JPH0715179A - Electronic component mounting device - Google Patents

Abstract

PURPOSE:To provide such an electronic component mounting device that a rotating body can be rotated at a high speed while the rotating body holds nozzle holding bodies holding many component attracting nozzles. CONSTITUTION:An index table 32 rotates around a vertical axis while the table 32 supports twenty component mounting units 40. The nozzle holding body 138 of the component mounting head 130 of each unit 40 rotates around a horizontal axis while the body 138 holds six component attracting nozzles 170 in radial directions perpendicular to the horizontal axis. A nozzle selecting device positions one of the nozzles 170 to an actuating position by turning the nozzles 170. Therefore, the numbers of the nozzle holding bodies 138 and component attracting nozzles 170 can be increased without increasing the diameter of the table 32 and the table 32 and bodies 138 can be rotated at high speeds, because the diameters of the bodies 138 can be reduced for holding the same number of nozzles 170 and the diameter of the table 32 can be reduced for supporting the same number of bodies 138 as compared with the case where the nozzle holding bodies are rotated around vertical axes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting apparatus, and more particularly to support of a component suction nozzle for sucking and holding electronic components.

[0002]

2. Description of the Related Art An electronic component mounting apparatus includes an apparatus for mounting an electronic component on a mounting target material such as a printed circuit board by a component suction nozzle held by a plurality of nozzle holders. This type of electronic component mounting device has hitherto been
A rotating body is rotatably provided around a vertical axis, and the nozzle holder rotates around an axis parallel to the rotating axis of the rotating body at each of a plurality of positions on the circumference centered on the rotating axis of the rotating body. While being supported as much as possible, each of the plurality of nozzle holders holds a plurality of component suction nozzles in a direction extending in a direction parallel to the rotation axis of the nozzle holder,
When the nozzle holder is rotated, one of the plurality of component suction nozzles is moved to an operating position for suctioning and mounting electronic components.

In such an electronic component mounting apparatus,
The component suction nozzle positioned at the operating position is sequentially moved to the component suction position and the component mounting position by the rotation of the rotating body, and the electronic components are suctioned and mounted. By intermittent rotation of the rotating body, the component suction nozzle is sequentially moved to a stop position determined by the number of nozzle holders. Nozzle holder is 3
When more than one component suction nozzle is provided, the component suction nozzle is stopped at a stop position other than the component suction position and the mounting position. Operations such as detection of the holding posture and change of the holding posture are performed. Is determined by the sum of.

[0004]

When a plurality of nozzle holders are held on the rotating body to suck and mount electronic components in this manner, the nozzle holder is necessary for the operation and detection performed by the component suction nozzles. The number is at a minimum. Further, it is desirable that the number of component suction nozzles is large in order to cope with the diversification of the types of electronic components to be mounted on the mounting target material, and in order to improve the mounting efficiency, the rotation speed of the rotating body should be increased. is necessary. However, increasing the number of nozzle holders and component suction nozzles and improving the rotation speed of the rotor are contradictory requirements. If the number of component suction nozzles is increased, the nozzle holder becomes larger and the rotating body that holds it becomes larger, and the inertia is increased and vibration and impact are increased, so the number of component suction nozzles is increased. There is a limit to that. Similarly, there is a limit to increasing the number of nozzle holders. On the other hand, if the rotating body is made smaller, the inertia becomes smaller, and the rotation speed can be increased while suppressing the occurrence of vibration and shock, but the number of nozzle holders is insufficient, or the number of component suction nozzles held by the nozzle holder is insufficient. Therefore, there is a limit to making the rotating body small and increasing the rotation speed. It is an object of the present invention to provide an electronic component mounting apparatus capable of holding a large number of nozzle holders and component suction nozzles while avoiding an increase in the size of a rotating body as much as possible.

[0005]

In order to solve the above-mentioned problems, an electronic component mounting apparatus according to the present invention includes (a) a rotating body rotatable about one axis and (b) a rotating body. A plurality of nozzle holders rotatably supported around an axis parallel to a direction intersecting with the rotation axis of the rotating body at a plurality of positions on the circumference around the rotation axis, and (c) holding the nozzles. A plurality of component suction nozzles that are held by each of the bodies in a posture that extends radially from the axis of the nozzle holder, and that suction-hold electronic components, and (d) rotate the nozzle holder,
And a suction nozzle selection device that moves one of the plurality of component suction nozzles to an operating position for suctioning and mounting electronic components.

[0006]

By rotating the nozzle holder about an axis parallel to the direction intersecting the rotation axis of the rotor in this manner, the nozzle holder can be rotated about the vertical axis as described in detail in the section of the embodiments. Compared to rotating around, the nozzle holder can be made smaller if the number of component suction nozzles held is the same, and the size of the rotor can be made smaller if the number of nozzle holders held is the same. You can On the contrary, if the size of the rotating body is the same, the number of nozzle holders can be increased, and if the size of the nozzle holders is the same, the number of component suction nozzles that can be held can be increased. You can do a lot.

[0007]

Therefore, according to the present invention, the rotating speed can be increased by making the rotating body smaller than before.
The wearing efficiency can be improved. Alternatively, by holding a larger number of nozzle holders or a wider variety of component suction nozzles on a rotating body of the same size as the conventional one, the component suction nozzle can be held without reducing the speed in order to suppress the occurrence of vibration and shock. Can perform various kinds of operations, or can cope with diversification of types of electronic components to be mounted.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An electronic component mounting apparatus according to an embodiment of the present invention will be described in detail below with reference to the drawings. 1 in FIG.
Is a frame, and a cylindrical member 12 is vertically fixed to the frame 10. The cylindrical member 12 is fixed to the frame 10 at an upper portion thereof and extends downward from the frame 10 at a lower portion thereof. A cylindrical rotating shaft 14 is vertically provided in the cylindrical member 12 via bearings 16 and 18. It is rotatably supported around the axis. A roller gear 20 is fixed to an upper end portion of the rotary shaft 14 protruding from the cylindrical member 12. The cam 22 is the index servo motor 2
4 (see FIG. 3), the roller 25 of the roller gear 20 sequentially engages with the cam 22 when it is rotated in one direction at a constant speed, and the rotating shaft 14 is intermittently rotated about the vertical axis by 18 degrees. Further, the lower opening of the rotary shaft 14 has a lid 26.
A space inside the rotary shaft 14 is closed by a negative pressure supply passage 28 connected to a negative pressure source (not shown).

The lower end of the rotary shaft 14 is a cylindrical member 12.
The index table 32 as a rotating body is fixed to the protruding end portion. As shown in FIG. 3, the index table 32 includes a cylindrical portion 34 having an inner diameter larger than the outer diameter of the cylindrical member 12, a perforated disc portion 36 provided at one end of the cylindrical portion 34, and the cylindrical portion 3
4 has a ring portion 38 provided at the other end portion thereof, and is concentrically fixed to the rotary shaft 14 at the perforated disc portion 36.

As shown schematically in FIG. 2, the index table 32 has 20 sets of component mounting units 40 mounted at equal angular intervals on one circumference around the rotation axis of the rotation shaft 14. There are 20 stations where these 20 sets of component mounting units 40 are stopped. Of the 20 stations, 8 are operation stations in which the component mounting unit 40 is operated, that is, a component supply station, a component posture 90 degree changing station, a component posture correcting station, a component mounting station, a component mounting unit posture correcting station. , A component mounting unit posture 90 ° change station, a component discharge station, and a component suction nozzle selection station. Further, three are detection stations, that is, a component standing posture detection station, a component holding posture detection station, and a component suction nozzle detection station, and the remaining nine are idle stations in which neither movement nor detection is performed. 20 sets of component mounting unit 40
Are sequentially moved to 20 stations by rotation of the index table 32. The rotary shaft 14 that rotates the index table 32, the roller gear 20, the cam 22, the index servomotor 24, and the like constitute a rotating body rotating device.

A cylindrical cam 44 is fixed to the lower surface of the frame 10. The cylindrical cam 44 is fitted in the cylindrical member 12, and the lower part thereof is fitted between the index table 32 and the cylindrical member 12. The cylindrical cam 44 has a stepped shape, and the large diameter portion 46 at the lower end thereof is positioned inside the cylindrical portion 34 of the index table 32. As shown in FIG. 3, the large-diameter portion 46 has a cam groove 4 that opens to the outer peripheral surface.
8 is formed, and a pair of rollers 52 attached to the elevating plate 50 of each component mounting unit 40 are engaged with each other.

Perforated disk portion 3 of the index table 32
6 and the ring portion 38 respectively include a guide block 56.
Are fixed in the vertical direction, and the elevating plate 50 is fitted so as to be able to ascend and descend. The roller 52 is rotatably attached to an intermediate portion in the longitudinal direction of the lift plate 50 so as to be rotatable around a horizontal axis line orthogonal to the rotation axis line of the index table 32.
It is engaged with the cam groove 48 through an elongated hole 58 extending in the vertical direction.

The height of the cam groove 48 is gradually changed in the circumferential direction, and when the index table 32 is rotated and the component mounting unit 40 is moved, the roller 52 moves in the cam groove 48. As a result, the component mounting unit 40 is moved up and down. The cam groove 48 is
The component mounting unit 40 is located at the upper end of the component supply station, at the lower end of the component mounting station, and is configured to move horizontally before and after the component supply station and the component mounting station.

A support member 64 is fixed to the outer surface of the lift plate 50 as shown in FIG. The support member 64 has a U-shape, and is vertically fixed to the elevating plate 50 at a U-shaped bottom wall 66. 72 is supported immovably in the axial direction and rotatable about its own axis. A spline shaft 80 is connected by a universal joint 78 to the upper end of the elevating rod 72 protruding from the side wall 68.

The universal joint 78 has a spring unit 82 in which three coil springs having different coil diameters are concentrically arranged, and end plates 84 to which both ends of the spring unit 82 are fixed. The plate 84 is fixed to the lifting rod 72, and the other end plate 84 is fixed to the spline shaft 80.

A bottomed sleeve 86 is spline-fitted to the spline shaft 80, and the expansion / contraction shaft 88 is formed by both of them.
Is configured. The bottom wall of the sleeve 86 has a universal joint 90 similar to the universal joint 78.
Thus, the spool 92 is connected and is fitted to the external gear ring gear 96 so as to be movable and rotatable in the axial direction. The externally toothed ring gear 96 is attached to the upper portion of the cylindrical cam 44 via a bearing 94 so as to be rotatable around the rotation axis of the index table 32.

An engaged member 98 is fixed to the upper end of the spool 92 protruding from the external tooth ring gear 96.
The engaged member 98 has a stepped shape, is fixed to the spool 92 by a bolt 104 from the side of the recess 102 that is open to the upper surface of the large diameter portion 100, and is between the large diameter portion 100 and the external gear ring gear 96. It is urged upward by the provided spring 106. In this biasing, the outward flange portion 108 provided on the spool 92 causes the external tooth ring gear 9 to rotate.
It is regulated by abutting on the lower surface of 6. A rubber plate 109 is fixed to the upper surface of the flange portion 108. When the rubber plate 109 is in close contact with the outer tooth ring gear 96, the friction resistance of the rubber plate 109 causes the outer tooth ring gear 96 of the component mounting unit 40 and the index table 32. Relative rotation with respect to is prevented. In addition, engaging notches 110 having a trapezoidal cross section that open to the upper surface are formed at two locations that are separated in the diametrical direction of the large diameter portion 100.

