JPH05196111A - Moving device - Google Patents

Abstract

PURPOSE:To prevent a lubricant on a ball screw from being exhausted. CONSTITUTION:When a CPU judges the completion of NC data, it rotates a stroke motor 115 so as to rotate a ball screw 116, so that a nut 117 may be reciprocated by nearly the maximum shift distance to unify distribution of lubricant on the ball screw 116.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device for rotating a ball screw coated with a lubricant by a motor to move a moving body along the screw.

[0002]

2. Description of the Related Art A moving device of this type is disclosed in Japanese Patent Laid-Open No. 3-78295.
It is disclosed in the publication. According to the technique disclosed in the publication, the nut, which is a moving body, moves along the ball screw by the rotation of the motor.

[0003]

However, in the above-mentioned prior art, when the moving body reciprocates at a high speed for a short distance by the rotation of the ball screw, the coating film of the lubricant on the ball screw disappears from the reciprocating portion, and the moving body moves. There is a drawback that the body may not move smoothly.

Therefore, an object of the present invention is to prevent the lubricant on the ball screw from running out.

[0005]

Therefore, according to the present invention, in a moving apparatus for rotating a ball screw coated with a lubricant by a motor to move a moving body along the screw, the above-mentioned structure is provided for leveling the lubricant. A control means for controlling the motor is provided so as to move the moving body by substantially the maximum moving distance.

[0006]

The control means controls the motor to rotate the ball screw and move the moving body by substantially the maximum moving distance in order to level the lubricant.

[0007]

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

2 and 3, (1) is an X table which moves in the X direction by the rotation of the X-axis motor (2), and (3) is a table by the rotation of the Y-axis motor (4). An XY table that moves in the XY direction as a result by moving in the Y direction on the X table (1), and a printed circuit board on which a chip-shaped electronic component (5) (hereinafter referred to as a chip component or a component) is mounted. (6) is a pair of shoots (16
1) It is mounted by being fixed to a fixing means not shown.

Reference numeral (7) is a supply table, which is a chip component (5).
A large number of component supplying devices (8) for supplying the are provided. (9) is a supply base drive motor, which is a ball screw (1
0) is rotated to guide the supply table (7) to the linear guide (12) via the nut (11) fitted to the ball screw (10) and fixed to the supply table (7). Move in the X direction. (13) is a turntable that rotates intermittently, and mounting heads (14) having six suction nozzles (14) are arranged at equal intervals on the outer edge of the table (13) in accordance with the intermittent pitch. There is.

(A) Description of each station The suction nozzle is located at the stop position of the mounting head (15) for picking up the component (5) from the supply device (8) by the suction nozzle (14). The nozzle (14) adsorbs the component (5).

The stop position of the mounting head (15) immediately before the suction station is the suction correction station, and the suction correction device (191) sucks in the Y direction, which is a direction orthogonal to the moving direction of the supply table (7). The position of the nozzle (14) is corrected.

The next mounting head (1
The stop position of 5) is the rotation return station, and the suction nozzle (14) is corrected by the rotation return device (192) in the suction correction station so that the suction nozzle (14) can suck the center of the component (5). The position of is returned to its original position.

The reference numeral (16) recognizes the positional deviation of the component (5) sucked by the suction nozzle (14) by imaging the lower surface of the component (5) with a camera in a predetermined visual field range and recognizing the imaged screen. A station which is a component recognition device and in which the turntable (13) rotates and the mounting head (15) stops on the device (16) is a recognition station.

The next mounting head (1
The stop position of 5) is the angle correction station, and based on the recognition result by the recognition device (16), the mounting head (1
The component (5) to be sucked by the suction nozzle (14) when the head rotation device (17) rotates the device (5) in the θ direction.
The positional deviation of the rotation angle of is corrected.

The next stop position after the angle correction station is the mounting station, and the component (5) to be sucked by the suction nozzle (14) of the station is mounted on the board (6).

The position at which the mounting head (15) stops next to the mounting station is the nozzle selection station, and the head (15) is rotated by the nozzle selection device (19) and any of the plurality of nozzles (14) is rotated. The nozzle (14) is selected.

Next, the position at which the mounting head (15) stops is the nozzle inlet / outlet station, and the nozzle (14) is stored and projected using the first nozzle contact base (20).

Next, the position where the mounting head (15) stops is the nozzle height selection station, and the height position of the nozzle (14) is selected using the second nozzle contact base (21).

(B) Description of mounting heads (15) Each mounting head (15) is attached to the lower part of a head elevating shaft (24) which vertically penetrates the turntable (13) at two locations, an inner side and an outer side. The upper part of the shaft (24) is fixed to an L-shaped roller mounting body (25). An upper cam follower (26) and a lower cam follower (27) protruding inward are rotatably supported on the upper portion of the roller mounting body (25).

A turntable (1) shown at (28) in FIG.
3) is a support table for rotatably supporting the lower part in the horizontal direction, and the support table (28) is provided with respect to the support table (28) around the rotation axis of the turntable (13). A cylindrical cam (29) is fixedly provided so as to project, and the upper cam follower (2) is provided.
6) is in contact with the upper surface of the cam (29), and the mounting body (2
Mounting head (15) by suspending and supporting 5)
I support you. As shown in FIG. 4 and FIG. 5, the lower cam follower (27) is attached to the mounting body (25) around the support shaft (32) in the swinging piece recess (31) provided inside the mounting body (25). Rotatably attached to a swinging piece (33) rotatably attached to the mounting body (2
The pressure spring (34) built in the 5) urges the swinging piece (33) upward, and the cam follower (26) is moved to the cam (29).
The lower surface of is pressed.

Therefore, since the cam followers (26) and (27) sandwich the cam (29), and the cylindrical cam (29) moves up and down as shown in FIG. 3, the turntable (13) is located. Rotation of the cam follower (26)
(27) moves while rolling on the upper surface and the lower surface of the cam (29), and the mounting head (15) also rotates while moving up and down accordingly. The lower cam follower (27) has a spring (3
The reason why the lower surface of the cam (29) is pressed by 4) is to absorb the vibration and shock during the movement.

Reference numeral (36) is a vacuum tube for supplying a vacuum to the suction nozzle (14) of the mounting head (15), which is provided on the support base (28) through the vacuum passage (37) in the turntable (13). It communicates with a vacuum source (not shown).

In FIG. 15, (162) is a printed circuit board (6) on a chute (161) on the XY table (3).
Is a supply conveyor for supplying the
From the transfer belt (163), the linear guide (16
4) The substrate (6), which has been transferred by the transfer arm (165) that has been moved and has been mounted with the components, is mounted on the arm (16).
5) It is transferred to the discharge conveyor (166). (1
67 is a drive pulley for driving the belt (163), and (168) is a driven pulley around which the belt (163) is wound.

The mounting head (15) is shown in FIGS.
This will be described with reference to FIGS. 16, 17, and 18.

Reference numeral (39) is a mounting plate fixed to the lower portion of the shaft (24), and the rotating body (40) is mounted rotatably in the θ direction via a bearing (40A). The six suction nozzles (14) pass through the rotating body (40) so that each of them can move up and down, and are provided at equal rotation angles in the θ direction. The six suction nozzles (14) are of various types such as different diameters so that various parts (5) can be sucked. An engaging body (38) is screwed on the upper portion of each nozzle (14) by a screw (103), and an engaging piece (42) with which a pressing spring (41) engages is formed on the engaging body (38). The nozzle (14) is always urged downward. The pressing spring (41) is mounted on the guide rod (104), and the engaging piece (42) is provided with a through hole through which the guide rod (104) penetrates. A lever (44) is swingably mounted around the support shaft (43) at the upper part of the rotating body (40).
Are provided corresponding to the respective nozzles (14), and locking claws (45) are formed in the lower portion of the lever (44). (46) is a spring that biases the lever (44) so that the claw (45) rotates inward.

