JPH0471299A - Substrate rotating mechanism in turret type mounter - Google Patents

Abstract

PURPOSE:To eliminate the accumulation of error in a position of rotation by a method wherein a positioning pin is fitted in a control hole formed in a rotating table at a rotation stop position and an error generated between the actual position of rotation of the table and the position of rotation detected by a detecting means is dissolved by a slip generated at the time of a frictional drive. CONSTITUTION:When the instruction of the rotary drive of a rotating table 38 to a prescribed position of rotation is issued, the table 38 is rotated via a frictional driving mechanism 72 and when the arrival of the table to the prescribed position of rotation is detected by a rotating encoder 94, the drive of the mechanism 72 is stopped. A servo system of a rotary driving motor 90 is made free, a piston rod 110 is pushed out upward by a pneumatic cylinder 112 and a positioning pin 106 is fitted in a control hole 98a. After the at, the servo system of the motor 90 is locked and the position of rotation detected by the encoder 94 is transferred to an angle of rotation, which is specified by the pin 106 and the hole 98a. Moreover, the table 38 is finely driven via the motor 90 and the prescribed position of rotation is correctly specified. Thereby, the detected position of rotation and the actual position of rotation of the table can always be made to coincide accurately with each other.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a substrate rotation mechanism in a turret mounting machine in which a pick position and an insert position are each fixed.

[Prior Art] Conventionally, a pick position for picking up components to be mounted from a component supply mechanism and an insert position for inserting the components picked up at this pick position into a predetermined position on a circuit board are both fixedly provided. In a turret mounting machine, gears and belts are used in the rotation mechanism of the rotary table in order to align a predetermined position of the circuit board with an insert position.

[Problems to be Solved by the Invention] However, the conventional substrate positioning mechanism using a gear and a belt as a rotary drive unit has the following drawbacks. That is, (1) It has been pointed out that gears have large backlash and are noisy.

(2) In the belt system, a soft belt is inserted into the power transmission system, making it susceptible to vibration. Also, since the rotary table and drive motor are installed apart, it takes up a lot of space (required has been pointed out.

Therefore, the applicant of the present application first applied for patent application No. 1-2417.
No. 00 (title of invention: Substrate rotation mechanism in turret type mounting machine, filing date: September 20, 1999) has been filed, and in this earlier application, the above-mentioned problems were solved by using friction drive for the rotation mechanism. It provides technology to solve problems. In this prior application, in order to absorb slippage due to frictional drive, the rotating disk is positioned by inserting a positioning pin into a positioning hole formed in advance in the rotating disk.

However, this configuration assumes that the positioning hole is accurately formed on the rotating disk, and if the machining accuracy of the positioning hole is poor, the positioning accuracy will inevitably deteriorate. Remaining.

This invention was made in view of the above-mentioned problems, and an object of the present invention is to employ friction drive in the rotation drive unit, and to ensure that the detected rotation position and the actual rotation position are always accurately matched even if slippage occurs. It is an object of the present invention to provide a substrate rotation mechanism in a turret type mounting machine that is made to match.

[Means for Solving the Problems] In order to solve the above-mentioned problems and achieve the purpose, a substrate rotation mechanism in a turret mounting machine according to the present invention has the following features:
A substrate rotation mechanism in a turret-type mounting machine in which a pick position and an insert position are fixed, the substrate rotation mechanism including a rotation drive means for rotating a rotation table on which the substrate is attached, and a rotation position of the substrate rotation table depending on the drive amount of the rotation drive means. When the rotary table stops rotating, due to the slippage that occurs when the rotary table is rotated,
an error absorbing means for eliminating an error occurring between the actual rotational position of the rotary table and the detection position detected by the detecting means; It is characterized by comprising a positioning means for positioning and stopping at.

Further, in the substrate rotation mechanism in the turret type mounting machine according to the present invention, the error absorbing means is attached to the rotary table so that its mounting position can be adjusted, and has a regulating hole formed corresponding to a rotation stop position thereof; The rotary table is characterized in that it includes a positioning pin that fits into a regulation hole substantially corresponding to the rotation stop position to accurately correct the rotation stop position at the rotation stop position of the rotary table.

