JPH0590793A - Work mounting apparatus - Google Patents

Abstract

PURPOSE:To provide a work mounting apparatus by which works can be accurately mounted. CONSTITUTION:A work mounting apparatus comprises a recognition camera 292 for imaging the attitude of a work W held by air suction, and a controller for rotating suction nozzles 78a-78d around its axis based on image data of the work W obtained by the camera 292 to correct the attitude of the work W. A toothed belt for maintaining the attitude of a work head 70 is engaged with a first sleeve shaft side and the head 70 side in the same engaging position at both times of imaging and mounting the work W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work mounter for mounting an electronic component such as an IC chip as a work on a printed circuit board.

[0002]

2. Description of the Related Art A work mounting machine of this type is disclosed in, for example, Japanese Patent Application Laid-Open No. 62-114290. This known work mounting machine includes a rotary table and a suction head provided on the outer peripheral edge of the rotary table at a predetermined interval. Each suction head can move up and down, while a work supply section and a mounting section to which a printed board is supplied are arranged below the rotary table. It should be noted that these supply and mounting sections are positioned separately in the circumferential direction of the turntable.

According to the work mounter described above, when one suction head is positioned in the supply section as the rotary table rotates, the suction head descends and the work on the supply section is placed on this suction head. Adsorbed and retained. After this, the suction head is raised to its original position,
By the rotation of the rotary table, the workpiece is transferred to the mounting section and positioned, and when the suction nozzle descends again, the suction of the workpiece is released and the workpiece is mounted or mounted on the printed circuit board on the mounting section. ..

In the work mounting machine described above, each time the suction head is moved up and down, that is, every time the work is sucked and mounted in the supply section and the mounting section,
The rotation of the turntable must be stopped. For this reason, the rotation of the rotary table and the operation of the suction head have to be intermittent, resulting in a large amount of dead time and poor mounting efficiency.

In view of the above-mentioned circumstances, there is a demand for a continuous type work mounting machine capable of adsorbing and mounting a work without stopping the rotation of the rotary table. For example, such a continuous-type work mounting machine is provided with a head drum that is continuously driven to rotate in a state of being spaced apart from and facing a work table instead of a rotary table that is intermittently rotated. A large number of work heads are provided on the drum so as to project from the outer periphery thereof. These work heads are rotatable about a swivel shaft extending in the radial direction of the head drum, and a suction nozzle protruding toward the work table is provided from the outer peripheral surface thereof as a work suction member.

During the rotation of the head drum, each work head is swung. During this swivel, the turning posture of the work head,
That is, the posture of the suction nozzle with respect to the work table is always kept constant. According to the above-described work mounting machine, the work head rotates while the head drum rotates, so that the suction nozzle can be brought into and out of contact with the work table. On the other hand, with respect to the peripheral speed of the head drum, With proper control of the work head swirl speed, when the work head suction nozzle is closest to the supply section and mounting section, it is possible to make the suction nozzle relative speed to these sections almost zero. As a result, even if the head drum is continuously driven to rotate, the suction nozzle of the work head securely sucks the work on the supply section by suction pressure and releases the suction pressure in the mounting section. As a result, it becomes possible to reliably mount the work on the printed circuit board in the mounting section.

Further, in the above-mentioned work mounting machine,
If the suction posture of the work is deviated after the work is adsorbed by the suction nozzle, it is preferable to correct the deviation of the suction posture before the suction nozzle reaches the mounting section. As a result, the work can be mounted on the printed circuit board with high accuracy. When correcting the suction posture of a work, for example, the work mounting machine rotates the suction nozzle around its axis based on the recognition camera that captures the work adsorbed by the suction nozzle and the image data of the work from this recognition camera. Then, it can be realized by further providing a correction means for correcting the suction posture of the work.

[0008]

However, the work mounting machine is provided with the above-mentioned recognition camera and correction means, and even if the suction posture of the work is corrected by using these recognition camera and correction means, the work board is actually mounted on the printed circuit board. Since there is an error in the mounting accuracy of the work to be mounted on, the desired mounting accuracy cannot be obtained.

It is considered that the cause of the above-mentioned error is due to the mechanism of the attitude control means for maintaining the rotating attitude of the suction body, that is, the work head, at the time of turning of the work head. That is, normally, such an attitude control means is provided with a meshing member that meshes with both the swivel shaft side and the head drum side, and by this meshing member, the attitude of the work head is constrained to be constant. However, in the meshing member, it is inevitable that a manufacturing error occurs in the meshing pitch, and the generation of a cumulative pitch error due to the driving thereof cannot be avoided.

In this respect, when the meshing member is a member such as a toothed belt which is easily bent, the pitch error and the accumulated error become large. Therefore, a deviation occurs between the turning posture of the work head, that is, the suction nozzle at the time of photographing the work with the recognition camera, and the turning posture of the suction nozzle in the subsequent mounting section. It is considered that this appears as an error in the mounting accuracy.

The present invention has been made based on the above-mentioned circumstances, and its object is to improve the mounting accuracy of a work without being affected by the pitch error of the meshing members and the cumulative pitch error in the attitude control means. It is to provide a work mounting machine that can be improved.

[0012]

According to the present invention, as described above, the posture control means mechanically meshes with both the turning shaft side and the work head side, and when the work head turns, the work head turning posture In a work mounting machine configured to include a meshing member that constrains the work head in a constant manner, the work mounting machine is provided on the work table side between the supply section and the mounting section, and the work head is attracted. When the body passes, the work adsorbed on the adsorbent is photographed,
It further comprises a recognition camera for obtaining the image data of the work, and a correction means for correcting the suction posture of the work based on the image data from the recognition camera, and the recognition camera is provided with the image pickup position of the work. In the mounting section, the meshing positions of the meshing member with respect to the turning shaft side and the work head side are set to be the same.

[0013]

According to the above-described work mounting machine, since the recognition camera and the correction means are further provided, the recognition camera picks up an image of the work adsorbed by the adsorbent of the work head to recognize the suction posture of the work. it can. In this way
When the suction posture of the work is recognized, if the suction posture is out of the normal posture, the suction member is rotated around its axis by the operation of the correction means, and the suction posture of the work is corrected. After this, the work of the adsorbent will be mounted in the mounting section.

Here, at the photographing position of the work and the mounting section, the meshing position of the meshing member in the attitude control means is the same for the turning shaft side and the work head side, so that the work is sucked. The swivel posture of the work head, that is, the suction body at the time when the posture is recognized, is always the same as the swivel posture of the suction body at the time of mounting the work.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS. 1 and 2, there is schematically shown a side view and a plan view of a work mounting machine. The work mounting machine is roughly divided into a ring-shaped work table 2 and a rotary drum device 4 arranged in the center and above the work table 2 and rotatable in a horizontal plane.

