JPH07108495B2 - Work mounting device - Google Patents

Description

Detailed Description of the Invention

[Object of the Invention]

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work mounting apparatus suitable for mounting electronic parts such as chips on a printed circuit board.

[0003]

2. Description of the Related Art Conventionally, an electronic component mounting apparatus for mounting electronic components on a printed circuit board is disclosed in, for example, Japanese Patent Laid-Open No. 62-62.
The one described in Japanese Patent No. 114290 is known.

That is, the vertically movable suction heads arranged on the periphery of the rotatable table are lowered at the position of the suction station after the table is stopped, and workpieces such as chips are sucked and then raised again. Next, the table is rotated by a predetermined amount, the suction head holding the work is moved to the mounting station and stopped, and the suction head is lowered again to mount the work on the printed circuit board repeatedly.

[0005]

As described above, in the conventional work mounting apparatus, the table is stopped because the intermittent motion of temporarily stopping the rotation of the table is repeated during the suction of the work by the suction head and the mounting thereof. While working, it was not desirable in terms of work efficiency such as leading to lost time.

[0006] Therefore, an object of the present invention is to provide a work mounting apparatus capable of holding and mounting a work while continuously rotating the work.

[Configuration of Invention]

[0008]

In order to achieve the above object, according to the present invention, a rotary drum which is continuously rotated by a driving means and a rotary drum which is provided on the outer circumference of the rotary drum and is the same on the outer circumference of the rotary drum. A work holding member that vertically moves by drawing a cycloid curve along the rotational trajectory of the rotating drum by rotating while holding the posture, and holding the work near the dead point of the cycloid curve with respect to the work holding member. Alternatively, a control unit for instructing holding release is provided. The control unit variably controls the cycloid curve drawn by the work holding member at an arbitrary cycle, and instructs the work holding member to hold or release the work near an arbitrary dead point of the cycloid curve.

[0009]

In such a work mounting apparatus, the work holding member revolves in response to the rotation of the continuously rotating rotary drum, and while maintaining the same posture, draws a cycloid curve along the outer peripheral surface of the rotary drum to move up and down. Move. During this movement, the work holding member controls the cycle of the cycloid curve from the most lowered position to the most lowered position of the work holding member holding the same posture by the command signal from the control unit, so that the work holding member moves the work near the dead point. While holding it, it moves along a cycloid curve, and in the vicinity of the next dead point, a continuous mounting movement for releasing the holding of the work is repeated. During this mounting movement, the rotating drum is kept in a continuous rotating state, so that the loss time is eliminated and the work efficiency is improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings of FIGS.

In FIG. 1, reference numeral 1 denotes a machine body of the work mounting apparatus 3. The machine body 1 includes a rotary drum 7 mounted and supported on a rotatable drum shaft 5, a fixed work supply unit (hereinafter referred to as a supply table 9) serving as a suction station along the outer peripheral edge of the rotary drum 7. , A movable work setting section serving as a mounting station, (hereinafter referred to as an XY table 11) are arranged.

The supply table 9 has a shape arranged in an arc shape along the outer peripheral edge of the rotary drum 7, and a plurality of works P such as chips are arranged in the radial direction. In addition,
The work P is sequentially fed from the feeder T to the suction position.

[0013] and the longitudinal Lee direction XY table 11 by the first motor M1a, is movable in the left and right B direction by the motor M1b, on the upper surface of the XY table 11 arrow c direction by the second motor M ₂ A mounting conveyor 13 for carrying and moving the sheet is mounted. The mounting conveyor 13 includes a terminating end of a carry-in conveyor 15 which is arranged on both left and right sides and can be carried in the arrow D direction by a third motor M _3, and a carry-out conveyor 17 which can be carried in the arrow direction by a fourth motor M ₄ . The XY table 11 approaches the start end portion by moving in the left and right directions, receives the printed circuit board 19 in the standby state on the carry-in conveyor 15, and after mounting is completed, sends it out to the carry-out conveyor 17.