In the substrate rotation mechanism of the turret mounting machine according to the present invention, the error absorbing means sets the rotary table to a freely rotatable state before inserting the positioning pin into a predetermined regulation hole, and terminates the positioning operation. Thereafter, the rotary table is returned to a rotatable state by the rotary drive means, and the positioning means causes the rotary drive means to minutely drive the rotary table.

[Function] In the substrate rotation mechanism of the turret type mounting machine according to the present invention configured as described above, at the rotation stop position, the positioning pin is inserted into the regulation hole formed in the rotary table, so that the friction drive is activated. This is intended to eliminate an error caused between the actual rotational position of the substrate rotation table and the detection position detected by the detection means due to the immersion that occurred at the time. As a result, the accumulation of errors in the rotational position due to this slippage is eliminated. In addition, after the error due to slipping is absorbed by this error absorbing means, the positioning means minutely drives the rotary table via the rotational drive means, so that the regulation hole formed in the rotary table can be adjusted with high accuracy. At worst, the positioning of the rotary table will be achieved with great accuracy.

[Embodiment] Hereinafter, the configuration of an embodiment of a substrate rotation mechanism in a turret-type mounting machine according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an electronic component mounting machine (with fixed component supply position and mounting position) equipped with a substrate rotation mechanism according to this embodiment.
Hereinafter, the mounting machine will simply be abbreviated.

) 12 outline structure is shown.

First, the outline of this mounting machine 12 will be explained using FIG. 1.

The mounting machine 12 includes a base 14 placed on a base (not shown), and a slide base 16 supported on the base 14 so as to be movable along the X-axis direction. Here, on this slide stand 16 is a board positioning mechanism 10 on which a board 18 on which electronic components are mounted is mounted so as to be movable along the y-axis direction and rotatable around its own central axis. is placed.

Further, above the substrate positioning mechanism 10, a head turret mechanism 20 is arranged. This head turret mechanism 20 is equipped with a rotatable turret table 22, which is rotationally driven by a table rotation motor 24, and has a plurality of electronic components mounted on its periphery. In, 1
0 mounting heads 26a to 26j are provided at equal intervals.

In this head turret mechanism 20, by rotating the turret table 22 by the table rotation motor 24, the mounting heads 26a to 26j are moved, and the mounting head brought to the component supply position indicated by the symbol B is A component is delivered from a component supply mechanism 28 to be described later, and the component positioning mechanism 10 is moved by the mounting head brought to a mounting position indicated by reference numeral B6, which is defined as a rotational position 180 degrees apart from this component supply position. The components are set to be mounted at predetermined positions on the board 18, which are positioned by.

On the other hand, a component supply mechanism 28 is disposed on the base 14 described above in a state located behind the head turret mechanism 20. This component supply mechanism 28 has a plurality of parts, each containing a different component, and in this embodiment, one
0 component supply units 30a to 30j, and a unit mounting table 32 on which these component supply units 30a to 30j are placed and supported movably along the X-axis direction.

Here, on one side of this unit mounting table 32,
A first nut member 36 that is screwed into a first ball screw 34 extending along the axial direction is fixed, and by driving this first ball screw 34 with a motor (not shown), the unit mounting Component supply units 30a to 30A move the placing table 32 along the X-axis direction to store predetermined components.
30j can be arbitrarily moved to the mounting position B on the turret table 22 at any time.

Electronic components supplied from the component supply mechanism 28 configured as described above are mounted at predetermined positions on the board 18. Below, the board positioning mechanism 10 for positioning this board 18 will be described. The configuration will be explained using FIG.

This substrate positioning mechanism 10 allows the rotary table 38 on which the substrate 18 is directly placed to be movable relative to the base 14 along the y-axis and the y-axis, and also rotates around its own central axis. I am fully prepared.

That is, this component positioning mechanism 10 includes a pair of parallel frames 40a and 40b fixed on a base 14 and set to extend along the X-axis direction. One mount 40a (the upper mount in the figure) has y
An X-axis frame 4 formed into an elongated frame shape along the axial direction
2 is supported movably along the X-axis direction with its first side (upper side in the figure) 42a being guided by a pair of guide members 44a and 44b.