At the upper end of the engaging body (38), the locking claw (4
5) is formed with an upper engaging claw (47) that can be engaged with the lower engaging claw (48) formed at the lower end of the engaging body (38) on the regulation surface (40B) of the rotating body (40). The lower limit which is the lowermost end position of the suction nozzle (14) is abutted to regulate the lower limit, and the suction claw (45) is engaged to regulate the suction nozzle (14) to the upper limit position which is the "storage position". ..

At the position of the suction nozzle (14) on the right side of FIG. 18 where the upper engaging claw (47) engages with the locking claw (45), the lower engaging claw (48) regulates the rotating body (40). The position is one step higher than the position on the right side of FIG. 6 which is restricted by the surface (40B), and is the position when the thick component (4) is sucked. This height position of the suction nozzle (14) is hereinafter referred to as "intermediate height position".

Further, the lower engaging claw (48) has a rotating body (40).
When the suction nozzle (14) on the right side of FIG. 6 which is regulated by the upper surface of FIG. 6 is in the “lowermost end position”, the upper side surface (49) of the upper engaging claw (47) is the locking claw (45) as shown in FIG. ) Is in contact with the lower side surface (50), and the suction nozzle (14) can be moved upward by applying a force from below, and the both surfaces (49) (50) are in contact with each other by the flat surfaces. Rotation rattling of the nozzle (14) in the θ direction is restricted. Further, even when the suction nozzle (14) is at the "intermediate height position", the lower side surface (50) and the side surface (5) of the engagement body (38) are.
Since 1) is in contact with the flat surfaces, there is no play of rotation. The lower side surface (50) and the side surface (51) are engaged with each other at a line segment intersecting the rotation axis of the suction nozzle (14), or at least at two points on the line segment. Can be lost. The same applies to the upper side surface (49) and the lower side surface (50).

A bit (66), which will be described later, is provided on the upper end of the rotating body (40) for rotating the rotating body (40).
Fitted grooves (52) that can be fitted to each other are formed at three equiangular intervals of 60 degrees in accordance with the arrangement position of the suction nozzle (14), each passing substantially on the rotation axis of the rotating body (40) in three directions. Has been done. That is, the extension of the groove (52) in the arranging direction is 6
The suction nozzles (14) are arranged at 0 degree intervals.

When five suction nozzles are arranged on the rotating body at equal angular intervals, the fitted groove is provided on a straight line in the arrangement direction of the nozzle, so that the rotating body is rotated. Grooves will be arranged at 36 degree intervals around the axis.

The vacuum tube (36) is a rotating body (4
0) and a vacuum chamber (105) formed around the vacuum chamber (105), which is provided at a position where the suction nozzle (14) of the rotating body (40) penetrates and the suction nozzle (1).
The component (5) can be vacuum-sucked to a suction hole (108) communicating with the tip of the suction nozzle (14) through a communication port (107) formed in the side surface of (4). The vacuum hole (106) is a communication hole (1) when the suction nozzle (14) is at both the "intermediate height position" and the "lowermost position".
07) are vertically elongated so that they communicate with each other, and when the nozzle (14) is in the "storage position" as shown on the left side of FIG. 16, the nozzle (14) does not communicate and the vacuum of the suction hole (108) is cut off. It will be in a state of being.

(C) Description of the lifting mechanism of the mounting head (15) in the suction station In FIGS. 1, 3, 19, and 20, (53) is a lifting block having a U-shaped cross section. The guide (54) which is arranged in the notched portion of the cylindrical cam (29) and is attached to the support plate (109)
Its upper end is attached to an elevating plate (55) that moves up and down along.

Projecting piece (57) at the bottom of the lifting block (53)
At the raised position of the lifting block (53), the cylindrical cam (2
The cam followers (26) and (27) are located at the extended position of 9) and can be transferred by turning the turntable (13) while sandwiching the upper and lower sides of the projecting piece (57).

A rail (11) is attached to the upper end of the lifting plate (55).
0) is attached and the guide part (111) is horizontally movable along the rail (110), the moving body (56) having the guide part (111) on the back surface of FIG. It can be moved vertically and horizontally. A pair of rollers (112) is rotatably attached to the front surface of the moving body (56), and the stroke varying plate (1
Since the upper and lower guide pieces (114) extending in the vertical direction formed at the right end of FIG.
6) is guided by the guide piece (114) and moves vertically. As a result, the rail (110) and the lift plate (5
5) will also go up and down.

Reference numeral (115) is a stroke motor for rotating the ball screw (116).
The variable plate (113) attached to the nut (117) fitted with is moved left and right along the guide (118). By moving the variable plate (113), the guide piece (11
The moving body (56) moves along the rail (110) to the positions shown in FIGS. 1 and 19, for example, via the rollers (112) sandwiching 4).

Reference numeral (119) is a cam which engages with a cam follower (122) pivotally supported at one end of a cam lever (121) rotatable about a support shaft (120) and swings the lever (121). When the lever (121) swings by the rotation of the cam (119), the other end of the link lever (123) is passed through the link lever (123) pivotally supported by the other end of the lever (121). An up-and-down swing lever (124) rotatably pivotally supported swings around a support shaft (125).

On the engaging piece (126) formed on the lever (124), a cam follower (127) rotatably attached to the rear surface of the movable body (56) in FIG. 19 is provided with a rail (110) and a support base. Engages in tension by a tension spring (128) stretched between (28). Therefore, the moving body (56) moves up and down along the guide piece (114) whose position in the left-right direction is determined by the rotation of the stroke motor (115) by the swing of the lever (124).

The engagement piece (126) swings between the position indicated by the solid line in FIGS. 1 and 19 and the position indicated by the chain double-dashed line by the rotation of the cam (119), but the position indicated by the solid line which is the highest position. Then, the engaging surface of the cam follower (127) is horizontal, and at this position, the guide piece (11) is rotated by the rotation of the motor (115).
4) regardless of the position, the height position of the moving body (56), that is, the lifting block (53) does not change and the follower (2)
6) (27) is a cylindrical cam (29) and a lifting block (5)
You can transfer to and from 3). In addition, the moving body (5
6), that is, the lower limit position of the lifting block (53) changes,
The vertical stroke of the suction nozzle (14) will change.

The lower limit of the swing of the engaging piece (126) is shown in FIG.
19 and the contact surface of the cam follower (127) is linear, the moving body (56) descends when the cam follower (127) is at a certain position. With respect to the stroke, the increase amount of the descending stroke when the moving body (56) is moved in the lateral direction by the rotation of the motor (115) is linearly changed in proportion to the moving distance of the moving body (56) in the lateral direction. To do. Therefore, the vertical stroke of the suction nozzle (14) can be easily controlled.

The rotation of the cam (119) causes the block (53) to move to the mounting head (15) of the preceding station.
Keep moving up to the suction station until it stops, and the mounting head (15) moves to the suction station and stops, then descends, and rises before the next turntable (13) turns. Has been done.

A similar structure is also provided in the mounting station, the elevating block (53) is moved up and down, and while the mounting head (15) is stopped at the station, the nozzle () is lowered by lowering the block (53). 14) descends and the adsorbed component (5) is mounted on the board (6),
Then, as shown in FIG. 3, the block (53) guided by the cylindrical cam (29) is guided to the guide (54) because the height position of the block (53) is lower than that of the suction station. Lifting plate (12
9) is longer than the lifting plate (55). In the figure, the reference numerals of the mechanism for moving the mounting head (15) up and down at the mounting station are the same as those of the suction station except for the lifting plate.