On the other hand, the rotary drum 7 is continuously rotated in the arrow E direction by the rotational power transmitted to the drum shaft 5 via the conduction belt 20 by the fifth motor M ₅ mounted on the machine body 1.

On the outer peripheral surface of the rotary drum 7, the rotary drum 7
A plurality of work holding members 21 that move up and down in a cycloid curve along the rotation orbit of are mounted.

Since the work holding member 21 is composed of the same functional member, only one work holding member will be described.

As shown in FIG. 5, the work holding member 21 has a rotary head 25 in which suction nozzles 23 having different sizes are provided at four positions at intervals of 90 degrees in the radial direction, and the rotary head 25 has the same posture. It has a planetary gear mechanism, which will be described later, and a link mechanism 27 for performing a rotational movement as it is, that is, a turning movement without rotation.

The adsorption nozzle 23 communicates with the vacuum pump 26 via a pipe 29 as shown in FIG. 2, and the on-off valve 31 provided on the pipe 29 is controlled to open and close to thereby cause the adsorption nozzle 2 to move.
The vacuum pressure of 3 enables adsorption and desorption.

The pipe 29 rotates together with the on-off valve 31 together with the rotary drum 7, and one end thereof is connected to the communication hole 33 provided in the third link 27c constituting the link mechanism 27 as shown in FIG. . The communication hole 33 is formed by the spring 3
The rotary head 2 is biased by a biasing means such as 4.
When 5 is rotated by 90 degrees, for example, it is always provided at a position facing and communicating with the passage 35 provided on the suction nozzle 23 side.

The other end of the pipe 29 is connected to an outlet 37 provided at the bottom of the drum shaft 5 as shown in FIG.
The outlet 37 communicates with the vacuum pump 26 via a communication passage 41. The communication passage 41 is the vacuum pump 2
6 has a ring-like shape that opens in the circumferential direction through the center of a fixed shaft 39 that communicates with 6, so that the connection state is always ensured even if the outlet 37 rotates.

The link mechanism 27 comprises a first link 27a, a second link 27b, and a third link 27c. The first link 27a is fixed to the first link shaft 45 constituting the first conduction path 43, It can rotate together with the first link shaft 45.

The second link 27b is the first link shaft 4
5 is fixed to a second link shaft 49 that is conductively connected via a conductive belt 47, and is rotatable together with the second link shaft 49.

One end of the third link 27c is rotatably supported by the second link 27b, and is pivotally attached to a third link shaft 51 rotating around the second link shaft 49, while the other end is The side is rotatably attached via the first link 27a and the pin 53.

The rotary head 25 is attached to the third link 27c, and the suction nozzle 23 can be selected by rotating the rotary head 25 by 90 degrees.

That is, the third link shaft 5 of the third link 27c
As shown in FIG. 4, the outer shaft 55 and the inner shaft 57 are double shafts.
5 is fixed, while the rotary head drive gear 59 is attached to the other end.
Is stuck. Therefore, the rotary head drive gear 5
By transmitting the rotational power to 9, it is possible to rotate by 90 degrees.

A suction nozzle drive gear 61 is mounted on one end of the inner shaft 57, and a side gear 63 is mounted on the other end. A pinion gear 65 mounted on the base of the suction nozzle 23 meshes with the side gear 63.

Therefore, the rotational power is transmitted to the suction nozzle drive gear 61, and the side gear 63 and the pinion gear 6 are transmitted.
By slightly rotating the suction nozzle 23 through
Θ angle correction of the suction nozzle 23, that is, the reference line W
On the other hand, the suction posture of the work P in the correct direction is ensured.

The suction nozzle drive gear 61 and the rotary head drive gear 59 are located at the end of the second and third conduction paths 69, 71 via a pair of intermediate gears 67, 67 rotatably supported by the second link 27b. A planetary gear mechanism that meshes with the gears 73 and 75 and that rotates about the second link shaft 49 is configured by the gears 59, 61, 67, 73, and 75.

In this case, the final gears 73 and 75, the suction nozzle drive gear 61, and the rotary head drive gear 59 may be replaced with pulleys or sprockets, and belt or chain conduction means may be used.