This X-axis frame 42 is formed in a hollow shape over the entire length of a substantially U-shaped portion except for a third side 42c opposite to the first side 42a. A ball screw 46 extends along the X-axis direction and is rotatably supported at both ends thereof. Further, a second nut member 48 is screwed into the second ball screw 46.
This second nut member 48 is connected to one of the mounts 40 mentioned above.
It is fixed on a. One end of the second ball screw 46 is connected to a drive shaft of an X-axis drive motor 50 housed within the first side 42a of the X-axis frame 42.

In this way, by starting the X-axis drive motor 50, the X-axis frame 42 as a whole is
It is driven to move along the axial direction.

The third side 42c of the X-axis frame 42 is configured to slide on the upper surface of the other pedestal 40b of the pair of pedestals 40a and 40b described above via a cam follower (not shown).

On the other hand, in a space surrounded by the X-axis frame 42, a y-axis frame 52 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) 52b of this y-axis frame 52,
A pair of connecting stays 54a, 54b protrudes toward the right in the figure, and a y-axis guide member 56 extending along the y-axis direction is integrally connected to the tips of these connecting stays 54a, 54b. There is.

Further, the above-mentioned y-axis guide member 56 includes a second piece 42.
An engaging member 58 protruding inward from b is integrally attached. On the other hand, a third ball screw 60 is rotatably supported at both ends of the second side 42b of the X-axis frame 42 in a state extending along the y-axis direction. Further, a third nut member 62 is screwed into this third ball screw 60, and this third nut member 62 is fixed to the above-mentioned engaging member 58. One end of this third ball screw 60 is connected to the second side 4 of the X-axis frame 42.
The Y-axis drive motor 64 is connected to the moving shaft housed in the Y-axis drive motor 2b.

In this way, by starting the y-axis drive motor 64, the y-axis frame 52 as a whole is
It is driven to move along the axial direction.

Note that the fourth side (left column in the figure) 6 of this y-axis frame 52
2d is configured to be slidably supported by the fourth piece 42d of the X-axis frame 42 described above via a cam follower (not shown).

Furthermore, within the space surrounded by this y-axis frame 52, the above-mentioned rotary table 38 is supported via a plurality of guide rollers 66 so as to be rotatable about its own central axis.

As shown in the figure, this rotary table 38 is formed into a circular frame shape, and a pair of guide rod attachment stays 68a and 68b are attached to each other in a state extending along the y-axis direction. The rack is passed in a parallel state, and these guide rod attachment stays 68a.

A pair of guide rods 70a and 70b are attached to 68b in parallel with each other and extending along the X-axis direction.

In this way, these two guide rods 70a, 7
The above-described substrate 18 is attached to the rotary table 38 while being held between the substrates 0b.

Here, these pair of guide rods 70a.

70b is movable along the y-axis direction,
It is moved according to the size of the substrate 18 to be attached (particularly the length along the y-axis direction), and is set so that the substrate 18 can be reliably held from both sides. Note that these guide rods 70a and 70b are configured to be fixed at set positions by set screws (not shown).

On the y-axis frame 52 located on one side (lower side in the figure) of this rotary table 38, there is a friction drive mechanism 72, which serves as a substrate rotation mechanism that is a feature of the present invention, for rotationally driving the rotary table 38. is installed.

With the above configuration, the substrate 18 is rotated so that the rotary table 38
By moving independently along the axis and y-axis directions and rotating along the θ direction, any point thereon can be
This allows alignment with the electronic component mounting position B6 in the head turret mechanism 20.

Finally, the configuration of the friction drive mechanism 72 as a substrate rotation mechanism for rotationally driving the rotary table 38 will be described in detail with reference to FIGS. 3 and 4.

The friction drive mechanism 72 includes a leaf spring mechanism 74 fixed on the y-axis frame 52. This leaf spring mechanism 74
has a push lever 74a radially inwardly movable along the radial direction of the rotary table 38, and this pusher bar 74a has an adjustment screw 74 attached radially outwardly.
By rotating b, it is set to move forward and backward along the radial direction. That is, it is set so that the pressing force can be adjusted by rotating this adjustment screw 74b. Further, both ends of a pressing stayer 6 having a U-shape in plan are integrally attached to this leaf spring mechanism 74, and a clamping roller 78 is mounted radially inwardly of this pressing stayer 6 around a vertical axis. Rotatably supported.

On the other hand, both ends of a planar U-shaped guide stay 80 are integrally attached to the above-mentioned y-axis frame 52.

