanism 11 by the pick-up drive mechanism 237.

(Description of the clinch device) Next, the configuration of the clinch device 300 will be explained in detail with reference to FIGS. 8 to 28. As shown in FIG. 8, this clinch device 300 includes a second base mounted via a second mounting stay 340 on a second base (not shown) disposed below the circuit board 20 on which the workpiece W is mounted. a second rotary table (clincher table) 342 rotatably supported by the second rotary support member 341 and rotatably about a rotation axis C2 extending along a vertical axis; , a plurality of clinch units 3431 to 34310 (in this embodiment, ten clinch units 3431 to 34310) are attached to the outer circumference of the second rotary table 342 at equal intervals (contrary to the case of the head unit 218 described above, ), and the second rotary table 342 is rotated in one direction as described above, namely
Along the counterclockwise direction, the above-mentioned first drive motor 219
The clincher motor 344 is provided with a clinch turbine motor 344 for intermittent rotational driving in 36-degree increments in synchronization with the clinch-turret motor 344.

Here, each clinch unit 3431 to
34310 are basically configured in the same way, and in the following explanation, reference numbers without subscripts will be used when referring to common configurations, and subscripts will be used only when referring to each clinch unit. This will be explained using the reference numerals given below. The first to tenth clinch units 3431 to 34310 are the first to tenth clinch units 3431 to 34310 described above.
The head units 2181 to 21810 correspond to the head units 2181 to 21810, respectively, and are configured to exclusively clinch the first to tenth types of workpieces W1 to W10, respectively. Further, the clinch unit in the clinch position is designated by the reference numeral 343A.

Here, each work W consists of a work body Wa and a plurality of lead wires Wb that once extend laterally from both sides of the work body Wa and then are bent downward. It is configured. In addition, these lead wires Wb
The lead wires located at the four corners, that is, the circuit board 20
The lead wires to be clinched by this clinch device 300 after being inserted into the
, Wb3 and Wb4 are attached.

[0061] Furthermore, this clinch turret motor 344
is set to be driven and controlled by the above-mentioned control unit 30 via the fourth motor driver 220d. This control unit 30 controls the clinch unit via the fourth motor driver 220d so that the corresponding clinch unit 343 is always located at a clinch position that is vertically aligned with the insert position described above. It is configured to drive and control the let motor 344.

Next, the structure of each clinch unit 343 will be explained in detail with reference to FIGS. 9 to 28. A second mounting body 346 is fixed to a corresponding side surface of the second rotary table 342. This second mounting body 346
As shown in FIG. 9, a through hole 346a is formed along the movement axis C3 set along the vertical axis, and a hollow cylindrical third thick A shaft 347 is inserted through the shaft 347 so as to be movable along the axis C3. Moreover, inside this third thick shaft 347, a solid third
A thin shaft 348 is similarly inserted through the shaft so as to be movable along the axis C3.

As shown in FIG. 9, a hollow cylindrical clinch body 349 with openings at both upper and lower ends is fixed to the upper part of the third thick shaft 347. A female thread 349a is threaded on the inner peripheral surface of the fully open opening. On the other hand, a disc-shaped detachable base 350 is detachably attached to the upper end opening of the clinch body 349. That is, this removable base 350 has the clinch body 34 on its outer peripheral surface.
It has a male screw 350a that screws into the female screw 349a of No. 9,
At the center, the upper end of the third thin shaft 348 described above and a pair of push-down member mounting members 351a and 351b described later are provided.
Through holes 350b (shown in FIG. 13) are formed into which the lower ends of the two are loosely inserted.

Note that the upper end of the third thin shaft 348 is connected to the through hole 35
0b and protrudes above the removable base 350, and this third thin shaft 348 is shown in FIGS. 12 and 13.
As shown in FIG. 3, there is a large diameter portion 348a that is inserted through the third thick shaft 347, and a first portion that is connected to the upper end of the large diameter portion 348a and whose diameter is set to decrease as it goes upward. a first tapered portion 348b having a tapered surface;
A first small diameter part 348c is connected to the upper end of the first tapered part 348b and has a smaller diameter than the large diameter part 348a;
The diameter of the small diameter portion 348c is larger than that of the large diameter portion 348a.
A second small diameter portion 348d is formed at the upper end of the second small diameter portion 348d and is tapered in the same manner as the first tapered surface described above.
It is integrally formed with a second tapered portion 348e having a tapered surface.

As shown in FIG. 11, a pair of support blocks 352a and 352b are integrally attached to the upper surface of the above-mentioned removable base 350 in an upright state with a through hole 350b formed therein sandwiched therebetween. It is being and,
A pair of rotational support shafts 353a, 353b are spanned over both support blocks 352a, 352b in parallel to each other at the same height.

These rotating shafts 353a and 353b include
The intermediate portions of the above-described push-down member mounting members 351a and 351b are rotatably supported, respectively, as shown in FIG.
As shown in FIG. 12, the intermediate portions of 354b are rotatably supported. That is, in this embodiment, both rotation support shafts 353a, 353b are connected to the push-down member mounting members 351a, 351b and the clinch member mounting member 354.
It is set to function as a common support shaft for a and 354b.

Furthermore, as shown in FIG. 14, a connecting member 355 is spanned over the pair of support blocks 352a and 352b, extending along their horizontal center lines. A first guide rod 356 is fixed in the center of the connecting member 355 in an upright position along a vertical axis, that is, along the above-mentioned movement axis S3. The upper part of the first guide rod 356 is taken out upwardly through a through hole 357a (shown in FIG. 12) formed vertically through the center of a detection unit 357, which will be described later. and at the top of this,
A substantially planar circular support member 358 is integrally attached to support the lower surface of the portion of the circuit board 20 into which the workpiece W is inserted from above.

That is, this detection unit 357 is guided and supported so as to be vertically movable via four second guide rods 359a to 359d, which will be described later. Here, this detection unit 357 includes a detection body 357b formed in a substantially rectangular parallelepiped shape located in the center and guided by a first guide rod 356, and a detection body 357b formed in a substantially rectangular parallelepiped shape, which is guided by a first guide rod 356, It is composed of guide blocks 357c to 357f integrally connected to both end portions on both sides of the guide block 357b.

Here, the second guide rod 359 mentioned above
a to 359d are a pair of support blocks 352a, 352
The upper ends of the guide blocks 357c to 357f are respectively set to pass through through holes (not shown) formed in the guide blocks 357c to 357f. In this way, as mentioned above, this detection unit 357 is connected to the four second guide rods 359a.
~359d, it is guided and supported in a vertically movable manner.

Furthermore, each of the second guide rods 359a to 359
Coil springs 360a to 360d are ring-mounted between the corresponding guide blocks 357c to 357f and the support blocks 352a and 352b, and these coil springs 360a to 360d cause the detection unit 3
57 is constantly receiving an upward biasing force as a whole. As shown in FIG. 12, push-down members 366a, 366b; 366c, 366d, which will be described later, contact locking rods 365a, 365b from below, thereby restricting their upper positions.

Here, as shown in FIGS. 9 and 12, the detection main body 357b described above has a three-layer structure (upper and lower layers), specifically, the first conductive block 357b1 in the upper layer;
It is composed of an insulating block 357b2 in the middle layer and a second conductive block 357b3 in the lower layer. As a result, the first conductive block 357b1 and the second conductive block 357b3 are directly connected to the insulating block 357b.
They are set to be electrically insulated from each other via 2.