(D) Description of component supply device (8) (see FIGS. 3 and 21) At the suction station, the component (5) supplied by the component supply device (8) is sucked by the suction nozzle (14) descending. Taken out. The component (5) housed in the tape (130) wound around the tape reel (59) at a constant interval is rotated by the swing lever (61) in the counterclockwise direction in FIG. Through the feed lever (132)
21 swings in the counterclockwise direction in FIG. 21, the feed claw (133) rotates the feed gear (134), and the sprocket (135) rotates to feed the tape (130) at a predetermined pitch. ) Is sent to the removal position.

On the other hand, when the swing lever (61) rotates counterclockwise in FIG. 21, the ratchet lever (137) swings counterclockwise via the tension spring (136), and the ratchet pawl (138). Engages the ratchet gear (139) and rotates the cover tape reel (140) at a predetermined angle in the counterclockwise direction in FIG. The suppressor (14) holding the tape (130) by the rotation of the reel (140)
At the opening (142) of 1), the cover tape (143) attached to the upper surface of the tape (130) is wound around the reel (A40) while being peeled off from the tape (130).

As the tape (130), there is a paper tape having a shape as shown in FIGS. 22, 23 and 24, and the bottom tape (146) is formed by the partition member (145).
The chip parts (5) are stored one by one in a storage chamber (147) which is partitioned and provided above. The tape (13
0) is slidably placed on the chute surface (148) of the component supply device (8) as shown in FIGS. In this case, the position of the upper surface of the component (5) is the chute surface (1
48) It is a position higher than the component thickness by 48.

There is another type of tape (130) called an embossed tape as shown in FIGS. 25, 26 and 27, which is a storage chamber for storing the component (5) on the base tape (149). (150) is the tape (14
9) is provided so as to project downward, and the storage chamber (150)
Enter the guide groove (151) of the component supply device (8).
Edges (152) provided on both sides of the base tape (149)
Rides on the chute surface (153) of the component supply device (8),
When the sprocket (135) is fitted into the feed hole (154) and rotated, the base tape (149) is slid and fed. The upper surface of the tape (130) which is an embossed tape is also covered with the cover tape (143).

Therefore, the tape (13
0) for feeding the component feeding device (8) and the component feeding device (8) for feeding the embossed tape (130).
The height of the chute surface (153) is the same as the height of the chute surface (148) at least at the component suction position, although the shape of the part on which the chute surface (30) is placed is different.

In the case of FIG. 25, the height of the upper surface of the component (5) is substantially the same as the position of the edge portion (152), and therefore is substantially the same as the chute surface (153). In the case of FIG. 26, parts (5)
Since the thickness of the component is thinner than the depth of the storage chamber (150), the upper surface position of the component (5) is lower than the chute surface (153).

(E) Swing lever (6) for tape feeding
(1) Description of mechanism for rocking (see FIG. 3) (64) penetrates the lift guide block (144) attached to the support base (28) so as to be vertically movable to rock the rocking lever (61). It is a lift bar that has moved, and the supply device (8) reaches a position where it is adsorbed by the adsorption nozzle (14) of the adsorption station by the movement of the supply table (7), stops, and then descends to move the swing lever (61). The above-described tape feeding, which is a pressing-down component supply operation, is performed to move up. The lifting rod (6
The vertical movement of 4) is caused by the rotation of a cam (not shown).

(F) Description for rotating the mounting head (15) The suction correction device (191), the rotation return device (192), the head rotation device (17) and the nozzle selection device (19) will be described.

Each device (191) (192) (17) (1
Since 9) has the same structure, the nozzle selection device (19)
Will be described with reference to FIGS. 8, 9 and 28.

(66) is a guide portion (6) attached to an attachment plate (65) attached to the support base (28).
7) Elevating member (68) that is formed at the lower end of the elevating member (68) that moves up and down through the inside and is long in the depth direction of FIG. 9.
7, which is a bit that passes on the rotation axis, and can be fitted into two fitted grooves (52) in the same direction in FIG. Nozzle selection motor (69) provided on the guide part (67)
The lifting member (68) is attached to the gear (70) which is rotated by the rotation of the
When the gear (71) formed at the upper end of the gear meshes with the vertical movement, the elevating member (68) rotates in the θ direction, and the bit (66) fitted in the fitted groove (52) is the rotating body. (4
0) is rotated.

Reference numeral (72) is a rocking lever rotatable about a support shaft (73), and a roller (74) provided at the right end (FIG. 9) is provided around the elevating member (68). The lift member (68) is moved up and down by fitting in the recess (75) and swinging. Reference numeral (76) is a spring provided between the elevating member (68) and the guide portion (67), and urges the elevating member (68) to descend. A rod (77) is rotatably supported at the left end of the swing lever (72), and one end of a lever (79) rotatable about a support shaft (78) is rotatable above the rod (77). Is pivoted to. A spring (80) is attached to this end so as to pull the lever (79) so as to swing it counterclockwise in FIG. The other end of the lever (79) is engaged with the cam (81). The swing lever (72) swings by the rotation of the cam (81), the bit (66) is moved up and down, and the bit (66) is fitted into the fitted groove (52) at the lowered position.

(G) Description of the mechanism for projecting and housing the suction nozzle (14) at the nozzle loading / unloading station (see FIGS. 10 to 12) (84) is a nozzle release lever that rotates around the support shaft (85) Yes, provided at a position where it can be engaged with the upper end of a lever (44) that engages with a suction nozzle (14) that is rotated and selected by the nozzle selection device (19) and is next in a position to suction the component (5). Has been. One end of the lever (84) is rotatably supported by a rod (87), and a spring (88) is attached to the one end of the lever (84) between the lever (84) and the mounting plate (65). Is urged to rotate counterclockwise in FIG. At the other end of the rod (87), a lever (91) that pivots around a support shaft (90) that engages with the cam (89) is pivotally supported.

The suction nozzle (14) protruding from the mounting head (15) descending to the first nozzle abutment base (20) provided on the base (92) mounted on the mounting plate (65) is contacted. By contacting and further descending, the suction nozzle (14) is entirely housed. The height of the abutment table (20) is such that the suction nozzle (14) protruding to the lowermost position does not hit when the mounting head (15) moves to and from the nozzle loading / unloading station. Has been done.

The second nozzle abutment table (21) is also provided on the base (92) as shown in FIG. 13, and this height is the same as that of the nozzle abutment table (20) at the lowermost suction nozzle. The height does not hit (14). Cylindrical cam (2
Since the height of 9) is almost the same between the stations, both of the nozzle contact bases (20) and (21) are also the same height.

(H) Description of Nozzle Height Selection Station Next, at the nozzle height selection station, the mounting head (1
5) whether to lower, that is, the suction nozzle (14)
A mechanism for selecting whether or not to be the "intermediate height position" will be described.

In FIG. 13, a guide (15) attached to a support plate (156) fixed to a support base (28).
The lifting rod (158) that moves up and down along the shaft (7)
4) is rotatably supported at one end of a lever (95) which is rotatable around 4) and is biased by a tension spring (96) suspended between a rod (158) and a support (28). The other end of the lever (95) is engaged with the cam (97).
Therefore, the mounting head (15) moves up and down the lifting block (159) attached to the lower end of the lifting rod (158) by the rotation of the cam (97), and the protrusion (160) formed at the lower end of the block (159). ) Is held between the cam followers (26) and (27). This lifting stroke is shorter than the stroke at the nozzle loading / unloading station, and the lifting head (15) is lowered to the position where the upper engaging claw (47) is locked by the locking claw (45) (the position of the nozzle on the right side in FIG. 18). It is what makes them.