On the base end side of this guide stay 80, the middle of an upright support stay 82 is supported so as to be slidable along the radial direction of the rotary table 38. That is, this support stay 82
Guide grooves 82a and 82b into which both the extending portions of the guide stay 80 described above fit are formed in the middle of both side edges of the guide stay 80.
By fitting both the extending portions of the supporting stay 8
2 is supported in a slidable manner and prevented from falling downward.

A mounting stay 84 is attached to the upper end of this support stay 82 in a state extending radially inward, and the upper end of a drive shaft 88 to which a drive roller 86 is coaxially fixed is attached to this mounting stay 84. It is rotatably supported. Note that the height position of the driving roller 86 is set so that it is at the same height as the above-mentioned nipping roller 78. That is,
The drive roller 86 rolls into contact with the outer peripheral surface of the rotary table 38 mentioned above, and the pinching roller 78 rolls into contact with the inner peripheral surface, and the rotary table 38 is held between the drive roller 86 and the pinching roller 78. , so that the frictional engagement force between the drive roller 86 and the rotary table 38 is defined.

Further, a rotary drive motor 90 for rotationally driving the drive shaft 88 is attached to the lower end of the support stay 82, and the rotary drive motor 90 and the drive shaft 88 are connected via a coupling mechanism 92. Connected in a consistent manner. Note that this support stay 82 has a back surface (that is, a radially outward surface) that is connected to the push lever 74 of the leaf spring mechanism 74 described above.
It is set to be pressed by a.

In the friction drive mechanism 72 configured as described above,
By rotating the adjusting screw 74b of the leaf spring mechanism 74 in the state shown in FIG. actuates to move inward in the direction. On the other hand, as a result of the radially inward movement of the support stay 80, the leaf spring mechanism 74 itself has the opposite effect.
As a result, the clamping roller 7 attached to the pressing stayer 6 receives a reaction force directed outward in the radial direction.
8 will move relatively radially outward.

As a result, the rotary table 38 receives a radially inward pressing force from the driving roller 86, and the nipping roller 7
8 receives a radially outward pressing force, both rollers 86
, 78. In this way, this rotary table 38 is held tightly by both rollers 86, 78.
Since the rotating table 38 receives a balanced pressing force, the rotational center of the rotary table 38 does not shift, although the rolling contact force (frictional engagement force) by the drive roller 86 increases.

In this way, when the rotary drive motor 90 is started in a state where the rolling contact force of the drive roller 86 to the rotary table 38 is set to a predetermined value, the drive The shaft 88 is rotationally driven,
Therefore, the drive roller 86 that is integrally attached to the drive shaft 88 is similarly driven to rotate, and as a result, the rotary table 38 that is in rolling contact with the drive roller 86 is also rotated.

Note that a rotary encoder 94 is attached to this rotary drive motor 90, and the amount of drive by this rotary drive motor 90, that is, the amount of rotation of the drive roller 86 is always
The pressure is detected numerically, and the rotary table 38 is driven to rotate to a desired rotational position based on the pressure detection result.

As described in detail above, in the substrate positioning mechanism 10 of this embodiment, the
The drive motor 64 for the y-axis moves the shaft frame 42 along the X-axis.
Y-axis frame 5 supported by X-axis frame 42 via
2 along the y-axis and the rotary table 38 supported by the y-axis frame 52 along θ via a friction drive mechanism 72 equipped with a rotational drive motor 90. Any position of the board 18 fixed to the board 38 can be moved to a position that accurately aligns with the mounting position B of the electronic component in the head turret mechanism 20, and the rotational positional relationship between the electronic component and the board 18 can be freely adjusted. It becomes possible to set.

In addition, in the substrate positioning mechanism 10 of this embodiment, the rotary table 38 is rotationally driven via the friction drive mechanism 72 without using a belt or gears, so that problems that have arisen in the past are avoided. This will definitely eliminate the problems of using gears, which cause large backlash and noise, and using belts, which cannot rotate at high speeds and complicate control.

With the configuration of the friction drive mechanism 72 as a rotation drive mechanism as described above, the rotary table 38 and the substrate 18 placed thereon are rotated. If even a small amount of slippage or wear occurs on the friction joint surface (hereinafter simply referred to as P surface) with the outer peripheral surface of The actual angle of the rotary table 38 differs from that of the rotary table 38.