On the other hand, the detection unit 357 is provided with a plurality of detection pins 357g arranged in two horizontal rows, each corresponding to all the lead wires Wb of the corresponding work W. That is, these detection pins 357g are connected to the circuit board 2.
The lead wires Wb of the corresponding workpieces W inserted into the workpieces 0 and 0 are arranged directly below the lead wires Wb. As shown in FIG. 15, these detection pins 357g are connected to through holes 35 formed vertically through the detection body 357b.
7h are inserted in a state in which they protrude upward and downward, respectively, and are supported through the through holes 357h so as to be vertically movable.

Here, each detection pin 357g has a pin body 35 inserted into a through hole 357h, as shown in FIG.
7g1, and a head 357g2 and a bottom 357g3 each having a diameter larger than that of the pin body 357g1 at the upper and lower ends of the pin body 357g1, and is integrally formed from a conductive material. A coil spring 357g4 for biasing the detection pin 357g upward is mounted between the lower surface of the head 357g2 of the pin body 357g1 and the upper surface of the detection body 357b.

Furthermore, the through hole 357h1 in the second conductive block 357b3 as the lower layer described above is set to have a larger diameter than the diameter of the pin body 357g1, as shown. That is, the outer peripheral surface of the pin body 357g1 of the detection pin 357g is connected to the second conductive block 357b.
3. In other words, it is set to a state where it is not electrically connected.

In this way, as shown in FIG. 15, when the detection pin 357g is not pushed in from above by the corresponding lead wire Wb, the outer circumferential surface of the pin body 357g1 of the detection pin 357g is connected to the second conductive wire. Although not in contact with the block 357b3, the upper surface of the bottom portion 357g3 and the lower surface of the second conductive block 357b3 contact each other, so that the first and second conductive blocks 357b1 and 357b3 are connected via this detection pin 357g.
They are set to be electrically connected to each other (conductive state).

On the other hand, as shown in FIG.
7g is pushed in from above by the corresponding lead wire Wb, the upper surface of the bottom portion 357g3 and the lower surface of the second conductive block 357b3 are separated, so that
The first and second conductive blocks 357b1 and 357b3 are set in a state where they are not electrically connected to each other (non-conductive state) via this detection pin 357g.

In this way, the circuit board 20 of the work W
Whether the lead wire Wb of the workpiece W penetrates the circuit board 20 and protrudes below the circuit board 20 determines whether the conduction of the first and second conductive blocks 357b1 and 357b3 in the detection unit 357 is established. Based on the non-conducting state, it will be detected electrically. Specifically, if at least one lead wire Wb does not penetrate the circuit board 20 and does not push the corresponding detection pin 357g downward, the state shown in FIG. 15 is achieved, and the first and second The conductive blocks 357b1 and 357b3 will be maintained in a conductive state.

On the other hand, all the lead wires Wb are connected to the circuit board 20.
The state shown in FIG. 16 is achieved when all the detection pins 357g are pushed downward, and the first and second conductive blocks 357b1 and 357b3 are brought into a non-conductive state.

In this way, this detection unit 357
The detection pin 357g functions as a type of detection switch DS that is driven to open and close by the lead wire Wb. Here, as is clear from the above description, the detection switch DS is set to be closed when at least one lead wire Wb is inserted incorrectly, and to be opened when all the lead wires Wb are inserted. There is. Note that both terminals DS1 and DS2 of this detection switch DS are connected to the first and second conductive blocks 357b1 and 357b, as shown in FIG.
The terminals 357b4 and 357b5 are respectively constructed of connection terminals 357b4 and 357b5 which are mounted upright on the surfaces of the respective parts 7b3.

Here, again, as shown in FIG.
A light emitting element, for example, an LED 361 is attached to the outer peripheral surface of the mounting body 346 in an exposed state to the outside, and the LED of the clinch unit 343 in the clinch position is attached.
One light-receiving element, for example, a phototransistor 362, is disposed so as to face only the phototransistor 361. This L
As shown in FIG. 6, one terminal of the ED361 is grounded via the above-mentioned detection switch DS, and is also connected to the power supply VCC via a predetermined resistor R1, and the other end of the ED361 is grounded. ing. In this way, when the detection switch DS is opened upon completion of insertion of all the lead wires Wb, the LED 361 lights up and at least one
It is set to turn off when the book lead wire Wb is closed due to improper insertion.

On the other hand, on the phototransistor 362 side, as shown in FIG.
1, and its emitter is connected to the power supply V
CC, and its collector is connected to the latch circuit 363 and grounded via a predetermined resistor R2. In this way, when the LED 361 emits light, the phototransistor 362 becomes conductive in response to the future light, and the input potential to the latch circuit 363 is increased, and in the latch circuit 363, the input potential exceeds a predetermined threshold. It is configured to latch its value when the This latch signal is sent to the control unit 30 and is set to be a permission signal (activation signal) for starting the downward pushing operation of the detection unit 357, which will be described later, and for the clinching operation to be executed subsequently after this pushing operation. There is.

[0082] This latched state is caused by the clinch body 3 of the clinch unit 343A being executed after the clinch operation.
It is set to be released along with the downward movement of 49.

As described above, in this embodiment, the detection result in the detection unit 357 is sent to the control unit 30 via the LED 361 and the phototransistor 362 arranged to face the LED 361 at a distance from the LED 361. It will be transmitted. As a result, the second rotary table 3
42 rotates and the clinch units 3431 to 34310 are sequentially located at the clinch position, since the control unit 30 and the detection unit 357 are not directly connected by a connecting cable, it is not necessary to route this connecting cable. Therefore, the second rotary table 342 can rotate freely, and the wiring state can be greatly simplified.

Furthermore, in this embodiment, the above-mentioned phototransistor 362 is disposed so as to face only the LED 361 in the clinch unit 343A in the clinch position, so the LED 361 is , each clinch unit 3
Although it is necessary to attach the phototransistor 362 to the control unit 43, only one phototransistor 362 is required for each clinch device 300, and only one transmission path from the phototransistor 362 to the control unit 30 is required, so the cost is reduced. This makes it possible to achieve lower costs.

Next, the above-mentioned detection unit 357 is operated after the detection operation is completed and before the clinch operation is executed.
Detection pin 357g by pushing downward and clinching action
The configuration of the pushing mechanism 364 that performs the pushing operation so as not to bend will be explained.

This pushing mechanism 364 is shown in FIGS. 9 and 1.
As shown in FIG. 2, a pair of locking rods 365a, 365b are provided, which extend horizontally and parallel to each other, between a pair of guide blocks 357c, 357c; 357d, 357e located on both sides, respectively. Here, as shown in FIG. 12, the above-mentioned push-down member mounting member 351a,
351b is formed into a crank shape so as to be bent twice outwardly and upwardly, and at the lower bent portion (approximately the middle portion as described above with respect to the length in the vertical direction), the above-mentioned rotation support is formed. It is rotatably supported via shafts 353a and 353b, respectively. As shown in FIG. 11, on both sides of each push-down member mounting member 351a, 351b, a pair of push-down members 366a, 366b;
366d are each fixed via a pair of upper and lower bolts 367a and 367b.

That is, both push-down members 366 on each side
a, 366b; 366c, 366d, a gap is formed as shown in 14, and within this gap, the above-mentioned clinch member mounting members 354a, 354
Clinch members 369a and 369b are respectively fixed to b via a pair of upper and lower bolts 368a and 368b.

Here, each push-down member 366a, 366
b; 366c and 366d, as shown in FIG. 13, are set such that inner surfaces that engage with corresponding locking rods 365a and 365b, respectively, on both left and right sides are defined by slopes. In addition, these push-down members 366a, 366b
; At the lower ends of the push-down member mounting members 351a and 351b to which the push-down member mounting members 366c and 366d are attached, there is a first
Rotating contact rollers 370a and 370b are rotatably attached. These first rolling contact rollers 370a, 370
b is in contact with the third thin shaft 348.
In the non-protruding state from the first thick shaft 347 of No. 8, the first
In other words, it is defined at the lower end of the small diameter portion 348c, in other words, at the portion of the first small diameter portion 348c located directly above the first tapered portion 348b.

