JPH0485898A - Component mounting device - Google Patents

Abstract

PURPOSE:To shorten a time required to replace a plurality of heads by providing a plurality of tool holding means for simultaneously holding tools corresponding to the heads at crossing positions to relatively move and remove the tools from the heads at the time of replacing the tools. CONSTITUTION:Both device heads 12 are simultaneously disposed tools 24 to be replaced above sucking pads 77. In this case, moving bases to be secured with a tool table 62 are disposed above the pads 77 at recesses 63 to be placed with the tools 24 of the heads 12. Then, the tools 24 are removed at the heads 12 in parallel. The tools 24 to be mounted at upper and lower moving bodies 18 are placed at the mounting interval P (a distance of integer number of times of the setting interval of through holes 64) of both the pads 77 in the table 62, the tables 62 is moved to be simultaneously disposed at positions where the heads 12 are waited. The operations for mounting the tools 24 on the bodies 18 are conducted in parallel.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention is a method for printing parts that have been suctioned by the nozzles by moving independently a plurality of mounting heads that exchangeably hold tools having suction nozzles. The present invention relates to a component mounting device for mounting onto a board.

(b) Prior Art A component mounting device of this type is disclosed in Japanese Patent Application Laid-Open No. 145899/1983. According to the prior art shown here, the nozzle is housed in a nozzle holder that is fixed to the fl plate of the belt conveyor. When replacing a nozzle, the nozzle shaft that holds the nozzle and moves in the X and Y directions moves onto the nozzle holder and places the nozzle on the nozzle holder, and the claw attached to the nozzle holder is replaced by the hook provided on the nozzle. The nozzle is removed by engaging and then rising. When installing a nozzle, the nozzle shaft moves and descends over the nozzle to be installed, the nozzle is installed, and after the claw releases the nozzle, the nozzle shaft rises.

One claw is provided in common to all the mounted nozzles, and simultaneously holds and releases the metal nozzles.

(8) Problems to be Solved by the Invention However, in the above-mentioned prior art, when the nozzle holder that houses the nozzle is not fixed properly, the above-mentioned claw and a driving source for the claw are provided for each nozzle placement position. This is possible, but this would make the mechanism too large. Therefore, the conventional technique has a structure in which all the nozzles are held by one pawl, but this conventional technique has the disadvantage that the pawl itself is large and a drive source must be made large to drive the pawl.

For this reason, patent application No. 1-214385 filed by the applicant
There are the following technologies described in the specification or drawings attached to the application of No.

According to this, in order to exchange a tool on a tool table on which a plurality of tools are mounted, a holding means for holding only one tool is provided, and the tool table is moved and the holding means is placed at any position on the tool table. It allows you to hold tools.

However, this method has the disadvantage that when exchanging tools on multiple heads that move independently, it is not possible to exchange the tools on the other head until the exchanging of one head is completed, and it takes time to exchange the tools. be.

Therefore, an object of the present invention is to shorten the time required for exchanging tools for a plurality of heads.

(d) Means for Solving the Problems Therefore, in the present invention, a plurality of mounting heads that replaceably hold a tool having a suction nozzle move independently to mount the component suctioned by the nozzle onto a printed circuit board. In the component mounting device, the tools are placed side by side in a direction intersecting the movement path of each of the plurality of heads with the same distance between each intersecting position being an integral multiple thereof. and a moving means for moving the tool table in the direction in which the tools are arranged in order to exchange the tool at a position where the travel path of the tool table and the travel path of the head intersect, and when exchanging the tool. A plurality of tool holding means are provided which can simultaneously hold each of the tools at each of the intersecting positions corresponding to each of the heads in order to relatively move and remove each of the tools from each of the heads. It is something.

(N) When the action moving means moves to the position where the tool table is to be stopped, and the respective mounting heads move to the positions of the respective tool holding means, the respective tool holding means move to the respective positions while the tool table is stopped. The tools are held in the mounting heads. Thereafter, each mounting head and the tool holding means are moved relative to each other so that each tool can be removed from each mounting head.

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

In FIG. 2, (1) is a component mounting device to which the present invention is applicable. (2) is a pair of supply conveyors, and (3)
is the X table section, (4> is a pair of discharge conveyors, (5) is the Y head section, (6) is the component supply section that supplies chip components (7), and (8) is the This is the tool exchange department.

The supply carrier (2) transports the printed circuit board (10),
The board (10) is supplied to the X table section (3), and the discharge conveyor 4) transports the printed circuit board (10) discharged from the X table section (3) in order to discharge it to downstream equipment. It is something.