The work table 2 has a large number of work feeders 6
Are arranged in a radial pattern, and these work feeders 6 can continuously supply works, for example, various electronic components such as IC chips, resistors, and capacitors to predetermined positions on the work table 2. The work feeders 6 are arranged at predetermined intervals in the circumferential direction of the work table 2, and each of the work feeders 6 serves as a supply section.
In FIG. 2, two work feeders 6, that is, two work feeders 6 are provided.
Only the supply section of the point is shown.

On the other hand, as apparent from FIG. 2, the work table 2
Is partially cut out, and a mounting section is provided at this cutout portion. Specifically, the mounting section includes an XY table device 8, and the XY table device 8 includes a movable table 10. The movable table 10 can be moved in the X direction in the figure by one electric motor 12, and can be moved in the Y direction orthogonal to the X direction by the other electric motor 14.

The movable table 10 itself is composed of an endless conveyor belt.
The electric motor 16 enables traveling in a reciprocating direction A in the drawing. In the case of this embodiment, the A direction and the Y direction coincide with each other. A carry-in conveyor device 18 and a carry-out conveyor device 20 are arranged close to the movable table 10 on both sides of the movable table 10 as viewed in the A direction, that is, on the front and rear sides as viewed in the traveling direction of the conveyor belt. The carry-in conveyor device 18 and the carry-out conveyor device 20 are also composed of endless conveyor belts, as in the case of the movable table 10. The carry-in and carry-out conveyor devices 18, 20 are mounted with the above-mentioned workpieces. The printed circuit board B can be transported.

The conveyor belts of the carry-in and carry-out conveyor devices 18 and 20 and the conveyor belt of the movable table 10 described above extend so as to be aligned in a line, and the conveyer belts of the carry-in and carry-out conveyor devices 18 and 20 are arranged. Can travel in the above-described A direction by the electric motors 22 and 24, respectively. Therefore, the movable table 10 is largely moved in the Y direction so that the movable table 10 and the conveyor belt of the carry-in conveyor device are connected to each other, and the conveyor belts of the carry-in conveyor device and the movable table are also allowed to travel in the A direction. For example, the printed circuit board B waiting on the carry-in conveyor device 18 can be supplied onto the movable table 10.

On the contrary, if the movable table 10 is largely moved in the Y direction so that the conveyor belts of the movable table 10 and the carry-out conveyor device 20 are connected to each other, and these conveyor belts are also moved in the A direction, the movable table is moved. The printed circuit board B on which the work is mounted can be discharged to the carry-out conveyor device 20. The level position of the work supplied on the work table 2 by the work feeder 6 and the level position of the printed circuit board B on the movable table 10 described above are substantially the same.
The area where the work feeder 6 can be installed is indicated by Z.

As shown in FIG. 1, the above-described rotary drum device 4 includes an upper drum 26 and a head drum 28. The head drum 28 is mounted on a drum base 30 via a drum shaft 32. And is rotatably supported.
The drum base 30 is arranged in the center of the work table 2. On the other hand, the upper drum 26 is rotatably suspended from a frame 34 that surrounds the entire work mounting machine from the outside, and the upper drum 26 and the head drum 28 are mutually connected via a plurality of driving force transmission units 36. Is linked to.

The structure for supporting the drum shaft 32 on the drum base 30, the structure for supporting the upper drum 26 on the frame 34, and the structure for connecting the head drum 28 to the drum shaft 32 are shown in FIG. First, the drum shaft 32
Extends vertically through the center of the drum base 30, and a drive motor 40 is connected to the lower end of the drum base 30 via a speed reducer 38. The drive motor 40 is supported on the drum base 30 via a mounting member 42 and a fixed sleeve 44. That is, the fixed sleeve 44 is fixed to the drum base 30 so as to surround the outer side of the drum shaft 32, and the mounting member 42 is fixed to the fixed sleeve 44 via a plurality of connecting bolts 46.

On the other hand, the upper drum 26 is hollow and is rotatably suspended from the frame 34 through the support shaft 48. That is, the upper end of the support shaft 48 is rotatably supported by the frame 34, and the support shaft 48 is
The upper drum 26, that is, the bottom plate 52 thereof is connected to the lower end of the via a flange 50. Furthermore, in the frame 34,
A bearing unit 55 is provided so as to surround the support shaft 48.

The support shaft 48 of the upper drum 26 and the above-mentioned drum shaft 32 are positioned coaxially with each other, and the bottom plate 52 of the upper drum 26 has a predetermined gap with the upper end of the drum shaft 32. It is positioned as. On the other hand, the head drum 28 includes a mounting boss 54 and a plurality of connecting bolts 56.
Is connected to the drum shaft 32 via.

The head drum 28 and the upper drum 2
The four driving force transmission units 36 that connect 6 with
As is clear from the above, they are arranged at equal intervals in the circumferential direction on the same circumference. The structures of the individual driving force transmission units 36 are the same, and therefore one driving force transmission unit 36 will be described here with reference to FIG. 4.
First, the driving force transmission unit 36 includes one lower connecting bracket 57 that is erected from the upper surface of the head drum 28,
It is provided with a pair of upper connecting brackets 58 hanging from the upper drum 26 and located on both sides of the lower connecting bracket 57 when viewed in the circumferential direction of the head drum 28, and the lower connecting bracket 57 and the pair of upper connecting brackets are provided. 58
And are connected to each other via a spring member 60. In the case of this embodiment, the spring member 60 is composed of two leaf springs superposed on each other, and the center of the spring member 60 is connected to the lower connecting bracket 57 by the connecting bolts and nuts 6.
2, and both ends thereof are connected to corresponding upper connection brackets 58 via connection bolts / nuts 64.

Further, the driving force transmission unit 36 has a detector 66 for detecting whether or not the spring member 60 is cut. A detector 66 of this kind is mounted on the lower surface of the upper drum 26, as shown in FIG. 4, and the detector 66 is, for example, a pair of upper coupling brackets 5.
By applying a voltage between the eight, the presence or absence of a current flowing through the spring member 60 is detected. On the other hand, the detector 66, which is not shown in detail, is arranged in the upper drum 26 by a controller 69 (FIG. 3).
The controller 69 is capable of receiving a pressure detection signal from the detector 66. Although not shown, various electrical components required for the work mounting machine are housed in the upper drum 69.

The driving force transmission unit 36 is not limited to that shown in FIG. 4, and may be, for example, the driving force transmission unit 36 shown in FIG. 5. In this case, the driving force transmission unit shown in FIG. The spring member 60 is previously curved in an arc shape along the circumferential direction of the head drum 28, and only this point is
It is different from the driving force transmission unit of FIG. According to the power transmission path from the drive motor 40 described above, the drum shaft 32 is rotated by the drive motor 40, so that the head drum 28 is rotated in the direction of arrow C in FIG. Further, when the head drum 28 is rotated, the rotational driving force is transmitted from the head drum 28 to the upper drum 26 via each driving force transmission unit 36, so that the upper drum 26 is also integrated with the head drum 28. It is driven to rotate.