The rotary head drive gear 59, the suction nozzle drive gear 61, and the final gears 75 and 73 are set to have a gear ratio of 1: 1. Further, as shown in FIG. 6, the distance a from the first link shaft 45 to the pin 53 and the distance b from the second link shaft 49 to the third link shaft 51 are set to be substantially the same size.

As a result, the first and second link shafts 45, 4
Centering around 9, first, second and third links 27a, 27b, 2
Due to the rotation of 7c and the action of the planetary gear mechanism, the rotary head 25 can obtain a rotary motion in the same posture in which the suction nozzle 23 for suction operation is always downward, that is, a swivel motion without rotation, and the communication hole 33 is further provided. , 35 are always kept in communication with each other.

The first conduction path 43 includes a sixth motor M supported by the body 77 by a bracket 77 as shown in FIG.
The power of _{6 and} the power from the rotary drum 7 are the ring gear 79.
And the first and second link shafts 4 via the input side gear 87.
It is a conduction system that is input to 5,49.

That is, the ring gear 79 is provided with the outer gear portion 79a on the outer side and the inner gear portion 79b on the inner side, and is rotatably mounted on the inner flange portion 78a of the fixed frame 78. Outer gear portion 79a is the motor M ₆ inner by wall 78b and the ring member 83 to each other in contact while being properly positioned on the upper surface of the inner flange portion 78a of the sixth fixed frame 78 provided on the lower side of the ring gear 79
Meshes with the motor gear 85. The inner gear portion 79b meshes with the input side gear 87 of the gear shaft 81 supported by the rotary drum 7, and the output side gear 89 of the gear shaft 81.
Engages with the transmission gear 91 mounted on the first link shaft 45.

Therefore, when the rotating drum 7 rotates in the direction of the arrow E when the sixth motor M ₆ is off, and the input side gear 87 revolves while rotating on the inside while meshing with the ring gear 79, the rotational power is Output side gear 8
9, via the transmission gear 91, the first and second link shafts 4
It will be transmitted to 5, 49 as a counterclockwise rotational power. As a result, the suction nozzle 23 of the rotary head 25 draws the cycloid curve N shown in FIG.

On the other hand, by rotating the ring gear 79 in the same direction as the rotating direction of the rotating drum 7 by controlling the operation of the sixth motor M _{6 while} the rotating drum 7 is rotating, the cycle of the pickup movement is lengthened. You can

This point will be described more specifically. In this embodiment, the downward suction nozzle 23 moves counterclockwise as shown in FIG. 6 while moving 180 degrees from the supply table 9 to the XY table 11. As shown in FIG. 3, the suction nozzle 23 is lowered twice at about 180 degrees by controlling the operation of the sixth motor M ₆ for four rotations, for example, after being set to rotate about five times. A pickup motion that draws a cycloid curve N of one cycle L is obtained. The rotation ratio of this pickup movement is set so that the speed of the tip of the suction nozzle 23 due to the rotation of the rotary drum 7 in the direction of the arrow E and the speed of the tip of the suction nozzle 23 due to the counterclockwise rotation of the rotary head 25 match. Therefore, the suction nozzle 23 has a ground speed close to zero, and the suction operation can be performed without any trouble. Therefore,
By controlling the operation control by the sixth motor M ₆ such as 3 rotations or 4.5 rotations, the cycle L of the cycloid curve N can be lengthened or shortened, and the work P over the entire area of the supply table 9. The pickup operation of can be performed.

The pick-up movement of the suction nozzle 23 is not limited to the above-mentioned motive power. For example, as shown in the dotted line in FIG.
The layout may be such that the input side gear 87 is meshed with the 9a side and the motor gear 85 of the sixth motor M ₆ is meshed with the inner gear part 79b side of the ring gear 79, respectively.
The transmission system from the motor M _{6 is} a layout in which the input gear 87 is directly meshed with the ring gear 80 that rotates horizontally as shown in the chain double-dashed line in FIG. It is also possible.