Next, the Y head section (5) will be explained in detail. In Figs. 1 to 3, <12) (12) is a mounting head, which is attached to head nuts (14) (14) fitted to head ball screws (13) (13), to y
When the ball screws (13) (13) are rotated by the head drive motors (15) (15), they are guided by the head linear guides (16) (16) (16) (16) and moved in the Y direction. , the chip components (7) supplied from the component supply section (6) are placed on the printed circuit board (1) by the X table section (3).
0).

The mounting head (12) will be described in detail. In FIG. 3, (18) is a nozzle (
It is a vertically movable body having a mounting head (19) at the tip.
2) is provided with three that can be moved up and down.

(20) is a stopper mechanism that prevents the vertically movable body (18) from descending, and (21) is the vertically movable body (18).
It is a vertical movement drive mechanism that moves up and down. (23) is a lighting unit for illuminating the chip component (7).

The structure of the vertically moving body (18) will be explained in detail. In FIGS. 3 and 4, (24) is a tool having a nozzle (19) at the tip, and a component suction vacuum passage (25) for suctioning the chip component (7) is formed inside. At the same time, the light rays emitted by the lighting unit (23) are diffused to illuminate the parts (7).
) is provided with a milky white diffuser plate (26) for irradiating the area. A large number of tools (24) are prepared with different thicknesses of nozzles (19) and diffusion plates (26) depending on the size and shape of the component (7).

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

(34) is a double pipe joint attached to the upper part of the shaft (27), and a flange (35) is formed at the lower part thereof. The component suction vacuum passage 25) is connected to a vacuum source (not shown) via a valve (not shown).

(37) is a vacuum vibrator that communicates with the tool vacuum passage (31) and a vacuum source (not shown) via a valve (not shown). The vacuum vibrator (37) is further connected to a compressed air source via a valve (not shown).

Next, the stopper mechanism (20) will be explained in detail. (40
) is a stopper lever having a claw part (41) at the lower end, and a mounting plate (43) attached to the head nut (14).
) The upper end is rotatably attached to a solenoid (44), and swings about a support shaft (45) as the solenoid (44) moves back and forth.

That is, when the solenoid (44) protrudes in a demagnetized state, the claw portion (41) engages with the lower surface of the flange (35>) and restricts the downward movement of the vertically movable body (18).
When the solenoid (44) is energized and retreats, the claw (41) comes off from the flange (35) and the vertically moving body 1
8) allows for downward movement.

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

When the vertical movement motor (47) rotates the vertical movement ball screw (48>), the vertical movement plate (50) attached to the vertical movement nut (49) moves into the linear guide (51) provided on the mounting plate (43). ) (51).The vertically movable plate (50) is engaged with the lower surface of the flange (35) at three places to support the vertically movable body (18) (1g>(18), respectively). Cam followers (52) (52) (52) are provided, and the vertical moving body (18) with the stopper lever (40) unlocked moves up and down while being supported by the cam follower (52) by rotation of the motor (53). make a move.

In Fig. 2 and Fig. 3, (55) and (55) are component recognition cameras, and the nozzle (19) is installed in the component supply section (6).
The chip component (7) that was picked up and taken out by the mounting head (1
2), and the camera (55) recognizes the suction position, posture, lead bending, lead floating, etc.

Next, the X table section (3) will be explained. In Fig. 2, (58> is an X table on which the printed circuit board (10) supplied to the supply conveyor (2) (2) is placed, and a nut (not shown) that fits into the X ball screw (59) is attached. The X linear guide (61) (61) is installed and rotated by the X ball screw (59) by the X motor (60).
Move in the X direction along.

The chip component (7) that has been attracted by the nozzle (19) and moved to the mounting head (12) is moved to the X direction by the movement of the mounting head (12) in the Y direction and the movement of the X table (58) in the X direction.
It is mounted on a printed circuit board (10) on a table (58).

Next, the tool exchange section (8) will be explained in detail. In FIGS. 2 and 5, (62) is a type of tool (24) placed side by side in the X direction due to the different sizes and shapes of the nozzle (19) and diffuser plate (26). This is a tool table for storage. A recess (63) is formed in the tool table (62) to match the thickness of the diffuser plate (26) so that the tool (24) does not shift. Through holes (64) of the same size are opened for tool exchange.

Mobile platform (65) with tool table (62) attached
is attached to the tool nut (68) into which the tool ball screw (67) fits, and the tool motor (69)
) rotates the ball screw (67) to move in the X direction along the tool linear guide (70), so the tool table (62) moves in the X direction.