Reference numeral (98) is a clutch lever which is rotatable around a support shaft (99) and is pivotally supported by a plunger (101) of a solenoid (100) so as to be excited by the solenoid (100). Plunger (10
1) is pulled to resist the urging force of the pressing spring (102), and
3 swings in the counterclockwise direction and engages with the lower left end of the lever (95) to restrict the rotation of the lever (95) so that the lifting block (159) does not descend and the suction nozzle (1
4) is set to the lowest end position so that the contact table (21) does not come into contact with the contact point. When the solenoid (100) is demagnetized, the lever (98) is brought into the state shown in FIG. 13 by the spring (102) to release the lock with respect to the lever (95) and lift block (5).
3) so that the nozzle (14) is brought into contact with the contact table (2
In 1), the position is "middle height position".

The mechanism for raising and lowering the mounting head (15) in the nozzle loading / unloading station of FIG. 10 has the same structure as the mechanism of the nozzle selection station, and the same reference numerals are used in the drawing. However, the stroke is different as described above due to the difference in cam and the like.

(B) Description of Control Block Diagram (FIG. 29) In FIG. 29, reference numeral (170) is a CPU, and ROM
RAM according to the program stored in (171)
Based on the data stored in (172), the operation related to component mounting is controlled. 2 through the interface (173) and the driving circuit (174).
9 controls the motor and the like described below.

(175) is an index motor,
The turntable (13) is intermittently rotated via an index device (not shown). Also, the motor (175)
The cams (89), (97), the cam (119), etc. are thereby rotated, and the operation driven by these cams is synchronized with the intermittent rotation of the turntable (13). If the rotation speed is slow, turntable (1
3) The intermittent rotation and the operation by the above-mentioned cam are slow. (176) is a suction correction device (191)
Is a suction correction motor corresponding to the nozzle selection motor (69) of the nozzle selection device (19) in (177)
Is a rotation return motor corresponding to the nozzle selection motor (69) of the nozzle selection device (19) in the rotation return device (192). (178) is a head rotating device (1
7) An angle correction motor corresponding to the nozzle selection motor (69) of the nozzle selection device (19).

Reference numeral (179) is a conveyance motor for driving the drive pulley (168) to rotate the belt (163).
The reference numeral (180) denotes an engagement of the transfer arm (165) before the arm (165) is returned along the linear guide (165) by the motor (179) after the substrate (6) is sent. It is a cylinder which is raised by rotating the dowel claw upward so as not to hit the rear substrate (6).

Reference numeral (181) is a start key for starting the automatic operation for mounting components, and (182) is a stop key for stopping the automatic operation. Reference numeral (183) is a power supply circuit for supplying power to the CPU (170), the drive circuit (174), etc., the power is turned on by the power-on switch (184), and the power is turned off by the power-off switch (185). ..

The RAM (172) stores NC data as shown in FIG. 30 and parts data as shown in FIG. In the NC data of FIG. 30, the step number indicates the order in which the component (5) is mounted on the board (6), the X coordinate data indicated by “X”, the Y coordinate data indicated by “Y”, for each step number, The θ angle data indicated by “θ” and the data of the component type to be mounted are stored.

In the parts data shown in FIG. 31, the "nozzle number" indicates the type of nozzle (14) used for sucking the part (5) of that part type, and "P" in the "tape type" data. Indicates that the component (5) of the component type is stored in the tape (130) which is a paper tape as shown in FIGS. 22 and 23, and “E” indicates the embossed tape. "Gap" data is for chute surface (153) and parts (5) in case of embossed tape
Of the upper surface of the component (5), and the direction in which the upper surface of the component (5) is below the chute surface (153) is indicated as plus. "Index speed" indicates the speed at which the index motor (175) is rotated by the cycle time, which is the time from the removal of one component (5) to the removal of the next component, and is the one at the time of suction at the suction station. is there.

In the case of this embodiment, the descending stroke of the nozzle (14) in the case of FIGS. 25 and 26 is as shown in FIGS.
It is nearly twice as large as that in the case of “L” and “L” in this embodiment is “H”.
Has been nearly doubled. However, since it changes depending on the weight and surface condition of the component (5), it is stored as data for each component type.

In this embodiment, FIG. 22 shows the component type "B1",
FIG. 23 shows the component type “B2”, FIG. 25 shows the component type “B3”, and FIG. 26 shows the component type “B4”.

Since the heights of the lower surfaces of the parts (5) sucked by the nozzles (14) are almost the same at the time of mounting the parts, it is only necessary to lower the stroke by substantially the same stroke. Has been done.

The selection of the intermediate position or the lowermost position of the suction nozzle (14) is made based on the data of the component thickness, and the comparative component thickness data stored in the RAM (172) having a predetermined component thickness is stored. When it is thicker than "TM", the intermediate position is selected. Also, the descending stroke of the nozzle (14) is calculated based on the part data, and the rotation of the stroke motor (115) is controlled.

The presence of "E" in the "C" column of the NC data indicates that the component mounting on the board (6) is completed at that step number.

Further, the RAM (172) has a chute-nozzle distance "l1" which is a distance between the chute surface (148) and the lower end surface of the suction nozzle (14) at the lowermost position when picking up a component, Suction nozzle (14) at the intermediate position during suction
Chute-nozzle distance "L1", which is the distance between the lower end surface of the nozzle and the chute surface (153), the lower end surface of the suction nozzle (14) at the lowest end position when the component is mounted, and the printed circuit board (6).
The distance between the substrate and the nozzle, which is the distance from the upper surface of the
2 ", the suction nozzle (1
The board-nozzle distance "L2", which is the distance between the lower end surface of 4) and the upper surface of the printed board (6), and the margin distance "D" for absorbing variations in component thickness and the like are stored.

The operation will be described below with the above configuration.

First, when the power-on switch (184) is pressed, the power supply circuit (183) causes the drive circuit (174).
Also, power is supplied to the CPU (170) and the like. Then, the stroke motor (115) shown in FIG. 1 rotates to rotate the ball screw (116), and the nut (117) moves along the ball screw (116). In this movement, the nut (117) reciprocates once or several times over the maximum movement distance from one end to the other end of the ball screw (116) so that the lubricating oil on the ball screw (116) is evenly distributed.
Try to cover the top. It should be noted that even if the movement is made only in one direction without making one reciprocal movement, the movement may be uniform.

Next, when the start key (181) is pressed,
Automatic operation of component mounting is started.

First, when the supply conveyor (162) conveys the substrate (6), the conveyance motor (179) rotates, the drive pulley (167) rotates, and the belt (163) rotates. As shown in FIG. 15, the transfer arm (165) moves the substrate (6) onto the chute (16) on the XY table (3).
Transfer to 1). The board (6) is fixed to a fixing means (not shown) and stored in the RAM (172).
Based on the data, the mounting operation of the component (5) is performed.

Even after the start key (181) is pressed, the stroke motor (115) is rotated and the nut (117) is reciprocated in the same manner as described above.

The CPU (170) reads the step number "001" of the NC data from the RAM (171) and the part data of the part type "B1".

Since the nozzle number is "N1", the nozzle (14) having the nozzle number of the mounting head (15) stopped at the nozzle selection station is selected.

That is, the current position of the nozzle (14) is detected by a position detecting device (not shown) for the nozzle (14),
The lever (79) and the rod (7) are rotated by the rotation of the cam (81).
7), the lever (72) swings clockwise in FIG. 9 to lower the elevating member (68) to fit the bit (66) into the fitted groove (52). Then, the motor (69) rotates and the lifting member (68) moves through θ via the gears (70) (71).
And the rotating body (40) rotates through the bearing (40A) to rotate the nozzle (14) having the nozzle number “N1” to the outermost position as viewed from the rotation center of the turntable (13). Be moved.

Next, when the turntable (13) rotates and the head (15) reaches the nozzle loading / unloading station, the mounting head (15) is lowered by lowering the lifting block (159) shown in FIG. However, the protruding suction nozzle (14) hits the first nozzle contact base (20), and when it further descends, the upper surface (4) of the suction nozzle (14).
9) moves on the lower side surface (50) of the lever (44) and the lower engaging claw (48) is locked to the locking claw (45) against the biasing force of the spring (41).

