JPH05121898A - Part fixture - Google Patents

Abstract

PURPOSE:To conform the direction of the groove in the underside of a suction nozzle when a cylinderical chip part fed from a part feeder is sucked. CONSTITUTION:A suction nozzle 12 is turned to a rotary origin by a nozzle origin-aligning station, the direction of a groove 47 is recognized by a part recognition camera 14 in a recognition station, and the direction of the groove 47 is stored in a RAM. The suction nozzle 12 is rotated by the nozzle original- aligning station before a chip part 4 is sucked, and the chip part 4 is sucked by an suction station in conformity with the direction of the cylinderical chip part 4 fed to a part feeder 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component for mounting a cylindrical chip component, which is supplied by a component supply device by a suction nozzle having a groove formed on the lower surface thereof, into the groove so as to be sucked and mounted on a printed circuit board. Regarding the mounting device.

[0002]

2. Description of the Related Art There is a technique disclosed in Japanese Utility Model Laid-Open No. 58-105199 for a suction nozzle used in this type of component mounting apparatus. According to this technique, the suction device (11) which is a suction nozzle for sucking the cylindrical electronic component (2).
An engaging groove (13) that fits into the electronic component (2) is formed in the. This suction nozzle is manually attached to the nozzle mounting portion so that the direction of the groove matches the direction of the chip component supplied to the component supply device for suction.

[0003]

However, in the above-mentioned prior art, since the suction nozzle is mounted by hand, it is difficult to accurately align the direction of the groove with the direction of the supplied chip component, and the chip component can be securely attached. However, there is a drawback in that it may not be adsorbed on.

Therefore, an object of the present invention is to ensure that the direction of the groove on the lower surface of the suction nozzle is aligned with the direction of the chip component supplied to the component supply device when the cylindrical chip component is sucked, and the chip component is reliably sucked. ..

[0005]

Therefore, according to the present invention, a cylindrical chip component supplied by a component supply device by a suction nozzle having a groove formed in the lower surface is fitted into the groove to be sucked, and a printed board is provided. In the component mounting device to be mounted on
Nozzle rotating means for rotating the nozzle, recognition means for recognizing the direction of the groove on the lower surface of the nozzle, and the direction of the groove is supplied from the supply device when picking up a component based on the direction of the groove recognized by the recognition means. Further, there is provided control means for controlling the nozzle rotation means so as to rotate the nozzle so as to match the orientation of the component.

[0006]

After the recognition means recognizes the direction of the groove on the lower surface of the suction nozzle, the control means controls the nozzle rotating means based on the direction of the groove recognized by the recognition means so that the direction of the groove is supplied when the parts are picked up. The suction nozzle is rotated so as to match the direction of the parts supplied from the device.

[0007]

Embodiments of the present invention will now be described with reference to the drawings.

In FIG. 2, (1) is an X-axis motor (2)
And an XY table that moves in the XY directions by rotation of the Y-axis motor (3), on which a printed circuit board (5) on which a chip-shaped electronic component (hereinafter referred to as a chip component or component) (4) is mounted is placed. It

[0009] (6) is a supply table, a chip component (4)
A large number of component supply devices (7) for supplying the are provided. Reference numeral (8) is a supply base driving motor, which rotates the ball screw (9) to engage the supply base (6) with a nut (not shown) fitted to the ball screw (9) and fixed to the supply base (6). 6) is guided by the linear guide (10) and moves.

Reference numeral (11) is a turntable which rotates intermittently, and a suction nozzle (1) is provided on the outer edge of the table (11).
The mounting heads (13) having four (2) are arranged at equal intervals according to the intermittent pitch.

The suction nozzle (12) sucks the component (4) from the supply device (7) and picks up the pick-up head (23) at the stopping position, which is the suction station. The suction nozzle (12) located outside sucks the component (4).

The position at which the mounting head (13) stops next is a recognition station, and at this station, the component recognition camera (14) recognizes the displacement of the component (4) attracted by the suction nozzle (12). To be done.

The next mounting head (1
The position where 3) stops is the angle correction station, and the suction nozzle (12) is rotated in the θ direction by the nozzle rotating device (15) based on the recognition result by the recognition camera (14) and the rotation angle of the component (4) is changed. The positional deviation is corrected.

The next stop position of the angle correction station is
This is a mounting station, and the component (4) to be sucked by the suction nozzle (12) of the station is mounted on the substrate (5).