The external gear ring gear 96 is meshed with a drive gear 118 fixed to the output shaft 116 of the relative movement servomotor 114 (see FIG. 1), and the relative movement servomotor 114 causes the rotation axis of the index table 32 to rotate. Is rotated at a rotation angular velocity different from that of the index table 32. In addition, on the upper surface of the external tooth ring gear 96, as shown by a chain double-dashed line in FIG.
20 are attached (only one shown in the figure). These dogs 120 are sequentially detected by a photoelectric switch 122 (see FIG. 13) provided in the component mounting station, and the external gear ring gear 96 is stopped accordingly.

As shown in FIG. 3, the lower end of the elevating rod 72 is projected downward from the side wall 70 of the supporting member 64, and the component mounting head 130 is attached to the attaching member 128 fixed to the protruding end. . The mounting member 128 has a U-shaped cross section and has a pair of side walls 132 and 134.
However, they are fixed to the elevating rod 72 so as to line up in a direction perpendicular to the extending direction of the engagement notches 110 formed in the engaged member 98. A position in which the side walls 132 and 134 are arranged in a direction orthogonal to the rotation axis of the index table 32 is an original position in the rotation direction of the component mounting unit 40. Hereinafter, this position is referred to as a component mounting unit rotation original position.

As shown in FIG. 6, a shaft 136 is attached to the side wall 132 on the index table 32 side of the side walls 132 and 134, and extends toward the side wall 134 side. A nozzle holder 138 is rotatably supported by the shaft 136 and the side wall 134. Nozzle holder 1
Reference numeral 38 denotes a block-shaped holding portion 140 and a shaft portion 142 concentrically provided from one end surface of the holding portion 140 in the axial direction.
And has a shaft portion 142 rotatably fitted to the side wall 134. The nozzle holder 138 also has a bottomed shaft hole 144 that opens to the end surface on the holding portion 140 side and reaches the shaft portion 142, and the shaft 136 is fitted so as to be relatively rotatable. The nozzle holder 138 is rotatably supported around a horizontal axis orthogonal to the rotation axis of the index table 32 when the component mounting unit 40 is in the original rotation position.

As shown in FIG. 7, the holding portion 140 of the nozzle holding body 138 is provided with six projections 148 radially protruding at equal angular intervals in the radial direction. As shown in FIGS. 6 and 7, each of the protrusions 148 is provided with a bottomed nozzle fitting hole 152 that has an opening at the tip end surface 150 and a center line orthogonal to the rotation axis of the nozzle holder 138. Has been done. Further, each nozzle fitting hole 152 is communicated with the shaft hole 144 by a concentric passage 154 (see FIG. 6).

The holding portion 140 also has a nozzle fitting hole 15
2 are formed with pin engaging grooves 156 that communicate with each other. As shown in FIGS. 7 and 8, each pin engaging groove 156 is open to the tip end surface 150 and the side surface 158 of each protrusion 148 and communicates with the nozzle fitting hole 152.
It has the shape of. As shown in FIG.
From the groove 160 extending in parallel with the center line of the nozzle fitting hole 152 and reaching almost half the depth of the nozzle fitting hole 152.
And a lateral groove portion 162 extending from the end of the entrance groove portion 160 in a direction orthogonal to the entrance groove portion 160, and a lateral groove portion 16
It is composed of an engaging groove portion 164 which extends from the second end toward the tip surface 150 side in parallel with the center line of the nozzle fitting hole 152 and ends before the tip surface 150. As shown in FIG. 8, the entrance groove portion 160 and the engagement groove portion 164 are formed such that the depth direction thereof coincides with the two radial directions of the nozzle fitting hole 152, respectively.

A component suction nozzle 170 is fitted in each of the six nozzle fitting holes 152. Parts suction nozzle 17
0 has a nozzle body 172 having a circular cross section and an adsorption pipe 174 as shown in FIG. The nozzle body 172 is formed with a bottomed hole 176 that opens at one end face thereof and a suction pipe fitting hole 178 that opens at the other end face and communicates with the bottomed hole 176, concentrically. The suction pipe 174 is fitted in the hole 178. In addition, the suction pipe 17 of the nozzle body 172
A large-diameter light emitting plate 180 is provided at the end on the side where 4 is fitted. The light emitting plate 180 absorbs ultraviolet rays from the ultraviolet ray irradiation device of the image pickup device provided in the component holding posture detection station and emits visible light. The component mounting head 13 shown in FIGS. 1, 3 and 4 is used.
Although only two component suction nozzles 170 are shown in each of 0 for ease of illustration, six component suction nozzles 170 are actually provided.

A pin 182 is diametrically fixed to the nozzle body 172, and one end of the pin 182 projects from the outer peripheral surface of the nozzle body 172. When the component suction nozzle 170 is held by the nozzle holder 138, a bottomed hole 176
A spring 184 is inserted therein, the nozzle body 172 is inserted into the nozzle fitting hole 152 from the opening side of the bottomed hole 176, and the pin 182 is inserted into the entry groove portion 16 of the pin engaging groove 156.
Enter 0. Then, while compressing the spring 184, the nozzle body 172 is inserted until the pin 182 reaches the end of the entry groove portion 160, and then the nozzle body 172 is rotated,
The pin 182 is moved to the engaging groove portion 164 through the inside of the lateral groove portion 162. In this state, if the force applied to the nozzle body 172 is released, the nozzle body 172 will move to the spring 184.
The component suction nozzle 170 is held in the nozzle holder 138 so that it cannot be pulled out and cannot be rotated by the pin 182 engaging the end of the engaging groove portion 164. To be done.

The adsorption tube 174 and the light emitting plate 180
Is sized according to the size of the electronic component 186 (see FIG. 10) to be adsorbed, and as shown in FIG. The component 186 is sucked, and the diameter of the suction tube 174 is changed in six steps, and the size of the light emitting plate 180 is changed in two steps.

The electronic component 186 is supplied by an electronic component supply device composed of a component supply cartridge or a component supply pallet, etc., and is absorbed by the movement of the component supply member such as the component supply cartridge or the component supply pallet. The component is positioned at the component supply position.

On the side surface of the holding portion 140 on the side wall 134 side,
As shown in FIG. 6, six positioning holes 190 (only two of which are shown in the figure) are formed at equal angular intervals, and the positioning pins 192 horizontally attached to the side wall 134 should be fitted therein. Thus, the mounting member 1 for the nozzle holder 138
Rotation with respect to 28 is blocked. In addition, the nozzle holder 1
38 and the side wall 132, a spring 198 is disposed via a spring receiver 194 and a bearing 196. The spring 198 allows the nozzle holder 138 to be oriented so that the positioning pin 190 fits into the positioning hole 190. It is energized.

The positioning hole 190 and the positioning pin 192 position the nozzle holder 138 at the operating position of one of the six component suction nozzles 170, that is, the axis is positioned in the vertical direction, and the suction pipe 174 is disposed. It is provided so as to be positioned in a downward position. The axis of the component suction nozzle 170 located in the operating position coincides with the axis of the component mounting unit 40.

On the end surface of the shaft portion 142 of the nozzle holder 138, as shown in FIGS. 6 and 11, the engagement groove 2 having a trapezoidal cross section is formed.
Three 06 are formed. These engagement grooves 206 intersect at the center of the shaft portion 142 at equal angular intervals. The nozzle holder 138 is rotated by being rotated by the rotary drive member rotating device 212 while the rotary drive member 208 shown in FIG. 3 is engaged with the engaging groove 206 by the rotary drive member engaging / disengaging device 210. , One of the six component suction nozzles 170 is moved to the operating position. Rotational drive member 208, rotational drive member disengagement device 210
The rotary drive member rotating device 212 constitutes the nozzle selecting device.

The rotary drive member 208, the rotary drive member engaging / disengaging device 210, and the rotary drive member rotating device 212 are
It is provided at the component suction nozzle selection station. The engaging member 208 includes a spline shaft 216 and an engaging portion 218 provided at one end of the spline shaft 216.
Have and. The engaging portion 218 is the spline shaft 216.
An engaging projection 220 having a trapezoidal cross section that passes through the center is provided on the end surface of a disk having a larger diameter. Spline shaft 2
16 is supported by a lower end portion of a support member 222 fixed to the lower surface of the frame 10 so as to be rotatable and axially movable about a horizontal axis line orthogonal to the rotation axis line of the index table 32.

A casing 226 holding a spline member 224 is rotatably attached to the lower end of the support member 222, and the spline shaft 216 is spline-fitted to the spline member 224 so that the engaging portion 218 is located on the index table 32 side. It is projected. The timing pulley 2 is provided at the end of the casing 226 that is projected from the support member 222 toward the index table 32.
28 is provided, the belt 230, the timing pulley 23
2, the rotation of the nozzle selection motor 234 is transmitted, and the rotation driving member 208 is rotated by the rotation of the casing 226. The timing pulleys 228, 232, the nozzle selecting motor 234, etc. constitute the rotary drive member rotating device 212.

As shown in FIG. 3, the rotary drive member engagement / disengagement device 210 includes first and second levers 236, 238, a connecting rod 240, an elevating rod 242 and the like. A rear end portion of the spline shaft 216 of the rotary drive member 208 is protruded from the casing 226, and a sleeve 248 is attached so as to be relatively rotatable and axially immovable, and is separated in a diameter direction of an outer peripheral surface of the sleeve 248. The protrusions 250 protruding from two locations are the first lever 2
36 is engaged. The first lever 236 is a bell crank lever, and the support member 222 is supported by the shaft 252.
Is rotatably attached to one arm portion 25
4 has a yoke shape, and the projection 250 is engaged with the notches 258 formed in the pair of side plates 256, respectively.

The second lever 238 has a plate shape and is rotatably attached to a bracket 260 fixed to the lower surface of the frame 10 at one end by a shaft 262. One end of the connecting rod 240 is rotatably connected to an intermediate portion of the second lever 238 in the longitudinal direction, and the other end is connected to the first lever 236.
Is rotatably connected to the arm portion 264 and is arranged in the vertical direction. Further, the lower end of the elevating rod 242 is rotatably connected to the free end of the second lever 238.

The elevating rod 242 is moved up and down by using the index servomotor 24 as a drive source. The rotation of the index servomotor 24 is converted into a vertical movement by a cam (not shown), a cam follower, and a motion transmission mechanism that supports the cam follower, and is transmitted to the vertical rod 242. Further, since the index servomotor 24 is constantly rotating, the motion is transmitted to the elevating rod 242 only when the component suction nozzle 170 is selected. These cam, cam follower, and motion transmitting mechanism can be configured, for example, in the same manner as in the electronic component mounting device disclosed in Japanese Patent Laid-Open No. 4-345097.
The description is omitted.

The elevating rod 242 is moved up and down, the second lever 238 is rotated, and the connecting rod 240 is moved.
Is moved up and down, and the first lever 236 is rotated, so that the rotation drive member 208 causes the engagement protrusion 220 to engage with the engagement groove 206 of the nozzle holding body 138 and the engagement position. It is moved to the disengaged position separated from 206.