Then, the rotation of the cam (89) causes the lever (84) to rotate counterclockwise in FIG. 10 via the lever (91) and the rod (87) to move the lever (4) as shown in FIG.
4) is swung to disengage the suction nozzle (14) that picks up the next selected component (4). When the mounting head (15) rises while the lever (84) remains in the same state as shown in FIG. 12, the suction nozzle (14) projects due to the bias of the spring (41), and the lower engagement claw (48) is released. "Bottom end position" that engages with the regulation surface (40B) of the rotating body (40)
Stick out.

When the lever (84) rotates clockwise to release the engagement with the lever (44), the right side of FIG. 6 and FIG.
7, the upper side surface (49) is engaged with the lower side surface (50) by a substantially horizontal line segment (at least at two or more points), and the nozzle (1
4) is in a state where there is no rattling in the θ direction.

Next, although the mounting head (15) reaches the nozzle height selection station, the CPU (170) sets the component thickness "T1" of the component (5) to be attracted to the RAM (172).
Although the comparison is made with “TM” of the comparative part thickness data stored in, since “T1” is a thin part (5) and smaller than “TM”, the suction nozzle (14) may be set to the “bottom end position”. Determined by the CPU (170), the solenoid (1
00) is excited, the plunger (101) is pulled, the lever (98) swings counterclockwise in FIG. 13, and the lever (9) moves.
5) is regulated so as not to rotate, and even if the cam (97) rotates, the lever (95) does not swing and the mounting head (15) does not descend. Therefore, the suction nozzle (14) remains in the "lowermost position".

Next, since there is no correction data yet at the suction correction station, the suction correction motor (176) moves the bit (66) into the fitted groove (52) after the lifting member (68) is lowered. The rotating body (40) is rotated clockwise by 90 degrees in FIG. This stop position of the suction nozzle (14) for sucking the component (5) with respect to the mounting head (15) is hereinafter referred to as "regular position". After this, the mounting head (15) moving to the suction correction station
The position of the suction nozzle (14) must be the turntable (1
Since it is the outermost part of 3), bit (66) is 30
It rotates in either direction only once, and is brought into a position that fits the closest groove (52).

Next, when the mounting head (15) reaches the suction station, the motor (9) is rotated and the desired component (5) is passed through the ball screw (10) and the nut (11).
The supply table (7) is guided and moved by the linear guide (12) so as to move the supply device (8) for supplying the gas to the suction position of the suction nozzle (14) waiting at the suction station.
When the predetermined supply device (8) is stopped at the suction position, the lifting bar (64) is lowered and the swing lever (61) is pushed down (the position indicated by the chain double-dashed line in FIG. 3) to wind it on the tape reel (59). The mounted tape (130) rotates the feed gear (134) by the feed claw (133) via the transmission lever (131) and the feed lever (132), whereby the sprocket (135) rotates, and a predetermined amount is obtained. Pitch sent. On the other hand, the cover tape reel (140) rotates and the suppressor (14
The cover tape (143) is peeled off at the opening (142) of 1) and wound on the reel (140).

In this way, the component (5) is supplied to the suction position of the suction nozzle (14), but while the head (15) moves to the suction station, the suction nozzle (1
4) The lifting stroke setting operation is performed.

That is, first, from the part data of the part type "B1", the tape type is "P" and the nozzle (14)
Is the "bottom end position", the calculation device of the CPU (170) subtracts the component thickness "T1" from the chute-nozzle distance "l1" of the "bottom end position" stored in the RAM (172). "11-T", which is a distance obtained by adding a margin distance "D" for absorbing variations in component thickness and the like to the measured distance.
1 + D "is calculated.

Next, the stroke motor (115) is passed through the interface (173) and the drive circuit (174).
The ball screw (116) and nut (11
7), the variable stroke plate (113) is moved along the guide (118), and the moving body (56) is moved along the rail (110) through the upper and lower guide pieces (114) and the roller (112). To move. Thus, the moving body (5
The cam follower (127) provided in 6) is stopped at the position of FIG. 1 where the stroke calculated as described above is obtained.

When the component (5) is supplied to the suction position, the index motor (175) is rotating at the high speed of the index speed data "H", so that the cam (1
19) The cam follower (122) is pushed by the rapid rotation of the cam 19 and the cam lever (121) and the link lever (123).
The vertical swing lever (124) swings downward around the support shaft (125) as a fulcrum. Then, the tension spring (1
The roller (112) rolls along the upper and lower guide pieces (114) by the biasing force of (28), the moving body (56) and the rail (110) descend, and the lift plate (55) integrated with the rail (110). Descend along the guide (54). In this way, the lifting block (53) descends, and the cam followers (26) (2) already transferred to the block (53).
7) via attachment body (25) and shaft (24)
6 and the suction nozzle (14) provided on the mounting head (15) and protruding to the “lowermost end position” as shown on the right side of FIG. 6 descends from the position of FIG. 22 by a distance “l1-T1 + D”,
The part (5) is adsorbed and taken out. At this time, even if the suction nozzle (14) comes into contact with the component (5) and further lowers, the shock is absorbed by the contraction of the spring (41). Thereafter, when the cam (119) is further rotated, the swing lever (124) is rotated counterclockwise in FIG. 1, and the nozzle (14) has the tape (130) at the lower surface level of the sucked component (5). Ascend to higher original position. In this position, the protrusion (57) is at the same height as the cylindrical cam (29).

Next, the turntable (13) intermittently rotates, and the mounting head (15) sucking the component (5) is rotated by the cam followers (26) and (27) rolling along the cam (29). At the return station, the component (5) is attached to the tape (13
0) Move without hitting etc. This moving spring (3
Since the lower cam follower (27) presses the lower surface of the cam (29) by 4), shock and vibration are absorbed, and the component (5) is not displaced with respect to the suction nozzle (14).

At the rotation return station, the lever (72) is swung by the rotation of the cam (81), and the lifting member (68) is moved.
Goes down and the bit (66) fits into the fitted groove (52), but the motor (177) does not rotate. Even if the position of the suction nozzle (14) is slightly rotated and the rotary body (40) is slightly changed at the time of picking up the components, the position can be corrected by doing so.

Further, in this case, the two grooves (52) on a predetermined straight line when the suction nozzle (14) is in the regular position.
The direction of the bit (66) is adjusted in advance by rotating the motor (177) so that the bit (66) coincides with the above.

The mounting head (1
5) reaches the parts recognition station.

At the recognition station, the recognition device (16) images the lower surface of the component (5) and performs recognition processing on the screen to recognize the displacement of the component (5) with respect to the suction nozzle (14).

Next, the mounting head (15) is moved to the angle correction station and the head rotation device (17) sets the correction angle of the rotation angle position based on the recognition result of the recognition device (16) to the θ angle data “θ1”. The rotating body (40) is rotated by the added rotation angle amount.

Also in this case, the bit (66) is aligned with the groove (52) on a predetermined straight line when the suction nozzle (14) is in the "regular position" by the rotation of the motor (178) in advance.

That is, the rotation of the cam (81) causes the lever (72) to swing in the clockwise direction in FIG. 9 via the lever (79) and the rod (77) to lower the elevating member (68) to move the bit ( 66) is fitted into the fitted groove (52). Then, the motor (178) rotates, the elevating member (68) rotates in the θ direction via the gears (70) (71), and the rotating body (40) rotates by the bearing (40A) to perform correction. ..

When the correction is completed, the rotation angle amount is stored in the RAM.
The suction nozzle (14) of the mounting head (15) stored in (172) and moving to the angle correction station.
Always rotates the bit (66) to fit the closest of the "regular position" grooves (52).