The next stop position of the mounting station is the nozzle position confirmation station, and which suction nozzle (12) can pick up the component (4) in the head (13) by the nozzle position detection device (17). And the head position detecting device (18) detects the number of the head (13) stopped at this station (hereinafter referred to as the head number). Further, the station is provided with a component discharge box (not shown), and the component (4) not mounted is discharged.

The nozzle position detecting device (17) is a device in which two reflective photosensors each comprising a light emitter and a light receiver are arranged side by side, and each nozzle (12) is located above the nozzle mounting position of the head (13). The light emitted from the light projector is reflected and received by the light receiver when the head (13) is located at the component suction position, and a hole is formed at a position where the light from the light projector is reflected. By providing the holes, light is not reflected by the holes. Therefore, by opening or closing the holes corresponding to the four nozzle mounting positions, it is possible to turn on / off each photosensor as shown in FIG. The OFF state is realized. In FIG. 3, the ON / OFF state of the photosensor is shown for each nozzle position number, which is the number indicating the nozzle mounting position, when the mounting position is at the suction position. Attaching head (1
3) The rotational position within is detected. The nozzle position numbers are sequentially assigned to the respective mounting positions in the head (13) starting from "1" in the counterclockwise direction in FIG.

The head position detecting device (18) is constructed by arranging three reflection type photosensors each including a light emitter and a light receiver, and the turntable (1) on each head (13).
As in the case of the nozzle position detection device (17) at the predetermined position of 1), by combining the presence or absence of holes at the positions corresponding to the respective photosensors, there are eight photosensors for each head number as shown in FIG. The ON / OFF state is realized, and the head number of the head (13) stopped at the nozzle position confirmation station is detected. The head number is for each head (1
3) are sequentially attached in the counterclockwise direction in FIG. 2 from "1", and the head number of the head (13) stopped at each station can be known by detecting this head number.

The next stop position of the nozzle position confirmation station is the nozzle selection station, and the head (1) of the nozzle (12) confirmed by the nozzle position confirmation station
Based on the rotation position with respect to 3), the head (13) is rotated by the nozzle selection roller (19), and then the suction nozzle (12) for sucking the component (4) is positioned at the component suction position. The nozzle selection roller (19) is rotated by the nozzle selection motor (20).

Next to the nozzle selection station, the head (1
3) stops at the nozzle origin alignment station, and the nozzle rotating device (21) causes the suction nozzle (1
2) is rotated to the rotation origin position of the motor.

Next, the nozzle rotating devices (15) and (21) will be described with reference to FIG.

Since the devices (15) and (21) have the same structure, the nozzle rotating device (15) will be described.

Reference numeral (23) is a nozzle rotating motor for rotating the suction nozzle (12) in the θ direction, and its output shaft (24) is connected to the bearing body (26) through the coupling (25). The nozzle rotating body (27) fitted therein is attached, and the rotating body (27) is rotated by the rotation of the output shaft (24).
Is guided by the bearing body (26) and rotates in the θ direction. The inside of the rotating body (27) is hollow, the nozzle rotating rod (29) is fitted therein, and the side surface of the rotating rod (29) is inserted into the vertically elongated hole (30) formed in the rotating body (27). Since the more protruding pin (31) is fitted, the rotating rod (29) can move up and down with respect to the rotating body (27) but cannot rotate.

Reference numeral (32) is a spring that engages with a locking portion (33) provided on the rotary rod (29) and urges the rotary rod (29) to descend. Reference numeral (34) denotes a swing lever that engages with the locking portion from below, and swings up and down via a rod end (36) by a vertical movement lever (35) that moves up and down by a drive source (not shown), Rotating rod (2
9) is moved up and down. At the lower end of the rotary rod (29), a fitting portion (3
7) has been formed.

The nozzle rotating device (21) is a rotating device (1
It has the same structure as 5), and the reference numerals are the same except for the motor.
In the nozzle rotation device (21), the nozzle (12) is rotated by the nozzle origin alignment motor (46). The fitting part (3) in each rotating device when the nozzle origin alignment motor (46) is rotated to the rotation origin and when the nozzle rotation motor (23) is rotated to the rotation origin.
The directions of 7) are the same, and if the rotation amounts of the motors 23, 46 are the same, the rotation amount of the fitting portion 37 is also the same.