A ring 266 is fixed to the side surface 158 of the nozzle holder 138 as shown in FIG.
As shown in FIG. 9, the ring 266 is provided with six sets of three reflecting surfaces 270, 272, 274 at equal angular intervals. The reflecting surfaces 270, 272 and 274 are white or black, respectively, but the combination thereof is changed for each set. These six sets of reflecting surfaces 270, 272, 274 are respectively provided in the nozzle holder 13
It is provided at a position corresponding to the six component suction nozzles 170 in the direction of rotation of eight.

As shown in FIG. 3, a component suction nozzle detection device 278 is provided in the component suction nozzle detection station. The component suction nozzle detection device 278 includes three optical fiber sensors 280 (only one is shown in the figure) each having a light emitting fiber and a light receiving fiber. These optical fiber sensors 280 are arranged in a line in a substantially horizontal direction, and the component suction unit 40 moved to the component suction nozzle detection station.
The reflective surfaces 270, 272, and 274 of the are each irradiated with light, and the type of the component suction nozzle 170 positioned at the operating position is detected by the combination of the intensity of the reflected light.

The component suction nozzle 170 sucks the electronic component 186 by negative pressure, and the negative pressure is supplied through the following route. As shown in FIG. 6, a shaft 136 that rotatably supports the nozzle holder 138 is formed with an axial passage 290 that opens to an end face and extends to a position corresponding to the component suction nozzle 170, and also has an axial direction. A radial passage 292 extending from the passage 290 and communicating with the passage 154 of the component suction nozzle 170 positioned in the operating position.
Are formed.

The axial passage 290 has a nozzle holder 138.
A plurality of radial passages 294 formed in the shaft portion 142 of the
An annular passage 296 formed in the side wall 134 and a passage 298 formed in the supporting member 128 communicate with the passage 300 formed in the elevating rod 72. The annular passage 296 is long in the center line direction, and as will be described later, even if the nozzle holder 138 is moved in the axial direction for nozzle selection, communication with the radial passage 294 is maintained. ing. In addition, the passage 300 is
The negative pressure supply passage formed in the rotary shaft 14 by the annular passage 302 formed in the side wall 70 and the hose 304 (see FIG. 4) connected to the annular passage 302 reaching the side wall 70 of the support member 64. 28 is connected.

The negative pressure is constantly supplied to the negative pressure supply passage 28, and the supply and interruption of the negative pressure to the component suction nozzle 170 are mechanically performed by the switching device 310. A plug 312 is fitted in a portion of the passage 300 formed in the elevating rod 72 between the support member 64 of the elevating rod 72 and the component mounting head 130 to block the flow of negative pressure. In addition, through-holes 314 and 316 are formed on both upper and lower sides of the stopper 312 of the elevating rod 72 so as to penetrate in the diametrical direction and open to the outer peripheral surface of the elevating rod 72.

These through holes 314, 3 of the lifting rod 72
A switching sleeve 318 is slidably fitted to a portion corresponding to 16. The switching sleeve 318 is provided with flange portions 322 and 324 extending outward in the radial direction at the upper end portion and the intermediate portion thereof, respectively.
In a portion between the flange portions 322 and 324 of No. 8, an annular passage 326 having a length opening to the inner peripheral surface and extending over both the through holes 314 and 316 is formed. Further, between the annular passage 326 and the flange portion 324, a plurality of air passages 328 that radially penetrate the switching sleeve 318 are provided.
And the air passages 328 are communicated with each other by an annular passage 330 that opens to the inner peripheral surface of the switching sleeve 318.

A rubber ring 332 is provided on the inner peripheral surface of the lower end of the switching sleeve 318, and the frictional resistance of the rubber ring 332 prevents the rubber sleeve 332 from freely moving with respect to the elevating rod 72. When the switching sleeve 318 is located at the rising end as shown in FIG.
The suction pipe 174 is connected to the passage 298 and the radial passage 29 so as to communicate with the air passage 328 while blocking the communication with the air passage 328.
4, open to the atmosphere via axial passage 290 and radial passage 292.

When the switching sleeve 318 is located at the lower end which abuts the support member 128 as shown in FIG. 10, it blocks the through hole 316 from the air passage 328, while
Negative pressure is supplied to the adsorption pipe 174 to communicate with the through hole 314.

In this way, the switching sleeve 318 is at the rising end position to release the adsorption pipe 174 to the atmosphere, and at the falling end position to supply the negative pressure to the adsorption pipe 174. Elevating between and is performed by a push-down pin 334 attached to the side wall 70 of the support member 64, a push-down lever 336 rotatably provided on the component supply station about a horizontal axis, and a component mounting station. This is done by bar 338 (see FIG. 10).

The push-down pin 334 is axially movably fitted to a bracket 339 fixed to the side wall 70, and is biased by a spring 340 in a direction projecting downward. Further, the push-down lever 336 is provided at a position a short distance above the lower flange portion 324 of the switching sleeve 318 in the atmosphere release position of the component mounting unit 40 moved to the component supply station.

The bar 338, as shown in FIG. 10, is moved to the component mounting station and the component mounting unit 4 is moved.
It is fixedly provided at a position to be fitted between the switching sleeve 318 and the flange portions 322 and 324 at the negative pressure supply position of 0. These switching sleeves 318, push-down pins 3
34, the push-down lever 336, and the bar 338 constitute the switching device 310, and the switching operation will be described later.

The component posture correcting station, the component posture 90 ° changing station, the component mounting unit posture correcting station and the component mounting unit posture 90 ° changing station are respectively a component posture correcting device and a component posture 90 as a component mounting unit rotating device. A degree changing device, a component mounting unit posture correcting device 348 (see FIG. 12), and a component mounting unit posture 90 ° changing device 350 are provided. The component posture correcting device and the component mounting unit posture correcting device 348, the component posture 90-degree changing device and the component mounting unit posture 90-degree changing device 350 have the same configuration, respectively. The component mounting unit posture correcting device 348 and the component mounting unit posture 90 ° The changing device 350 will be described as a representative.

Component mounting unit posture 90 degree changing device 35
0 is provided in the frame 10 as shown in FIG. A casing 354 holding a spline member 352 is attached to the frame 10 so as to be rotatable about a vertical axis and immovable in the axial direction, and a spline shaft 356 is spline fitted. An engagement member 358 is attached to the lower end portion of the spline shaft 356 protruding from the casing 354 via an Oldham's joint 360.

The Oldham coupling 360 is held in the housing via a ball and is movable in one direction within the horizontal plane, and the first movable member is held via the ball in the first movable member. The second movable member is movable in a direction orthogonal to the moving direction of the movable member, and the movement of the first and second movable members causes a deviation of the axis line in the horizontal plane from the jointed member. Even if it is a joint member that can be engaged. This Oldham coupling 360 is disclosed in Japanese Patent Laid-Open No. 4-3.
It is the same as the Oldham coupling described in Japanese Patent No. 48888.
Detailed description is omitted. Oldham coupling 360 of the present embodiment
The second movable member is provided with engaging projections 362 having a trapezoidal cross section, which are projected downward at two diametrically separated locations (only one is shown in the drawing). Second movable member and engaging member 3
58 and 58 are integrally formed.

Casing 3 of spline shaft 356
A hollow rod 366 is connected to the upper end portion projecting from 54 so as to be relatively rotatable and relatively immovable in the axial direction. This hollow rod 366 also has the rotation driving member engaging / disengaging device 21.
Like the 0 lift rod 242, an indexing servo motor 2 including a cam, a cam follower, and a motion transmission mechanism
Due to the conversion and transmission of the rotation of 4 into the lifting movement, the Oldham coupling 360 is raised and lowered only when it is raised and lowered. By the elevation of the Oldham's joint 360, the engaging projection 362 is engaged with and disengaged from the engaging notch 110 of the engaged member 98, and the index servo motor 24, cam, cam follower and motion transmitting mechanism (not shown) are engaged / disengaged. Is configured.

A timing pulley 372 is provided at the lower end of the casing 354 and is connected to another timing pulley by a timing belt (not shown). The rotation of the index servomotor 24 is converted into 90 ° rotation in both forward and reverse directions by the cam, the cam follower and the motion transmission mechanism, and is transmitted to the rotation shaft of the timing pulley only when the Oldham coupling 360 is rotated. It is like this. The mechanism for converting the rotation of the index servomotor 24 into the rotation of 90 degrees in both the forward and reverse directions is the same as the device described in the above-mentioned Japanese Patent Laid-Open No. 4-345097, and its illustration and description are omitted. By rotating the casing 354 with the Oldham coupling 360 engaged with the component mounting unit 40, the component mounting unit 40 is rotated around its own axis and is moved to the operating position. Is rotated about its axis by 90 degrees in the forward or reverse direction. Servo motor for index 2
4, the timing pulley 372, the cam, the cam follower, the motion transmitting mechanism, and the like constitute the engaging member rotating device.

The component mounting unit posture correction device 348 is
It is configured in the same manner as the component suction nozzle posture 90-degree changing device 350 except that the Oldham coupling 360 is rotated by a dedicated component mounting unit posture correction servomotor 380 (see FIG. 13) at an arbitrary angle. The same reference numerals are given to the parts and the description thereof will be omitted. The timing pulley 382 provided in the casing 354 holding the spline member 352 for transmitting the rotation from the component mounting unit attitude correction servomotor 380 is
The diameter of the component mounting unit is large in order to accurately correct a slight rotation angle of the component mounting unit. Also in the component attitude correcting device, the Oldham's joint is also rotated by a dedicated component attitude correcting servomotor 384 (see FIG. 13) at an arbitrary angle.

As shown in FIG. 12, each of the component posture correcting device, the component posture 90 ° changing device, the component mounting unit posture correcting device 348 and the component mounting unit posture 90 ° changing device 350 has an Oldham joint 360 and a component mounting device. An engagement detection sensor 390 for detecting whether or not the engaged member 98 of the unit 40 is engaged is provided (FIG. 1).
2 shows the engagement detection sensor 390 of the component mounting unit posture correction device 348 as a representative).

The engagement detecting sensor 390 is an optical fiber type sensor, which irradiates the engaging member 392 abutted with the engaged member 98 of the component mounting unit 40 with light, and engages depending on the presence or absence of reflection. To detect. At the lower end of the bracket 394 fixed to the lower surface of the frame 10, a pin 396 is provided so as to project upward and an engaging member 392 is fitted so as to be able to move up and down. An outward flange portion 398 is formed at an upper end portion of the engaging member 392, and the engaging member 392 is biased upward by the spring 400, so that the flange portion 398 is a flange portion of the engaged member 98. It is made to face 108 with a slight gap.

When the flange portion 108 of the engaged member 98 is in contact with the lower surface of the external gear ring gear 96, the engaging member 3
The flange portion 398 of 92 is located away from the engagement detection sensor 390, and the Oldham joint 360 is engaged with the engaged member 98.
When the component mounting unit 40 is pushed down for a short distance by fitting the above, the component mounting unit 40 moves to a position facing the engagement detection sensor 390 and reflects light.