As a result, the clinch drive mechanism 37 described later
1 is started, and the third thin shaft 348 protrudes from the third thick shaft 347 by the first protrusion amount, thereby causing the first rolling contact rollers 370a, 370b to rotate toward the third thin shaft 348. The contact position is from the first small diameter portion 348c to the first tapered portion 348.
b to the large diameter portion 348a. In this way, the above-mentioned four push-down members 366a, 36
6b; 366c, 366d are the corresponding rotational support shafts 353
The four guide blocks 357c to 357f, that is, the detection unit 3
57 as a whole is pushed down against the urging force of the coil springs 360a to 360d.

As the detection unit 357 descends, the detection pin 357g also descends, and the pressed state of the workpiece W inserted into the circuit board 20 by the lead wire Wb is relatively released. Become. In this way, the detection switch DS described above is opened, but since the detection potential at the phototransistor 362 (that is, the input potential increased by the light emission of the LED 361) is latched by the latch circuit 363, from now on, the detection switch DS is opened. There is no problem in the control operation.

Further, as the detection unit 357 descends, the detection pin 357g also descends, so that in the clinch operation described later, the clinch members 369a,
Clinch claws 369a3 and 369a described later of 369b
4; Even if 369b3 and 369b4 rotate inward, these clinch claws 369a3 and 369a
4 ; 369b3 and 369b4 are reliably prevented from engaging with the detection pin 357g and bending them inward.

In this way, in this embodiment, prior to the clinch operation, the detection unit 357 uses the pushing mechanism 364 to press the clinch claws 369a3, 369.
a4; 369b3, 369b4 are detection pins 357
Since the detection unit 357 is pushed down to a position where it does not engage with g, the detection operation in the detection unit 357 is always performed stably, and reliability is improved.

On the other hand, the above-mentioned clinch members 369a, 3
69b includes main body portions 369a1 and 369b1 that are attached to the clinch member attachment members 354a and 354b, respectively, and whose upper ends extend directly below the corresponding side portions of the support member 358, as shown in FIG. There is. As shown in FIG. 11, at the upper end of each of these main body portions 369a1, 369b1, the lead wires Wb1, Wb2, Wb3, which are to be clinched, have both ends horizontally along the side edge of the workpiece W to be clinched. Wb4
horizontal portions 36 terminating immediately outside each of the
The central portions of 9a2 and 369b2 are connected. Furthermore, at both ends of these horizontal portions 369a2 and 369b2, there are corresponding lead wires Wb1 as shown in FIG.
, Wb2 , Wb3 , Wb4 from the outside only; clinch claws 369a3 , 369a4 ; 369b
3,369b4 is formed.

On the other hand, the clinch member mounting members 354a, 354b to which the clinch members 369a, 369b configured as described above are attached, respectively, are formed in a crank shape like the push-down member mounting members 351a, 351b. The lower end of each is attached to a push-down member mounting member 351.
It terminates above the corresponding lower ends of a and 351b. And these push-down member mounting members 351a, 3
A coil spring 372 is stretched at the lower part of 51b, and these lower parts are biased in a direction toward each other. These clinch member mounting members 35
4a, 354b are provided with second rolling contact rollers 373a, 373b that roll into contact with the upper end of the third thin shaft 348 from both sides.
is rotatably attached.

These second rolling contact rollers 373a, 373
b is in contact with the third thin shaft 348.
8, the upper end of the first small diameter portion 348c, in other words, the second tapered portion 3
It is defined in a portion of the first small diameter portion 348c located a predetermined distance above 48e. Here, this predetermined distance is such that the rolling contact position of the second rolling contact rollers 373a, 373b to the third thin shaft 348 is changed by the movement of the above-mentioned third thin shaft 348 by the first protrusion amount. First small diameter portion 348c
The value is set to a value sufficient to move from the upper end of the second tapered portion 348e to the portion immediately above the second tapered portion 348e.

As a result, the clinch drive mechanism 37 described later
1 is activated, and the third thin shaft 348 protrudes from the third thick shaft 347 by a second protrusion amount further than the first protrusion amount described above, so that the second rolling contact rollers 373a, 373b
The position of contact with the third thin shaft 348 is the first small diameter portion 34
8c to the second small diameter portion 348d via the second tapered portion 348e. In this way, the two clinch members 369a and 369b described above rotate the coil springs around the corresponding rotational shafts 353a and 353b.
It rotates inward against the urging force of 72,
Corresponding clinch claws 369a3, 369a4; 36
Four lead wires Wb1, Wb2, Wb3, Wb4 located at the four corners respectively through 9b3, 369b4.
are respectively folded inwardly, ie, clinched.

Here, as shown in FIG. 18, in each of the clinch members 369a and 369b, the portions attached to the clinch member mounting members 354a and 354b are
Elongated holes 369a5 and 369b5, into which the above-described pair of upper and lower bolts 368a and 368b are inserted, are formed in the lower portions of the main body portions 369a1 and 369b1, extending in the longitudinal direction. Since such a configuration is adopted, the pair of upper and lower bolts 368a, 368
By loosening b, each clinch member 369a, 36
9b is the corresponding clinch member mounting member 354a, 3
The clinch claws 369a3, 369a4; 369b3, 369 are movable in the vertical direction from 54b.
This means that the vertical position of b4 can be accurately adjusted and defined.

Next, the configuration of the clinch drive mechanism 371 will be explained in detail with reference to FIGS. 8 and 19 to 21. As shown in FIG. 8, a driven portion 347a is provided at the lower end of the third thick shaft 347, which is engaged with a thick shaft drive roller 347a, which will be described later, in order to push the third thick shaft upward. The lower end of the third thin shaft 348 extends further downward than the lower end of the third thick shaft 347, and at this lower end there is a
A driven portion 3 engaged with a thin shaft drive roller 374b, which will be described later.
48f is provided.

A clinch drive mechanism 371 is provided adjacent to the clinch unit 343A that has stopped at the clinch position to perform a clinch operation only in the clinch unit 343A that has been rotated to the clinch position. . This clinch drive mechanism 371 includes a thick shaft drive roller 3 that engages with driven portions 347a and 347f formed on a third thick shaft 347 and a third thin shaft 348, respectively, of the clinch unit 343A in the clinch position.
Connecting rods 376a, 376b are attached to the upper ends thereof, and are vertically movably supported via support members 375a, 375b.
It is equipped with

[0100] Here, these two connecting rods 376a
, 376b are rotatably connected to one ends of swing levers 377a, 377b whose middle portions are rotatably supported.
The other ends are connected to drive cam mechanisms 378a and 378b, respectively. These drive cam mechanisms 378a,
378b is the clinch unit 3 with both parties working together.
43 as a whole, and the detection unit 35
After pressing down 7, the clinch operation is performed.

[0101] Also, the above-mentioned swing levers 377a, 37
Cam followers 379a, 379b are attached to the other ends of 7b, and both drive cam mechanisms 378a, 378 have one continuous annular groove in which cam grooves 380a, 380b into which the corresponding cam followers 379a, 379b fit, respectively. The cam members 381a and 381b are formed as cam members 381a and 381b. Both cam members 381a and 381b are integrally rotated in a counterclockwise direction (normal rotation direction) in FIG. are connected to each other so as to be dynamically driven.