In FIG. 5, a fitting groove (3) is provided on the upper part of a nozzle mounting body (38) which is vertically pierced through each nozzle mounting position of the mounting head (13) and is rotatable in the θ direction.
9) is formed, and when the rotating rod (29) is lowered, the fitting portion (37) is fitted into the fitting groove (39) at a predetermined rotation position.
And the rotation of the rotating rod (29) causes the nozzle mounting body (3
8). As shown in FIG. 5, the nozzle mounting body (38) has a suction nozzle (12) around which a diffusion plate (40) is formed, and a screw (41) is replaceably attached to the suction nozzle (12) as shown in FIG. Installed. Suction nozzle (1
In 2), the rotation position in the θ direction is arbitrarily selected and attached to the nozzle attachment body (38).

In FIG. 16, reference numeral (42) is a diffuser plate mounted below the mounting head (13) and having an opening at the penetrating portion of the nozzle mounting body (38). Diffuser (40)
(42) is a light source (43) provided in the recognition station
It plays the role of diffusing the light beam emitted by (44) and applying it to the chip component (4) sucked by the suction nozzle (12) from above. The camera (14) has diffuser plates (40) (4
The image of the chip component (4) projected by the illumination from 2) will be taken. When recognizing the position of the chip part (4), the chip part (4) becomes a projected image, so the size in the longitudinal direction must be larger than the outer diameter of the nozzle (12), and the nozzle (12) is It is also necessary to select it according to the size of (4). This is also the case when recognizing a cylindrical chip component (4), and the nozzle (12) is selected so that its longitudinal or axial size is larger than the outer diameter of the nozzle (12).

In FIG. 17, (45) is a camera (1
It is a ring light source provided in a ring shape around 4),
The lower surface of the nozzle (12) is illuminated from below, and the reflected image is captured by the camera (14) so that the lower surface of the nozzle (12) can be recognized.

There are some suction nozzles (12) of different types such as different sizes depending on the type of the component (4) to be sucked. The chip part (4) includes a rectangular parallelepiped part (4) and a cylindrical part (4), and the nozzle (12) for adsorbing the cylindrical part (4) has a V shape as shown in FIGS. 6 and 7. A V-shaped groove (47) is cut into the lower surface of the nozzle (12), and a cylindrical component (by vacuum suction from a vacuum hole (48) communicating with a vacuum source (not shown) in the center of the groove (47) ( 4) shows the direction of the part. Axial direction is groove (47).
It is designed to be adsorbed while being fitted along. Further, since the cylindrical part (4) also has various sizes, the nozzle (12) having the V-shaped groove (47).
There are several types of nozzles (hereinafter referred to as "V-groove nozzle (12)"), which are exchanged as described above and attached to the nozzle attachment body (38) at each nozzle attachment position of each head (13). Be done.

However, in the case of the nozzle (12) having the V groove, depending on the angular position in the θ direction where the nozzle (12) is mounted on the nozzle mounting body (38), the fitting portion ( After the motor 37 is fitted to the fitting groove 39 and the motor 46 is rotated to the home position, the tape 49 as shown in FIG. When the axial direction of the component (4) enclosed in the component storage recess (50) of (4) and the longitudinal direction of the groove (47), which is the direction of the groove (47), are significantly deviated, the groove (4)
It becomes impossible to fit the component (4) in the axial direction to the component (7) and to suck the component. In addition, a rectangular recess (5
The long side of (0) and the axial direction of the component (4) are not always stored in a state where the axial direction of the component (4) is parallel, but as shown in FIG.

Although this variation is within a certain range, the theoretical direction of the long side of the concave portion (50), which is the direction in which the chip component (4) is correctly stored in the suction station (in the present embodiment, the supply table). Groove (4
When the longitudinal direction of 7) is largely displaced, when the chip component (4) is rotated and stored in the direction opposite to the displaced direction,
Since it may not be possible to fit into the groove (47) to adsorb it, it is best that the direction of the groove (47) at the adsorption station coincides with the theoretical direction of the long side of the recess (50). Should be in a direction within a certain allowable range of at least the θ direction with respect to the theoretical direction. Further, this allowable range depends on the type of the component (4) and the recess (50).
Since the variation in the inside is different, therefore, the target range (4) is different depending on the nozzle (12) with the V-groove, so that the allowable range is also different depending on the type of the nozzle (12).

Hereinafter, the longitudinal direction of the groove (47) is fitted in the longitudinal direction of the groove (47) with respect to the head (13) whose longitudinal direction coincides with the theoretical direction of the long side of the concave portion (50) at the suction station. It is called the reference direction.

In this embodiment, the nozzle (12) of the kind shown in FIG. 9 is attached to the head (13). The nozzle (12) with V groove has "1" displayed in the "V grooved" column, and the "θ" of the direction of the groove (47) with respect to the groove fitting reference direction in the "Allowable angle" column. The allowable range of angular deviation is shown.