Further, the component mounting unit posture correction device 34
As shown in FIG. 12, a servo motor original position sensor 406 for detecting the original position of the component mounting unit attitude correction servo motor 380 is provided in FIG. The servo motor original position sensor 406 is attached to the bracket 394 together with the engagement detection sensor 390. The servomotor in-situ sensor 406 is also an optical fiber type sensor,
A reflection member 408 is provided on the timing pulley 382 that transmits the rotation of the component mounting unit posture correction servomotor 380 in the component mounting unit posture correction device 348, and the original position is detected depending on whether or not the emitted light is reflected. ing.

Further, the component mounting unit posture 90 degree changing device 350 is provided with a component mounting unit rotation original position sensor 412 for detecting the component mounting unit rotation original position. This component mounting unit rotation original position sensor 412
Is a bracket 394 together with the engagement detection sensor 390.
Is attached to.

The component mounting unit original position sensor 412 is also an optical fiber type sensor, and the reflecting surface 4 is provided on the outer peripheral surface of the large diameter portion 100 of the engaged member 98 of the component mounting unit 40.
14 is provided to detect the original position of rotation of the component mounting unit based on the presence or absence of reflection of the emitted light.

For convenience of illustration, FIG. 12 shows a state in which the engagement detection sensor 390, the servo motor original position sensor 406, and the component mounting unit rotation original position sensor 412 are all attached to the bracket 394. There are actually brackets 394 at each station
Is provided with only necessary sensors for each of the component posture correction device, the component posture 90 ° change device, the component mounting unit posture correction device 348, and the component mounting unit posture 90 ° change device 350.

The cylindrical cam 4 fixed to the frame 10
4, the parts corresponding to the parts supply station and the parts mounting station are respectively equipped with a parts mounting unit elevating device 420 (in the figure, the parts supplying station) as an axial moving device for moving the parts mounting unit 40 up and down. (Only the component mounting unit elevating / lowering device 420 provided in FIG. 4) is provided. The component mounting unit lifting device 420 has the same configuration, and the component mounting unit lifting device 420 provided in the component supply station
Will be representatively described.

A guide groove 424, which opens in the outer peripheral surface and extends in the vertical direction, is formed in the portion of the cylindrical cam 44 corresponding to the component supply station. A guide plate 426 is fixed to the bottom surface of the vertical middle portion of the guide groove 424,
Two guide blocks 43 fixed to the lifting member 428
0 is slidably fitted. The elevating member 428 has a width just fitted in the guide groove 424,
An engaging groove 432 having the same width (dimension in the height direction) as the cam groove 48 of the cylindrical cam 44 is horizontally formed at the lower end portion of the cylindrical cam 44 on the outer peripheral surface side.

The upper end of the elevating member 428 is projected upward from the guide groove 424 as shown in FIG.
It is connected to the lower end of the elevating rod 436 via a lever 438. The lever 438 is attached to the lower end of the elevating rod 436 so as to be rotatable about the vertical axis and immovable in the axial direction, and the elevating member 428 is attached to the elevating rod 436.
In the case of connecting to the above, the lever 438 is rotated so that the position of the lifting rod 436 and the lifting member 428 are aligned. The upper end of the elevating rod 436 is formed as a male screw, and the length is changed by rotating the elevating rod 436, so that the vertical position of the elevating member 428 can be adjusted.

The lifting rod 436 is the lifting rod 24.
As in the case of 2, the rotation of the index servomotor 24 is converted and transmitted by the cam, the cam follower, and the motion transmission mechanism to the vertical movement, so that the component mounting unit 40 can be moved up and down only.

The electronic component mounting apparatus is controlled by the control device 450 as an operation control device shown in FIG.
The control device 450 includes a CPU 452, a ROM 454, and an RA.
It is mainly composed of a computer having an M456 and a bus 458 for connecting them. The servo interface 464 is connected to the bus 458, and the index servo motor 24, the relative movement servo motor 114, the nozzle selection servo motor 234, the component mounting unit attitude correction servo motor 380, the component attitude correction servo motor 384, etc. are connected. Has been done. A digital input interface 466 is also connected to the bus 458, and a photoelectric switch 122, a component suction nozzle detection device 278, an engagement detection sensor 390, a servo motor original position sensor 406, and a component mounting unit rotation original position sensor 412 are connected. There is.

Next, the operation will be described. In the electronic component mounting apparatus configured as described above, the 20 component mounting units 40 are sequentially moved to stations by intermittent rotation of the index table 32, and the electronic components 186 adsorbed at the component supply station are printed at the component mounting station. Attach to the board. The 20 component mounting units 40 perform various detections at 3 detection stations, and perform different operations in parallel at 8 operation stations. Here, the operation of one of the component mounting units 40 will be described.

When the component mounting unit 40 is moved from station to station by the rotation of the index table 32, the engaged member 98 is rotated separately from the index table 32 and the component mounting head 1 is rotated.
Reach each station before 30. The relative movement between the engaged member 98 and the component mounting head 130 will be described based on the time chart of FIG. In this time chart, the angle is the rotation angle of the cam that rotates the index table 32. While the cam makes one rotation, the component mounting unit 40 is moved from station to station and stopped at each station for a certain period of time.

The index table 32 is caused to start index rotation, and when the cam for rotating the index table 32 is rotated by 60 degrees, the external gear ring gear 96 is started to rotate. Although the component mounting head 130 moves and the engaged member 98 does not move at the beginning of the rotation of the index table 32, this relative movement is allowed by the universal joints 78, 90 and the expansion shaft 88. In addition, the component mounting unit 40 is a cylindrical cam 4
The telescopic shaft 88 allows the relative movement of the engaged member 98 and the component mounting head 130 in the vertical direction along with the vertical movement of the engaged member 98.

The external gear ring gear 96 is rotated until the cam is rotated 180 degrees, that is, 30 ms.
The rotational angular velocity of the external tooth ring gear 96 is twice the rotational angular velocity of the index table 32, and while the index table 32 moves the component mounting head 130 from station to station in 60 ms, the engaged member 9
Move 8 in 30ms. Therefore, the engaged member 98 moves in the middle of the movement, and the component mounting head 130 that has started to move earlier.
And the index table 32 still rotates,
While the component mounting head 130 is being moved, it reaches the destination station. This engaged member 98
Relative movement between the component mounting head 130 and the component mounting head 130 is also allowed by the universal joints 78 and 90 and the expansion shaft 88.

By this relative movement, at each station of changing the component posture by 90 degrees, correcting the component posture, correcting the posture of the component mounting unit and changing the posture of the component mounting unit by 90 degrees, the component mounting unit 40 is rotated while the index table 32 is rotating. The non-relative movement state in which the engaged member 98 and the engagement member 358 such as the component posture 90 degree changing device do not relatively move in the rotation direction of the index table 32 appears.

In this embodiment, the component mounting unit 4
0 is the engaged member 98 with which the engaging member 358 is engaged.
It is divided into a part on the side and a part rotated by the index table 32, and relative movement of the two parts in the rotation direction of the index table 32 is allowed by the universal joints 78 and 90 and the expansion shaft 88. 78, 90 and the expansion / contraction shaft 88, the external gear ring gear 96, the relative movement servomotor 114, the drive gear 118, etc., and the engaged member 98 is provided around the rotation axis of the index table 32 and separately from the index table 32. The non-relative movement state revealing device is constituted by the relative rotating device which is rotated.

Hereinafter, the operation of the component mounting unit 40 in each station will be sequentially described. The operation of the component mounting unit 40 in the four operation stations where the non-relative movement state appears will be described every time the component mounting unit 40 is moved to the operation stations.

The component mounting unit 40 first sucks the electronic component 186 at the component supply station. Component mounting unit lifting device 42 at the component supply station
The lift member 428 of 0 is in the rising end position shown in FIG. 4 when it is not operated, and the engagement groove 432 is the cam groove 48 of the cylindrical cam 44.
A continuous cam groove is formed together with the cam groove 48 at the same height as the horizontal portion of the.

Therefore, when the component mounting unit 40 is moved to the component supply station, the roller 52 enters the engagement groove 432 from the cam groove 48 of the cylindrical cam 44. Before the index table 32 completes the index rotation, the roller 52 moves from the cam groove 48 into the engaging groove 432, and the elevating member 428 causes the index table 32 to move after the roller 52 moves into the engaging groove 432. You can start the descent before you stop. The roller 52 is lowered while being moved in the engagement groove 432 by the index table 32, and the component mounting unit 40 (correctly, the component mounting head 130 of the component mounting unit 30 is moved by the lowering of the elevating plate 50 and the support member 64. The main part including) is lowered.

In this embodiment, the component mounting unit elevating / lowering device 420 elevates and lowers, engages the elevating / lowering member 428 forming a part of the cam groove 48, the elevating / lowering member 428, and moves it by the index table 32. The roller 52 that can be raised and lowered, the elevation plate 50, and the support member 64 constitute a motion transmission device.

During the downward movement of the component mounting unit 40, the push-down pin 334 engages with the push-down lever 336 and rotates it as shown by the chain double-dashed line in FIG. The lever ratio of the push-down lever 336 is such that the lowering distance of the tip end portion of the push-down lever 336 depends on the lowering of the component mounting unit 40 and the switching sleeve 318.
Is determined to be greater than the lowering distance of the switching sleeve 318, and the lowering lever 336 engages with the lower flange portion 324 of the switching sleeve 318 during the lowering of the component mounting unit 40 to move the switching sleeve 318 to the negative pressure supply position. Lower it. Accordingly, the component suction nozzle 170 positioned at the operating position
Negative pressure is supplied to the suction pipe 174 for sucking the electronic component 186.

The descending distance of the component mounting unit 40 is made longer than the distance between the suction pipe 174 and the electronic component 186 before the descent is started, so that the suction pipe 174 can securely suck the electronic component 186. The extra descending distance is absorbed by the component suction nozzle 170 compressing the spring 184 and moving relative to the nozzle holder 138.
Further, the push-down lever 336 is rotated with the downward movement of the push-down pin 334 even after the switching sleeve 318 is lowered to the negative pressure supply position. The push-down pin 334 is absorbed by moving against the biasing force of the spring 340.

After sucking the electronic component 186, the elevating member 428
Is raised, and the component mounting unit 40 is raised. The push-down lever 336 is biased by a spring (not shown) as the component mounting unit 40 rises,
Although the switching sleeve 318 is returned to the position shown by the solid line in FIG.
Continue to be absorbed.

The index table 32 is used for the lifting member 4
28 is moved to the ascending end, rotation is started before the engagement groove 432 is brought into a state of being coincident with the cam groove 48, and the component mounting unit 40 is moved up and moved in parallel. The shape of the cam that raises and lowers the raising and lowering member 428 is determined so that part of the raising and lowering and the movement of the component mounting unit 40 are performed in parallel. In this way, the component mounting unit 4
If part of the raising and lowering of 0 and the movement are performed in parallel, the time for raising and lowering can be taken correspondingly, and the rotation speed of the index table 32 is excessively increased to raise and lower the component mounting unit 40. Even if the time is not lengthened, it is possible to secure the time required for lifting and lowering.

In order to raise and lower the component mounting unit 40 by a required distance within a limited time, for example, the raising / lowering speed may be increased. However, in that case, the impact when the suction tube 174 contacts the electronic component 186 is large, and the electronic component 186 is
While the suction tube 174 may be damaged, if the time for raising and lowering can be lengthened, the ascending / descending speed can be slowed down, and the impact when the suction tube 174 contacts the electronic component 86 is reduced. As a result, it is possible to reliably avoid damage to the electronic component 186 and the suction pipe 174.