The second conduction path 69 blocks the power from the rotary drum 7, while the power of the seventh motor M ₇ supported by the body 1 by the bracket 77 is transmitted to the differential device 93.
A transmission system for correcting the θ angle of the suction nozzle 23, which is input to the final gear 73 via a vertically long sleeve shaft 95 and an outer sleeve shaft 97 located outside the second link shaft 49 that is long left and right. ing.

That is, the motor pulley 9 of the seventh motor M ₇
Reference numeral 9 is conductively connected to the pulley 101 of the differential gear 93 via the conduction belt 103, and the first gear 105 of the differential gear 93 is fixed in a ring shape integrally fixed to the fixed shaft 107 supported by the rotary drum 7. It engages with the gear 109 and forms a differential device 93.
The second gear 111 meshes with a ring-shaped free gear 113 that is loosely fitted to the fixed shaft 107 within the range of the long hole. The free gear 113 meshes with a transmission gear 115 provided on the upper end of the sleeve shaft 95. In this state, the differential device 93 and each gear 10 are arranged so that the speed ratio between the fixed gear 109 and the free gear 113 is 1: 1.
The number of teeth of 9, 105, 111, 113 is set.

As a result, the power from the fixed gear 109 that rotates together with the rotary drum 7 is transmitted to the free gear 113 via the first gear 105 and the second gear 111 of the differential device 93, but at this time, it is fixed. Gear 109 and free gear 11
In synchronism with the rotation with 3, the power to the sleeve shaft 95 is cut off.

On the other hand, the bevel gear 117 provided on the lower end of the sleeve shaft 95 meshes with the bevel gear 119 provided on the outer sleeve shaft 97.

Therefore, when the seventh motor M ₇ is operated,
The rotational power is transmitted as rotational power to the final gear 73 via the second gear 111, the free gear 113, the sleeve shaft 95, and the outer sleeve shaft 97.

The third conduction path 71 shuts off the power from the rotary drum 7, while the power of the eighth motor M ₈ supported on the machine body 1 by the bracket 77 causes the differential 121 to move.
And a vertically long conductive shaft 123 that penetrates the sleeve shaft 95 and an inner sleeve shaft 125 that is located outside the second link shaft 49 and that forms a triple shaft with the outer sleeve shaft 97. It is a conduction system for selecting the suction nozzle 23 that is input to the final gear 75.

That is, the motor pulley 1 of the eighth motor M ₈
27 is the pulley 129 and the transmission belt 13 of the differential device 121.
The first gear 13 of the differential device 121 is conductively coupled via 0.
Reference numeral 1 denotes a ring-shaped fixed gear 13 which is integral with the fixed shaft 107.
The second gear 135 of the differential gear 121 meshing with the third gear meshes with a ring-shaped free gear 137 loosely fitted in the fixed shaft 107 within the range of the long hole. Free gear 13
7 is a transmission gear 1 provided at the upper end of the transmission shaft 123.
It meshes with 39. In this state, the differential device 121 and the gears 133, 131, 135, 137 are arranged so that the speed ratio between the fixed gear 113 and the free gear 137 is 1: 1.
Has set the number of teeth.

As a result, the power from the fixed gear 133 that rotates together with the rotary drum 7 is transmitted to the free gear 137 via the first gear 131 and the second gear 135 of the differential device 121, but at this time, it is fixed. Gear 133 and free gear 1
In synchronization with the rotation with 37, the power to the transmission shaft 123 is cut off.

On the other hand, the bevel gear 141 provided on the lower end of the transmission shaft 123 meshes with the bevel gear 143 provided on the inner sleeve shaft 125.

Therefore, during operation of the eighth motor M ₈ ,
The rotational power is transmitted as rotational power to the final gear 75 via the second gear 135, the free gear 137, the transmission shaft 123, the inner sleeve shaft 125.

In FIG. 2, SL indicates a control unit.
On the input side, the control unit SL includes a visual sensor such as an image recognition device for confirming the holding state of the work or the rotating drum 7.
Various information from a rotation angle sensor or the like for detecting the rotation angle of the open / close valve 31 is input, a command signal is output from the output side based on the input information, and the open / close time of the open / close valve 31 and the first to eighth motors M are output. on the ₁ ... M _8, and has a function of operation control time off.