Further, the nozzle (12) of the kind shown in FIG. 10 is attached to the nozzle attachment body (38) at each nozzle attachment position of each head (13).

Next, the control circuit of this embodiment will be described with reference to FIG.

In FIG. 1, (51) is a CPU,
Various data stored in the RAM (52) and the operation unit (5
Based on signals from 3) and the like, various operations relating to the mounting operation of the chip component (4) on the printed circuit board (5) of the component mounting device are controlled according to the program stored in the ROM (54). For example, the nozzle origin alignment motor (4
6) and the nozzle rotation motor (23), etc.
It is driven by the drive circuit (55) under the control of 1). The drive circuit (55) also drives a nozzle selection motor (56) that rotates the nozzle selection roller (19).

The operation unit (53) is an interface (5
8) and is connected to the CPU (51). A nozzle position detection device (17) and a head position detection device (18) are connected to the interface (58), and a recognition processing circuit (59) and operation for recognizing an image captured by the component recognition camera (14) and operation. A monitor (60) for displaying an operation screen or the like for operating the section (53) is connected.

Next, the operation section (53) will be described.
In FIG. 1, (62) is a numeric keypad for keying in numbers, (63) is a cursor key for moving the cursor (64) (see FIG. 11) on the screen of the monitor (60), and (65) is This is a SET key for setting the mode.

(67) is a teaching key for setting the component mounting device in the teaching mode, (68) is an automatic key for setting the device in the automatic operation mode, and (69) is for setting the device in the manual operation mode. Is a manual key. (70) is a start key, (71) is an operation key, and (72) is a stop key.

The RAM (52) stores the information shown in FIGS. 9 and 10 and the recognition result of the recognition processing circuit (59). Furthermore, the RAM (5
In 2), a holding component-to-groove misalignment allowable angle indicating an allowable range of misalignment angle between the long side direction of the groove (47) and the axial direction of the chip component (4) attracted to the nozzle (12) is indicated by an operating portion. (5
It is set and stored by the key operation of 3).

This is because when the chip part (4) is sucked by the suction nozzle (12), it is caused by some cause as shown in FIG.
2 and FIG. 13, the chip component (4) may straddle the groove (47) and enter the groove (47) without being adsorbed and held. In such a case, Even if the position of component (4) is recognized due to the weaker suction force, θ
The component in such a state is misaligned due to the correction rotation, misaligned during the movement of the head (13), misaligned at the time of mounting, splashed, or fitted in the groove (47). (4) is an angle range for discharging without mounting.

Even if the orientation of the groove (47) and the orientation of the component (4) are different, the deviation is small and if the component (4) enters the groove (47), it will be in the direction of the groove (47). Such a state occurs when a somewhat large angle deviation occurs when the component (4) is sucked.

Further, due to variations in the shapes of the parts and the grooves (47), recognition errors, etc., the parts (4) and the grooves (47) can be normally processed.
Even if the two are fitted, the orientation of the groove (47) and the orientation of the component (4) may be different or may be recognized as different.
The displacement angle in this case is considerably smaller than that when the component (4) cannot enter the groove (47).

Therefore, since there is a trade-off with the width and length of the groove (47), the size of the component (4), etc., the component (4) and the groove (47) are normally fitted, although they differ depending on the individual case. As a holding component-to-groove misalignment allowable angle, a value is taken between the misalignment angle at which it can be guaranteed that they are aligned and the misalignment angle at which it can be assured that the component (4) does not enter the groove (47). Set. For example, in this embodiment, it is set to "twice".

Even if the component (4) slightly enters the groove from the suction surface of the nozzle (12) due to a different shape of the groove, the component (4) is caught by the component (4) and is sucked in a state not completely fitted in the groove. If there is, the upper limit that can be set for the holding component-to-groove deviation allowable angle becomes smaller accordingly.

The operation will be described below with the above configuration.

First, replacement of the nozzle (12) will be described. Next, FIG. 10 shows the types of nozzles (12) to be mounted on the nozzles (13) at the nozzle mounting positions and the heads (13) corresponding to the substrate (5) on which the chip component (4) is mounted. If so, the operator manually moves each head (13) to a station such as a component mounting station to replace the nozzle (12).

The nozzle (12) is replaced by loosening the screw (41) shown in FIG. 6 to remove the nozzle (12), and attaching the nozzle (12) to be replaced and tightening the screw (41).