When the spring member 60 of the driving force transmission unit 36 is disconnected while the upper drum 26 is rotating as described above, the controller 69 causes the detector 66 to operate.
The abnormal signal from the controller 6 is received, and as a result, the controller 6
9 outputs a signal for stopping the drive to the drive motor 40 described above. A large number of head units 68 are attached to the outer peripheral portion of the head drum 28 at equal intervals in the circumferential direction. Although these head units 68 are only schematically shown in FIGS. 1 and 2, their mounting positions with respect to the head drum 28 and their structures are the same. Therefore, one head unit 68 will be focused on in the following description.

The specific arrangement and structure of the head unit 68 are shown in detail in FIGS. 6 and 7, respectively. Here, the structure will be described first with reference to FIG. The head unit 68 includes a circular work head 70. The work head 70 has a head housing 72 whose axis extends in the radial direction of the head drum 28. In this head housing 72, one end surface located outside in the radial direction of the head drum 28 is opened, and this opening is closed by a cover 74.

Four nozzle holders 76 are mounted on the peripheral wall of the head housing 72 so as to be rotatable around their axes. The nozzle holders 76 are arranged at equal intervals in the circumferential direction of the head housing 72, and , Extends through the peripheral wall of the head housing 72. Therefore, the nozzle holder 76 is radially projected from the peripheral wall of the head housing 72.

Each nozzle holder 76 has a suction nozzle 78.
Are attached so that they penetrate. An axial groove 80 is formed in the portion of the suction nozzle 78 in the nozzle holder 76, while the nozzle holder 76 has
A stopper bolt 82 is screwed through the axial groove 80 of the suction nozzle 78. Therefore, the suction nozzle 78 and the nozzle holder 76 can be integrally rotated about the axis by the stopper bolt 82. However, the suction nozzle 78 is the length of the axial groove 80, and the suction nozzle 78 is the same. It is possible to move in the axial direction.

The size of the suction port (not shown) at the tip of each suction nozzle 78 is different according to the size of various works. A guide block 84 is arranged in the center of the head housing 72, and guide holes 86 are radially formed on the peripheral surface of the guide block 84 so as to correspond to the suction nozzles 78. Therefore, the suction nozzle 78 protruding from the nozzle holder 76
The inner end of the guide block 86 has a corresponding guide hole 86.
It is slidably fitted to. Further, a ball 88 that closes the inner end of each guide hole 86 is housed in the center of the guide block 84, and is located between the inner end of the suction nozzle 78 and the ball 88 in each guide hole 96. Respectively, a coil spring 90 is housed therein. The coil spring 90 is
The corresponding suction nozzle 78 is constantly urged outward in the radial direction of the work head 70, that is, in the direction protruding from the work head 70.

Further, the work head 70 is provided with a swivel means and a rotation posture thereof, that is, a suction nozzle 78 for the work table 2.
Is connected to the side of the head drum 28 via a posture control means for maintaining the posture described above. The turning means and the posture control means will be described below. From the work head 70, the first shaft 9 is made coaxial toward the head drum 28 side.
2 extends, one end of the first shaft 92 rotatably penetrates the head housing 72 of the work head 70,
It is located within the work head 70. First shaft 92
A side gear 94 formed of a bevel gear is attached to one end of the side gear 94, and the side gear 94 is meshed with the pinion 96 at the inner end of each nozzle holder 76 described above. On the other hand, a nozzle drive pulley 98 composed of a toothed pulley is attached to the other end of the first shaft 92. Therefore, when the rotational force from the outside is transmitted to the nozzle drive pulley 98 and the first shaft 92 is rotated, the rotation of the first shaft 92 is transmitted to each nozzle holder 76 via the side gear 94 and the pinion 96. As a result, each nozzle holder 76, that is, its suction nozzle 78 is also rotated around its axis.

A hollow second shaft 100 is concentrically and rotatably arranged outside the first shaft 92 via a pair of bearings. The second shaft 100 extends from the work head 70 to the suction nozzle drive pulley. It extends to 98. A flange 102 is formed at one end of the second shaft 100, and the second shaft 100 is connected via the flange 102 and the connecting bolt 104.
Are connected to a head housing 72 of the work head 70. Therefore, the work head 70 can rotate integrally with the second shaft 102, and the second shaft 102 serves as a rotation shaft of the work head 70. A head drive pulley 106, which is also a toothed pulley, is attached to the other end of the second shaft 100 adjacent to the nozzle drive pulley 98, and a rotational force from the outside is transmitted to the head drive pulley 106. Then, the work head 70 can rotate together with the second shaft 100.

Further, a hollow third shaft 108 is concentrically and rotatably arranged outside the second shaft 100 via a pair of bearings. It extends from the flange 102 to the head drive pulley 106. A link arm 110 extends from the third shaft 108, and the link arm 110 and the third shaft 108 are integrally connected. That is, the flange 112 is formed at the end of the third shaft 108 located on the side of the head drive pulley 106, and the flange 112 and the connecting bolt 11 are formed.
The third shaft 108 and the link arm 110 are connected to each other via the connector 4.

The link arm 110 is made of a plate member as shown in FIG. 8. An insertion hole 116 for the third shaft 108 is formed at one end of the link arm 110, and the insertion hole 116 is also provided. A screw hole 118 for the connecting bolt 114 described above is formed in the periphery of the. In addition, the central portion of the link arm 110 has a central hole 1
20 is formed, and a semicircular recess 122 is formed at the other end of the link arm 110. A slit 124 is provided between this recess and the central hole 120.
And a notch groove coaxial with the slit 124 is formed on the inner peripheral surface of the central hole 120.

A balance weight 126 is attached to the recess 122 of the link arm 110 as shown in FIG. 7, and the balance weight 126 is attached to the link arm 110 via a plurality of connecting bolts 128. Has been. In FIG. 8, reference numeral 130 indicates a screw hole of the connecting bolt 128. Balance weight 1
The weight 26 is approximately equal to the weight of the work head 70 side connected to one end of the link arm 110.

Therefore, the weights of both ends of the link arm 110 are balanced with the center hole 120 as the center. The control ring 1 is attached to the third shaft 108 described above.
32 is rotatably attached. The control ring 132 is formed of a stepped disc member, and the large diameter portion thereof is positioned on the work head 70 side. On the end surface of the large diameter portion of the control ring 132, the second shaft 10 described above is attached.
A hole with a larger diameter than the flange 102 of 0 is formed,
Therefore, the annular end surface of the large diameter portion can be slidably contacted with the head housing 72 of the work head 70 without interfering with the flange 102.