In FIG. 1, (72) is a cylinder fixedly provided on a base (73), and a pad holding member is attached to a rod (74) of the cylinder (72) via an attachment piece (75>). (
76) is installed.

The pad holding member (76) is cylindrical and has a suction pad (77) inserted therein for exchanging the tool (24), but the suction part of the suction pad (77) is widened to form a stepped part. A spring (78) wrapped around the shaft of the suction pad (77)
engages with the stepped portion to urge and support the suction pad (77) upward. The upper surface of the suction pad (77) has a recess formed in the center, which allows the nozzle (19) to escape when the cylinder (72) comes into contact with the lower surface of the diffuser plate (26) of the tool (24) to be replaced when the cylinder (72) is activated. ing. Suction pad (77)
A vacuum ventilation path (80) for vacuum suction is formed inside and opens at several locations on the top surface of the suction pad (77). The vacuum ventilation path (80) is connected to a vacuum source (not shown) from below the suction pad (77>) via a valve (not shown).

The through hole (64) opens at a size and position that allows the suction pad (77) moved upward by the operation of the cylinder (72) to enter therein. The suction pad (77) is attached to the mounting head (1
2) is located at the intersection of the trajectory through which the nozzle (19) held by the tool table (62) passes and the trajectory through which the through hole (64) of the tool table (62) passes. Mounting head (1
Since there are two 2), there are also two suction pads (77).
There are several. When the cylinder (72) is activated, the suction pad (77) is attached to the lower surface of the diffusion plate (26) of the tool (24) held by the vertically movable body (18).
8) is located at a position where it abuts without being biased.

The opening intervals of the through holes (64) of the tool table (62) are equal intervals rlJ as shown in FIG. 6, and one through hole ( 64) is located, the other suction pad (
The distance between the two suction pads (77), that is, the distance between the two heads (12), which are formed so that the through hole (64) is also located directly above the head (77), is rpJ as shown in Fig. 6. . This will allow the tool (24) for the two mounting heads (12) to
The zero interval rpJ, which enables the simultaneous replacement of the through holes (64), is set at a distance that is an integral multiple of the installation interval of the through holes (64).

Next, the component supply section (6) will be explained. In FIGS. 2 and 7, the parts supply section (6) in this embodiment is
A tape component supply device (83) for supplying chip components (7) housed in a tape (82) is arranged in parallel. The tape component supply device (83) supplies a wide variety of chip components (7), and usually one supply device (83) supplies one type of chip component (7), and a large number of supply devices (83) supply one type of chip component (7).
Although a wide variety of parts (7) can be supplied by 3), adjacent supply devices (83) are arranged in parallel with a predetermined interval.

The operation of the above configuration will be explained below.

First, the exchanging operation of the tool (24) will be explained. The tool (24) is replaced in a timely manner depending on the type of part (7) to be picked up. Now both mounting heads (12)
The tool holder (24) to be replaced is attached to the tool table (62), and the distance between the through holes (64) at the mounting position of the tool (24) to be replaced on the tool table (62) of both heads (12) is the same as that of both suction pads. (77) is the same as the installation interval rp, and the mounting position on the tool table (62) and the head (12
) shall not be installed in the opposite position.

First, both mounting heads (12) are moved in the Y direction along the linear guide (16) via the ball screw (13) and nut (14) by the drive of the motor (15), and the respective tools ( 24) to each suction pad (77
) at the same time.

At this time, the movable table (65) to which the tool table (62) is fixed is driven by the motor (69) and the ball screw (67)
) and nuts (68) along the linear guide (70), and the recesses (63) on which the tools (24) of the respective mounting heads (12) are to be placed correspond to the corresponding respective recesses (63). is located above the suction pad (77).

Next, in each mounting head (12), the following operations for removing the tool (24) are performed in parallel.

First, the stopper lever (40), which is engaged with the flange (35) of the vertical moving body (18) holding the tool (24) to be replaced, is disengaged from the flange (35) by the operation of the solenoid (44). The ball screw (48) is rotated by the drive of the motor (53), and the vertical moving plate (50) is lowered along the linear guide (51) via the nut (49) and supported by the cam follower (52). The vertically movable body (18) descends.When the tool (24) has descended to a predetermined position, the motor (47) stops and the tool (24) stops.

Then, the cylinder (72) is actuated, the rod (74) rises, the suction pad (77) passes through the through hole (64) via the mounting piece (75) and the pad holding member (76), and the diffusion plate rises. The nozzle (19) escapes and comes into contact with the lower surface of (26).