Next, when the replacement of all the nozzles (12) is completed, the operator presses the teaching key (67) of the operation section (53) to put the component mounting device in the teaching mode. Then, Figure 1
The mode setting screen as shown in 1 is displayed on the monitor (60). When this screen is displayed, the cursor key (63) is pressed to move the cursor (64) to "3" indicating the "V groove direction recognition operation mode" as shown in the screen of FIG. 11, and then the SET key ( 65) is pressed. Then, the component mounting device is set to the "V groove direction recognition operation mode".

When the operator presses the operation key (71) in this state, the V-groove direction recognition operation described below is started.

First, the CPU (51) confirms the output state of each sensor of the nozzle position detecting device (17) and the head position detecting device (18). First in the detection device (17)
When both the sensor and the second sensor are “ON”, it is determined that the nozzle position number of the suction position of the nozzle position confirmation station is “1”, and the detection device (1
In 8), all of the first, second and third sensors are “O”.
When it is N, it is determined that the number of the head (13) stopped at the nozzle position confirmation station is "1".

Next, the intermittent rotation of the turntable (11) is started, the head (13) with the number "1" moves to the nozzle selection station, and the nozzle selection roller (56) is rotated by the rotation of the nozzle selection motor (56). By the rotation of (19), the head (13) is rotated so that the attachment position of the nozzle position number "3" where the nozzle (12) with the V groove of the nozzle type NO "2" is attached becomes the suction position. ..

Next, when the head (13) with the number "1" is stopped at the nozzle origin alignment station by the rotation of the turntable (11), the suction nozzle (3) with the nozzle position number "3" is rotated by the nozzle rotating device (21). 12) is rotated to the rotation origin position of the motor (46).

That is, when the vertical movement lever (35) is driven by a driving source (not shown) to descend, the swing lever (34) swings downward and the spring (32) biases the locking portion (33). The rotating rod (29) descends. Then, the nozzle origin alignment motor (46) rotates to rotate the nozzle rotating body (2
By rotating 7) along the bearing body (26), the nozzle rotating rod (29) rotates via the pin (31) fitted in the vertically elongated hole (30), and the fitting portion (37). Rotates while descending and fits into the fitting groove (39) at any of the turning positions. After this fitting, the fitting portion (37) is rotated, and the motor (46) is stopped at the rotation origin position of the motor (46) in which the fitting portion (37) faces the predetermined origin direction.

The above operation is performed by the turntable (1
1) Nozzle (12) with V-groove, which is performed every intermittent rotation
If there is, the nozzle (12) is positioned at the suction position of the component (4) in the head (13) at the nozzle selection station, and at the nozzle origin alignment station, the nozzle (12) with the V groove is moved to the nozzle rotation device ( 21) The motor (46) is moved to the rotation origin position.

When the turntable (11) intermittently rotates in this way and the head (13) with the number "1" stops at the recognition station as shown in FIG. 17, the CPU (51) reads R.
It is judged from the contents of AM (52) that the nozzle type NO "2" which is the nozzle (12) with V groove is stopped at the recognition station, and the ring light source (45) is turned on. A light beam is applied to the lower surface, and the reflected image is captured by the camera (14). If the captured image is as shown in FIG. 14, the recognition processing circuit (59) has, for example, the groove (47) of the nozzle (12) parallel to the Y axis of the screen shown in FIG.
Along the two straight lines that cross the darkly appearing groove area (74), the point where the brightness of the pixel changes from the brightly appearing flat area (75) other than the groove (47) on the lower surface of the nozzle (12) Searching from the same direction (for example, the arrow direction in FIG. 14), the angle “θ” formed by the straight line connecting the changing points on each straight line and the X axis of the screen is calculated.

If the longitudinal direction of the groove (47) is oriented in the X-axis direction in the screen when it is oriented in the groove fitting reference direction, "θ" is deviated from that direction. The angle is stored in a predetermined area of the RAM (52) together with the head number and the nozzle position number.

This recognition of the V-groove direction is performed every time the nozzle (12) with the V-groove stops at the recognition station,
The deviation angle with respect to the groove fitting reference direction is stored in the RAM (52) together with the head number and the nozzle position number.

If a plurality of nozzles (12) with V-grooves are mounted in the same head (13),
During one rotation of the turntable (11), the same head (1
Since only one can be recognized for 3), the turntable (11) is rotated by the same number of times as the number, and the turntable (11) is rotated.
Recognize the direction of 7). When the recognition of the deviation angle of the groove (47) from the groove fitting reference direction for all the nozzles (12) with V grooves is completed, the V groove direction recognition operation is stopped. As a result, the RAM (52) stores the data of the deviation angle as shown in FIG.