The small diameter portion of the control ring 132 and the third shaft 108
A coil spring 134 is disposed between and so as to surround the third shaft 108.
Presses the control ring 132 toward the work head 70, so that the annular end surface of the control ring 132 is
The end surface of the head housing 72 is a sliding contact surface 136 that is airtight and slidingly contacts.

An arcuate groove 138 is formed on the sliding surface of the control ring 132 as shown in FIG. 9, while the end surface of the head housing 72 is formed as shown in FIG. 4 suction holes 1 corresponding to each suction nozzle 78
40 is opened. The openings of the suction holes 140 are arranged at equal intervals in the circumferential direction of the head housing 72, and although not shown in detail, the suction holes 140 correspond to each other via the nozzle holder 76. Is always in communication with the suction nozzle 78.

In the state shown in FIG. 9, the suction hole 140 of the suction nozzle 78 of which the tip is directed downward is located at one end of the arc groove 138 of the control ring 132 and is in communication therewith. There is. Here, the length of the circular arc groove 138 is determined by the rotation angle α of the work head 70 in the direction of arrow D in FIG.
It is set so that the communication between the arcuate groove 138 and the suction hole 140 thereof is maintained even if it rotates only (for example, 45 °).

On the other hand, in the control ring 132, a control hole 142 having one end connected to the circular arc groove 138 is formed.
The other end of the control hole 142 is opened at the end surface of the control ring 132 opposite to the sliding contact surface 136. Control hole 14
The second opening is connected to a flexible tube 146 via a connection plug 144.
Is connected to a suction pressure supply means described later. Therefore, if suction pressure is supplied to the suction nozzle 78 by the suction pressure supply means via the tube 146, the control hole 142, the arc groove 138, and the suction hole 140, the work is suctioned to the tip of the suction nozzle 78. It becomes possible.

Further, a control ring drive pulley 148 consisting of a toothed pulley is attached to the small diameter portion of the control ring 132. Therefore, this control ring drive pulley 1
By transmitting the rotational force from the outside to 48, the control ring 132 can also rotate around the third shaft 108 described above. The head unit 68 described above is
It is unitized to include a part of the above-mentioned turning means and attitude control means, that is, a work head side part, and
The head unit 68 is detachably connected to the rest of the turning means and the attitude control means located on the head drum 28 side, that is, the head drum side portion.

That is, the turning means and the attitude control means on the side of the head drum 28 firstly include the drive shaft unit 150 which extends in the radial direction of the head drum 28 and a part of which is formed as a quadruple shaft portion. The quadruple shaft portion of the drive shaft unit 150 is positioned on the side projecting from the outer peripheral edge portion of the head drum 28, and the quadruple shaft portion has a fixed shaft 152 on the center side thereof. A first sleeve shaft 154 and a second sleeve shaft 154, which are sequentially rotatably attached to the outside of the
It is composed of a sleeve shaft 156 and a third sleeve shaft 158.

One end of the first sleeve shaft 154 located outside in the radial direction of the head drum 28 has second and third ends.
The head unit 68 is detachably attached to one end of the sleeve shaft 156, 158 protruding from the sleeve shaft 156. That is, one end of the first sleeve shaft 154 is connected to the above-mentioned link arm 11 of the head unit 68.
0 central hole 120 and link arm 1
By screwing the connecting screw 160 into 10 from the side,
The link arm 110 is fixed to one end of the first sleeve shaft 154. That is, as shown in FIG. 8, the connecting screw 160 is screwed into the screw hole 162 extending in the direction intersecting with the slit 124, and the central hole 120 is reduced in diameter, thereby linking the link hole 160. Arm 1
The connection between 10 and the first sleeve shaft 154 is established.

The other end of the first sleeve shaft 154 extends from the quadruple shaft portion toward the inner side in the radial direction of the head drum 28.
The head drum 28 is rotatably supported by the head drum 28. The fixed shaft 152 described above extends through the first sleeve shaft 154, and both ends thereof have the first sleeve shaft 154.
Is projected from. A belt pulley 164, which is a toothed pulley, is attached to one end of the first sleeve shaft 154, that is, one end of the fixed shaft 152 protruding from the link arm 110, through a mounting bolt (not shown). A toothed belt 166 is wound around the belt pulley 164 and the control ring drive pulley 148 described above. On the other hand, as shown in FIG. 6, the other end of the fixed shaft 152 is fixed to the head drum 28 side, and the other end thereof is a thrust bearing that receives the thrust force of the first sleeve shaft 154. 168 is provided.

As shown in FIG. 7, the second sleeve shaft 156 extends radially inward of the head drum 28 from the vicinity of the link arm 110 by a predetermined length, and one end of the second sleeve shaft 156 is provided with teeth. A belt pulley 170 composed of a pulley is attached. The toothed belt 1 is also provided between the belt pulley 170 and the head drive pulley 106 described above.
72 is hung around. The other end of the second sleeve shaft 156 is rotatably supported by the head drum 28 via a bearing unit 174.

Further, the third sleeve shaft 158 extends between the belt pulley 170 of the second sleeve shaft 156 and the bearing unit 174. This third sleeve shaft 158
Belt pulley 176 consisting of a toothed pulley at one end of
And the toothed belt 1 between the belt pulley and the nozzle drive pulley 98 described above.
78 is hung around.

The above-mentioned three toothed belts 166, 17
As shown in FIGS. 6 and 7, tension rollers 180 are rollingly contacted to the rollers 2 and 178, respectively, and these tension rollers 180 are rotatably attached to a roller shaft extending from the link arm 110. .. In FIG. 8, reference numeral 182 indicates a mounting hole for mounting the roller shaft.

Here, the pulley ratios of the drive pulleys corresponding to the respective belt pulleys are set to 1: 1 respectively. Therefore, not only the belt pulley 164 on the fixed shaft 152, but also the second and third sleeves. When the first sleeve shaft 154 is rotated by a driving force from the outside while the belt pulleys 170 and 176 on the shafts 156 and 158 are stopped from rotating, the work head 70 moves to the link arm 1
It turns around the first sleeve shaft 154 via 10. Therefore, the first sleeve shaft 154 serves as a turning shaft of the work head 70.

When the work head 70 pivots in this way, the control ring drive pulley 148, the head drive pulley 106 and the nozzle drive pulley 98 move to the toothed belt 1.
Since it is connected to the corresponding belt pulley via 66, 172, 178, its rotation about the axis is in a restricted state. Therefore, in this case, the work head 7
0 will turn with its posture fixed. That is, the above-described turning means and attitude control means, when one suction nozzle 78 of the work head 70 faces downward, a planetary mechanism that turns the work head 70 while maintaining the posture of the suction nozzle 78. Is composed of.

