JPH0823188A - Electronic part mounting apparatus - Google Patents

Abstract

PURPOSE:To make it possible to mount an electronic part on a board with accuracy in a non-contact manner by optically recognizing the sucked part at a visual recognition unit, and rotating a suction head according to data obtained by the recognition to adjust the posture of the part and position an X-Y table. CONSTITUTION:Taped and wound around a reel 3, a part to be mounted by means of a mounting head unit A is loaded in a part feed unit B. It is transported to direct under a suction head 54, which then goes down and sucks it. The suction head 4 is rotated by an index unit 12, and is moved to a visual recognition unit E. At the visual recognition unit E a camera detects the position of the part, and the obtained data is fed back to a control unit. The control unit gives an X-Y table C data to move the part to its mounting position according to a previously specified program. In this time positional deviation data from the visual recognition unit E is added, and the X-Y table C moves according to the resultant data for movement.

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 which positions an electronic component in a contactless manner and mounts the electronic component on a substrate.

[0002]

2. Description of the Related Art An apparatus for mounting electronic components on a board is
There are various schemes. Among them, an apparatus of the same system as the present invention is disclosed in Japanese Patent Application Laid-Open No. 55-24491.

In this conventional electronic component mounting apparatus, a large number of mounting heads are arranged on the lower surface of a table that rotates intermittently, and after the electronic components sent from the component supply section are adsorbed to the mounting heads, at the next station, The attracted electronic components are positioned from four sides by using various nails, and the electronic components positioned at the next station are mounted on the substrate.
Positioning of the electronic components is performed by a mechanical mechanism.

[0004]

When electronic components are positioned by a mechanical mechanism such as a claw-shaped device as described above, if there is a shape defect such as a burr of the electronic component or a taper of the mold portion, the positioning error or the component There was a technical problem that caused problems such as falling and damage of the.

Further, the claws for positioning the ceramic parts such as the chip resistors are so worn that they need to be replaced and adjusted regularly, so that a lot of time is wasted.
Since electronic components with different shapes cannot be handled with the same claw, it is necessary to replace them each time, and a lot of time is wasted.The mounting head has a rotating function, and a large number of mounting components can be mounted. Since there is only one rotary drive source for the head, when the mounting postures of the components are variously changed, all the mounting heads are changed according to the postures of the electronic components to be mounted now. Therefore, when the electronic parts are positioned, the parts are oriented in various directions, which makes it extremely difficult to position the electronic parts, and thus the productivity is very poor.

Further, since the feeding mechanism of the taping component is generally specialized for the type of tape, even if the feeding pitch of the tape is the same, if the mounting pattern is changed (the cross-sectional shape is different). However, there is the inconvenience of having to replace the tape (taping parts) each time.

The present invention has been made in view of the above problems of the prior art.
It is an object of the present invention to provide an electronic component mounting apparatus that enables accurate positioning without dropping or damage of electronic components and has improved productivity.

[0008]

To achieve the above object, the present invention optically mounts an electronic component on a substrate after optically recognizing the position and orientation of the electronic component and correcting the position or orientation. In an electronic component mounting apparatus, a component supply unit for supplying an electronic component, and an electronic component from the component supply unit is sucked by a tip of a nozzle having a cross-sectional area smaller than that of the electronic component and is rotatable at an arbitrary rotation angle. A mounting head portion provided with a plurality of heads, and an illuminated portion provided on each of the plurality of suction heads of the mounting head portion, the illumination head being disposed closer to the mounting head portion than the electronic component. The light from the illuminated portion is obtained with respect to the illuminated portion, the rotating means for rotating the placement head portion, and the electronic component attracted to the tip of the nozzle of the mounting head rotated by the rotating means. Silhouette statue Based on the image, visual recognition means for recognizing the position and direction of the electronic component, and the position and direction of the electronic component recognized by the visual recognition means, the relative position between the substrate and the electronic component is corrected, And a means for controlling to sequentially mount the electronic components sucked on the tips of the nozzles of the mounting head on the substrate.

[0009]

An embodiment of the present invention will be described below.
First, the outline of this embodiment will be described with reference to FIG.

In FIG. 1, a portion A is a mounting head portion, and a table 70 is attached to the lower end of a hollow main shaft, and a plurality of suction heads 54 are vertically movable on the table 70.
Is installed. The section B is a component supply unit that carries the taped component below the suction head 54. C
The section is an XY table for positioning the board on which the components are mounted in the XY directions and for arranging the board at a predetermined position below the suction head 54. Section D is a substrate supply section. The section E is a visual recognition section for optically monitoring the posture of the component sucked by the suction head 54 and automatically adjusting the rotation of the suction head 54.

The parts A to E are mounted on the pivot body 10. In addition, a control device (another pivot body), an image input processing unit, a drive system (a pivot body 10), which are not shown in FIG.
Inside) and. In the substrate supply unit D, the substrate 8 on which the component is mounted is conveyed by the conveyor 191 and is transferred from the conveyor 191 to the substrate holder of the XY table C by the chuck D ′ of the substrate supply unit D. The board 8 is conveyed to the lower part of the mounting head section A by the XY table C, and the mounting head section A sequentially mounts the components. After the mounting is completed, the substrate 8 is again transported to the substrate supply unit D by the XY table C, transferred to the conveyor 201 by the chuck D ', and sent to the next step.