Next, the operation will be described.

The suction nozzle 23 facing downward with respect to the rotary drum 7 which continuously rotates in the direction of arrow E continues to rotate counterclockwise as shown in FIG. At this time, the suction nozzle 23 moves up and down on the basis of a command signal from the control unit SL, drawing a cycloid curve N having a long cycle L from the lowest position to the lowest position. At this time, since the suction nozzle 23 has a ground speed close to zero at the time of the lowest descent, the work P is sucked from the supply table 9 without any trouble, and after moving to the XY table 11 by drawing a cycloid locus,
The mounting movement for releasing the holding of the work P on the upper surface of the printed board 19 is repeated. At this time, if the operation of the seventh motor M ₇ is controlled and the power is transmitted to the final gear 73 via the second conduction path 69, the suction nozzle 23 is slightly rotated, the θ angle is corrected, and the work P is moved. You can put it in the correct position.

If the operation of the eighth motor M ₈ is controlled and the power is transmitted to the final gear 75 via the third conduction path 71, the rotary head 25 rotates 90 degrees, which corresponds to the size of the work P. The selected suction nozzle 23 can be selected. In this series of operations, the rotating drum 7 is maintained in the continuous rotation state, so that no loss time occurs.

Further, by controlling the length of the cycle L of the cycloid curve N, the work P supplied over the entire area of the supply table 9 is adsorbed, and the adsorbed work P is admitted to the printed board 19 on the XY table 11. The mounting work can be performed without stopping the rotating drum 7. As a result, the takt time is shortened and the operating rate is improved.

FIGS. 8 to 11 show an embodiment of a motor built-in type. In this example,
The structure corresponding to that of the first embodiment will be described by partially assigning the same reference numerals, and since the same functional components will be duplicated, detailed description thereof will be omitted.

That is, a plurality of work holding members 21 are mounted on the outer peripheral surface of the rotary drum 7 as in the above embodiment.

Since the work holding member 21 is composed of the same functional member, only one work holding member will be described.

As shown in FIG. 9, the work holding member 21 has a rotary head 25 in which suction nozzles 23 having different sizes are provided at four positions with radial intervals of 90 degrees, and the rotary head 25 has the same posture. It has a head posture control mechanism 145 for rotating the head as it is.

As shown in FIG. 8, the suction nozzle 23 communicates with the vacuum pump 26 via a pipe 29, and an opening / closing valve 31 provided on the pipe 29 is controlled to open and close to thereby cause the suction nozzle 2 to move.
The vacuum pressure of 3 enables adsorption and desorption.

The pipe 29 rotates together with the on-off valve 31 together with the rotary drum 7, and one end thereof is the rotary head 25.
Is connected to the communication hole 149 of the disk body 147 that contacts the back side of the disk body 147. The communication hole 149 is urged by the urging means such as the spring 150 to urge the disc body 147 so that the suction nozzle 2 is rotated when the rotary head 25 is rotated by 90 degrees, for example.
It is provided at a position that always faces and communicates with the passage 152 provided on the third side.

The other end of the pipe 29 is connected to an outlet 37 provided on the drum shaft 5, and the outlet 37 is
It communicates with the vacuum pump 26 via a communication passage 151. The base end of the communication passage 151 has the vacuum pump 26.
It is a ring-shaped outlet 157 that opens in the circumferential direction and that communicates with the passage 155 on the side of the fixed sleeve 153 that communicates with the outlet 157 and the passage 1 even if the drum shaft 5 rotates.
The connection state of 55 is always secured.

The head attitude control mechanism 145 includes a link 169 fixed to the sleeve shaft 193 and the first shaft 15 revolving around the sleeve shaft 193 by the link 169.
9, a second shaft 161, and a third shaft 163. First shaft 15
9 is rotatably arranged inside the second shaft 161, and the suction nozzle driving pulley 165 is attached to one end of the second shaft 161 and the side gear 63 is attached to the other end thereof.
A pinion gear 65 mounted on the base of the suction nozzle 23 is meshed with 3.