[0102] This clincher cam motor 382 is configured to be reversible. This clincher cam motor 382 is set to be driven and controlled by the above-mentioned control unit 30 via the fifth motor driver 220e. Although the details will be described later, the control unit 30 is configured to complete one clinching operation by simultaneously rotating both cam members 381a and 381b once.

Here, as shown in FIG. 19, both the cam members 381a and 381b are disposed in parallel so as to face each other on the same axis, and the swing levers 377a and 377
b and connecting rods 376a, 376b are also arranged adjacent to each other. On the other hand, as mentioned above,
The third thick shaft 347 and the third thin shaft 348 are coaxially arranged. Therefore, as shown in FIG. 20, the connecting rod 376a that connects the swinging lever 377a and the third thick shaft 347 to each other is attached to the left side in the figure (i.e., the third
The thick shaft driving roller 374a described above is provided at the tip of the bending portion.

On the other hand, the swing lever 377b and the third thin shaft 3
The connecting rod 376b connecting the 48 and 48 to each other is shown in FIG.
As shown in , the upper end is provided with a bent part that is bent to the right in the figure (that is, along the tangent to the third thin axis 348 and toward the center thereof), and the tip of this bent part is The above-mentioned narrow shaft driving roller 374b is provided.

[0105] Here, these cam grooves 380a, 380b
are configured to operate sequentially as shown in FIGS. 22(A) to 22(E). In detail, (A) in FIG. 22 shows the lowest standby position of the clinch unit 343, and (A) in FIG.
B) shows the uppermost standby position rotated 90 degrees counterclockwise from FIG. 22 (A), and FIG. 22 (C) shows the push-down position rotated 45 degrees counterclockwise from FIG. , FIG. 22(D) shows the clinch position rotated 45 degrees counterclockwise from FIG. 22(C), and FIG. 22(E) shows the clinch position rotated 90 degrees counterclockwise from FIG. 22(D). Each figure shows the lowest position after normal rotation.

Note that FIGS. 24 to 28 are shown in FIG. 22 (A).
Head unit 2 in a state corresponding to (E) respectively.
18A and the operating state of the clinch unit 343A.

[0107] Both cam grooves 380a and 380b are
Ascent process I (from FIG. 22(A) to FIG. 22(B)
0 degrees to 90 degrees), the clinch body 349 of the clinch unit 343A in the clinch position is moved from the lowest position shown in FIG.
The cams are formed to have the same shape so as to gradually increase the distance from the center of rotation so that the relative distance from the thin shaft 348 to the thin shaft 348 remains unchanged, and the uppermost position shown in FIG. , the support member 358 is set to abut from below the lower surface of the portion of the circuit board 20 into which the workpiece W is inserted.

[0108] After the support member 358 supports the lower surface of the circuit board 20 in this manner, the gripping portion of the head unit 218A descends to the lowest position and is gripped by the gripping portion, as shown in FIG. The workpiece W is the circuit board 2.
Specifically, the lead wires Wb are inserted into the plurality of through holes 12a formed in the circuit board 20 from above.

[0109] Also, from FIG. 22(B) to FIG. 22(C)
In the push-down process II (90 degrees to 135 degrees) leading to
is set so that its distance from the rotation center does not change, while the cam groove 380b that defines the movement of the third thin shaft 348 is set so that its distance from the rotation center does not change until the rotation angle is 95 degrees. The distance from the rotation center is specified to gradually increase within a rotation angle range of 95 degrees or more without changing the cam lift amount (i.e., from (B) in FIG. 22 to (B) in FIG. 22). The distance the cam follower 379b rises up to (C) is set to the above-mentioned first protrusion amount.

[0110] That is, the rotation angle range from 90 degrees to 95 degrees is set to be defined as the detection process.
In this detection step, the workpiece W is inserted into the circuit board 20 by the head unit 218A as described above, and the detection pin 357g of the detection unit 357 is set to be pushed down by the lead wire Wb of the inserted workpiece W. There is.

[0111] Then, as a result of the rotation angle reaching 135 degrees, the third thin shaft 348 is projected upward by the first protrusion amount from the upper end of the third thick shaft 347, as shown in FIG. It turns out. In this way, both cam members 381a, 38
When 1b rotates to the state shown in FIG. 22(C), the push-down operation is completed.

[0112] Also, from (C) to (D) in FIG.
In the clinching process III (135 degrees to 180 degrees) leading to
80a is set so that its distance from the rotation center does not change as in the push-down process II, while the cam groove 380b that defines the operation of the third thin shaft 348 gradually changes its distance from the rotation center. The lift amount of the cam (i.e., the lifting distance of the cam follower 379b from (C) in FIG. 22 to (D) in FIG. 22)
is set to be the second protrusion amount described above.

As a result, the third thin shaft 348 is further projected upward from the upper end of the third thick shaft 347 by the second projection amount, as shown in FIG. In this way,
The clinch operation is completed by rotating the cam members 381a and 381b to the state shown in FIG. 22(D). Therefore, in this embodiment, after the push-down motion is performed, the clinch motion is performed;
Connection pins Wb1, Wb2, Wb3, Wb4 at the four corners
are four clinch claws 369a3, 369a4; 3
69b3 and 369b4 are respectively bent inward.

[0114] Also, from FIG. 22(D) to FIG. 22(E)
In the descending step IV (180 degrees to 270 degrees) leading to , both cam grooves 380a and 380b move the entire clinch unit 343 in the raised position, that is, the third thick shaft 34
7 and the third thin shaft 348 so as to be lowered without changing the relative distance between them, the distance from the center of rotation is gradually shortened, and the cams are formed to have the same cam shape.
In the lowest position shown in FIG. 28, the clinch unit 34
3 is set to be lowered to the same height position as the state shown in FIG. 24 while maintaining the clinch posture.

22(E) to FIG. 22(A)
) Return process V (270 degrees to 3360 degrees, i.e. 0 degrees)
, the cam groove 380a that defines the operation of the third thick shaft 347 is set so as not to change the distance from its rotation center, while the cam groove 380b that defines the operation of the third thin shaft 348 is set so as not to change the distance from the center of rotation. , is defined so that the distance from the rotation center is gradually shortened, and the descending amount of the cam (that is, the descending distance of the cam follower 379b from FIG. 22(E) to FIG. 22(A)) is: The value is set to be the sum of the first protrusion amount and the second protrusion amount described above. As a result, the second thin shaft 348 protrudes from the upper end of the second thick shaft 347 by a predetermined amount, as shown in FIG. In this way, both cam members 381a, 3
81b will return to the state shown in FIG. 22(A).

(Explanation of clinch control procedure) Next, FIG.
The clinch control procedure in the control unit 30 will be explained with reference to FIG.

That is, when the operation start signal is detected in step S58, in step S60, in the control procedure in the turret table device 200 described above, the clincher turret motor is rotated by the same amount of rotation as the amount of rotation of the head turret motor 219. 344 outputs a drive signal to the fourth motor driver 220d so as to rotate the second rotary table 342.

By executing this step S60, in the clinch device 300, the clinch unit 343 is rotationally driven in synchronization with the rotation of the head unit 218 of the turret table device 200, and the insert is inserted. When the head unit 218 gripping the workpiece W is rotated to the insert position, in this clinch device 300, the clinch unit 343 corresponding to the workpiece W to be inserted is rotated.
will be rotated to the clinch position. When the clinch unit 343 is rotated to the clinch position, a drive stop signal for the clincher turret motor 344 is outputted to the fourth motor driver 220d in step S62.

After that, in step S64, the clincher cam motor 38 is connected to the fifth motor driver 220d.
A clincher turret signal is output so that the clincher turret 2 rotates forward (rotates along the counterclockwise direction). Based on this clincher turret signal, as explained in FIGS. 24 and 25, the ascending process is executed, and subsequently the detection process is executed.