Next, the operator presses the automatic key (68) to set the component mounting apparatus to the automatic operation mode, and then the start key (7
By pressing 0), the component mounting apparatus is automatically operated.

First, as described above, the head position detecting device (1
In 8), the number of the head (13) stopped at the nozzle position confirmation station is detected.

Next, when the head (13) for starting the intermittent rotation of the turntable (11) and adsorbing the component (4) to be taken out first stops at the nozzle position confirmation station, the head (13). The nozzle (1
The nozzle position number of 2) is detected by the nozzle position detecting device (17). It is assumed that this is the head number “1” and the nozzle position number “2”.

Next, by intermittently rotating the turntable (11), at the nozzle selection station, the nozzle (12) with the nozzle position number "3" from which the component (4) should be taken out rotates the nozzle selection roller (19). Selected by the head (1
3) is located at the suction position.

Next, when the turntable (11) makes one intermittent rotation, the nozzle (12) stops at the nozzle origin alignment station. The CPU (51) indicates that this nozzle (12) is a nozzle (12) with a V groove.
Judging from the data in FIG. 9 in M (52), the motor (4
6) While rotating 6), the nozzle rotating rod (29) is lowered to fit the fitting portion (37) into the fitting groove (39) as described above, and then the rotation origin position of the motor (46) is exceeded. RAM
Based on the data of FIG. 15 stored in (52), the misalignment angle “θ1” is corrected, the motor (46) is rotated and then stopped, and the direction of the groove (47) is adjusted to the groove fitting reference direction. .. The RAM (52) stores that the nozzle (12) has been corrected and rotated by “θ1” together with the head number and the nozzle position number.

Next, when the head (13) with the number "1" stops at the suction station due to the intermittent rotation of the turntable (11), the supply device (7) for supplying the cylindrical chip parts (4) is operated. The rotation of the motor (8) stops below the nozzle (12) at the component suction position of the suction station, and the nozzle (1
2) sucks the chip component (4) housed in the tape (49) in a state where the axial direction of the chip component (4) and the longitudinal direction of the groove (47) match each other. As shown in FIG.

Next, by rotating the turntable (11), the head (13) with the number "1" moves to the recognition station as shown in FIG. 16, and the light beams emitted from the light sources (43) and (44) are diffused. The component (4) is irradiated from above via the plates (40) and (42) and the projected image is captured by the camera (14), and the displacement of the component (4) with respect to the nozzle (12) is
The recognition processing circuit (59) performs recognition processing on the imaged screen to recognize it.

In this case, the direction of the groove (47) coincides with the X-axis of the screen, and the chip part (4) is fitted in conformity with the direction of the groove (47), so that the X-axis direction. Only the positional deviation at is output as the recognition result. Therefore, there is no deviation between the orientation of the component (4) and the orientation of the groove (47), and the CPU
(51) determines to mount the component (4) on the printed circuit board (5).

Next, by rotating the turntable (11), the head (13) with the number "1" moves to the angle correction station. When the component (4) should be mounted on the printed circuit board (5) in a state of being rotated by 90 degrees θ, in the nozzle rotating device (21), the vertical movement lever (3
Before the lowering of 5), the rotation of the motor (23) causes the nozzle rotation rod (29) to stop at a rotation position displaced by an angle "θ1" from the position of the rotation origin position of the motor (23). The mating portion (37) and the fitting groove (39) are oriented in the same direction. Then, the vertical movement lever (35) is lowered to fit the fitting portion (37) into the fitting groove (39), and the motor (23)
The nozzle (12) is rotated 90 degrees in the θ direction by rotating the nozzle.

Next, when the head (13) with the number "1" stops at the mounting station, the X-axis motor (2 ), The Y-axis motor (3) is rotated to move the XY table (1) to mount the component (4) at a predetermined position on the printed board (5) on the table (1).

Next, with respect to the head (13) with the number "2", the nozzle (12) with the V groove having the nozzle position number "3" is also provided.
When is selected as the suction position, the nozzle origin alignment station corrects only “θ2” in the same way as described above and the motor (4
6) is rotated and the direction of the groove (47) is aligned with the groove fitting reference direction.

Then, the head (13) with the number "2" moves to the suction station and the chip component (4) is sucked. At this time, the axial direction of the chip component (4) is displaced from the longitudinal direction of the groove (47) as shown in FIGS. 12 and 13 due to some cause such as a defect of the tape (44) or a defective feeding thereof. It is assumed that 4) is adsorbed across the groove (47).