Further, in this case, since the control ring 132 also turns around the first sleeve shaft 154 without rotating relative to the work head 70, the circular arc groove 138 of the control ring 132 and this circular arc groove 138 are rotated. There is no deviation in the communication position with the suction hole 140 on the side of the head housing 72 that is connected to 138. Next, a power transmission path to the first sleeve shaft 154 will be described with reference to FIG.

A bevel gear 184 is attached to the other end of the first sleeve shaft 154.
4 is meshed with an output bevel gear 188 attached to the output shaft of the differential device 186. The differential device is generally called a harmonic drive device, and the differential device 186 is fixedly attached to the head drum 28.

On the other hand, the differential device 186, on the input side,
It has an input pinion 190 and an input pulley 192 with teeth. The input pinion 190 is a fixed ring gear 1
The ring gear 194 is meshed with the shaft 94, and is fixed to the aforementioned fixing sleeve 44 surrounding the drum shaft 32 via a plurality of fixing bolts 196. Input pulley 19
Although not shown in detail, 2 is connected to the output pulley of the first control motor 200 via a toothed belt 198. The first control motor 200 is supported on the head drum 28. ..

As is clear from the above description, the input system to the differential device 186 is the input from the input pinion 190 rotated by the ring gear 194 as the head drum 28 rotates and the input from the first control motor 200. There are two systems, namely, an input transmitted via the input pulley 192. Therefore, even when the first control motor 200 is not driven, when the head drum 28 is rotated by the drive motor 40 described above, the input pinion 190 is rotated by the fixed ring gear 194, so that the output of the differential device 186 is output. The bevel gear 188 is rotated, and as a result, the first sleeve shaft 154 is also rotated from the output bevel gear 188 via the bevel gear 184. That is, the first sleeve shaft 154 is rotated in association with the rotation of the head drum 28. As a result, as described above, the work head 70 rotates about the first sleeve shaft 154 while maintaining its posture. Will be done.

At this time, the balance weight 12 described above is used.
6 also has a link arm 11 with the work head 70.
Note that it is pivoted through 0. Here, the turning direction of the work head 70 is indicated by an arrow E in FIG. That is, when the head drum 28 is rotated in the direction of the arrow C, the turning direction E of the work head 70 is the moving direction of the turning axis of the work head 70 according to the rotation of the head drum 28, and the work head 70 is set on the work table 2. The directions of movement when turning in the vicinity are set to be opposite to each other. In addition, as shown in FIG. 10, when the work table 2 is arranged above the work head 70, the work head 70 must be rotated in the direction opposite to the E direction, as is apparent from the above description. I won't.

Further, the power transmission system including the above-mentioned differential device 186, the peripheral speed of the head drum 28, that is, the revolution speed of the work head 70 and the rotation of the work head 70, when the first control motor 200 is not driven. Speed, to be exact,
It is set to match the swirling speed of the tip of the suction nozzle. As is clear from the above description, when the rotation of the head drum 28 and the turning motion of the work head 70 are combined, the work head 70 repeats the motion as shown in FIG. 7
At 0, the tip of the downward suction nozzle 78 repeats a contact / separation motion that draws a cycloid curve with respect to the work table 2, that is, a vertical motion. Further, FIG. 11 also shows the moving speed of the suction nozzle 78 with respect to the work table 2, that is, the ground speed V of the suction nozzle 78. The ground speed V indicates that the suction nozzle 78 moves vertically. When it is located at the lowest position, it becomes almost zero, and when it is located at the uppermost position, it becomes maximum. This is clear from the fact that when the first control motor 200 is not driven, the turning direction and the turning speed of the work head 70 are set as described above with respect to the rotation of the head drum 28.

On the other hand, while the head drum 28 is rotating, the first control motor 200 is driven to drive the first control motor 200 through the differential device 186.
By controlling the rotation of the sleeve shaft 154, that is, the turning speed of the work head 70, the cycle L of the vertical movement of the suction nozzle 78 can be changed. This point will be specifically described. In a state where the driving of the first control motor 200 is stopped, the movable feeder 10 of the XY table device 12, that is, the print, from the work feeder 6 at the P1 position shown in FIG. In the process of transferring to substrate B,
When the head unit 68 revolves, the head unit 6
The work head 70 of No. 8 is set to repeat its vertical movement N times.
When the rotational force from the first control motor 200 is transmitted to the input pulley 192 of No. 6, the differential device 186 decelerates the rotation of the output bevel gear 188, and therefore the turning speed of the work head 70 is also decelerated. It will be.

By controlling the turning speed of the work head 70 in this manner, the cycle L of the vertical movement of the suction nozzle 78 and the number of vertical movements of the suction nozzle 78 in the transfer process are changed. This is the work table 2
This means that the lowest position of the suction nozzle 78 of the work head 70 can be set arbitrarily in the circumferential direction of the work head 70. Therefore, each head unit 68, that is, the work head 70 of the work head 70, can be set to any work feeder 6. At the position of the printed circuit board B, the suction nozzle 78 facing downward can be positioned at the lowest position.

The above-described turning speed control of the work head 70 must be stopped when the suction nozzle 78 descends at least toward the target work feeder 6 or the printed circuit board B. As a result, when the suction nozzle 78 reaches the lowest position at the position of the target work feeder 6 or the printed circuit board B, the ground speed V of the suction nozzle 78 can be maintained substantially zero as described above.

As shown in FIG. 6, the brake device 202 is attached to the first sleeve shaft 154. As shown in detail in FIG. 12, the brake device 202 includes a brake drum 204 fixedly attached to the first sleeve shaft 154.
A brake band 206 is wound around 04.
Both ends of the brake band 206 have brackets 208
The bracket 208 is fixed to the head drum 28.

One end of the brake band 206 is attached to the bracket 208 with respect to the tension coil spring 210 and the adjusting screw 2.
11 and are connected to each other through these tension coil springs 2
10 and the adjusting screw 211, the brake band 206
The braking force of the first sleeve shaft 154 can be adjusted. If the brake device 202 described above is provided, a unidirectional rotational urging force can be constantly applied to the first sleeve shaft 154, so that the bevel gear 1 thereof is provided.
Even if rattling occurs in the meshing between the 84 and the output bevel gear 188 of the differential device 186, it is possible to prevent undesired rotational angular displacement of the first sleeve shaft 154 due to this rattling. Rotation control of the first sleeve shaft 154,
That is, the turning control of the work head 70 can be performed with high accuracy.

The brake device 202 is not limited to that shown in FIG. 12, and may be the brake device shown in FIG. 13, for example. The brake device of FIG. 13 includes a pressing body 214 having a brake pad 212 instead of the brake band 206 of FIG. 12, and the pressing body 214 is provided on the bracket 208 via a pair of compression coil springs 216. And is pressed against the first sleeve shaft 154 side. Reference numeral 218 is an adjusting screw for adjusting the biasing force of each compression coil spring 216.