Then, in step S66, it is determined that the amount of rotation of both cam members 381a, 381b in the clinch drive mechanism 371 reaches 95 degrees. If it is determined in this step S66 that the amount of rotation of both cam members 381a, 381b is 95 degrees, that is, if it is determined that the detection process has been completed, then in step S68, the above-mentioned step S344 is executed. Similarly, it is determined whether or not the latch signal is output from the latch circuit 363.

[0121] If YES is determined in this step S68, that is, if it is determined that the LED 361 is lit and the latch signal is output from the latch circuit 363, the fifth motor is The output of the clincher turret signal to the driver 220d continues, and as a result, as described above, following the depressing process of the detection unit 57, the clinching process of the lead wire Wb of the workpiece W is executed, and finally, the clinching process is performed. The main body 49 will be lowered to the initial position.

[0122] Then, in step S70, both cam members 381a, 381 in the clinch drive mechanism 371
When it is detected that the rotation amount of b has reached 360 degrees, in step S72, a driving stop signal for the clincher cam motor 82 is output to the fifth motor driver 220d, and the clinching operation is started in the clinch unit 343A. After completing the process and returning to the lowest position, the drive of the clinch drive mechanism 371 is stopped, and the series of clinch devices 3
The second control procedure in the normal state at 00 ends.

On the other hand, if the determination in step S68 is NO, that is, if it is determined that the LED 361 is off even at the end of the detection process and the latch circuit 363 is not outputting the latch signal. In this case, it is determined that at least one lead wire Wb is not taken out below the circuit board 20.
In step S74, the fifth motor driver 220
d, a clincher cam signal that causes the clincher cam motor 82 to rotate in reverse is output. As a result, the clinch main body 49 in the clinch unit 343A is moved in the opposite direction to the previous movement, and this reverse drive means that in step S76, the amount of rotation of both cam members 381a and 381b in the clinch drive mechanism 371 is 0 degrees. continues until a return to is detected.

[0124] Then, in step S76, when it is detected that the amount of rotation of both cam members 381a, 381b has returned to 0 degrees, in step S78, a stop signal for the clincher cam motor 82 is sent to the fifth motor driver 220d. is output, and the clinch unit 343A returns to the lowest position before executing the clinch operation, and the drive of the clinch drive mechanism 371 is stopped. In this way, countermeasures are taken in the event of an insertion failure, and the second control procedure is completed.

[0125] Thus, in this second control procedure, the control unit 30 controls both cam members 381a, 381
By driving b one rotation at the same time (forward rotation), 1
Basically, the clinching operation is performed twice, and if a detection process performed before the clinching process detects a defective insertion of the inserted workpiece W, both cam members 381a and 381b are reversed at the time of detection. Then, the clinch body 349 is lowered without clinching the workpiece W determined to have been inserted incorrectly, and returned to its original position, that is, both cam members 38
It is configured to return to the 0 degree rotation position at 1a and 381b.

As a result, according to this embodiment, even if a workpiece W with a defective insertion occurs, since this workpiece W has not yet undergone a clinching operation, the operation up to the time of detection of a defective insertion is performed as described above. By performing the process in reverse, the lead wire Wb can be easily and automatically removed by the head unit 218A without clinching it.

(Description of substrate rotation and positioning device) As described in detail above, the work W supplied from the component supply mechanism 100
will be mounted at a predetermined position on the substrate 20. Below, the overall configuration of a substrate rotation and positioning device 400 for positioning the substrate 20 will be explained using FIG. 29.

[0128] This substrate rotation and positioning device 400 allows the rotation table 438 on which the substrate 20 is directly placed to be movable relative to the above-mentioned base 210 along the x-axis and the y-axis, and It is rotatable around the central axis. That is, this substrate rotation positioning device 400
10 and a pair of parallel frames 440a and 440b set to extend along the x-axis direction. One pedestal 440a (the upper pedestal in the figure) has an x-axis frame 442 formed in an elongated frame shape along the y-axis direction on its first side (upper side in the figure) 4.
42a is supported movably along the x-axis direction while being guided by a pair of guide members 444a and 444b.

[0129] This x-axis frame 442 has a first side 44
The first side 442 is formed in a hollow shape over the entire length of the substantially U-shaped part except for the third side 442c opposite to the first side 442c.
In a, a second ball screw 446 extends along the x-axis direction and is rotatably supported at both ends thereof. Further, a second nut member 4448 is screwed into this second ball screw 446.
48 is fixed on one of the above-mentioned mounts 440a. One end of this second ball screw 446 is x
x housed within the first side 442a of the shaft frame 442
It is connected to the drive shaft of the shaft drive motor 450.

In this way, by starting the x-axis drive motor 450, the x-axis frame 44 is
2 is driven to move along the x-axis direction as a whole. Note that the third side 44 of this x-axis frame 442
2c is configured to slide on the upper surface of the other pedestal 440b of the pair of pedestals 440a and 440b described above via a cam follower (not shown).

On the other hand, in a space surrounded by the x-axis frame 442, a y-axis frame 452 formed in a substantially square frame shape is housed so as to be movable along the y-axis direction. From the second side (right side in the figure) 452b of this y-axis frame 452, a pair of connecting stays 454a, 45
4b protrudes toward the right in the figure, and a y-axis guide member 456 extending along the y-axis direction is integrally connected to the tips of these connecting stays 454a and 454b.

[0132] Furthermore, an engaging member 458 that protrudes inward from the second piece 442b is integrally attached to the above-mentioned y-axis guide member 456. On the other hand, the x-axis frame 442
A third ball screw 460 is attached to the second side 442b of y
It extends along the axial direction and is rotatably supported at both ends. Further, a third nut member 462 is screwed into this third ball screw 460, and this third ball screw 460 is screwed with a third nut member 462.
The nut member 462 is fixed to the above-mentioned engaging member 458. One end of the third ball screw 460 is connected to the drive shaft of a y-axis drive motor 464 housed within the second side 442b of the x-axis frame 442.

In this way, by starting the y-axis drive motor 464, the y-axis frame 45 is
2 is driven to move along the y-axis direction as a whole. Note that the fourth side (left side in the figure) 452d of the y-axis frame 452 is slidably supported by the fourth piece 442d of the x-axis frame 442 via a cam follower (not shown). It is configured.

Furthermore, within the space surrounded by this y-axis frame 452, the above-mentioned rotary table 438 is supported via a plurality of guide rollers 466 so as to be rotatable about its own central axis. As shown in the figure, this rotary table 438 is formed in a circular frame shape, and a pair of guide rod attachment stays 468a and 468b are provided on this rotary table 438 in parallel to each other while extending along the y-axis direction. A pair of guide rods 470a, 470b are attached to these guide rod attachment stays 468a, 468b in parallel with each other and extending along the x-axis direction.

[0135] In this way, the above-described substrate 20 is attached to the rotary table 438 while being held between these two guide rods 470a and 470b.

[0136] Here, these pair of guide rods 470
a and 470b are movable along the y-axis direction, and are moved according to the size of the substrate 20 to be attached (particularly the length along the y-axis direction), so as to securely sandwich the substrate 20 from both sides. It is set up so that it can be done. Note that these guide rods 470a, 470b are configured to be fixed at set positions with set screws (not shown).

[0137] One side of this rotary table 438 (
A friction drive mechanism 472 for rotationally driving the y-axis frame 452 is disposed on the y-axis frame 452 (lower side in the figure).

With the above configuration, the substrate 20 can be moved at any point on the substrate 20 by moving the rotary table 438 independently along the x-axis and y-axis directions and rotating along the θ direction. , it is possible to match the insert position of the workpiece W in the turret table device 200.