Next, when the head (13) is moved to the recognition station by the rotation of the turntable (11),
The position recognition of the component (4) is performed in the same manner as described above, and the axial recognition of the component (4) is performed. As a result, if the X-axis of the recognized screen, that is, the direction rotated by “3 degrees” from the groove fitting reference direction, the CPU (51) causes the groove (4
The deviation angle is "3" because the direction of 7) is "0 degree".
Since the holding component-to-groove misalignment allowable angle stored in the RAM (52) is larger than “2 °”, the printed circuit board (5) is ejected without mounting the component (4). Decide what to do.

Here, the CPU (51) is the ROM (5
It is judged by the fact that the direction of the groove (47) is programmed as "0 degree" in 4), but the RAM (52)
"0 degree" may be stored as the direction of the groove (47) for each head number and nozzle position number, and this "0 degree" may be used for calculation for determination.

Next, even if the turntable (11) rotates and the head (13) with the number "2" moves to the angle correction station, the nozzle (12) is not rotated, and the next mounting station. Then, the component (4) is not mounted,
At the next nozzle position confirmation station, the vacuum suction of a vacuum source (not shown) is turned off in a component discharge box (not shown) provided below this station, and air is blown in reverse to discharge the component (4).

In this embodiment, the nozzle (1
After attaching 2), recognize the direction of the groove (47).
4), and then the deviation angle from the groove fitting reference direction is corrected at the nozzle origin alignment station to rotate the nozzle (12), and the part (4) is aligned with the groove fitting reference direction. When the nozzle (12) is attached, the groove (47) is attached so that the direction of the groove (47) is aligned with the groove fitting reference direction as much as possible, and the direction of the groove (47) is recognized by a cylindrical part (4 ) May be fitted into the groove (47) to check whether it is within a certain allowable range for adsorption.

Further, regardless of whether the direction of the groove (47) is set within a certain allowable range with respect to the groove fitting reference direction as described above or not, if it is not known within the allowable range. After the direction of the groove is recognized as described above, the nozzle (12) is aligned with the rotation origin of the motor (40) at the nozzle origin alignment station during the mounting operation of the component (4).
The rotation position of the component (4) is determined, and the recognition station has already recognized the orientation of the component (4) by recognizing the position of the component (4) and R
If the angle deviation with respect to the groove direction stored in the AM (52) is larger than the holding component-to-groove deviation allowable angle, the component (4) should be ejected without being mounted on the printed circuit board. You can also

Further, the orientation of the groove (47) is first stored in the RAM (52) by recognizing the image picked up by the camera (14), but the orientation of the groove (47) measured by the operator regardless of the recognition is used. It may be stored in the RAM (52) in advance by a key input from the operation unit (53) or the like, and it may be judged whether the deviation of the component (4) is within the holding component-to-groove deviation allowable angle.

Further, in this embodiment, the nozzle (12) is rotated in accordance with the rotation origin of the motor (40) in the nozzle origin alignment station, and then the groove (4) is formed in the recognition station.
The direction of the fitting groove (39) when the direction of the fitting groove (39) is recognized with respect to the motor (2).
3) RAM etc. as the rotation amount from the rotation origin of (40)
If it is stored in (52), the nozzle (12) is set at the nozzle origin alignment station before the groove (47) is recognized.
Need not be aligned with the origin of rotation.

Further, the position recognition of the component (4) is recognized by the light source (4
3) It is conceivable that the projection image transmitted by the light rays from (44) is not used, but the reflection image from the ring light source (45) is used. In this case, the recognition of the direction of the groove (47) should be performed at the same time. The orientation of the groove (47) should be stored for each nozzle (12) in advance by recognition or the like, because it is difficult and time is required even if possible.

Further, in this embodiment, after the suction nozzle (12) with a V groove is attached, first the nozzle (12) is rotated to the rotation origin at the nozzle origin alignment station, and then the groove (47) at the recognition station. The orientation of the component (4) is recognized and stored, and when the component (4) is mounted, the nozzle (12) is rotated and the groove (4) is attached based on the stored data.
Although the orientation of 7) is corrected, it is similar to the camera for recognizing the lower surface of the nozzle (12) between the nozzle origin alignment station and the suction station, and the nozzle rotation device (21) for correcting and rotating the nozzle after the recognition. The lower surface of the nozzle (12) with the V groove rotated to the rotation origin at the front nozzle origin alignment station in which the nozzle rotating means is provided in two stations and the suction of the component (4) is performed by the nozzle (12) with the V groove. May be recognized by the camera every time it is stopped at a station provided with the camera, and corrected and rotated by the nozzle rotating means.