After picking up the electronic component 186, the component mounting unit 40 is moved to the component standing posture detecting station. A component standing posture detection device is provided in the component standing posture detection station, and the component suction nozzle 170 detects whether or not the electronic component 186 is sucked in a standing posture. If the electronic component 186 is adsorbed in a standing posture, the electronic component 186 cannot be mounted on the printed circuit board,
After that, data is created so that the operation and the detection are not performed even when the operation station and the detection station are stopped until the parts discharge station.

It should be noted that the four operation stations in which the non-relative movement state is revealed, the operation of parts other than the part supply station and the part mounting station described later in which the part mounting unit 40 is moved and partly moved up and down in parallel. In each of the stations, that is, the component discharge station and the component suction nozzle selection station, and the three detection stations, that is, the component standing posture detection station, the component holding posture detection station, and the component suction nozzle detection station, the component mounting unit 40 mounts the component. Head 130 is actuated and detected while it reaches the station and is stationary.

After the detection, the component mounting unit 40 is moved to the component posture 90 degree changing station. The posture around the axis of the electronic component 186 sucked by the component suction nozzle 170 may differ from the posture at the time of mounting by 90 degrees.
Whether or not they differ by 90 degrees can be known from the type and mounting position of the electronic component 186 obtained from the mounting program. If the holding posture and the mounting posture differ by 90 degrees, the component posture 9
It is changed at the 0 degree change station.

In the component posture 90 degree changing station, the component mounting unit 4 is utilized by utilizing the non-relative movement state.
The 0 is rotated around the axis in parallel with the movement. Figure 1
As shown in the time chart of No. 4, the external gear ring gear 96
Before the engaged member 98 reaches the component posture 90-degree changing station by the rotation of, the component posture 90-degree changing device 3
The 50 engagement members 358 are started to descend. The engaging member 358 is lowered in parallel with the movement of the engaged member 98, and the engaging protrusion 362 causes the engaging notch 110 of the engaged member 98.
When the position to be engaged with is reached, the engaged member 98 has reached the component posture 90 degree changing station, so that both can be engaged with each other without wasting time.

The cam for rotating the engaging member 358 moves the engaging member 358 in the forward or reverse direction during one rotation.
It is formed so as to be rotated by 0 degree and after being rotated, the engaging member 358 is reversely rotated to return the engaging protrusion 362 to the original position in which the engaging notch 110 is engaged. Further, as will be described later, the component mounting unit 40 is rotated in the component mounting unit posture correction station and the component mounting unit posture 90 degree changing station to be returned to the component mounting unit rotation original position, and the engaging protrusion is formed. 362 can engage the engagement notch 110.

The descending distance of the engaging member 358 depends on the engaging projection 3
62 is made longer so as to surely engage with the engagement notch 110, and after engagement, the engaged member 98 causes the engaged member 98 to return to the spring 106.
Is compressed and the distance can be lowered further. Accordingly, the engagement detection sensor 390 detects the engagement member 392, and the engagement between the engagement member 358 and the engaged member 98 is detected. If this engagement is not detected, an appropriate process is performed such as issuing an alarm.

Thus, the engaging member 358 is the engaged member 9
8 can be lowered by a distance smaller than the distance required to engage with 8, the engaging member 358 is rotated before moving to the lower end (when the cam rotates 210 degrees).
It is possible to rotate 8. The engaged member 98 can be started to rotate while the component mounting head 130 is being moved by the rotation of the index table 32, and this rotation is caused by the universal joints 78, 9.
It is transmitted to the component mounting head 130 via 0 and the expansion / contraction shaft 88, and the entire component mounting unit 40 is rotated.
Eventually, the component mounting head 130 reaches the component posture 90 degree changing station and is rotated together with the engaged member 98, so that the component mounting unit 40 moves in the forward or reverse direction.
The holding posture of the electronic component 186 is changed by rotating it by 0 degree.

The engaged member 98 is rotated in parallel with the rotation of the index table 32 at the final stage of rotation of the index table 32 (when the cam rotates from 210 degrees to 240 degrees). Even at the beginning of rotation (when the cam rotates from 0 to 30 degrees),
It is rotated in parallel with the rotation of the index table 32. The engaging member 358 can start the disengagement operation from the engaged member 98 when the rotation angle of the cam is 20 degrees after the rotation of the index table 32 is started. The engaged member 98 is engaged, and the engaged member 98 can be rotated. In this embodiment, the engagement member 35 is in the non-relative movement state.
8 and the engaged member 98 are engaged and disengaged, and the component mounting unit 40 is rotated.

By thus displaying the non-relative movement state, the engagement between the engaging member 358 and the engaged member 98,
The time required for the removal and the rotation of the component mounting unit 40 is 6 as shown by the chain double-dashed line in the time chart of FIG.
0ms (while the cam is rotating from 150 degrees to 180 degrees,
Engagement member 3 during rotation from 60 degrees to 90 degrees
The raising and lowering of 58 and the rotation of the index table 32 have conventionally been performed in parallel). Conventionally, the engagement, disengagement, and rotation of the index table 32 had to be performed within 30 ms when stopped, whereas the operation time can be doubled.
It is possible to obtain a sufficient operation time without excessively increasing the rotation angular velocity of the index table 32 and forcibly reducing the time required for rotation.

If the engaging member 358 is engaged even after the component mounting unit 40 is rotated, the engaging member 358 will be described.
Since the component mounting unit 40 reversely rotates with the reverse rotation of the above, it is necessary to disengage the engaging member 358 from the engaged member 98 after the rotation and before the reverse rotation. The rising (disengaging) timing of the engaging member 358 shown in the time chart of FIG. 14 is set to the timing at which the engaging member 358 disengages from the engaged member 98 before the reverse rotation.

Next, the component mounting unit 40 is moved to the component holding posture detecting station, and the component suction nozzle 17
The holding posture of the electronic component 186 by 0 is imaged by the imaging device. The image pickup data is compared with image data representing a normal holding posture without error, and holding position errors ΔX _E and ΔY _E in the horizontal plane of the center of the electronic component 186 and a rotational position error Δθ around the center are calculated. The imaging is performed while the component mounting unit 40 is stopped at the component holding posture detection station, but the calculation of the error is performed after the rotation of the index table 32 is started.

Next, the component mounting unit 40 is moved to the component attitude correcting station, and the rotational position error Δθ is obtained.
Is fixed. Also in this case, the engagement member 358 is engaged with the engaged member 98 that has been moved to the component attitude correcting station prior to the component mounting head 130 by the rotation of the external tooth ring gear 96, and the component mounting unit 40 moves. It is rotated in parallel and the rotational position error Δθ is corrected. This correction is performed by rotating the engagement member 358 by the component attitude correction servomotor 384.

Also in this case, as in the case of changing the component holding posture by 90 degrees, the operation time for rotating the component mounting unit 40 can be doubled as compared with the conventional case without increasing the rotation angular velocity of the index table 32 excessively. To be

After the correction, the component mounting unit 40 is moved to the component mounting station to mount the electronic component 186 on the printed board. The printed circuit board has positioning errors ΔX _P and ΔY in the horizontal plane due to the reading of the reference marks.
_P has been calculated, and these positioning errors ΔX _P , ΔY _P
And the error in the center position caused by the correction of the holding position errors ΔX _E , ΔY _E and the rotational position error Δθ of the electronic component 186 are corrected by the correction of the movement distances in the X-axis direction and the Y-axis direction in the horizontal plane of the printed circuit board. , Electronic components 18
6 is mounted in a proper position on the printed circuit board in a proper posture.

At the time of mounting the electronic component, the component mounting unit 40 is mounted on the index table 3 as in the case of picking up the electronic component.
Before the rotation of 2 stops, the component mounting unit lifting device 42
A descent can be started by 0. During the downward movement, the flange portion 322 of the switching sleeve 318 comes into contact with the bar 338 shown by the chain double-dashed line in FIG.
The adsorption tube 174 is opened to the atmosphere and releases the electronic component 186.

The component mounting unit 40 includes an electronic component 186.
Electronic component 18 in order to securely mount the
Although the bar 6 is designed to be further lowered by a small distance after it comes into contact with the printed circuit board,
6 is engaged with the flange portion 322 after contacting the printed circuit board, and is provided at a position where the switching sleeve 318 is relatively moved to the negative pressure supply position while the component mounting unit 40 is further lowered. The switching sleeve 31 is prevented from descending by the bar 338 and is raised with respect to the elevating rod 72.
8 is held in the atmosphere release position by the frictional resistance of the rubber ring 322.

The bar 338 is provided with a through hole penetrating in the vertical direction. When the component mounting unit 40 descends, the push-down pin 344 descends through this through hole and interferes with the bar 338. There is no such thing.

As described above, the switching between the supply of the negative pressure to the suction pipe 174 and the supply of the atmosphere is performed in the vicinity of the component suction nozzle 170 by the switching sleeve 318 provided at the lower end of the elevating rod 72. Therefore, the negative pressure in the suction pipe 174 is quickly released, the electronic component 186 can be released quickly, and the electronic component 186 sticks to the component suction nozzle 170 when the component mounting unit 40 moves up after mounting. It is securely attached to the printed circuit board. In addition, the switching sleeve 318, the pressing pin 334, and the pressing lever 33 are used to switch between the supply of the negative pressure and the atmosphere to the suction pipe 174.
6, because it is mechanically performed by lowering the bar 338 and the component mounting unit 40, an electromagnetic switching valve is provided for each component mounting unit 40 for switching, and switching is performed by the adsorption pipe 174.
The switching can be performed easily and inexpensively as compared with the case where the electronic component 186 is controlled to be sucked and released, and the switching is highly reliable since no malfunction occurs due to a failure of the electric circuit. Is realized.

Next, the component mounting unit 40 is moved to the component mounting unit posture correction station, and is rotated by the angle Δθ in the direction opposite to the correction of the rotational position error Δθ of the electronic component 186, so that the rotational position before correction is corrected. Returned to. Also in this case, the component mounting unit 40 is rotated by the component mounting unit posture correction device 348 in parallel with the movement.

The component mounting unit posture correcting servomotor 384 of the component mounting unit posture correcting device 348 is composed of the engaging protrusion 362 of the engaging member 358 and the engaging notch 110 of the engaged member 98 of the component mounting unit 40. In order to match the phases, they have been rotated by an angle Δθ in advance. The component mounting unit attitude correction device 248 is provided with the servo motor original position sensor 406, and can be rotated in advance by the angle Δθ.

Next, the component mounting unit 40 is moved to the component mounting unit 90-degree changing station, and is rotated in the opposite direction by the amount rotated by the component posture 90-degree changing station, and the original position of the component mounting unit is rotated. Be returned to. The engaging member 358 of the component mounting unit attitude 90-degree changing device 350 is in the original position when not engaged, but this original position is 90 degrees out of phase with the engaging member 358 of the component attitude 90-degree changing device. Has been done.