Finally, the configuration of the friction drive mechanism 472 as a substrate rotation mechanism for rotationally driving the rotary table 438 will be explained in detail using FIGS. 300 and 31.

[0140] This friction drive mechanism 472 includes a leaf spring mechanism 474 fixed on the y-axis frame 452. This leaf spring mechanism 474 has a push lever 474a on the inside in the radial direction that is movable back and forth along the radial direction of the rotary table 438, and the push lever 474a has an adjustment screw 474b attached on the outside in the radial direction. It is set to move forward and backward along the radial direction by rotating it. That is, by rotating this adjustment screw 474b,
It is set so that the pressing force can be adjusted. Further, both ends of a U-shaped pressing stay 476 are integrally attached to the leaf spring mechanism 474.
A pinching roller 478 is rotatably supported on the inside of the pressing stay 476 in the radial direction about a vertical axis.

On the other hand, the above-mentioned y-axis frame 452 has
Both ends of a U-shaped guide stay 480 are integrally attached. On the base end side of this guide stay 480, the middle of the upright support stay 482 is connected to the rotary table 4.
It is supported slidably along the radial direction of 38. That is, in the middle of both side edges of this support stay 482, there is a guide groove 4 into which both extending portions of the guide stay 480 described above fit.
82a, 482b are formed, and these guide grooves 48
By fitting both the extending portions of the guide stay 480 into 2a and 482b, the support stay 482 becomes slidable.
Moreover, it is supported in a state where it is prevented from falling downward.

A mounting stay 484 is attached to the upper end of the support stay 482 in a state extending radially inward, and the drive roller 48 is attached to the mounting stay 484.
The upper end of a drive shaft 488, to which a drive shaft 488 is coaxially fixed, is rotatably supported. Note that the height position of this drive roller 486 is set so that it is at the same height as the above-mentioned nipping roller 478. That is, the above-mentioned rotary table 43
A driving roller 486 is in rolling contact with the outer circumferential surface of the rotary table 438 , and a holding roller 478 is in rolling contact with the inner circumferential surface of the rotary table 438 .
is set so that the friction engagement force between the drive roller 486 and the rotary table 438 is defined by being held between the drive roller 486 and the nipping roller 478.

[0143] Also, at the lower end of this support stay 482,
Rotary drive motor 49 for rotationally driving the drive shaft 488
0 is attached, and this rotary drive motor 490 and drive shaft 488 are connected via a coupling mechanism 492 in an aligned state. In addition, this support stay 482
is set so that its back surface (that is, the radially outward surface) is pressed by the push lever 474a of the leaf spring mechanism 474 described above.

[0144] Friction drive mechanism 47 constructed as above
2, by rotating the adjustment screw 474b of the leaf spring mechanism 474 in the state shown in FIG. Actuated to move radially inward. On the other hand, this support stay 4
As a result of the radially inward movement of 80, the leaf spring mechanism 474 itself is subjected to a radially outward reaction force, which causes the clamping roller attached to the pressure stay 476 to 478 will move relatively radially outward.

As a result, the rotary table 438 receives a radially inward pressing force from the driving roller 486 and a radially outward pressing force from the pinching roller 478, and is strongly held by both rollers 486 and 478. will be done. Here, in this way, this rotary table 43
8 receives a balanced pressing force from both rollers 486 and 478, so although the rolling contact force (frictional engagement force) by the drive roller 486 increases, the center of rotation of the rotary table 438 does not shift. become.

[0146] In this way, when the rotary drive motor 490 is started with the rolling force applied by the drive roller 486 to the rotary table 438 set to a predetermined value, the rotational drive motor 490 is activated via the coupling mechanism 492 in response to this start-up. , the drive shaft 488 is rotationally driven, and therefore the drive roller 486 integrally attached to the drive shaft 488 is similarly rotationally driven, and as a result, the rotary table 438 that is in rolling contact with this drive roller 486 is also rotated. It turns out.

Note that a rotary encoder 494 is attached to this rotary drive motor 490, and the drive amount by this rotary drive motor 490, that is, the drive roller 48
The rotation amount of 6 is always detected numerically, and the rotary table 438 is rotationally driven to a desired rotation position based on this detection result.

As described in detail above, in the substrate rotation positioning device 400 of this embodiment, the x-axis frame 442 is moved along the x-axis via the x-axis drive motor 450, and the y-axis drive motor 464 via x-axis frame 442
along the y-axis, and a friction drive mechanism 47 equipped with a rotary drive motor 490.
By rotating the rotary table 438 supported by the y-axis frame 452 along θ through 2, the arbitrary position of the substrate 20 fixed on the rotary table 438 can be
While being moved to a position that accurately matches the insert position of the workpiece W in the turret table device 200,
It becomes possible to freely set the rotational positional relationship between the workpiece W and the substrate 20.

[0149] Furthermore, in the substrate rotation positioning device 400 of this embodiment, without using belts or gears,
Since the rotary table 438 is rotatably driven via the friction drive mechanism 472, there are problems with conventional methods such as large bumps and noise due to the use of gears, and the use of belts. The problem with this is that it cannot be rotated at high speed and the control becomes complicated.
It will definitely be canceled.

(Configuration of Control Unit) The schematic configuration of the control unit 30 that drives and controls the mounting apparatus 10 configured as described above will be explained with reference to FIG.

[0151] This control unit 30 includes a CPU 500 in charge of overall control and a ROM 50 in which control procedures are stored in advance.
2, a RAM 504 in which variable values etc. are arbitrarily stored, a keyboard 506 as an external input means, a floppy drive driver (FDD) 508 as an external storage means or an external program input means, and a hard disk as an internal storage means. A driver (HDD) 510, a display section 512 as a display means, and a printer 5 as an external output means.
14 and an interface unit 5 that mediates information with the outside.
16, which are connected to each other by a bus line 518.

On the other hand, the cylinder 148 and numerous drive motors 145, 219, 236 provided in the mounting apparatus 10
, 292, 344, 382, 450, 464, 490, etc. are drivers 220a, 220b, 220c, 220d.
, 220e, etc., but these drivers 220a, 220b, 220c, 22
0d, 220e, etc., the above-mentioned interface section 5
16 are connected, and according to the control operation by the control unit 30, these drive motors 145, 148, 219, 236,
It is configured to drive and control 292, 344, 382, 450, 464, and 490.

Further, as shown in FIG. 1, an operation panel 520 is attached to the mounting apparatus 10, and as shown in FIG.
Supply unit exchange switch 52 supporting exchange operation at 0
2, a PAUSE switch 524 for temporarily stopping the mounting operation, and a PAUSE switch 524 for temporarily stopping the mounting operation;
A first recovery switch 526 that resumes the mounting operation in a recovery mode, and a second recovery switch 528 that resumes the mounting operation in a second recovery mode after the mounting error that has occurred is resolved. . These switches 522,5
24, 526, and 528 are connected to the above-mentioned interface section 516, and via this to the control unit 30.

Next, with reference to FIGS. 33 to 35, a processing procedure when a mounting error occurs in the control unit 30, which is a feature of the present invention, will be described. First, with reference to FIG. 33, the general procedure of the mounting control operation including the mounting error detection procedure will be explained.

That is, when the start of the mounting operation is instructed in step S10, the component supply mechanism 100 is driven in step S12 to supply the workpiece W to be mounted to the pickup position. Then, in step S14, the turret table device 200 is driven to pick up the workpiece W supplied to the pickup position, and in step S16, the substrate rotation and positioning device 400 is driven to mount the circuit board 20 thereon. The mounting position of the workpiece W to be mounted is on the turret table device 2.
Move and position it to match the insert position in 00. Thereafter, in step S18, the turret table device 200 is driven to rotationally move the picked-up workpiece W to the pick-up position, and at this pick-up position, the workpiece W is inserted and mounted on the circuit board 20.