Next, the mounting head (15) reaches the mounting station by the rotation of the turntable (13).
During this intermittent rotation, the calculation device of the CPU (170) determines that the substrate-nozzle distance "l2" and the margin distance "D" at the lowermost position.
And the stroke "l2-that should be lowered from the component thickness" T1 ".
“T1 + D” is calculated, and the stroke motor (115) is rotated to move the moving body (5
The position of 6) is adjusted to the stroke. In this way, the mounting head (15) descends by a distance "l2-T1 + D" in the same manner as in the suction station, and the recognition device (16) recognizes by rotating the X-axis motor (2) and the Y-axis motor (4). (X1, on the printed circuit board (6) placed on the XY table (3) that has been moved by correcting the result.
At the coordinate position of Y1), the suction nozzle (1
Mount the component (5) adsorbed on 4).

Next, the operation of the step number "002" will be described.

The mounting head with step number "001" (1
When 5) reaches the nozzle entry / exit station, the nozzle selection operation for the step number "002" is performed in the nozzle selection station in the same manner as the step number "001".

Next, at the nozzle loading / unloading station, the lower engaging claw (48) regulates the rotating body (40) in the same manner as when the suction nozzle (14) selected at the nozzle selection station has the step number "001". It projects to the "lowermost position" that engages the surface (40B).

Next, in the nozzle height selection station,
In the case of step number "001" because the part type of step number "002" is "B2" and the part thickness "T2" in the part data of FIG. 31 is smaller than the comparative part thickness data "TM". Similarly, the suction nozzle (14) is left in the "lowermost position".

Next, at the suction correction station, since there is no correction data yet, the suction correction motor (176) causes the bit (66) to be fitted into the fitted groove (52) by lowering the elevating member (68). After that, the rotating body (40) is rotated clockwise by 90 degrees in FIG. 2 and the suction nozzle (14) remains in the “regular position”.

Next, the mounting head (15) is moved to the suction station, and during this period, by moving the supply table (7) and the tape feeding operation of the supply device (8) as described above, the component type "B2". Parts (5) are suction nozzles (14)
Is supplied to the suction position of the suction nozzle (14)
The setting operation of the lifting stroke is performed.

That is, first, from the part data of the part type "B2", the tape type is "P" and the nozzle (14)
Is the "bottom end position", the calculation device of the CPU (170) subtracts the component thickness "T2" from the chute-nozzle distance "l1" of the "bottom end position" stored in the RAM (172). "11-T", which is a distance obtained by adding a margin distance "D" for absorbing variations in component thickness and the like to the measured distance.
2 + D "is calculated.

Then, similarly to the case of step number "001", the stroke motor (115) is rotated to move the moving body (56) from the position of FIG. 1 to the position where the stroke calculated this time is obtained.

When the lifting stroke is set in this way, the motor (1
75) rotates, and the suction nozzle (14) descends a distance "11-T2 + D" from the position of FIG. 23 in the same manner as in the case of the step number "001", sucks the component (5), and rises the same distance. Then, the sucked component (5) returns to the original position where it does not hit the tape (130). Since the part thickness "T2" is slightly thicker than "T1" and the index speed is the same as the step number "001", the lowering speed of the suction nozzle (14) is slightly slower than the step number "001". Will be done.

Thereafter, the mounting head (15) moves to the mounting station in the same manner as in the case of step number "001", and during intermittent rotation, the CPU (170) causes the substrate / nozzle at the "lowermost position". The calculation device of the CPU (170) calculates the stroke "l2-T2 + D" to be lowered from the inter-distance "l2", the allowance distance "D" and the component thickness "T2", and the stroke motor ( 115) is rotated and the position of the moving body (56) is adjusted to the stroke. In this way, the mounting head (15) descends by the distance "12-T2 + D" in the same manner as in the suction station, and the printed circuit board (6)
The component (5) sucked by the suction nozzle (14) is mounted at the predetermined position of (1).

As described above, the component (5) is sucked and mounted for each step number, and the mounting head (15) mounting the component (5) with the step number "001" is mounted.
When the turntable (13) rotates to reach the nozzle selection station again, the CPU (170) causes the RAM
From the NC data in FIG. 30 of (172), the step number “0
13 ”is read out, and since the part type is“ B3 ”, the part data of“ B3 ”in FIG. 31 is read out.

Next, similarly to the case of the step number "001", the suction nozzle (14) having the nozzle number "N2" is selected by rotating the rotating body (40) by the nozzle selecting device (19).

That is, the motor (69) is rotated based on the rotation angle amount at the angle correction station when the step number is "001" stored in the RAM (172), and the nearest groove (52) is obtained. The bit (66) is rotated and aligned, the head (15) is stopped at the station, and the bit (66) is fitted into the groove (52). Rotate based on "N2"
The nozzle (14) is the outermost part of the turntable (13).

Next, at the nozzle loading / unloading station, the suction nozzle (14) selected at the nozzle selection station projects to the "lowermost end position" in the same manner as in the case of step number "001".

Next, in the nozzle height selection station, the component type of the step number "013" is "B3", as shown in FIG.
Since the part thickness “T3” from the part data 1 is larger than the comparative part thickness data “TM”, the height of the suction nozzle (14) is increased to the “intermediate height position”. That is,
As shown in FIG. 13, the solenoid (100) is demagnetized, the lever (98) is released from the lever (95), and the lever (95) is swung by the rotation of the cam (97) to lower the mounting head (15). As shown in FIG. 13, it is applied to the second nozzle contact base (21) and further lowered by a predetermined distance so that the upper engaging claw (47) is locked by the locking claw (45) as shown in FIG. The position is the "intermediate height position". Then the mounting head (15) is raised.

Next, the mounting head (15) reaches the suction correction station. At this time, 3 from the same component supply device (8) which already supplies the component (5) of the component type "B3"
When the rotating component (5) is taken out, the suction position of the component (5) with respect to the suction nozzle (14) is recognized by the recognition device (16) and the position in the Y direction in the suction station, that is, the tape feeding direction. The average value of the three deviations is calculated, and the suction correction motor (176) is rotated after the bit (66) is fitted into the fitted groove (52) by lowering the lifting member (68) as described above. Then, the rotary nozzle (40) is rotated clockwise by 90 degrees as shown in FIG. 2 by an angle obtained by adding an angle amount necessary to correct the positional deviation in the Y direction to 90 degrees which is the "normal position". The position of (14) is adjusted to the position of the component (5) supplied by the component supply device (8).

The rotation amount required to correct the positional deviation in the Y direction other than the 90-degree rotation is stored in the RAM (172). Then, the bit (66) is attached to the motor (17) so as to fit in the groove (52) closest to the next mounting head (15).
It is rotated to 6).

Next, when the mounting head (15) reaches the suction station, the supply table (7) moves and the component supply device (8) feeds the tape to suction the component (5) onto the suction nozzle (1).
Although it is supplied to the suction position of 4), the displacement of the component (5) itself and the rotating body (40) in the X direction due to the rotation corrects the movement of the supply base (7).

While the mounting head (15) is rotating intermittently, the lifting stroke of the suction nozzle (14) is set in the same manner as described above.

That is, first, from the part data of the part type "B3", the tape type is "E" and the nozzle (14)
Is the "intermediate height position", the CPU (170)
The calculation device is a distance obtained by adding a surplus distance "D" for absorbing variations in component thickness to the chute-nozzle distance "L1" at the "intermediate height position" stored in the RAM (172). "L1 + D" is calculated.

Next, the stroke motor (115 is moved) in the same manner as in the case of the step number "001".