Therefore, the suction nozzle drive pulley 165
10 is transmitted to the suction nozzle 23 via the side gear 63 and the pinion gear 65.
Θ angle correction of the suction nozzle 23, that is, the reference line W
In contrast, the suction posture of the work P in the correct direction is secured.

The second shaft 161 is rotatably arranged inside the third shaft 163, and one end of the second shaft 161 has the rotary head 25.
The other end is attached to the rotary head drive pulley 167. Therefore, when the rotary power is input to the rotary head drive pulley 167, the rotary head 25 rotates,
The suction nozzle 23 can be selected.

The third shaft 163 serves as an outer shaft and has a link 169 fitted and fixed to one end thereof.

On the other side of the third shaft 163, the disc 14
A body of No. 7 is rotatably mounted, and a pulley 171 is provided on the body of the disc body 147. This pulley 1
The connection state of 71 is secured via a final pulley 173 fixed to a central fixed shaft 177 forming a quadruple shaft and a belt 175.

One of the fixed shafts 177 constituting the quadruple shaft is supported by a sleeve shaft 193, which will be described later, fitted into the link 169, and the other is a support frame fixed to the rotary drum 7. It is fixedly supported by 7a.

The suction nozzle drive pulley 165 and the rotary head drive pulley 167 are connected to the second and third conduction paths 69, 7 respectively.
1 final pulley 181, 179 and belt 183, respectively
The conduction state is secured through the. Therefore, when the final pulleys 179, 181 are stopped, the link 169 is rotated by the first conduction path 43, so that the planetary mechanism in which the rotary head 25 revolves around its own axis is configured.

In this case, each pulley 173, 179, 18
It is also possible to replace 1 and 165, 167, and 171 with a belt as shown in FIG. 12 to use gear transmission, and to form a planetary gear mechanism by gear transmission.

Incidentally, the rotary head drive pulley 167, the suction nozzle drive pulley 165, and the pulley 17 of the disc body 147.
1 and the pulley ratios of the final pulleys 179, 181, 173 are set to have a relationship of 1: 1.

As a result, by the action of the planetary mechanism, the rotary head 25 can obtain a rotary motion in the same posture with the suction nozzle 23 for suction operation always facing downward about the fixed shaft 177.

In the first transmission path 43, the power from the _sixth motor M ₆ supported by the rotary drum 7 via a bracket as shown in FIG. 8 and the power from the rotary drum 7 form a differential device 185. It is a conduction system that is simultaneously input via.

That is, the differential device 185 is generally called a harmonic device and is held by the rotary drum 7 and has a motor transmission system for transmitting the power of the sixth motor M ₆ to the output bevel gear 187, and The ring gear 189 fixed to the fixed sleeve 153 and the transmission gear 191 mesh with each other,
The transmission gear 191 revolves around the ring gear 189 and revolves around the ring gear 189, so that the transmission gear 191 transmits the power from the rotating drum 7 to the bevel gear 187.

The output bevel gear 187 penetrates through the fixed shaft 177 and meshes with the bevel gear 198 provided on the sleeve shaft 193 which is the second shaft of the quadruple shaft.

Therefore, when the sixth motor M ₆ is off, the rotary drum 7 rotates in the direction of arrow E,
When the transmission gear 191 revolves while rotating on the outside while meshing with the ring gear 189, the rotational power thereof is transmitted to the sleeve shaft 193 as rotational power in the counterclockwise direction through the bevel gears 187 and 198. As a result, the suction nozzle 23 of the rotary head 25 draws the cycloid curve N shown in FIG.

On the other hand, while the rotating drum 7 is rotating, by rotating the rotating drum 7 in the same direction as the rotating direction of the rotating drum 7 by controlling the operation of the sixth motor M ₆ , the cycle of the pickup movement can be lengthened. .