[0156] When the mounting operation of the workpiece W is thus completed, the occurrence of a mounting error is detected via the detection unit 357 in step S20. Then, in this step S20, no mounting error has occurred and the mounting is OK.
If it is determined that this is the case, in step S22, the clinch device 300 is driven to perform a clinch operation to lock the mounted workpiece W to the circuit board 20, and the process returns to step S12, where the next step is performed. The mounting operation of the workpiece W is repeatedly executed.

Although the details are not shown, in order to shorten the takt time, in step S12, the workpiece W to be mounted next is fed in advance to the standby position, and in the subsequent step S14, the workpiece W is When the pick-up is completed, the workpiece W to be mounted next, which is in the standby position, is supplied to the pick-up position. Also, in step S16, when the clinching operation is completed in step S22, the work W to be mounted next is
The substrate rotation positioning device 400 is driven and controlled so that the mounting position of the substrate coincides with the insert position in the turret table device 200.

On the other hand, if it is determined in step S20 that a mounting error has occurred, the process advances to step S24, where mounting error processing, which is a feature of the present invention, is executed. Then, in this step S24, when the mounting error is processed and a restart of the mounting operation is instructed as described later, the process proceeds to the above-mentioned step S22, where the clinching operation of the workpiece W is executed, and as described above, the process proceeds to the step S12. The process returns to , executes the subsequent control procedure, and continues the mounting operation for the next workpiece W.

Next, referring to FIGS. 34 and 35, the control procedure for the mounting error processing in step S24 will be explained as a subroutine. First, when the mounting error process is started in step S24, as shown in FIG. 34, the mounting operation is temporarily stopped in step S26, and then
At 28, this stopped control procedure is stored. After that, in step S30, the circuit board rotation and positioning mechanism 400 is driven to move the circuit board 20 so that the incorrectly mounted workpiece W is closest to the worker, that is, to the position closest to the worker's standing position. Move and drive. For details,
First, the x-axis drive motor 450 and the y-axis drive motor 464 move the x-axis frame 442 and the y-axis frame 452, respectively, so that the rotary table 438 supported by the y-axis frame 452 is located at the position where the worker is most likely to stand. It moves to a position close to . On the other hand, the rotary drive motor 490 is
Y-axis frame 4 closest to the worker's standing position
The rotary table 438 is moved so that the workpiece W that has been mounted incorrectly is located on a line connecting the centroid position on the plane of the circuit board 20 on the rotary table 438 supported on the rotary table 438 and the worker's standing position. drive the rotation. In this way, by executing step S30, the workpiece W that has been mounted incorrectly will be placed in the position where the worker is standing, no matter where it is located on the circuit board 20. It will be moved to a nearby location.

As is clear from FIG. 3, the insertion position of the workpiece W into the circuit board 20, that is, the mounting position is located approximately at the center of the mounting apparatus 10, and the operator shown on the left side of the figure It is far away from where I stand. For this reason,
It is difficult to mark or manually remove a workpiece W that has been mounted incorrectly as long as the workpiece W that has been mounted incorrectly is at the mounting position. However, as described above, in step S30, the circuit board 20 is moved so that the incorrectly mounted workpiece W is closest to the operator, so the work by the operator is extremely efficient. In addition to improving work efficiency,
This makes it possible to shorten the recovery operation from mounting errors.

[0161] After the workpiece W which has been mounted incorrectly in step S30 is moved closest to the operator, in step S32, the servos of the three drive motors 450, 464, and 490 in the substrate rotation positioning mechanism 400 are freed. shall be. Specifically, this step S32
In , the drive power to each of the drive motors 450, 464, and 490 is cut off, but a control operation is performed so that the corresponding encoder remains energized. In this way, the x-axis frame 442 and the y-axis frame 452 are movable along the x-axis and the y-axis, respectively, and the rotary table 438 is brought into a freely rotatable state.
The worker moves the incorrectly mounted workpiece W, which has been automatically (that is, mechanically) moved to the position closest to the worker's standing position, to the position where the worker is most comfortable with the work. This allows you to freely change your posture, further improving work efficiency.

On the other hand, in step S32, the servos of the three drive motors 450, 464, and 490 are set free, so that even if the control procedure in the control unit 30 goes out of control due to noise or the like, the operator can easily control the servos. , while the work W that has been incorrectly mounted is being marked or while the work W that has been incorrectly mounted is being removed, the circuit board 20 is inadvertently moved and the work is The user's fingers are connected to the substrate rotation positioning mechanism 400.
This will definitely eliminate the possibility of an accident occurring due to being caught inside, and ensure the safety of manual work by workers. In addition, as mentioned above, each drive motor 450, 464,
Even when each of the 490 servos is set free, the corresponding encoder remains active, so the current position and rotation angle of the circuit board 20 that has been manually moved and rotated by the operator can be reliably determined by the control unit 30. is recognized.

After that, in step S34, the first return switch 526 or the second return switch 52 is activated.
Wait for the operator's turn-on operation in step 8. That is, step S3
After Step 2 is executed, the worker manually performs the recovery operation for the mounting error. Specifically, the worker manually marks the workpiece W where the mounting error was made, manually eliminates the mounting error, and removes the workpiece. A case in which a first recovery operation is performed to correctly correct the mounting state of the workpiece W and then restart the mounting operation of the workpiece W to be mounted next from the next control procedure of the stopped control procedure; A second recovery operation may be performed in which the mounting operation is restarted by manually removing the work W that has been mounted incorrectly and re-mounting the work W that has been mounted incorrectly.

[0164] These recovery operations vary depending on the state of the mounting error. For example, if it is difficult to manually remove the workpiece W that has been mounted incorrectly,
In order to identify the incorrectly mounted workpiece W in order to remove it later, the task may be limited to marking it, or even if the mounting error can be easily corrected by hand, the incorrectly mounted workpiece may be removed. There are cases where it is possible to use W again, and cases where it is possible to manually mount a new work W of the same type.

That is, the operator performs the first recovery operation, and then performs the mounting operation for the next work W to be mounted.
When restarting the mounting operation, the first return switch 5
26 is turned on. Meanwhile, performing a second recovery operation,
When restarting the mounting operation after repeating the mounting operation for the workpiece W that has been mounted incorrectly, the second return switch 528 is activated.
Turn it on to work.

[0166] In this embodiment, in step S34, the operator waits for the operator to turn on the first return switch 526 or the second return switch 528, and when the first return switch 526 is turned on. If it is determined that the mounting error has been detected, the mounting operation can be resumed following the control procedure of the mounting operation that was stopped due to the detection of the mounting error. The free state of the servo is canceled and the supply of drive power to each drive motor 450, 464, 490 is restarted to make it possible to drive, and after this,
In step S38, the control procedure continues from the next control procedure of the mounting operation that was stopped due to the detection of a mounting error.
Resume the implementation operation and return to the main routine.

On the other hand, if it is determined in step S34 that the second return switch 528 is turned on,
Since the mounting operation must be restarted from the control procedure for mounting the workpiece W that has been mounted incorrectly again, as shown in FIG. The free state of the drive motors 450, 464, and 490 is restarted, and the drive motors 450, 464, and 490 are brought into a driveable state. Thereafter, in step S42, the component supply mechanism 100 is driven to eliminate mounting errors. A workpiece W of the same type as the workpiece W is supplied to a pickup position. Then, in step S44, the turret table device 200 is driven to pick up the workpiece W supplied to the pickup position, and in step S46, the substrate rotation positioning device 40 is driven.
0 to move and position the circuit board 20 so that the mounting position of the workpiece W to be mounted on the circuit board 20 coincides with the insert position in the turret table device 200. Thereafter, in step S48, the turret table device 200 is driven to rotationally move the picked-up workpiece W to the pick-up position, and at this pick-up position, the workpiece W is inserted and mounted on the circuit board 20.