Since the component posture 90-degree changing station and the component mounting unit posture 90-degree changing station are provided at positions separated by 180 degrees, the parts after the posture is changed by 90 degrees at the component posture 90-degree changing station. The rotation phase of the mounting unit 40 is the same as the rotation phase of the component mounting unit 40 before moving to the component mounting unit posture 90 degree changing station and before changing the posture, and the original position of the engaging member 358 is If they are different by 90 degrees,
The component mounting unit 40 can be engaged with the phase of the engaged member 98 of the component mounting unit 40, and the component mounting unit 40 is returned to the original rotation position by the rotation of the engaging member 358. This rotation is also performed in parallel with the movement of the component mounting unit 40. Whether or not the component mounting unit 40 has returned to the rotation original position is detected by the component mounting unit rotation original position sensor 412, and if it does not return to the original position, an appropriate process such as issuing an alarm is performed.

Next, the component mounting unit 40 is moved to the component discharge station, and as a result of the detection by the component standing posture detecting station, the electronic component 186 is held in a standing state or in the component holding posture detecting station. As a result of the detection, the electronic component 186 that cannot be mounted on the printed circuit board is ejected, for example, the holding posture is displaced so that it cannot be corrected.

Next, the component mounting unit 40 is moved to the component suction nozzle detection station. The component mounting unit 40 has been returned to the original rotation position by the correction and change of its posture, and when it is moved to the component suction nozzle detection station, it is provided corresponding to the component suction nozzle 170 positioned at the operating position. Reflective surface 270-2
74 faces the three fiber sensors 280 of the component suction nozzle detection device 278, and the type of the component suction nozzle 170 positioned at the operating position is detected.

As a result of the detection, the type of the component suction nozzle 170 currently positioned at the operating position is the electronic component 18 next.
If the component suction nozzle 170 used for mounting No. 6 is different, the component suction nozzle 170 is selected at the component suction nozzle selection station. Since the component mounting unit 40 is in the original rotation position, the nozzle holder 138
Has its rotation axis located in the horizontal direction orthogonal to the rotation axis of the index table 32, and the engagement groove 206 exactly faces the engagement projection 220 of the rotation drive member 208.

Therefore, first, the rotary drive member 208 is advanced, and the engaging projection 220 is engaged with the engaging groove 206. Three engagement grooves 206 are provided so as to intersect at equal angular intervals, and the engagement protrusion 220 has any one of the engagement protrusions 220 regardless of which component suction nozzle 170 was previously positioned at the operating position. The engagement groove 206 can be engaged.

After the engagement, the rotary drive member 208 is advanced until the positioning pin 192 is disengaged from the positioning hole 190 against the urging force of the spring 198 for urging the nozzle holder 138, and then rotated. To be This rotation angle is obtained from the type of the component suction nozzle 170 currently positioned at the operating position and the type of the component suction nozzle 170 to be used next, and the rotation drive member 208 is rotated by a predetermined angle. The component suction nozzle 170 to be used next is moved to the operating position. After the movement, the rotation driving member 208 is retracted, and the nozzle holder 138 is positioned by fitting the positioning pin 192 into the positioning hole 190.

As described above, since the nozzle holder 138 is rotated about the horizontal axis when the component suction nozzle 170 is selected, the nozzle holder 138 is rotated about the vertical axis parallel to the rotation axis of the index table. Many component mounting units 40 can be supported on the index table 32.

When the nozzle holder is rotated around the vertical axis, as shown schematically in FIG. 15, when the component suction nozzle 467 is held by the nozzle holder, the light emitting plate of the adjacent component suction nozzle 467 is held. It is necessary to hold 469 so that they do not interfere with each other in the horizontal plane. Although it is actually necessary to provide a gap between the adjacent light emitting plates 469, this gap is ignored here for simplification.

On the other hand, when the nozzle holder is rotated around the horizontal axis, the light emitting plate 180 having the same diameter as the light emitting plate 469 is placed on a circle passing through the center of the light emitting plate 469 (referred to as a light emitting plate arrangement circle). If they are arranged, a gap a is created. Therefore, the light emitting plate arrangement circle of the light emitting plate 180 can be made smaller until the gap a disappears, and the light emitting plate arrangement circle can be made smaller when the nozzle holder is rotated around the horizontal axis. ..

When the nozzle holder 138 is rotated about the horizontal axis, the turning radius of the component mounting head 130 is determined by the length of the suction pipe, and the component mounting head can be made smaller by shortening the suction pipe. You can When the nozzle holder is rotated around the vertical axis, even if the suction tube is shortened, it does not depend on the size of the turning radius of the component mounting head (the circle of the circle indicated by the chain double-dashed line in FIG. 15), but it is horizontal. Adsorption tube 1 when rotating around an axis
By making 74 shorter than the radius of the light emitting plate 180, the turning radius of the component mounting head 130 can be reduced.
The diameter of the light emitting plate 180 is inevitably determined by the size of the largest electronic component to be mounted, whereas the length of the suction tube 174 can be considerably shortened by devising related devices such as an electronic component supply device. Yes, generally adsorption tube 174
It is easy to make the length smaller than the radius of the light emitting plate 180.

Further, even when the component mounting head is supported on the index table, if there are many suction nozzles held by one nozzle holder, the same reason as when holding the component suction nozzle by the nozzle holder is provided. Therefore, when the nozzle holder is rotated around the horizontal axis, a gap b is formed between the adjacent component mounting heads, and the component mounting heads may be arranged at a smaller pitch by the gap b. Adjacent nozzle holders are not rotated at the same time regardless of whether the nozzle holder is rotated about the vertical axis or the horizontal axis. It is possible to dispose the mounting heads such that the swirling trajectories of the mounting heads overlap with each other. A gap b is generated, and the arrangement pitch of the component mounting heads can be reduced by this amount. However, when the number of component suction nozzles held by one nozzle holder is small, such as three,
When the number of component mounting heads held on each index table is particularly large and the diameter of the index table is large, it becomes disadvantageous to rotate the nozzle holder around the horizontal axis because the gap b becomes negative.

For the above reasons, generally, if the diameter of the index table 32 is the same when the nozzle holder is rotated around the horizontal axis and when it is rotated around the vertical axis. When rotated around, the nozzle holder 138 can be made smaller, more nozzle holders 130 can be supported, the number of stations where the component mounting unit 40 stops can be increased, and the component mounting unit 40 can be increased. Can perform various kinds of actions. Also, if the nozzle mounting body is rotated about the horizontal axis and the vertical rotation axis, and if the turning radius of the component mounting head is the same, the case where the nozzle support body is rotated about the horizontal axis is better. The number of component suction nozzles that can be held by the nozzle holder can be increased, and a large number of types of electronic components 186 can be mounted. Furthermore, if the same number of component mounting heads are held on the index table, the diameter of the index table can be made smaller and the rotation speed can be increased when the nozzle holder is rotated around the horizontal axis. It is possible to improve wearing efficiency.

The nozzle holder 138 is moved in a direction parallel to the rotation axis of the nozzle holder 138 so that the positioning hole 190 and the positioning pin 192 are engaged with and disengaged from each other. Is engaged with the nozzle holder 138 on its rotation axis, and the nozzle holder 138 is moved to engage and disengage the positioning hole 190 and the positioning pin 192, and the nozzle holder 138 is rotated. Therefore, the rotation driving member 208 can be commonly used for engagement / disengagement and rotation.

Further, the six component suction nozzles 170 are positioned concentrically with the component mounting unit 40 by being positioned at the operating position by nozzle selection, and can be raised and lowered and rotated by raising and lowering the component mounting unit 40. The component mounting head 130 can be constructed at low cost. When a plurality of component suction nozzles are held by a nozzle holder that rotates around a vertical axis, as in the electronic component mounting apparatus described in JP-A-4-345097,
It is necessary to lift and rotate a plurality of component suction nozzles individually, and it is necessary to provide an engaging portion for engaging the lifting member and the rotating member to the component suction nozzle, which complicates the structure, and The holder also needs to have a structure that supports the component suction nozzle so that the component suction nozzle can be moved up and down, and the cost increases. On the other hand, in this embodiment, since the nozzle holder 138 is rotated around the horizontal axis and the six component suction nozzles 170 are moved in the vertical plane, the nozzle holder 138 is positioned at the operating position as shown in FIG. The removed component suction nozzle 170 projects downward from the other component suction nozzles 170. Therefore, in order to cause the component suction nozzle 170 positioned at the operating position to suck and mount the electronic component 186, the entire component mounting head 130 is lowered, and even if the other component suction nozzles 170 are also lowered, the other components are sucked. The component suction nozzle 170 does not hit the electronic component supply device, the printed circuit board, or the like, and the component suction nozzle 170 positioned at the operating position sucks the electronic component,
Does not prevent wearing. When rotating the nozzle holder around the vertical axis, if the component suction nozzle is moved up and down by raising and lowering the nozzle holder, the component suction nozzles other than the suction nozzles for picking up and mounting electronic components will also be at the same height. It descends and hits the electronic component supply device or the printed circuit board to hinder the operation, but this is not the case. Therefore, the entire component mounting head 130 can be moved up and down in order to raise and lower the component suction nozzle 170 that suctions and mounts the electronic component 186, and the component mounting unit 40 is engaged with the engaging member 358 to raise and lower the component mounting unit. It suffices that the device 40 be moved up and down, it is not necessary to provide an engaging member for each of the plurality of component suction nozzles 170, and the nozzle holder 138 also has a plurality of component suction nozzles 170.
It is not necessary to individually support each of them so that they can be raised and lowered and rotated, and the structure can be simplified and the cost can be reduced.

Particularly, in the present electronic component mounting apparatus, the component mounting unit 40 is moved by the rotation of the index table 32 while the component mounting unit elevating device 4 is moved.
Since it can be moved up and down by 20, the whole component mounting head 130 can be moved up and down in order to raise and lower the component suction nozzle 170 positioned at the operating position, which simplifies the parallel operation of movement and elevation. It can be realized with a configuration. When raising or lowering each of the plurality of component suction nozzles held by the nozzle holder, as in the case of rotating the nozzle holder around the vertical axis,
It is necessary to move and elevate each of the plurality of component suction nozzles in parallel, which complicates the configuration of the component suction nozzle and the motion transmission device. On the other hand, in this electronic component mounting apparatus, the component mounting head 13
Since the component suction nozzle 170 is moved up and down by moving up and down by 0, the motion transmitting device may be configured to transmit up and down while allowing only the component mounting head 130 (component mounting unit 40) to move. Can be done.

By rotating the nozzle holder 138 around an axis intersecting with the rotation axis of the index table 32 in this manner, the component mounting head 130 and the index table 32 are downsized, and the number of component suction nozzles is increased. In addition to the effect that the component suction nozzle 170 can be moved up and down in parallel with the movement with a simple configuration, this effect is obtained by downsizing the index table 32 and the nozzle holder 138 and the index table 3.
It is possible to obtain it by rotating the nozzle holder 138 around the horizontal axis without increasing the number of the nozzle holders 138 held by the two and the number of the component suction nozzles 170 held by the nozzle holder 138. .

Further, since the engaged member 98 and the component mounting head 130 are connected by the expansion / contraction shaft 88, the impact when the engagement member 358 is engaged with the engaged member 98 is the expansion / contraction shaft 88. Is absorbed by the expansion and contraction of the component, is not transmitted to the component mounting head 130, and does not affect the accuracy with which the component suction nozzle 170 holds the electronic component 186.