Referring again to FIG. 7, toothed input pulleys 220 and 222 are attached to the other ends of the above-mentioned second and third sleeve shafts 156 and 158, respectively. , 222 are provided with second and third electric motors 22 via toothed belts 224, 226.
It is connected to the output pulleys 232 and 234 on the 8,230 side. The second and third control motors 228 and 230 are shown in FIG.
Is attached to the head drum 28 via a bracket 236 as shown in FIG.

Therefore, the second and third sleeve shafts 156,
When 158 is connected to the second and third control motors 228 and 230 via the belt mechanism described above, the second and third control motors 228 and 230 are driven, and the second and third control motors 228 and 230 are driven. Each of the sleeve shafts 156 and 158 can rotate independently. On the other hand, as described above, the second sleeve shaft 156 and the second shaft 9 on the head unit 68 side.
2 is connected via the pulleys 170, 106 and the belt 172, so that when the second sleeve shaft 156 is rotated, the second shaft 100, that is, the work head 70 is rotated.

The pulleys 176, 98 are also provided between the third sleeve shaft 158 and the first shaft 92 on the head unit 68 side.
And the belt 178, the third sleeve shaft 158 is rotated, the first shaft 92 is also rotated,
As a result, each suction nozzle 78 rotates about its axis via the nozzle holder 76 as described above.

FIG. 6 also shows suction pressure supply means corresponding to one head unit 68. The suction pressure supply means will be described below.
The suction pressure supply means includes a vacuum pump 238, which is connected to the radial hole 242 in the fixed sleeve 44 surrounding the drum shaft 32 via the connection conduit 240 and the connector 242. ing.

On the other hand, the outer peripheral surface of the drum shaft 32 is formed with an annular groove 246 which is in constant communication with the radial hole 242. The annular groove 246 is formed in the internal passage 24 of the drum shaft 32.
8 is connected. The internal passage 248 extends to the upper end portion of the drum shaft 32 protruding from the head drum 28, and the internal passage 248 is connected to the connection pipeline 252 via the connector 250. This connecting line 252
Extend toward the head unit 68 and control valve 254
Of the input port 256.

Furthermore, in the case of this embodiment, the suction pressure supply means also includes an air pressure source 258.
58 is connected via the connection conduit 260 and the connector 262,
It is connected to the radial hole 264 of the fixed sleeve 44.
An annular groove 266 is formed on the outer peripheral surface of the drum shaft 32 so as to communicate with the radial hole 264 at all times. The annular groove 266 is connected to the internal passage 268 of the drum shaft 32. This internal passage 268 is also the above-mentioned internal passage 2
Like 48, it extends to the upper part of the drum shaft 32, and this internal passage 268 is connected to the connection pipe line 272 via the connector 270. The connection pipe line 272 is connected to the input port 276 of the switching valve 274.

From the middle of the connecting pipe 272, the branch pipe 2
78 is branched, and this branch circuit 278 is connected to another input port 280 of the switching valve 274. A pressure adjusting valve 282 is inserted in the branch line 278. The output port 284 of the switching valve 274 is connected to the connection line 2
It is connected via 86 to another input port 288 of the control valve 254 described above.

Further, the output port 290 of the control valve 254
Is the head unit 6 through the tube 146 described above.
8 connection plugs 144. Control valve 254
Although the switching valve 274 is not shown in detail,
It consists of an electromagnetic directional control valve at the port 2 position. Therefore, when the control valve 254 is in the suction position which is one of the switching positions, the output port 290 of the control valve 254 is one of the input ports 2
56, the output port 290 when the suction position is switched to the blow position which is the other switching position.
Is connected to the other input port 288.

Similarly, when the switching valve 274 is also in the high pressure position which is one of the switching positions, its output port 284 is connected to one input port 276 and the high pressure position is the other low pressure position. Output port 284 is connected to the other input port 280. The pressure adjusting valve 282 is used for the air pressure source 25.
The blow pressure supplied from 8 is reduced to a predetermined pressure,
It has a function of supplying to the switching valve 274 side.

The control valve 254, the switching valve 274 and the pressure adjusting valve 282 are all fixedly arranged on the head drum 28. According to the suction pressure supply means described above, the connection pipelines 240 and 260 extending from the vacuum pump 238 and the air pressure source 258 are connected to the corresponding connection pipelines 252 and 272 regardless of the rotation of the drum shaft 32. Therefore, by controlling the switching of the control valve 254,
Either suction pressure or blow pressure can be supplied from the control valve 254 to the head unit 68, that is, the suction nozzle 78 of the work head 70 through the tube 146. Further, when the blow pressure is supplied to the suction nozzle 78, the blow pressure can be switched in two stages by performing the switching control of the switching valve 274.

Then, referring again to FIG. 2, the work table 2 has an XY direction when viewed in the rotation direction C of the head drum 28.
A recognition camera 292 is arranged on the rotation entering side of the table device 8. This recognition camera 292
Are located slightly below the work table 2 and face upward. Therefore, the work head 7 of the head unit 68
When 0 passes through the recognition camera 292 while turning, the work adsorbed by the suction nozzle 78 of the work head 70 can be photographed by the recognition camera 292.

Here, the arrangement of the recognition camera 292 will be described in detail. When the work head 70 revolves around the drum shaft 32 while rotating, the suction nozzle 78.
Is set at the position of the recognition camera 292 so as to be the lowest in the vertical movement. Therefore, after this, the work head 70 passes the recognition camera 292 and the work head 70 mounts the work on the printed circuit board B on the XY table device P2.
Even when reaching (see FIG. 2), the suction nozzle 78 is positioned at the lowest position, so that the work head 70 performs its swivel integral multiple times while moving from the recognition camera 292 to the mounting position P2. Become.

When the work head 70, that is, the suction nozzle 78a thereof moves from the recognition camera 292 to the mounting position P2 in this manner, the belt pulley 170 and the head drive pulley 1 are maintained in order to maintain the posture of the work head 70.
The toothed belt 172 that is wound between 06 and
It is set to run around the belt pulley 170 and the head drive pulley 106 by an integral multiple of the total length.

Therefore, if set as described above, the belt pulley 170 and the head drive pulley 106 when the work head 70 is at the position of the recognition camera 292.
The meshing state of the toothed belt 172 with respect to, that is, the meshing position is always reproduced when the work head 70 reaches the mounting position P2. In the case of this embodiment, the work head 70 recognizes the toothed belt 178 as well as the toothed belt 172 in the same manner as the toothed belt 172.
When moving from 92 to the mounting position P2, the toothed belt 178 is adapted to run by an integral multiple of its entire length, whereby the toothed belt 178 meshes with the belt pulley 1176 and the nozzle drive pulley 98. Alternatively, it is the same when the suction nozzle 78a is above the recognition camera 292 and when it is at the mounting position P2.