Further, in this embodiment, the fitting portion (37) is fitted in the fitting groove (39) to rotate the nozzle (12), so that the groove (47) on the lower surface of the nozzle (12) is formed. Before recognizing the orientation, the nozzle (12) had to be always rotated at the rotation origin, but a gear was provided around the nozzle to rotate the gear by engaging an external contacting / separating gear with the gear. When the rotation of the motor can be transmitted to the rotation of the nozzle as it is, the direction of the groove is recognized as it is without rotating the rotation origin to recognize the direction of the groove. Therefore, the nozzle can be corrected and rotated to adsorb the cylindrical chip component.

Further, the suction nozzle cannot rotate with respect to the mounting head, so that the mounting head is rotated to correct the angular deviation of the components suctioned by the suction nozzle eccentrically mounted on the head. In this case, the correction of the direction of the V-shaped groove on the lower surface of the nozzle is performed by rotating the mounting head, but the position of the nozzle is orthogonal to the direction (X direction) in which the supply base (6) moves (Y direction) in the horizontal plane. In the direction), the correction rotation can be performed within a range in which it moves to the extent that it does not affect the component suction.

Furthermore, in the above case in which the suction nozzle is fixedly attached to the mounting head, the supply base moves XY in the horizontal plane (in addition to the X-direction drive motor (8), the Y-direction drive motor is used. (Provided) can be corrected and rotated to an arbitrary angular position, and the deviation of the suction position in the XY directions can be corrected by moving the supply base.

[0083]

As described above, according to the present invention, by accurately recognizing the direction of the groove formed in the suction nozzle, the nozzle can be surely aligned with the direction of the chip component supplied by the component supply device. Since the can be rotated, the cylindrical chip component can be surely adsorbed.

[Brief description of drawings]

FIG. 1 is a control block diagram of the present invention.

FIG. 2 is a plan view of a component mounting apparatus to which the present invention can be applied.

FIG. 3 is a diagram showing a detection result according to a state of each sensor of the nozzle position detection device.

FIG. 4 is a diagram showing a detection result according to a state of each sensor of the head position detection device.

FIG. 5 is a side view showing the structure of a nozzle rotation device.

FIG. 6 is a side view showing a nozzle having a V groove.

FIG. 7 is a view of a nozzle having a V groove as viewed from below.

FIG. 8 is a plan view showing a state where a cylindrical chip component is stored in the tape.

FIG. 9 is a diagram showing types of suction nozzles.

FIG. 10 is a diagram showing nozzle types NO attached for each head number and nozzle position number.

FIG. 11 is a diagram in which a screen for mode selection is displayed on the monitor.

FIG. 12 is a side view showing a state where a cylindrical chip component is sucked by a suction nozzle.

FIG. 13 is a view of a state in which a cylindrical chip component is sucked by a suction nozzle as viewed from below the nozzle.

FIG. 14 is a diagram showing an image pickup screen of a groove component recognition camera.

FIG. 15 is a diagram showing data of recognized groove orientations.

FIG. 16 is a side view showing a state in which a suction nozzle for sucking a chip component is located on a component recognition camera at a recognition station.

FIG. 17 is a side view showing a state in which the suction nozzle is located on the component recognition camera at the recognition station.

[Explanation of symbols]

 (4) Chip-shaped electronic component (chip component) (5) Printed circuit board (7) Component supply device (12) Suction nozzle (14) Component recognition camera (recognition means) (21) Nozzle rotation device (nozzle rotation means) ( 47) Groove (51) CPU (control means) (59) Recognition processing circuit (recognition means)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location B65G 47/91 Z 8010-3F H05K 13/08 A 8315-4E

Claims (1)

[Claims] 1. A component mounting apparatus for mounting a cylindrical chip component, which is supplied from a component supply device by a suction nozzle having a groove formed on a lower surface thereof, into the groove so that the chip component is sucked and mounted on a printed circuit board. Nozzle rotating means for rotating the, and recognition means for recognizing the direction of the groove on the lower surface of the nozzle,
Based on the direction of the groove recognized by the recognition means, the control means for controlling the nozzle rotating means so as to rotate the nozzle so that the direction of the groove matches the direction of the part supplied from the supply device when picking up a part. And a component mounting device characterized by being provided with.