This point will be explained more specifically. In this embodiment, the downward suction nozzle 23 moves counterclockwise as shown in FIG. 11 while moving 180 degrees from the supply table 9 to the XY table 11. From the place set to rotate about 5 times, for example, 4 rotations,
By performing the operation control of the sixth motor M _6, the suction nozzle 23 can obtain a pickup motion that draws a cycloid curve N of 1 cycle L that descends twice at about 180 degrees as shown in FIG. The rotation ratio of this pickup movement is set so that the speed of the tip of the suction nozzle 23 due to the rotation of the rotary drum 7 in the direction of the arrow E and the speed of the tip of the suction nozzle 23 due to the counterclockwise rotation of the rotary head 25 match. Therefore, the suction nozzle 23 has a ground speed close to zero, and the suction operation can be performed without any trouble. Therefore, the cycle L of the cycloid curve N can be lengthened or shortened by controlling the rotation control by the sixth motor M ₆ such as 3 rotations or 4.5 rotations, and the entire area of the supply table 9 can be reduced. Thus, the work P can be picked up.

Further, by further developing the rotation control so that the rotation angle of the rotation head 7 is about 10 times the rotation angle of 1 of the rotation head 7, the rotation head 25 is rotated. Instead, the revolving head 25 can revolve in the same posture, and the rotating head 25 revolves in the maximum raised position except for the suction and mounting operations, and the suction nozzle 23 can be prevented from interfering.

The second conduction path 69 is for correcting the θ angle of the suction nozzle 23, in which the power of the seventh motor M ₇ supported by the rotary drum 7 is input to the suction nozzle drive pulley 165 via the input pulley 195. It is a conduction system of. The input pulley 195 is the final pulley 1 serving as the fourth shaft of the quadruple shaft.
81 is fixed to the sleeve shaft 196 of the seventh motor M ₇
The conductive state is secured through the motor pulley 197 and the conductive belt.

In the third conduction path 71, the power of the eighth motor M ₈ supported by the rotary drum 7 is used to input the input pulley 201.
It is a conduction system for selecting the suction nozzle 23 which is input to the rotary head drive pulley 167 via the. The input pulley 201 is the final pulley 17 serving as the third shaft of the quadruple shaft.
It is fixed to the sleeve shaft 200 of No. 9 and is conducted through the motor pulley 203 of the eighth motor M ₈ and the conduction belt 205.

Therefore, in addition to the selection of the suction nozzle 23 by rotating the rotary head 25 by about 90 degrees by controlling the operation of the eighth motor M ₈ , for example, after the suction operation is completed, the rotary head 25 is rotated by about 45 degrees. By rotating the suction nozzle 25 a degree, the suction nozzle 25 can obtain a non-operating posture that is raised by about 45 degrees from the suction / mounting posture in which the suction nozzle 25 faces downward.

As a result, the suction nozzle 23 can be prevented from interfering with each other, and the quadruple shaft makes it possible to omit the link mechanism 27 and the first link shaft 45 of the first embodiment. Become.

On the other hand, SL in FIG. 8 indicates a control unit. On the input side, various information is input to the control unit SL from a visual sensor such as an image recognition device for confirming the holding state of the work or a rotation angle sensor for detecting the rotation angle of the rotating drum 7, and the output side. Has a function of outputting a command signal based on the input information and controlling the opening / closing time of the opening / closing valve 31 and the on / off times of the first to eighth motors M ₁ ... M ₈ .

Next, the operation will be described.

The suction nozzle 23 facing downward with respect to the rotary drum 7 which continuously rotates in the direction of arrow E continues to rotate counterclockwise as shown in FIG. At this time, the suction nozzle 23 moves up and down on the basis of a command signal from the control unit SL, drawing a cycloid curve N having a long cycle L from the lowest position to the lowest position. At this time, since the suction nozzle 23 has a ground speed close to zero at the time of the lowest descent, the work P is sucked from the supply table 9 without any trouble and a cycloid locus is drawn to move to the XY table 11, and then the upper surface of the printed circuit board 19 is reached. At, the mounting movement for releasing the holding of the work P is repeated. At this time, if the operation of the seventh motor M ₇ is controlled and the power is transmitted to the final pulley 181 via the second conduction path 69, the suction nozzle 23 is slightly rotated, the θ angle is corrected, and the workpiece P is moved. You can put it in the correct position.