Further, as shown in FIG. 2, the work table 2 has XY when viewed in the rotation direction C of the head drum 28.
A work collection container is arranged on the side of the table device 8 that is rotated and fed out, and only the collection container opening 294 is shown in FIG. 2. The above-mentioned first to third control motors 200, 228, 230, the control valve 254 and the switching valve 274 of the suction pressure supply means, the recognition camera 292, and the rotary encoder indicated by reference numeral 296 in FIG. Etc. are electrically connected to a controller 69 (see FIG. 3) housed in the upper drum 26. Therefore, the controller 69 uses the recognition camera 29
2 receives the image signal from the rotary encoder 296 and the rotation angle signal from the rotary encoder 296, and based on these signals,
The operation of the first to third control motors 200, 228 and 230, the control valve 254 and the switching valve 274 is controlled.

Next, the operation of the above-described work mounting machine will be described with reference to FIGS. 14 to 18. Even if the work head 70 of the head unit 68 makes a turning motion,
In order to clearly show that the posture of the suction nozzle 78 with respect to the work table 2 is maintained, the reference numerals of the suction nozzle 78 in FIGS. 14 to 17 are further suffixed with a, b, c, d. ..

FIG. 14 shows the rotation direction C of the head drum 28.
As seen, the work head 70 has reached a position directly above the P1 position shown in FIG. At this time, the work head 70 is turning toward the work table 2 as indicated by the arrow E, and at this time, the turning speed is the peripheral speed of the head drum 28, that is, the revolution of the work head 70 itself as described above. Matched to speed.

On the other hand, in the state of FIG. 14, the upper drum 26
The internal controller 69 switches the control valve 274 of the suction pressure supply means to the suction position, whereby the suction pressure from the vacuum pump 238 is supplied to the suction nozzle 78a facing downward of the work head 70. Is in a state. After that, the work head 70, that is, its suction nozzle 78 is rotated by rotating the head drum 28 from the state of FIG.
When "a" turns toward the P1 position of the work table 2 while turning and reaches the state of FIG. 15, the suction nozzle 78a of the work head 70 is at the lowest position at the P1 position. At this time, since the speed of the suction nozzle 78a with respect to the work table 2, that is, the ground speed V becomes substantially zero as described above, the suction nozzle 78a causes the work W supplied by the work feeder 6 to the position P1 to be sucked by its suction pressure. It can be surely adsorbed and held.

After that, by the rotation of the head drum 28 and the turning of the work head 70, the suction nozzle 78a turns in the direction away from the work table 2 while keeping the work W sucked. At this time, the controller 69 executes the drive control of the second control motor 228 described above. Therefore,
The driving force of the second control motor 228 is the toothed belt 224,
Input pulley 220, second sleeve shaft 156, belt pulley 170, toothed belt 172, head drive pulley 10
By being transmitted to the second shaft 100 via the second shaft 100, the work head 70 moves to the position shown in FIG.
As shown in FIG. 6, the work head 70 is rotated in the D direction by the rotation angle α described above, whereby the work head 70 is changed to the rotation posture shown in FIG.

Even when the work head 70 rotates, as shown in FIG. 9, the control hole 142 of the control ring 132 and the suction hole 140 on the work head 70 side are maintained in the connected state by the arc groove 138. Therefore, even if the work head 70 rotates, the suction pressure is ensured to be supplied to the suction nozzle 78a, so that the suction of the work W by the suction nozzle 78a is maintained.

When the work head 70 is rotated as described above, the suction nozzle 78a is raised by the height H as shown in FIG. So after this,
The suction nozzle 78a of the work head 70 repeats its vertical movement within a region raised by a height H from the work table 2. As a result, when the work head 70 passes over the adjacent work feeder 6, the suction nozzle 78a can be prevented from interfering with another work feeder on the work table 2 or another device member.

Thereafter, as the head drum 28 rotates,
When the work head 70 reaches the position just before the recognition camera 292, the drive control of the second control motor 228 by the controller 69 is performed again, so that the work head 70 is returned to the original rotation posture. Therefore, as shown in FIG. 17, the suction nozzle 7 of the work head 70 is
When 8a reaches directly below the recognition camera 292 and reaches a position lower than the recognition camera 292, the work W sucked by the suction nozzle 79 faces the recognition camera 292, and at this point, the recognition camera 292.
By photographing the work W, the suction nozzle 78a
The suction posture of the work W with respect to can be clearly photographed.

The image data of the work W obtained by the recognition camera 292 is supplied to the controller 69, and the controller 69 determines whether or not the work W is attracted to the suction nozzle 78a in the correct posture. Here, as shown by a broken line in FIG. 18, when the suction posture of the work W deviates from the vertical and horizontal reference lines, that is, the suction posture of the work W deviates from the normal posture. If so, the controller 69 performs the drive control of the third control motor 230 described above. That is, the driving force of the third control motor 230 is the toothed belt 266, the input pulley 222, the third sleeve shaft 158, the belt pulley 176,
It is transmitted to the first shaft 92 via the toothed belt 178 and the nozzle drive pulley 98, and further, the suction nozzle 78a is rotated around the axis line from the first shaft 92 via the side gear 94, the pinion 96 and the nozzle holder 76. By being rotated, as shown by the solid line in FIG. 18, the suction posture of the workpiece W is corrected to the correct posture. Therefore,
The controller 69 and the power transmission path from the third control motor 230 to the suction nozzle 78 constitute a correction unit that corrects the attitude of the work W.

After that, while the work head 70 repeats the turning motion with the rotation of the head drum 2, the work head 70, that is, the suction nozzle 78a thereof is attached to the mounting position P2 on the printed board B in the XY table device 8. At this time, too, the suction nozzle 78a is positioned at the lowest position in the vertical movement, as in the case of the P1 position described above. This state is the same as the state shown in FIG. Therefore, at this time, the speed of the suction nozzle 78a with respect to the printed circuit board B becomes substantially zero.

Therefore, the suction nozzle 78a is mounted at the mounting position P2.
At the appropriate time just before reaching the controller 60
Thus, when the switching position of the control valve 274 is switched from the suction position to the blow position, the work W of the suction nozzle 78a becomes
Not only the suction is released, but also the blow pressure supplied from the air pressure source 258 side to the suction nozzle 78a is assisted to surely mount the mounting position P2, that is, a predetermined position on the printed board B. It will be.