Therefore, in this embodiment, an error absorption mechanism 96 for absorbing this error is provided at a position adjacent to the friction drive mechanism 72 described above. On the other hand, the rotary table 38 has
The stop positions of this are set every 90 degrees, and in this embodiment, a total of 4
Regulation holes 98a, 98b, 98c, and 98d are formed at four locations (that is, four locations at approximately 90°, approximately 180°, approximately 270°, and approximately 360° (approximately 0″) in rotation angle). The error absorption mechanism 96, as shown in FIG.
As shown in FIGS. 5A and 5B, a mounting member 100 attached in a vertical direction is attached to a connecting side 52e that connects the first and fourth sides 52a and 52d of the shaft frame 52 to each other. It is attached so that it extends along the A plunger rod 104 is supported by the mounting member 100 via a sliding guide member 102 so as to be vertically movable. A plunger 106 is fixed to the upper end of this plunger rod 104. Also,
The above-mentioned regulation hole 98 is provided on the upper surface of the plunger 106.
A hemispherical positioning pin 108, which is inserted from below, is fixed to one of the holes.

On the other hand, below the plunger rod 104, a pneumatic cylinder 112 is connected to the mounting member 10 via a mounting stay 114 so that the piston rod 110 can move back and forth in the vertical direction.
Fixed to 0. And this piston rod 11
The upper end of the plunger rod 104 and the lower end of the plunger rod 104 are connected to each other via a connecting rod 116.

Here, the arrangement position of the positioning pin 108 mentioned above is such that the rotation angle of the rotary table 38 is 90D, 180°,
When the four regulating holes 98a and 98 are accurately positioned at 270' and 3601' (0°), respectively.
b, 98c, and 98d from below, respectively.
It is defined as a position where the rotational position of the rotary table 38 can be accurately defined.

By configuring the error absorption mechanism 96 in this way, even if there is a little slippage or wear on the P surface, the error is eliminated every time the rotary table 38 stops at the target position.
In this way, the encoder 94
The detected angle and the actual angle of the rotary table 38 will accurately match.

Next, the error absorbing operation in the error absorbing mechanism 96 configured as described above will be explained below with reference to the flowchart shown in FIG.

First, in step SIO, when it is determined that an instruction to rotate the rotary table 38 to a predetermined rotational position (for example, a rotational position of 90') has been issued, in step S12, the rotational drive is performed to a predetermined rotational position. Towards
The rotary table 38 is rotated via the friction drive mechanism 72, and when it is detected in step S14 that the rotary table 38 has reached a predetermined rotational position based on the detection result from the rotary encoder 94, in step S16. , the drive of the friction drive mechanism 72 is stopped.

Here, as shown in step S14, the position of the rotary table 38 is based on the detection result of the rotary encoder 94 directly connected to the rotary drive motor 90, so that the rotary table 38 is directly rotationally driven by the rotary drive motor 90. If slippage occurs on the P plane between the drive roller 86 and the rotary table 38, the detected output value of the rotary encoder 94 will not accurately represent the rotational position of the rotary table 38. In other words, the rotary table 38
It is unclear whether or not it actually reaches the target position.

Therefore, in this embodiment, in step 318, the servo system of the rotary drive motor 90 is made free so that the rotary table 38 can rotate freely. Then, in step S20, operating compressed air is introduced into the pneumatic cylinder 112 to push the piston rod 110 upward, thereby forming a regulating hole formed in the rotary table 38 that substantially corresponds to the predetermined rotational position described above. 98a-98d
As a result, the positioning pin 10.6 is inserted from below into the regulation hole 98 which corresponds approximately to the rotational position 90' in the
For example, even if slipping occurs on the P surface between the drive roller 86 and the rotary table 38 and an error occurs between the detected position and the actual position, the positioning pin 106 and the regulating hole 98a By the fitting operation, the rotary table 38 is forcibly rotated so that the above-mentioned error is eliminated, and the rotary table 38 is accurately positioned at the rotational position defined by the fitting of the positioning pin 106 and the regulation hole 98a. will be done.

After this, in step S22, the rotational drive motor 90
The servo system is locked to fix the rotational position of the rotary table 38, and in step S24, the rotation detection position based on the detection result from the rotary encoder 94 is defined by the fit between the positioning pin 106 and the regulation hole 98a. Rewrite it to the rotation angle. Furthermore, in step 526, the rotary table 38 is slightly driven via the rotary drive motor 90 to accurately define the 90° rotational position.