Further, by controlling the operation of the eighth motor M ₈ and transmitting the power to the final pulley 179 via the third conduction path 71, the rotary head 25 rotates 90 degrees, corresponding to the size of the work P. The selected suction nozzle 23 can be selected. In this series of operations, the rotating drum 7 is maintained in the continuous rotation state, so that no loss time occurs.

Further, by controlling the length of the cycle L of the cycloid curve N, the work P supplied over the entire area of the supply table 9 is adsorbed, and the adsorbed work P is attached to the printed board 19 on the XY table 11. Thus, the mounting work can be performed without stopping the rotating drum 7. As a result, the takt time is shortened and the operating rate is improved.

Although a vacuum pressure suction means is used to hold the work in these series of embodiments, the invention is not limited to this means, and other means such as an electromagnet can be used. . Further, it may be applied to works other than electronic parts.

[0087]

As described above, according to the work mounting apparatus of the present invention, the work holding member that moves up and down by drawing a cycloidal curve that can be variably controlled at an arbitrary cycle along the rotation trajectory of the rotary drum is used. Since the work can be held and released from any position continuously, the loss time is eliminated and the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a schematic plan view of a work mounting apparatus according to the present invention.

FIG. 2 is an outline cutting explanatory diagram of main parts.

FIG. 3 is an explanatory diagram illustrating a cycloid curve.

FIG. 4 is a sectional view showing a mounting state of a rotary head.

5 is a plan view of FIG.

FIG. 6 is an operation explanatory view of the rotary head.

FIG. 7 is a schematic explanatory view similar to FIG. 1 showing another modification.

FIG. 8 is a cutting explanatory view similar to FIG. 2 showing another embodiment.

FIG. 9 is a sectional view similar to FIG. 4 showing another embodiment.

FIG. 10 is a plan view similar to FIG. 5, showing another embodiment.

FIG. 11 is an operation explanatory view similar to FIG. 6 showing another embodiment.

FIG. 12 is a sectional view similar to FIG. 9 showing a gear transmission type.

[Explanation of symbols]

7 rotating drum 21 work holding member P work SL control unit M ₅ motor (driving means)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Susumu Shimada 2-20-46 Horifune, Kita-ku, Tokyo, Japan Machinery Technology Development Center, Japan Tobacco Inc. (72) Inventor Kazuhiro Togitsu 2-20 Horifune, Kita-ku, Tokyo −46 Japan Tobacco Inc., Machine Technology Development Center (72) Inventor Makoto Kasahara 2-20, Horifune, Kita-ku, Tokyo Japan Tobacco Inc., Machine Technology Development Center (72) Inventor Koichi Yumeda Tokyo 2-20-46 Horifune, Kita-ku, Japan Machinery Technology Development Center, Japan Tobacco Industry Co., Ltd. (72) Inventor Kiyoei Imai 2-20-46, Horifune, Kita-ku, Tokyo Machinery Technology Development Center, Japan (72) Inventor Akira Sawagata 1-1-1, Shibaura, Minato-ku, Tokyo Inside Toshiba Head Office (56) Reference JP-A-55-112736 (JP , A)

Claims (2)

[Claims] 1. A rotating drum which is continuously rotated by a driving means, and which is provided on the outer circumference of the rotating drum and is swung while keeping the same posture on the outer circumference of the rotating drum so as to follow a rotation trajectory of the rotating drum. Work mounting device including a work holding member that moves up and down while drawing a cycloid curve, and a control unit that commands the work holding member to hold or release the work in the vicinity of the dead point of the cycloid curve. 2. The control unit variably controls the cycloid curve drawn by the work holding member at an arbitrary cycle, and holds or releases the work with respect to the work holding member near an arbitrary dead point of the cycloid curve. The work mounting apparatus according to claim 1, wherein a command is issued.