[0168] When the mounting operation of the workpiece W is completed in this manner, the occurrence of a mounting error is detected via the detection unit 357 in step S50. Then, in this step S50, no mounting error has occurred and the mounting is OK.
If it is determined that this is the case, the subroutine for handling the implementation error is terminated and the process returns to the main routine. on the other hand,
If it is determined in step S50 that a mounting error has occurred again, the process jumps to step S26, the mounting operation is temporarily stopped, and the following control procedures are repeatedly executed.

In this way, in this embodiment, by executing the mounting error processing in step S24, the operator is able to perform the mounting error elimination operation with good work efficiency, and also to eliminate the mounting error. The control unit can optimally select a recovery operation for a mounting error depending on the manner of occurrence, and selectively turn on the first and second recovery switches 526 and 528 according to this recovery operation. 30 can restart the mounting operation according to the selected recovery operation.

[0170]

Effects of the Invention As described in detail above, the electronic component mounting apparatus of the present invention includes a substrate supporting means for movably supporting a substrate on which an electronic component is mounted to an arbitrary position, and mounting means for gripping a component and mounting it at a predetermined position on the board supported by the board support means; A driving means for driving the board supporting means, a detecting means for detecting a mounting error of the electronic component, and a mounting operation of the mounting means is stopped when the detecting means detects a mounting error. The method further comprises a stopping means, and a drive control means for causing the driving means to move the substrate supported by the substrate supporting means toward the operator and stop the mounting operation after the mounting operation is stopped by the stopping means. It is characterized by

Further, in the electronic component mounting apparatus according to the present invention, the drive means includes a servo motor as a drive source for moving the board, and the drive control means moves the board toward the operator. It is characterized in that after moving and stopping, the servo of the servo motor is made free.

[0172] Furthermore, the electronic component mounting method according to the present invention includes a detection step of detecting the mounting state of the electronic component on the board, and, in this detection step, when a mounting error of the electronic component on the board is detected. a stopping process for stopping the mounting operation;
In this stopping process, when the mounting operation is stopped, the board is moved to the operator's side, and the board moved to the operator's side in this moving process is stopped. It is said that

[0173] Furthermore, in the electronic component mounting method according to the present invention, when the stopping step is completed, the servo of a servo motor serving as a drive source for the board is made free. Therefore, according to the present invention, there is provided an electronic component mounting apparatus and a mounting method that can efficiently correct electronic components that have been mounted incorrectly.

[Brief explanation of the drawing]

FIG. 1 is a perspective view schematically showing the overall external configuration of a mounting apparatus according to the present invention.

FIG. 2 is a front view showing the front shape of the mounting apparatus shown in FIG. 1;

FIG. 3 is a side view showing the side shape of the mounting apparatus shown in FIG. 1;

FIG. 4 is a side view showing in detail the configuration of a component supply device provided in the mounting apparatus shown in FIG. 1;

5 is a side view showing the configuration of a separation mechanism provided in the component supply device shown in FIG. 4; FIG.

6 is a side view showing in detail the configuration of a turret table device provided in the mounting apparatus shown in FIG. 1; FIG.

7 is a partially cutaway view showing the configuration of a head unit included in the turret table device shown in FIG. 6; FIG.

8 is a side view showing the arrangement of a turret table device, a clinch device, and a circuit board included in the mounting apparatus shown in FIG. 1; FIG.

[Figure 9],

[Figure 10]

FIG. 11 is a front view showing the external configuration of the clinch mechanism;
They are a top view and a side view.

12 is a longitudinal sectional view showing the clinch mechanism taken along line IV-IV shown in FIG. 10. FIG.

13 is a longitudinal sectional view showing the clinch mechanism taken along the line V-V shown in FIG. 10. FIG.

14 is a cross-sectional view showing the clinch mechanism taken along line VI-VI shown in FIG. 9. FIG.

FIG. 15 is a longitudinal cross-sectional view showing the state in which the detection pin is attached to the detection unit, with the connection pin of the workpiece being inserted incorrectly.

FIG. 16 is a longitudinal cross-sectional view showing the state in which the detection pin is attached to the detection unit, with the connection pin of the workpiece being properly inserted.

FIG. 17 is a circuit diagram showing electrical connections in the detection switch.

FIG. 18 is a front view showing the structure of the clinch member.

FIG. 19 is a plan view showing the configuration of the clinch drive mechanism.

[Fig. 20] The clinch drive mechanism is XII-X in Fig. 8.
FIG. 2 is a plan cross-sectional view taken along line II.

[FIG. 21] The clinch drive mechanism is shown in FIG.
FIG. 3 is a plan sectional view taken along line XIII.

FIG. 22 is an operation diagram sequentially showing the driving states of the drive cam mechanism.

FIG. 23 is a flowchart showing a control procedure for the clinch mechanism in the control unit.

[Figure 24]

[Figure 25]

[Figure 26]

[Figure 27]

28 is a front view sequentially showing the operation procedure of inserting and clinching a work by the head mechanism and the clinch mechanism in states corresponding to (A) to (E) of FIG. 22, respectively; FIG.

29 is a plan view showing in detail the configuration of a substrate rotation device provided in the mounting apparatus shown in FIG. 1. FIG.

30 is a plan view showing, in an enlarged manner, the configuration of a rotational friction drive section of the substrate rotating device shown in FIG. 29; FIG.

31 is an enlarged side view of the rotating friction drive section shown in FIG. 30; FIG.

FIG. 32 is a block diagram schematically showing the internal structure of the control unit.

FIG. 33 is a flowchart showing a general control procedure for mounting operations in a control unit.

[Figure 34]

35 is a flowchart specifically showing the control procedure for the mounting error process shown in FIG. 33; FIG.

[Explanation of symbols]

10 mounting device, 20 circuit board, 30 control unit, 100 component supply device, 200 turret table device, 300
clinch device, 357 detection unit, 400 rotary positioning device. 526 first return switch, and 528
This is the second return switch.

Claims (4)

[Claims] Claims: 1. Board supporting means for movably supporting a board on which electronic components are mounted to any position; mounting means for mounting the electronic component on the substrate; a detection means for detecting a mounting error of an electronic component; a stopping means for stopping the mounting operation in the mounting means when a mounting error is detected by the detection means; An electronic component mounting apparatus characterized in that the electronic component mounting apparatus comprises a drive control means for moving the board supported by the board support means toward an operator and stopping the board supported by the board support means. 2. The drive means includes a servo motor as a drive source for moving and driving the substrate, and the drive control means moves the substrate toward the operator and stops the substrate, and then controls the servo motor to move the substrate. 2. The electronic component mounting apparatus according to claim 1, wherein the servo is free. 3. A detection step of detecting the mounting state of the electronic component on the board; a stopping step of stopping the mounting operation if a mounting error of the electronic component on the board is detected in this detection step; and a stopping step of stopping the mounting operation. The process is characterized by comprising, when the mounting operation is stopped, a moving step of moving the board to the worker's side, and a stopping step of stopping the board moved to the worker's side in this moving step. How to mount electronic components. 4. The electronic component mounting method according to claim 3, wherein when the stopping step is completed, a servo of a servo motor as a drive source for the board is made free.