In this way, a series of error absorbing operations in the error absorbing mechanism 96 are completed, and the rotational driving operation of the rotary table 38 to the 90° rotation position is completed.As described in detail above,
In this embodiment, each time the rotary table 38 stops at the target rotation position, the difference between the detected position and the actual position is determined based on the slippage that occurs on the P plane between the drive roller 86 and the rotary table 38. The error that has occurred is mechanically eliminated by the error absorption mechanism 96, and this error is reliably prevented from accumulating. Rotational positioning of the mounted circuit board 18 is achieved.

In addition, in this embodiment, since an error absorption mechanism 96 is provided as a correction mechanism for slippage, etc. on the P plane,
The rotary table 38 can be rotated reliably by friction drive, and a low-noise, backlash-free, and compact positioning mechanism for the substrate 18 can be realized.

This invention is not limited to the configuration of the one embodiment described above (it goes without saying that various modifications can be made without departing from the gist of the invention).

For example, in the embodiment described above, the rotary table 3
8 is set to be stopped at every integer multiple of 90'', so a total of 4 regulating holes are provided on the rotary table 38 at approximately every 90°.
Although it has been described that the rotary table 38 is formed at several points, the present invention is not limited to this configuration. For example, when the rotary table 38 is stopped at every integer multiple of 45 degrees,
A total of eight regulating holes may be formed on the rotary table 38 at approximately 45° intervals. In short, the regulation hole is in the rotary table 38,
What is necessary is to form it according to the stopping angle of this.

Furthermore, in the embodiment described above, the error absorption mechanism 96
has been described as being performed every time the rotary table 38 stops, but the present invention is not limited to this configuration, and can be performed every multiple times, such as every second or third time, of the stop operation. You can also set it so that it is performed, or
It may be set to be executed at the first stop operation after a predetermined amount of time has elapsed, or it may be set to be executed at the first stop operation after a predetermined amount of rotation has elapsed.

Furthermore, in the embodiment described above, the X-axis frame 42
→Y-axis frame 52 - rotary table 38 is stacked in this order. However, the present invention is not limited to this configuration, and for example, the rotary table 38 → Y-axis frame 52 → Y-axis
It may be configured such that the shaft frame 52→X-axis frame 42 is stacked in this order.

Further, the timing for fitting the plunger member 106 into the regulation hole and rewriting the rotational position of the rotary table 38 is after this fitting operation, if the slippage per rotation is small, and the servo system of the rotational drive motor 90 It may be before the locking operation.

Furthermore, in the embodiment described above, the rotary table 38
drive roller 86 from the side (i.e. along the radial direction)
Although the explanation has been made in such a manner that the drive roller 86 is pressed, the present invention is not limited to such a configuration, and it is also possible to adopt a configuration in which the drive roller 86 is pressed from above the rotary table 38.

[Effects of the Invention] As detailed above, the substrate rotation mechanism in the turret-type mounting machine according to the present invention is a substrate rotation mechanism in a turret-type mounting machine in which the pick position and the insert position are fixed, and the substrate rotation mechanism is a substrate rotation mechanism in the turret-type mounting machine in which the pick position and the insert position are fixed. a rotational drive means for rotating the rotary table; a detection means for detecting the rotational position of the substrate rotary table based on the amount of drive in the rotational drive means; error absorbing means for eliminating an error occurring between the actual rotational position of the rotary table and the detection position detected by the detection means;
It is characterized by comprising a positioning means for accurately positioning and stopping at a position where the error is eliminated by the error absorbing means.

Further, in the substrate rotation mechanism in the turret type mounting machine according to the present invention, the error absorbing means is attached to the rotary table so that its mounting position can be adjusted, and has a regulating hole formed corresponding to a rotation stop position thereof; The rotary table is characterized in that it includes a positioning pin that fits into a regulation hole substantially corresponding to the rotation stop position to accurately correct the rotation stop position at the rotation stop position of the rotary table.

In the substrate rotation mechanism of the turret mounting machine according to the present invention, the error absorbing means sets the rotary table to a freely rotatable state before inserting the positioning pin into a predetermined regulation hole, and terminates the positioning operation. Thereafter, the rotary table is returned to a rotatable state by the rotary drive means, and the positioning means causes the rotary drive means to minutely drive the rotary table.