Another embodiment of the present invention is shown in FIGS. In this embodiment, the non-relative movement state is revealed by rotating the engaging member of the engaging member rotating device around the rotation axis of the rotating member separately from the rotating member. The part is the same as the embodiment shown in FIGS.

A rotary shaft 4 rotatably supported by a frame 470 and rotated by an indexing cam 472 (only the position of which is indicated by a chain double-dashed line).
An index table 476 is attached to the lower end of 74, and 20 component mounting units 478 are supported so as to be rotatable around their own axes and movable in the axial directions.

The component mounting unit 478 is urged upward with respect to the index table 476 by a spring 480 provided between the component mounting unit 478 and the index table 476. A component mounting head 482 similar to the component mounting head 130 is provided at the lower end of the component mounting unit 478, and an engaged member 483 is provided at the upper end as shown in FIG. In the engaged portion 483, an engaging hole 484 having a circular cross section that opens to the upper surface is formed, and an engaging groove 486 that is shallower than the engaging hole 484 and has a trapezoidal cross section that extends in the diametrical direction is formed.

A support member 490 extending from the frame 470 is provided above the cam 472. An arm 492 is rotatably attached to the support member 490 by a shaft 494 so as to be concentric with the index table 476, and the arm 492 is provided with a component attitude correction device 496.

As shown in FIG. 17, a free end portion of the arm 492 is provided with a cylindrical support portion 497, and the sleeve 4
98 is rotatably fitted around the vertical axis, and the engaging rod 500 is fitted movably in the axial direction and non-rotatably. Sleeve 498, sleeve 498
Is rotated by a component attitude correcting servomotor 506 via a timing pulley 502, a timing belt 504 and another timing pulley 505 provided on the upper end portion protruding from the arm 492 of the arm rod 492, whereby the engagement rod 500 rotates about its own axis. Is rotated to.

The engagement rod 500 is biased upward by a spring 507 arranged between the engagement rod 500 and the sleeve 498, and is lowered by excitation of a solenoid 508 as an engaging / disengaging device mounted on the arm 492. At the lower end of the engaging rod 500, an engaging protrusion 509 having a trapezoidal cross section extending in the diametrical direction is provided so as to project, and the engaging pin 51 is also provided.
0 is fitted concentrically and movably in the axial direction. The engagement pin 510 is biased by a spring 511 in a direction projecting from the engagement rod 500.
The relative movement with the engaging rod 500 is allowed by the engagement between the long hole 513 and the long hole 513, and the relative rotation and the withdrawal are prevented. A tapered engagement portion 514 is provided at the lower end of the engagement pin 510, and is projected downward from the engagement protrusion 509. A connection device 516 connects the solenoid 514 and the engagement rod 500 while allowing the engagement rod 500 to rotate.

Further, as shown in FIG.
2 is a spring 5 disposed between the support member 490 and
The urging 18 urges the index table 476 to rotate in a direction opposite to the rotation direction of the index table 476.
The bias of the spring 518 is regulated by a stopper (not shown), and the arm 492 is stopped at a position where the engagement rod 500 is concentric with the component mounting unit 478 stopped by the station.

In the present embodiment, the component mounting unit 47
When correcting the rotational position error Δθ of the electronic component held by the component 8, the component mounting unit 478 causes the arm 492 to move.
Solenoid 508 is energized and engagement rod 500 is lowered when is stopped at the station where it was positioned. Thereby, first, the engaging portion 51 of the engaging pin 510 is
4 is fitted into the engaging hole 484 of the engaged portion 483 of the component mounting unit 478. After the engagement pin 510 comes into contact with the bottom surface of the engagement hole 484, the engagement rod 500 is further lowered to relatively move with respect to the engagement pin 510 while compressing the spring 511, and the engagement protrusion 509 is engaged. It is fitted into the groove 486. It should be noted that the length of protrusion of the engagement pin 510 from the engagement rod 500 is such that the engagement protrusion 509 does not fit into the engagement groove 486 when the engagement pin 510 abuts the bottom surface of the engagement hole 484, The length is located at the top.

By engaging the engaging rod 500 with the component mounting unit 478 in this manner, the component mounting unit 478 is rotated by the rotation of the index table 476.
When the component is moved, the component attitude correcting device 496 moves following the component mounting unit 478 by the rotation of the arm 492, and the non-relative movement state is revealed, while the engaging rod 500 is rotated and the electronic component is rotated. The rotational position error Δθ of the component is corrected. The rotation of the engagement rod 500 is transmitted to the component mounting unit 478 by the engagement between the engagement protrusion 509 and the engagement groove 486.

This correction ends during the movement of the component mounting unit 478 to the next station, the solenoid 508 is demagnetized while the component mounting unit 478 is moving, and the engagement pin 510 and the engagement protrusion 509 are removed. They are disengaged from the engagement hole 484 and the engagement groove 486, respectively. At this time, as the engaging rod 500 rises, the engaging protrusion 509 first separates from the engaging groove 486, and then the engaging pin 51.
0 disengages from the engagement hole 484. When the engaging projection 509 is disengaged from the engaging groove 486, the engaging pin 510 is engaged with the engaging hole 4
The arm 492 is fitted in the armature 84 and is in a state of rotating following the movement of the component mounting unit 478. Therefore, when the engagement protrusion 509 is disengaged from the engagement groove 486,
The urging force of the spring 518 is applied to the engaging protrusion 509 by the arm 4
It is not applied via 92, and the engaging protrusion 509 does not apply a rotational moment to the component mounting unit 478.

Further, after the engaging projection 509 is disengaged from the engaging groove 486, the engaging pin 510 is disengaged from the engaging hole 484, and at this time, the engaging pin 510 is urged by the spring 518 via the arm 492. In addition, the engaging pin 51
Since 0 has a circular shape and is fitted into the circular engaging hole 484 and does not transmit the rotation, the component mounting unit 478 is not rotated at the time of disengagement.

Since the tip end portion of the engaging pin 510 is a tapered engaging portion 514, the engaging pin 510 moves up,
When only the engaging portion 514 is located in the engaging hole 484, the engaging pin 510 receives the urging force of the spring 518 and contacts the upstream end of the engaging hole 484 in the index table rotation direction. However, the phases of the engagement rod 500 and the component mounting unit 478 around the respective axes are such that the engagement protrusion 509 and the engagement groove 486 are engaged at a position deviated from the rotation trajectory drawn by the center line of the component mounting unit 478. However, since the phase is such that the component mounting unit 478 is rotated, the engagement pin 510 is not engaged with the engagement hole 4 at the time of disengagement.
Since it hits a portion of the inner peripheral surface of 84 where the engaging groove 486 does not exist, no rotational moment is applied to the engaged portion 483. If the engagement pin 510 abuts the opening edge of the engagement groove 486 with respect to the engagement hole 484 unevenly, a rotational moment will be applied, but this does not occur and the component mounting unit 478 is rotated. You can leave without letting go.

In this way, the engagement pin 510 is engaged with the engagement hole 484.
When separated from the arm 492, the arm 492 is rotated by the urging force of the spring 518, and the component attitude correcting device 496 causes the engaging rod 500 to move the engaged portion 4 of the next component mounting unit 478.
It is returned to the position engaging with 83. At the time of this return, the engagement rod 500 is rotated in the direction opposite to that at the time of correcting the component holding posture of the component mounting unit 478 and returned to the original position.

In this embodiment, the engaging rod 500 is disengaged from the engaged portion 483 and the component mounting unit 40.
Rotation is performed in the non-relative movement state, the component attitude correction device 496 is provided on the arm 492 that rotates around an axis concentric with the index table 476, and the arm 492 is urged by the spring 518 to move the index table 476. The component attitude correction device 496 is rotated separately from the rotation, and the engagement rod 500 is engaged with the engaged portion 483.
By returning to the position where the engaging rod 500 and the engaged portion 483 are moved relative to each other, the component attitude correcting device 496 is moved following the component mounting unit 478. . The arm 492 and the spring 518 form a non-relatively moving state revealing device.

Although the component attitude correcting servomotor 506 is mounted on the arm 492 so as to move in the present embodiment, it may be provided at a fixed position. In this case, two Yuversal joints and a telescopic shaft are provided between the component attitude correcting servomotor 506 and the lower end portion where the engaging projection 509 of the engaging rod 500 and the engaging pin 510 are provided. Servo motor 506 for posture correction
It is sufficient to allow relative movement and rotation transmission between the component mounting unit 478 and the component mounting unit 478. Not only on the component mounting unit 478 side, but also on the engaging member rotating device side, a universal joint and a telescopic shaft may be provided to rotate the component mounting unit 478 in parallel with the movement.

The movement of the component mounting unit in accordance with the movement of the component mounting unit as described above is not limited to the component posture correcting device, and the component posture can be adjusted to 90 degrees.
It is also possible in a device that performs other operations, such as a device that changes the degree.

Another embodiment of the present invention is shown in FIG. In this embodiment, the component attitude correction device 490 shown in FIGS.
A component attitude correction device 520 similar to
2 is configured to follow the component mounting unit 524 having the same configuration as the component mounting unit 478 and move the component mounting unit 524. However, the lower end portion of the engaging rod of the component attitude correcting device 520 is provided with an Oldham's joint and an engaging member similar to the Oldham's joint 360 and the engaging member 358 of the embodiment shown in FIGS. The unit 524 is provided with an engaged member similar to the engaged member 98,
The component attitude correction device 520 is adapted to engage with the component mounting unit 524.

A guide rail 530 is provided on a frame (not shown) that rotatably supports the index table 526 along an arc whose axis is the rotation axis of the index table 526, and a fan-shaped moving member 532 is provided around the rotation axis. Rotatably attached to the
A component attitude correction device 520 is mounted on the moving member 532. Teeth 534 are provided on the outer peripheral edge of the moving member 532, and are engaged with a drive gear 538 rotated by a moving member moving servomotor 536.

A reflecting plate 540 is provided on the upper surface of the index table 526, and a reflecting plate 54 is provided on the moving member 532.
0 is irradiated with light and reflected light is received.
Rotational phase sensor 54 for detecting relative rotational phase with respect to 6
Two are provided.

When the index table 526 is rotated and the component mounting unit 524 is moved from station to station, the moving member 532 is rotated so that the component attitude correcting device 520 follows the component mounting unit 524. Servo motor 5 for moving moving members
36 is controlled so that the amount of received light of the reflected light from the reflection plate 540 is always constant, whereby the moving member 532 is moved by the component attitude correcting device 520 following the component mounting unit 524, and the moving member 532 is engaged with the engaging member. The state in which the engaged member does not move relative to the rotation direction of the index table 522 appears.

Then, in this non-relative movement state, the component posture correcting device 520 rotates the component mounting unit 524 to correct the posture of the electronic component. This correction ends during the movement of the component mounting unit 524 to the next station, and after the correction, the engaging member is disengaged from the engaged member, and the moving member 532 is rotated in the opposite direction. The posture correction device 520 is returned to the position where it engages with the component mounting unit 524. The component attitude correcting device 520 is moved following the component mounting unit 524 until the engaging member is disengaged from the engaged member.

In the present embodiment, the detection results of the drive unit 522 constituted by the teeth 534, the drive gear 538 and the moving member moving servo motor 536, the reflector 540, the rotary phase sensor 542 and the rotary phase sensor 542 of the control unit. The moving device 532 composes a non-relative moving state presenting device, and a moving device 532 configured to control the moving member moving servomotor 536 so that the moving member 532 moves following the index table 32. I am doing it.