Since the rod (74) further rises, the suction pad (77) rises while pressing the diffusion plate (26) due to the biasing force of the spring (78), resulting in the state shown in FIG. 8.

At this time, a valve (not shown) is switched to supply compressed air into the vacuum vibrator (39) and the tool vacuum passage (31), and a vacuum source (not shown) supplies the diffuser plate ( 26) is a suction pad (77)
is adsorbed to. After that, when the cylinder (72) is activated and the rod (74) is lowered, the tool (24) is pressed by the compressed air in the tool vacuum passage (31), and while resisting the biasing force of the leaf spring (32), the suction pad (77) and descends. Then the tool (24) is placed in the tool table (62
) is placed in the recess (63). At this time, each valve is switched to the tool vacuum passage (31) and the vacuum ventilation passage (8).
0) is at atmospheric pressure.

Thereafter, the vertically moving body (18) is driven by the motor (15) and rises.

Next, the tool (24) is removed from each vertical moving body (1).
The tool table (62) is moved in order to position the tool (24) to be attached to the vertical movable body (18) at the standby position of each vertical movable body (18).

At this time, the tools (24) to be attached to the respective vertical movable bodies 18) are placed next to the tools (24) that have been removed in odd numbers, for example, so that both suction pads (77) are mounted on the tool table (62). If the head (12) and each tool (24) are placed at an interval of "P" and the positional relationship between the head (12) and each tool (24) is not reversed, the motor (69) will stop driving and the tool table (62) will move, allowing each tool to be installed. The respective tools (24) to be installed are simultaneously located in the waiting position of the head (12). Then, the following operations for attaching the tools (24) to the vertical movable bodies 18) of the respective mounting heads (12) are performed in parallel.

First, when the vertical moving body (18) is lowered by the motor (15) and the tool vacuum passage (31) is suctioning a vacuum, the suction pad (77) is raised by the operation of the cylinder (72) and the tool (24) is pulled up. It is fitted onto the push-up shaft (27) as shown in FIG. 8 while adsorbing through the vacuum air passage (80). Then, the tool (24) is held on the shaft (27) by the urging force of the leaf spring (32) and the vacuum suction through the tool vacuum passage (31).

Thereafter, the suction pad (77) stops suctioning through the vacuum air passage (80) and is lowered by the cylinder (72), and the vertically movable body (18) is raised by the motor (15). In this way, the exchanging operation of the tools (24) in both mounting heads (12) is completed.

In the above description, both when the currently installed tool (24) is removed and placed on the tool table (62) and when the tool (24) placed on the tool table (62) is installed, the tool is removed. Although it was possible to remove or attach the tool (24) in parallel on the two mounting heads (12) without moving the table (62), the tool (24) could be removed or attached on one of the suction pads (77). The through-hole (
64), the tool (24) is to be mounted or removed at the position of the through hole (64) located above the other suction pad (77). If not, the tool (24) is installed or removed only on one suction pad (77), and then the other suction pad (77) is installed or removed.
The same operation is performed by moving the through hole (64) at the upper position on which the tool (24) to be worked is placed.

In addition, not only when both mounting heads (12) perform the same operation of removing or mounting the tool (24), but also when one mounting head (12) performs the removing operation of the tool (24). When the tool (24) is placed in the through hole (64) above the other suction pad (77), the tool (24) is attached to the vertically movable body 18) of the mounting head (12) that moves above the tool (24). If so, the removal operation of one is paralleled by the installation of the other.

Next, the operation of mounting the chip component (7) onto the printed circuit board (10) will be explained.

First, the printed circuit board (10) is placed on the supply conveyor (2) (2).
), the printed circuit board (10) is conveyed to the X-table section (3) and placed on the X-table (58).

Next, the double mounting rod (12) is moved to the component supply section (6) by the motor (15), ball screw (13) and linear guide (16). At this time, each mounting head (
All three of the vertically moving bodies 12) and 18) are attached to the stopper lever (4).
0) is locked. One mounting head (12
), first, of the three nozzles (19), for example, the nozzle (19) on the near side in FIG.
), the solenoid (44) on the near side is energized, the stopper lever (40) is attracted, and the claw part (41
) comes off from the flange (35) and the vertically movable body (18) is unlocked.

Then, the vertically moving body is driven by the motor (47) 18)
is lowered while being supported by the cam follower (52), and the component (7) is sucked into the component suction vacuum passage (2) by a vacuum source (not shown).
5) , the nozzle <19) through the component vacuum passage (30)
It sticks to the tip and rises.