Therefore, according to the present invention, a turret type mounting machine employs a friction drive in the rotation drive part and is configured such that the detected rotation position always accurately matches the actual rotation position even if slippage occurs. An object of the present invention is to provide a substrate rotation mechanism.

[Brief explanation of the drawing]

FIG. 1 is a perspective view schematically showing the structure of an embodiment of a substrate rotation mechanism in a turret-type mounting machine according to the present invention; FIG. 2 is a plan view showing in detail the structure of the substrate rotation mechanism shown in FIG. 1. ; FIG. 3 is an enlarged plan view showing the configuration of the rotational friction drive section of the substrate rotation mechanism shown in FIG. 2; FIG. 4 is an enlarged side view of the rotation friction drive section; 5B are a side sectional view and a front view, respectively, showing the configuration of the error absorption mechanism; and FIG. 6 is a flowchart showing the operating procedure of the error absorption mechanism. In the figure, 10... Board positioning mechanism, 12... Electronic component mounting machine, 14... Base, 16... Slide stand, 1
8... Board, 20... Head turret mechanism, 22
...Turret table, 24...Table rotation motor, 26a-26J...Mounting head, 28...
Component supply mechanism, 30a to 30J... Component supply unit, 32... Unit mounting table, 34... First ball screw, 36... First nut member, 38...
Rotary table, 40a; 40b... mount, 42...
X-axis frame, 42a to 42d...first to fourth sides, 44a; 44b...guide member, 46...second ball screw, 48...second nut member, 50.
...X-axis drive motor, 52...Y-axis frame, 52
a to 52d...first to fourth sides, 54aH54b.
...Connection stay, 56...y-axis guide member, 58...
- Engaging member, 60...Third ball screw, 62...
Third nut member, 64...y-axis drive motor, 66...
... Guide roller, 68a; 68b... Guide rod mounting stay, 70a; 70b... Guide rod, 72... Friction drive mechanism, 74... Leaf spring mechanism,
74a...Push lever 74b...Adjustment screw, 76.
... Pressing stay, 78 ... Holding roller, 80 ... Guide stay, 82 ... Support stay, 82a; 82b
...Guide groove, 84...Mounting stay, 86...Drive roller, 88...Drive shaft, 90...Rotary drive motor, 92...Coupling mechanism, 94...Rotary encoder, 96...Error absorption mechanism, 98a; 98
b; 98c; 98d...Regulation hole, 100...
・Mounting member, 102...Sliding guide member, 104...
・Plunger rod, 106...Plunger, 108
...Positioning pin, 110...Piston rod, 1
12... Pneumatic cylinder, 114... Mounting stay. Patent applicant Canon Co., Ltd. Agent Patent attorney Yasunori Amaba (and one other person)

Claims (3)

[Claims] (1) A substrate rotation mechanism in a turret type mounting machine in which the pick position and the insert position are fixed, which includes: a rotation drive means for rotating a rotation table on which the substrate is attached; and a rotation drive means for controlling the rotation position of the substrate rotation table. a detection means for detecting based on a drive amount; when the rotary table stops rotating, the actual rotational position of the rotary table is determined by slippage that occurs during rotational driving;
an error absorbing means for eliminating the error generated between the detected position detected by the detecting means; and a positioning means for accurately positioning and stopping at the position where the error is eliminated by the error absorbing means. A substrate rotation mechanism in a turret type mounting machine characterized by comprising: (2) The error absorbing means is attached to the rotary table so that its mounting position can be adjusted, and has a regulation hole formed corresponding to a rotation stop position thereof, and a rotation stop position at the position where the rotary table stops rotating. 2. The substrate rotation mechanism for a turret type mounting machine according to claim 1, further comprising a positioning pin that is fitted into a regulation hole substantially corresponding to the position to accurately correct the rotation stop position. (3) The error absorbing means sets the rotary table to a freely rotatable state before inserting the positioning pin into a predetermined regulation hole, and after the positioning operation is completed, the rotary drive means returns the rotary table to a rotatable state. 3. The substrate rotation mechanism in a turret type mounting machine according to claim 2, wherein the positioning means causes the rotation drive means to minutely drive the rotary table.