In each of the embodiments shown in FIGS. 16 to 18 and 19, the component mounting unit is rotated during movement,
Although the engagement member is detached from the engaged member, it may be detached when the component mounting unit moves to the station and is stopped.

Further, in the embodiment shown in FIG. 19, all of the rotation, engagement and disengagement of the engaging member with respect to the engaged member are performed while the component mounting unit is moving, and the engagement is performed while the component mounting unit is stopped. You may make it return a member to the position which engages with the following component mounting unit.

FIG. 20 shows still another embodiment of the present invention.
In this embodiment, the component mounting unit elevating device is constituted by an air cylinder 550, and other parts are shown in FIG.
~ It is the same as the embodiment shown in FIG. The component mounting unit 554 is attached to the index table 556 so as to be vertically movable and rotatable, and is biased upward by the spring 558 with respect to the index table 556. An engaging notch 560 with which an engaging protrusion of an engaging member is engaged is formed at an upper end portion of the component mounting unit 554, and a ball 562 is rotatably arranged and protrudes from an upper surface of the component mounting unit 554. Has been made. The air cylinder 550 is provided downward, and the piston rod 56
A disc-shaped engagement plate 566 is fixed to the lower end of the disc 4.

When the component mounting unit 554 is moved to the component supply station by the rotation of the index table 556, the component mounting unit 554 is positioned below the engaging plate 566 before the index table 556 is stopped. After that, the piston rod 564 is lowered before the index table 556 is stopped, and is engaged with the component mounting unit 554 via the ball 562. Therefore,
The component mounting unit 554 causes the index table 55 for the air cylinder 550 to rotate by the rotation of the ball 562.
The downward movement of the piston rod 564 is transmitted by the engagement plate 566 while the movement of the piston 6 in the rotation direction is allowed. In the present embodiment, the engagement plate 566 and the ball 562 form a motion transmission device.

The component mounting unit elevating / lowering device is not limited to the air cylinder 550, but may be a cam or a motor and a feed screw. For example, in the embodiment shown in FIGS. 1 to 15, an engaging plate is provided at the lower end portion of a member that is moved up and down by a cam similar to the cam configuring the component mounting unit elevating / lowering device 420 to engage with the component mounting unit.

In each of the above embodiments, the nozzle holder 138 is the index table 32, 476, 52.
Although it was designed to be rotated around a horizontal axis that is orthogonal to the rotation axis of 6,556, as shown in FIG.
The nozzle holder 574 may be rotatably attached to an elevating member 572 supported by the index table 570 so as to be capable of elevating and lowering about an axis L ₂ which is a generatrix of a conical surface centering on the rotation axis L ₁ of the index table 570. .
In this case, the component suction nozzle 576 is provided in a posture that extends radially in the direction of the generatrix of the conical surface centered on the rotation axis of the nozzle holder 574 so that the component suction nozzle 576 has a vertical posture in the operating position.

As described above, even if the nozzle holder 574 is rotatably provided around the axis L ₂ of the index table 570 that intersects with the axis L ₁ of the index table 570 at an acute angle, the nozzle holder 574 is provided so as to be rotatable about the vertical axis. Thus, a large number of component mounting heads can be held on the index table having the same diameter.

In the above embodiment, the component posture 90
In the degree changing device, the holding posture of the electronic component 186 is changed 90 degrees in the forward direction or the reverse direction. For example, a plurality of cams for rotating the engaging member 358 are provided, and the cam follower is changed according to the changing angle. It is also possible to select a cam to be engaged with and change the component posture by an angle other than 90 degrees. Further, the engagement member 358 may be rotated by using a dedicated servo motor as a drive source to change the component posture by an arbitrary angle. Since the rotational movement time of the component mounting unit can be lengthened by the appearance of the non-relative movement state, it is easy to change the holding posture of the electronic component by a large angle such as 180 degrees.

Further, in the above embodiment, the component mounting unit 40 is moved by the index table 32 and moved up and down by the cylindrical cam 44 so as to be located at the rising end at the component supply station and at the descending end at the component mounting station. Although the vertical movement by the cylindrical cam 44 is omitted, the component mounting unit elevating device 420 provided in the component supply station and the component suction station may raise and lower the component mounting unit 40 by a required distance.

Further, in the above embodiment, the nozzle holder 1
38 is the index table 32 when the nozzle is selected.
Although it can be rotated about a horizontal axis orthogonal to the rotation axis of the index table 32, it may be rotated about a rotation axis that intersects three-dimensionally without intersecting with the rotation axis of the index table 32 in one plane. . For example,
In the plane orthogonal to the rotation axis of the index table 32, the rotation may be performed around the axis extending in the tangential direction of the index table 32. With this configuration, the nozzle holder can be rotated in the vertical plane including the rotation axis of the rotor, and the tip of the suction pipe 174 held by the adjacent nozzle holder interferes in the circumferential direction of the index table 32. The nozzle holder can be disposed closer to the outer peripheral edge of the index table 32, the number of component mounting units can be increased, and the nozzle holder can be enlarged and held. Even if the number of nozzles is increased, the index table 32 does not have to have a large diameter, and various types of electronic components can be mounted efficiently. In this case, when the nozzle holder is rotated to select the component suction nozzle, the nozzle holder is moved to a position where the rotation device does not interfere with the adjacent nozzle holder, for example, a position below other nozzle holders. It is sufficient to rotate the nozzle holder by rotating the nozzle holder by acting on the nozzle holder from a direction perpendicular to the rotation axis of the nozzle holder by rotating the nozzle holder. The rotational position error Δθ may be corrected by rotating a mounting target material such as a printed circuit board.

Further, although the nozzle holder 138 is positioned in the direction parallel to the rotation axis of the nozzle holder 138 in the above embodiment, for example,
You may go from another direction, such as a vertical direction.

Further, the engagement and disengagement of the positioning member for positioning the nozzle holder with respect to the positioned portion provided on the nozzle holder and the rotation of the nozzle holder make the common rotary drive member 208 the nozzle holder. The operation is not limited to the engagement, but may be performed by dedicated members.

Further, in the above embodiment, the component mounting head 130 is supposed to hold the six component suction nozzles 170, but the number is not limited to six, and as many as possible may be held.

Further, the attachment / detachment of the component suction nozzle 170 to / from the nozzle holder 138 may be performed by an operator or automatically by an automatic exchange device. Further, the nozzle holder may be detachably attached to the support member and the component suction nozzle may be replaced together with the nozzle holder, or the support member may be detachably attached to the lifting rod and replaced together with the support member. You may

Further, in the above embodiment, the switching between the supply of the negative pressure to the component suction nozzle 170 and the supply of the atmosphere was made mechanically. However, an electromagnetic valve device is provided in the middle of the negative pressure supply path. You may make it switch.

Further, the universal joint is not limited to one constituted by three coil springs, and, for example, the part on the engaged member side of the component mounting unit and the index table in the embodiment shown in FIGS. Any one that allows relative movement in the tangential direction of the index table of the two portions to be moved relative to each other, such as the portion on the side to be rotated, can be adopted.

Further, a constant velocity joint may be used instead of the universal joint. According to the constant velocity joint, the component mounting head can be rotated at the same speed as the rotation given by the engaging member rotating device even if the operating angle between the two parts to be relatively moved is large.

The present invention can also be applied to an electronic component mounting apparatus in which a rotating body is rotated around an axis other than the vertical axis.

Further, in each of the above-described embodiments, eight of the twenty stations were set as operating stations, but the present invention is also applicable to an electronic component mounting apparatus in which one or all of a plurality of stations are operating stations. Can be applied.

Furthermore, the present invention can be implemented by adding or substituting each constituent element of each of the above-mentioned embodiments to another embodiment. In addition, various modifications based on the knowledge of those skilled in the art without departing from the scope of the claims,
The present invention can be implemented in an improved manner.

[Brief description of drawings]

FIG. 1 is a front view (partial cross section) showing an electronic component mounting apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram schematically showing a station at which a component mounting unit of the electronic component mounting apparatus stops.

FIG. 3 is a front view (partial cross section) showing a component mounting unit and a nozzle selection device of the electronic component mounting apparatus.

FIG. 4 is a front sectional view showing the component mounting unit.

FIG. 5 is a front view (partial cross section) showing a part of a component mounting unit elevating / lowering device for raising and lowering the component mounting unit.

FIG. 6 is a front sectional view showing a switching device for switching the supply of negative pressure to the component mounting head and the component suction nozzle of the component mounting unit.

FIG. 7 is a side view showing a nozzle holder of the component mounting head.

FIG. 8 is a front view showing the nozzle holder.

FIG. 9 is a side view showing a ring fixed to the nozzle holder.

FIG. 10 is a front sectional view showing a state in which the switching sleeve of the switching device is switched to the negative pressure supply position.

FIG. 11 is a front view showing component mounting heads of two adjacent component mounting units of the electronic component mounting apparatus.

FIG. 12 is a front sectional view showing a component mounting unit posture correction device and a component mounting unit posture 90 ° changing device of the electronic component mounting device.

FIG. 13 is a block diagram showing a control device that controls the electronic component mounting device.

FIG. 14 is a time chart for explaining the appearance of the non-relative movement state and the operation of the component placement unit in the non-relative movement state in the electronic component placement apparatus.

FIG. 15 is a diagram illustrating an advantage when the nozzle holder is rotated around the horizontal axis in the electronic component mounting apparatus.

FIG. 16 is a front view schematically showing a part of an electronic component mounting apparatus according to another embodiment of the present invention.

17 is a front cross-sectional view showing a component attitude correcting device of the electronic component mounting device shown in FIG.

18 is a plan view schematically showing the electronic component mounting device shown in FIG.

FIG. 19 is a plan view schematically showing a part of an electronic component mounting apparatus according to still another embodiment of the present invention.

FIG. 20 is a diagram schematically showing a part of an electronic component mounting apparatus which is still another embodiment of the present invention.

FIG. 21 is a diagram schematically showing a main part of an electronic component mounting apparatus according to still another embodiment of the present invention.

[Explanation of symbols]

 32 Index Table 40 Component Mounting Unit 130 Component Mounting Head 138 Nozzle Holder 170 Component Suction Nozzle 208 Rotation Driving Member 210 Rotation Driving Member Engaging Device 212 Rotation Driving Member Rotating Device 476 Index Table 478 Component Mounting Unit 482 Component Mounting Head 524 Component Mounting Unit 526 Index table 554 Component mounting unit 556 Index table 574 Nozzle holder 576 Component suction nozzle

Claims (1)

[Claims] 1. A rotary body rotatable about an axis and a plurality of axial lines parallel to a direction intersecting the rotary axis of the rotary body at a plurality of locations on a circumference centered on the rotary axis of the rotary body. A plurality of nozzle holders rotatably supported around the nozzle holders, a plurality of component suction nozzles held by each of the nozzle holders in a posture extending radially from the axis of the nozzle holder, and holding electronic components by suction; An electronic component mounting apparatus, comprising: a suction nozzle selection device that rotates a nozzle holder and moves one of the plurality of component suction nozzles to an operating position for suctioning and mounting the electronic component.