When the lifting stroke is set in this way, the motor (1
75) is rotating, the suction nozzle (14) is moved from the position of FIG. 25 in the same manner as in the case of step number “001”.
Moves down the distance "L1 + D" at the same speed as when the suction nozzle (14) is at the "lowermost position", sucks the component (5), and returns to the original position when the same distance rises and returns to the original position (5 ) Is pulled higher than the tape (130). However, since the stroke is longer than when the suction nozzle (14) is at the "lowermost position", it takes time.

Next, when the mounting head (15) reaches the rotation return station, the component (5) sucked by the suction nozzle (14) reaches the tape (130) without hitting the tape (130).
Since the rotation angle of the rotating body (40) for correction in the Y direction performed by the adsorption correction station is stored in the RAM (172), the rotation return motor (177) is stored in advance.
Is rotated by the rotation angle so that the direction of the bit (66) is aligned with the position of the closest fitted groove (52).
After the bit (66) is fitted into the fitted groove (52) by the lowering of 8), the motor (177) is rotated and the suction nozzle (1) is rotated.
The position 4) is returned from the position at the nozzle height selection station to the "regular position" which is a position rotated 90 degrees clockwise with respect to the mounting head (15) in FIG.

Next, when the head (15) reaches the recognition station, the recognition device (16) recognizes the component (5) in the same manner as described above, but the suction nozzle (14).
Since the position of has been returned to the “regular position”, the suction nozzle (14) is located at the center of the screen of the recognition device (16). However, since the suction nozzle (14) sucks almost the center of the component (5) by the correction at the suction station, the image of the component (5) can be captured almost at the center of the screen of the recognition device, and a large component ( Even in the case of 5), it does not extend beyond the field of view of the camera, that is, the imaging screen, and the time required for position recognition of the component (5) is short.

Next, the mounting head (15) moves to the angle correction station, and the head rotation device (17) corrects the rotational angular position in the same manner as described above based on the recognition result of the recognition device (16). At this time, since the suction nozzle (14) is returned to the normal position by the rotation return device (192), the bit (66) of the head rotation device (17) is also moved to the normal position groove (66) as described above. Since it has already been rotated so as to fit with 52), the bit (66) is fitted into the fitted groove (52) only by lowering the lifting member (68), and the angle is generated by the rotation of the motor (178). The rotation with the correction added to “θ3” is performed.

Thereafter, the bit (66) is separated from the groove (52) by the raising and lowering member (68) and the motor (178).
Is rotated to return the bit (66) to the original position where it can be fitted into the groove (52) in the proper position.

Next, the mounting head (15) reaches the mounting station by the rotation of the turntable (13).
During this intermittent rotation, the calculation device of the CPU (170) causes the stroke "L2-" to be lowered from the substrate-nozzle distance "L2" at the "intermediate height position", the margin distance "D", and the component thickness "T3". T3 + D ”is calculated, and the stroke motor (115) is rotated to adjust the position of the moving body (56) to the stroke, as in the case of the suction station. In this way, the mounting head (15) is lowered by the distance "L2-T3 + D" in the same manner as in the suction station, and the recognition device (16) is recognized by the rotation of the X-axis motor (2) and the Y-axis motor (4). XY moved after correcting the result
The component (5) sucked by the suction nozzle (14) at a predetermined position of the printed circuit board (6) placed on the table (3).
Put on.

Next, the operation of step number "014" will be described.

When the mounting head (15) mounting the component (5) with the step number "001" reaches the nozzle entry / exit station again by the rotation of the turntable (13), the component (5) with the step number "002" is mounted. The mounted mounting head (15) reaches the nozzle selection station again,
The CPU (170) reads the step number “014” from the NC data of the RAM (172) in FIG. 30, and the part type “B4” indicates that the part data of “B4” in FIG. 31 is read and the step number “013” is read. The suction nozzle (14) with the nozzle number “N2” is selected by rotating the rotating body (40) by the nozzle selection device (19) in the same manner as in the case of “.

Next, in the nozzle in / out station, the suction nozzle (14) selected in the nozzle selection station projects to the "lowermost end position" in the same manner as in the case of step number "001".

Next, in the nozzle height selection station, the component type of the step number "014" is "B4", as shown in FIG.
Since the part thickness "T4" from the part data 1 is larger than the comparative part thickness data "TM", the height of the suction nozzle (14) is increased to the "intermediate height position".

Next, the mounting head (15) reaches the suction correction station. At this time, the step number “0
Similar to the case of 13 ", the average value of the positional deviations in the Y direction, that is, the tape feeding direction in the suction station recognized by the recognition device (16) is calculated three times, and by the lowering of the elevating member (68) as described above. Bit (66) fits into groove (5
2) The suction correction motor (176) rotates after it is fitted to the rotary body (40), and the rotation body (40) is rotated 90 degrees in the clockwise direction to add the angle amount for correcting the positional deviation. The position of the nozzle (14) is adjusted to the position of the component (5) supplied by the component supply device (8). The recognition device (1
Even if 6) only detects the positional deviation once, this positional deviation may be corrected by the suction correction station.

Next, during the intermittent rotation of the mounting head (15) until it reaches the suction station, the lifting stroke of the suction nozzle (14) is set in the same manner as described above.

That is, first, from the part data of the part type "B4", the tape type is "E" and the nozzle (14)
Is the "intermediate height position", the CPU (170)
The calculation device of is further added to the distance obtained by adding the allowance distance "D" for absorbing the variation of the component thickness to the chute-nozzle distance "L1" of the "intermediate height position" stored in the RAM (172). "L1 + D + G", which is the distance obtained by adding the gap "G", is calculated.

Next, as in the case of step number "001", the stroke motor (115) is rotated to move the moving body (56) from the position of FIG. 19 to the position where the stroke calculated this time is obtained.

When the ascending / descending stroke is set in this way, the motor (1
75) is rotating, the suction nozzle (14) is moved from the position of FIG. 26 in the same manner as in the case of step number “001”.
Moves down the distance "L1 + D + G" at the same speed as when the suction nozzle (14) is at the "lowermost position", sucks the component (5), and returns to the original position when the same distance rises, and the component ( 5) is higher than the chute surface (153) and the tape (130), and is a position where they do not hit these. However, since the stroke is longer than when the suction nozzle (14) is at the "lowermost position", it takes time.

Next, when the mounting head (15) reaches the rotation return station, the motor (177) is rotated and the position of the suction nozzle (14) is changed to the nozzle as in the case of step number "013". The position at the height selection station is returned to the "normal position".

Next, when the head (15) reaches the recognition station, the recognition unit (16) recognizes the component (5) in the same manner as step number "013", and when the head moves to the angle correction station, the head is moved. Rotating device (17)
Based on the recognition result of the recognition device (16), the rotation angle position is corrected in the same manner as described above.

Next, the mounting head (15) reaches the mounting station by the rotation of the turntable (13).
During this intermittent rotation, the CPU (170) has a stroke "L2-T" that should be lowered from the substrate-nozzle distance "L2" at the "intermediate height position", the margin distance "D", and the component thickness "T4".
4 + D ”is calculated, and the stroke motor (115) is rotated to move the moving body (5
The position of 6) is adjusted to the stroke. In this way, the mounting head (15) descends by the distance "L2-T4 + D" in the same manner as in the suction station, and the component (5) sucked by the suction nozzle (14) is mounted at a predetermined position on the printed circuit board (6). To do.

The above operation is repeated to mount the component (5) in the order of the step number of the NC data. The mounting head (15) mounting the component (5) of the step number "013" Next, the component (5) having the step number “025” is sucked and mounted. In the NC data of FIG. 30, since “E” is stored in the column of data “C” of step number “025”, the CPU (1
70) judges the end of NC data, and the step number "0
The mounting heads (15) after the mounting head (15) mounting the component (5) of 14 ”do not perform the suction and mounting operations of the component (5). The suction and mounting operations for the step number "025" are performed in the same manner as for the other step numbers described above.