Here, the toothed belt 172 for the pulleys on the first sleeve shaft 154 side and the work head 70 side.
The meshing position of 178 is determined by the recognition camera 2 as described above.
Since the time when the work W is imaged at 92 and the time when the work W is mounted on the printed circuit board B are the same, the turning posture of the work head 70, that is, the turning position of the suction nozzle 78a and the axis of the suction nozzle 78a. The rotational position of is also
It becomes the same at both the above-mentioned time points.

Therefore, even if the suction posture of the work W is corrected based on the image data of the work W obtained at the time of photographing the work W, the toothed belts 172 and 178 are mounted at the subsequent mounting time of the work W. There is no deviation in the correction due to the tooth pitch error and the accumulated pitch error in the above, or the runout of the outer circumference of the pulley. As a result,
Even when the work W is mounted, the suction posture of the work W is always corrected accurately, and the work W can be mounted with high accuracy.

When the work W is mounted as described above, the controller 69 switches the switching valve 274 to the low pressure position, so that the work W is mounted using the low blow pressure. In addition, before the work W is mounted, the operation of the XY table device 8 causes
As a matter of course, the printed board B is controlled in position so that the position where the work W is to be mounted on the upper surface of the printed circuit board B coincides with the mounting position P2.

If the suction posture of the work W of the suction nozzle 78a cannot be corrected, the mounting operation of the work W described above is stopped. Then, after this, the suction nozzle 7
When 8a reaches above the opening 294 of the recovery container, the controller 69 switches the control valve 274 to the blow position, and the switch valve 274 is switched to the high pressure position. The work W is blown off from the suction nozzle 78a toward the collection container, and then collected in this collection container.

Furthermore, when the suction nozzle 78 used by the work head 70 is changed according to the shape and size of the work, the drive control of the second control motor 228 is performed to rotate the work head 70 by 90 °. You should go. According to the work mounting machine described above, the work can be mounted on the printed circuit board B without stopping the rotation of the head drum 28, and each work head 70 of the head drum 28 and the work table 2 can be mounted. By simultaneously using the respective work feeders, the same work or different works can be continuously mounted on the printed circuit board B, and the mounting efficiency of the works can be significantly improved.

The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made. For example, referring to FIG. 19, there is shown a part of a work mounting machine which is a modified example. In this modification, the above-mentioned pulleys are replaced by gears, and an intermediate gear is used instead of the toothed belt. Here, the gears corresponding to the pulleys of the embodiment and the intermediate gears corresponding to the toothed belt are shown by adding reference characters a to the reference numerals of the pulleys and the toothed belt, and the description thereof is omitted. To do.

Further, in one embodiment, the suction pressure is used for adsorbing the work, but it is of course possible to use an electromagnet as the adsorbent instead of the adsorbing nozzle depending on the kind of the work.

[0096]

As described above, in the work mounter of the present invention, the turning posture of the work head when the work is photographed by the recognition camera and the turning posture of the work head when the work is mounted are determined. Since the installation position of the recognition camera is determined so that it always matches exactly, if the suction posture of the work is corrected based on the image data of the work at the time of shooting the work, this correction will be performed at the time of mounting the work. However, it is always accurate and has the advantage that work can be mounted with high accuracy.

[Brief description of drawings]

FIG. 1 is a schematic side view showing a work mounting machine according to an embodiment with a part thereof cut away.

FIG. 2 is a schematic plan view of the work mounting machine of FIG. 1 seen from above a head drum.

FIG. 3 is a sectional view showing a support structure for a head drum and an upper drum.

FIG. 4 is an enlarged view showing a driving force transmission unit that connects a head drum and an upper drum.

FIG. 5 is a cross-sectional view showing a modified example of the driving force transmission unit.

FIG. 6 is a cross-sectional view showing a drive system from the drum shaft to the head unit in the head drum.

FIG. 7 is a cross-sectional view showing details of a head unit.

FIG. 8 is a front view showing a link arm of the head unit.

FIG. 9 is an end view of the control ring of the head unit.

FIG. 10 is a front view showing a work head of the head unit.

FIG. 11 is a view schematically showing the vertical movement of the suction nozzle in the work head.

FIG. 12 is a front view of a brake device.

FIG. 13 is a cross-sectional view showing a modified brake device.

FIG. 14 is a front view of a work head immediately before a work is sucked by a suction nozzle.

FIG. 15 is a front view of the work head when the work is sucked by the suction nozzle.

FIG. 16 is a front view of the work head after the work is sucked by the suction nozzle.

FIG. 17 is a front view of the work head when the suction nozzle reaches directly above the recognition camera.

FIG. 18 is a diagram showing a suction posture of a workpiece with respect to a suction nozzle.

FIG. 19 is a cross-sectional view showing a modified head unit.

[Explanation of symbols]

 2 work table 6 work feeder 8 XY table device 10 movable table 28 head drum 32 drum shaft 40 drive motor 68 head unit 69 controller 70 work head 72 head housing 78 suction nozzle 98 nozzle drive pulley 106 head drive pulley 110 link arm 154 1st Sleeve axis (swivel axis) 170,176 Belt pulleys 172,178 Toothed belt 238 Vacuum pump 292 Recognition camera

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Seido Kato 2121 Nawao, Asahi-machi, Mie-gun, Mie Pref., Toshiba Mie Plant (72) Inventor Etsuro Minamihama 2121 Asahi-cho, Mie-gun, Mie Pref. Mie factory

Claims (1)

[Claims] 1. A work table having a work supply section and a work section, a head drum that is arranged to face the work table at a distance, and is driven to rotate in a plane parallel to the work table. A work head that is provided so as to project from the outer circumference and is rotatable about a swivel axis that extends in the radial direction of the head drum, and an adsorbent that is provided on the work head and that projects from the outer peripheral surface of the work head toward the work table. And a rotating means for rotating the work head while the head drum is rotating, and a posture of the suction body with respect to the work table during rotation of the head drum and the work head. The work head is provided with attitude control means for contacting and separating, and suction control means for controlling suction of the work by the suction body. When the work head suction body comes closest to the work piece in the supply section during rotation, this work piece attracts the work piece, and then the work head is mounted while maintaining the work piece suction state. In the work mounting machine that is transferred to the section and releases the suction of the work when the suction body is closest to the mounting section, thereby supplying the work to the mounting section, the attitude control means, It is configured to have a meshing member that mechanically meshes with both the swivel axis side and the work head side and that constrains the posture of the work head constant when the work head is swiveling. It is located on the side between the supply section and the mounting section, and when the suction body of the work head passes through, the work that is sucked by the suction body is photographed. It further comprises a recognition camera for obtaining the image data of the work, and a correction means for correcting the suction posture of the work based on the image data from the recognition camera, wherein the recognition camera is the image pickup position of the work and the mounting. A work mounting machine, wherein the section is installed so that the meshing positions of the meshing member with respect to the turning shaft side and the work head side are the same.