Then, the solenoid (44) protrudes and the stopper lever (
The claw portion (41) of 40) engages with the lower surface of the flange (35), and the vertically movable body (18) is locked. Next, the mounting head (
12) moves and the central nozzle (19) picks up the component (7) in the same way as the nozzle 19 on the front side described above.

Next, in the same way as described above, the nozzle (19) on the back side performs a suction operation for the part (7) to be taken out next. 3 nozzles (19
) adsorbs the component (7), the mounting head (12) is moved by the motor (15>) to a position above the recognition camera (55>), and the camera (55) adsorbs the component (7) to each nozzle (19) and attaches it to the lighting unit ( 23), the illuminated component (7) is recognized via the diffuser plate (26).

Similarly, parts (7) are placed on the other mounting head (12).
The part (7) is recognized by the adsorption and recognition camera (55).

Next, one mounting head (12) moves in the Y direction and
The table (81) is equipped with a motor (60) and a ball screw (59).
) and linear guide (61) to move in the X direction and stop the front nozzle (19) at the position where the component (7) is to be installed. Part (7) is recognized by the recognition camera (55).
), the mounting head (12) and the X table (58) move by a distance corrected for the amount of deviation.

After that, the solenoid (44) on the front side is energized, the stopper lever (40) is released, and the nozzle (19) is lowered by the drive of the motor (47), and the printed circuit board (10)
) is mounted with the part (7).

The vertically movable body (18) that has moved upward after the installation is completed is locked to the stopper lever (40). Thereafter, the parts (7) adsorbed by the remaining two nozzles (19) are also mounted on the printed circuit board (10) in the same manner as described above.

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

Next, the components (7) suctioned by the nozzles (19) of the other mounting head (12) are similarly mounted on the printed circuit board (10).

The parts (7) are mounted as described above, and when all parts <7) have been mounted on the printed circuit board (10), the discharge conveyor (4) discharges the board (10) to the downstream device. do.

In this example, two mounting heads were provided, but even if three or more mounting heads are provided so that tools can be exchanged from the same tool table, the tools should be placed at equal intervals and the spacing between each suction pad should be If the installation interval, that is, the installation interval on the suction pad of each head, is set to an interval that is an integral multiple of the tool installation interval, it becomes possible to perform tool exchange operations for several heads at the same time.

In addition, in this embodiment, the mounting head (12>) moved only in the Y direction, but even if each mounting head is movable independently in both the X and Y directions, the placement interval of the tools on the tool table If the tool tables are set at equal intervals and suction bars are provided at the bottom of the tool movement path on the tool table at intervals that are an integral multiple of the tool mounting intervals, the tools on each mounting head can be replaced in parallel. becomes possible.

(g) Effects of the Invention As described above, in the present invention, the time required to replace a plurality of heads can be shortened because the removal operation can be performed in parallel to replace the tools of a plurality of heads.

[Brief explanation of the drawing]

Fig. 1 is a side view of the main parts of the tool exchange section, Fig. 2 is a plan view of a component mounting device to which the present invention is applied, Fig. 3 is a perspective view of the mounting head, and Fig. 4 is a longitudinal sectional view of the vertically movable body. Fig. 5 is a perspective view of the tool exchange section, Fig. 6 is a perspective view of the component supply section, Fig. 7 is a plan view of the positional relationship between the mounting head and the tool table, and Fig. 8 is a side view of the main parts of the tool exchange section. be. (1)...Parts mounting device, (7)...Parts, (
10)...Bunonto board, (12)...Mounting head, (19)...Nozzle, (24)...Two, I
L-, (62) - Tool table (69)...Tool motor (moving means), (77)...Suction pad (tool holding means).

Claims (1)

[Claims] (1) In a component mounting device in which a plurality of mounting heads each holding a tool having a suction nozzle in a replaceable manner move independently to mount a component suctioned by the nozzle onto a printed circuit board, a tool table on which the tools are placed side by side in a direction that intersects the respective movement paths with the same distance between each intersecting position being an integral multiple of the distance; a moving means for moving the tool table in a direction in which the tools are arranged in order to exchange the tools at a position intersecting with a moving path of the heads; and a moving means for moving each of the tools relative to each of the heads when exchanging the tools. A component mounting device comprising a plurality of tool holding means capable of simultaneously holding each of the tools at each of the intersecting positions in correspondence with each of the heads for removal.