Next, when the mounting of the component (5) having the step number "025" is completed, the printed circuit board (6) is unfixed by the chute (161), and the conveyance motor (17) is released.
9) The transfer arm (165) is moved by the rotation of the transfer arm (165) and transferred to the discharge conveyor (166).
It is discharged by 6). The transfer arm (165) transfers the substrate (6) on the chute (161), and at the same time, moves the substrate (6) on the supply conveyor (162) on which no component (5) has been mounted onto the chute (161). Reprint.

When the CPU (170) determines the end of the NC data as described above, the CPU (170) operates in the same manner as described above while the transfer operation of the substrate (6) is being performed. 115) rotate the nut (117)
Reciprocates between one end and the other end of the ball screw (116) to make the lubricating oil (eg, grease) on the ball screw (117) uniform.

When the board (6) is fixed on the chute (161), the component (5) is sucked and mounted according to the NC data of FIG. 30 in the same manner as described above, but at the initial stage of the step number. Even if there is, the deviation from the suction nozzle (14) at the time of suction for each component type is R from the previous substrate (6).
When three or more are stored in the AM (172), a correction in the Y direction at the time of suction is performed in the suction correction station, and a return operation of the correction is performed in the rotation return station.

The above operation is repeated, but when the mounting of the component (5) on the predetermined number of boards (6) is completed and the stop key (182) is pressed, the component mounting operation is stopped. Also, the stroke motor (115) is rotated and the lubricating oil on the ball screw (117) is made uniform.

At the mounting station, the suction nozzle (1
The distance between the lower surface of the component (5) sucked in 4) and the substrate, that is, the difference in the lifting stroke of the mounting head (15) does not differ depending on the component type as in the suction station.
The index speed does not become so slow even if the stroke is the longest, and in the case of the present embodiment, even if the index speed is “H” in FIG. 31, even if the component has the longest stroke in the mounting station (5). The lowering speed of the mounting head (15) that can be mounted on the substrate (6) without impact is set. If the position of the suction nozzle (14) is also at the "intermediate height position" in the case of the component (5) housed in the paper tape shown in FIG. Therefore, if the index speed is “H”, the descending speed is 2 times.
It is about twice as much, and the impact when mounting the component is too large. (5)
May be damaged, but since it is at the "bottom end position", the descending stroke can be shortened even when mounting parts,
It is possible to realize a high index speed with less impact.

Further, in this embodiment, the fitted groove (52) on the upper portion of the rotating body (40) is provided in three directions, but it is provided in two directions, that is, two.
Even if it is provided on the strip, it may be possible to rotate the bit (66) at a smaller angle than the case where it is provided in one direction so as to fit in the groove. However, the mounting head (15) has a suction nozzle (14).
Since there are six nozzles, if the nozzles and the grooves are provided at equal intervals in three directions, the positional relationship between the nozzles and the grooves is the same for all nozzles, and rotation control is easy. Therefore, four or more directions may be provided, but it is more preferable that the number of directions is an integral multiple of three.

Further, in this embodiment, the suction nozzle (14)
Although the height position with respect to the mounting head used for the suction of is set in two steps, it may be changed in more steps or steplessly.

Furthermore, in this embodiment, the stroke motor (115) for uniformizing the lubricating oil is rotated when the component mounting operation is not performed, but the stroke for uniformizing the lubricating oil is performed. After the rotation of the motor (115), the CPU (170) detects when the automatic operation of component mounting has elapsed for the time set in the RAM (172) or the like, and N
The stroke motor (115) may be rotated to make the lubricating oil uniform by interrupting the component mounting operation according to the C data. Alternatively, the movement distance of the nut (117) can be set in the RAM (172), and the accumulated movement distance of the nut (117) is stored in the RAM (17).
The stroke motor (115) may be rotated so as to make the lubricating oil uniform when the moving distance set in the other area of 2) exceeds the set moving distance. Alternatively,
Set both the time and distance, and use a stroke motor (1
You may make it rotate 15).

[0148]

As described above, according to the present invention, since the moving body is moved by approximately the maximum moving distance so as to rotate the ball screw and level the lubricant, the lubricant on the ball screw is not lost. You can

[Brief description of drawings]

FIG. 1 is a front view showing a lifting mechanism of a mounting head.

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

FIG. 3 is a side view of a component mounting device to which the present invention is applied.

FIG. 4 is a side view showing a state where a cam follower sandwiches a cylindrical cam.

5 is a cross-sectional view taken along the arrow in FIG.

FIG. 6 is a side view in which a part of the mounting head is broken.

FIG. 7 is a plan view of the mounting head.

FIG. 8 is a side view showing a nozzle selection station.

FIG. 9 is a side view showing a nozzle selection station.

FIG. 10 is a side view showing a nozzle loading / unloading station.

FIG. 11 is an enlarged side view showing a nozzle loading / unloading station.

FIG. 12 is an enlarged side view showing a nozzle loading / unloading station.

FIG. 13 is a side view showing a nozzle height selection station.

FIG. 14 is an enlarged side view showing a nozzle height selection station.

FIG. 15 is a plan view showing a transfer mechanism of a printed circuit board.

FIG. 16 is a side view in which the mounting head is partially broken.

FIG. 17 is an enlarged side view in which the lever and the engaging body are engaged.

FIG. 18 is a side view in which a part of the mounting head is broken.

FIG. 19 is a front view showing a lifting mechanism of the mounting head.

FIG. 20 is a side view showing a lifting mechanism of the mounting head.

FIG. 21 is a side view of the component supply device.

FIG. 22 is a front view showing the positions of suction nozzles and components in the suction station.

FIG. 23 is a front view showing the positions of suction nozzles and components in a suction station.

FIG. 24 is a cutaway side view of a tape accommodating components.

FIG. 25 is a front view showing the positions of suction nozzles and components in the suction station.

FIG. 26 is a front view showing the positions of suction nozzles and components in the suction station.

FIG. 27 is a perspective view showing a component storage tape.

FIG. 28 is a perspective view showing a bit.

FIG. 29 is a control block diagram of the present invention.

FIG. 30 is a diagram showing NC data.

FIG. 31 is a diagram showing part data.

[Explanation of symbols]

(5) Chip-shaped electronic component (chip component) (6) Printed circuit board (8) Component supply device (13) Turntable (rotating body) (14) Suction nozzle (15) Mounting head (17) Head rotating device (19) ) Nozzle selection device (nozzle height changing means) (20) First nozzle contact table (nozzle height changing means) (21) Second nozzle contact table (nozzle height changing means) (26) Upper cam follower (27) Lower cam follower (29) Cylindrical cam (33) Swing piece (34) Pressing spring (38) Engaging body (40) Rotating body (41) Pressing spring (42) Engaging piece (45) Engaging claw (46) ) Spring (47) Upper engaging claw (48) Lower engaging claw (49) Upper side surface (50) Lower side surface (51) Side surface (52) Fitted groove (53) Lift block (head lifting means) (56) Moving object (66) (69) Nozzle selection motor (84) Nozzle release lever (87) Rod (89) Cam (91) Lever (95) Lever (97) Cam (98) Clutch lever (100) Solenoid (115) Stroke motor (116) Ball screw (117) Nut (118) Guide (119) Cam (124) Vertical swing lever (170) CPU (176) Adsorption correction motor (177) Rotation return motor (178) Angle correction motor (191) Adsorption correction device ( 192) Rotation return device

Claims (1)

[Claims] 1. A moving device for rotating a ball screw coated with a lubricant by a motor to move the moving body along the screw so that the moving body is moved by a maximum moving distance in order to level the lubricant. A moving device comprising a control means for controlling the motor.