On the other hand, the components mounted by the mounting head unit A are taped to the component supply unit B and are reel 3
The tape feed pin of the component supply section B conveys this to just below the suction head 54, and the suction head 54 descends and sucks it. Then, the suction head 54 is intermittently rotated by the index unit 12 and sent to the visual recognition unit E. In the visual recognition unit E, the position of the component (positional deviation with respect to the suction head 54) is detected by the camera, and its data (ΔX, ΔY,
(Δθ) is fed back to the control device. The control device is
A command is issued to the motor of the XY table C to move the data to the position where the component is to be mounted according to the program instructed in advance. At this time, the positional deviation data (ΔX, ΔY, Δθ) from the visual recognition unit E is added. Specify move data. The XY table C moves accordingly. The suction head 54 is again fed by one pitch by the index unit 12, and carries the component 1 directly below the substrate 8. Here, the suction head 54 descends to mount the component 1 on the substrate 8. The above procedure is repeated to mount the component on the substrate 8.

Hereinafter, each part will be described in more detail. (Regarding mounting head portion A) The mounting head portion will be described in detail with reference to FIGS. 4 is a front view of the mounting head portion A, FIG. 5 is a view taken along the line AA of FIG. 4, FIG. 6 is a vertical sectional view showing the mounting head, FIG. 7 is a sectional view taken along the line BB of FIG. Is likewise a C-C sectional view.

In FIGS. 4 and 5, the index device 12 is fixed on the column 11. The index device 12 has a function of continuously rotating the output shaft 30 (see FIG. 6) when the input shaft 13 is continuously rotated via the timing pulley 15 and the timing belt 16. 6, the main shaft 34 is fixed to the output shaft 30 with bolts 35, and the table 70 is attached to the lower end of the main shaft 34.
Has been fixed. Further, four mechanisms including a suction head 54 for sucking the component 1 (see FIG. 2) are arranged outside the table 70. A central portion of the main shaft 34 is hollow, and a hollow suction head rotating shaft 72 and a suction head rotating shaft 55 doubly pass through the hollow, and the main shaft 34 and the hollow suction head rotating shaft 72, Since a gap is provided between the hollow suction head rotating shaft 72 and the suction head rotating shaft 55, the above three shafts operate independently. The outside of the lower end of the hollow suction head rotating shaft 72 receives a radial direction by a bearing 71, and a gear 66 is fixed to the lower end. Also, the suction head rotating shaft 5
The lower end of 5 is rotatably supported by a bush 64, and a gear 67 is fixed to the lowermost end by a nut 65. A gear 56 is fixed to the upper end of the suction head rotation shaft 55, and is connected to a gear 59 fixed to the shaft of the pulse motor 60 by a timing belt 58. on the other hand,
The upper end of the hollow suction head rotating shaft 72 has a similar gear 57.
Are fixed, and are linked with the timing belt 61 and linked with the pulse motor 63. The output unit 30 of the indexing device 12 has a hollow portion penetrating from the upper end to the lower end, and the hollow portion of the string is connected to the hollow suction head rotating shaft 7 described above.
2 and the suction head rotating shaft 55 pass through.

Next, the nozzle holder 43 is attached to the guide 44.
By this, vertical movement and rotation are held freely. Further, the nozzle holder 43 is engaged with the bush 52 so as to be vertically slidable, and the rotation direction is restricted by the key 51. The bush 52 is rotatably held via the table 70 and the bearing 50. A gear 53a is fixed to the outside of the lower portion of the bush 52. Further, a compression spring 47 is incorporated in the flange portion of the nozzle holder 43, so that the nozzle holder 43 is always given a force to lift it upward. Further, a compression spring 49 is incorporated in the hollow portion 48 of the nozzle holder 43, and the upper end portion of the suction nozzle 54a is always pushed downward. The suction nozzle 54a slides up and down in the nozzle holder 43. The guide 44 is fixed to the table 70. Since the gear 53a is engaged with the gear 66, the rotation of the pulse motor 63 is transmitted to the suction nozzle 54a via the bush 52 and the nozzle holder 43, and the suction nozzle 54a rotates at an arbitrary rotation angle by the rotation of the pulse motor 63. Is obtained.

Next, the structure of the vacuum circuit for sucking the components will be described. Grooves 36a to 36d are formed in the outer periphery of the main shaft 34, and a vertical hole 38a connected to the groove 36a is formed below the main shaft 34 (see FIG. 7), and the position past the lower end of the seal ring 31 is reached. To the outer circumference of the main shaft 34 again. The seal ring 31 is fixed to the frame of the index device 12 with bolts 32, and the inner diameter thereof is in contact with the main shaft 34 in a freely rotatable manner. Therefore, there is a slight gap between the outer diameter of the main shaft 34 and the inner diameter of the seal ring 31, and an O-ring 37 is mounted on the main shaft 34 side to prevent vacuum air leakage.

On the other hand, a groove 45 is cut in the upper outer peripheral portion of the nozzle holder 43, a lateral hole 46 is passed through a part of the groove 45 into a hollow portion 48, and a pipe 40a is provided at a position corresponding to the groove 45 in the guide 44. One end of is connected. Pipe 40a
The other end of is connected to the vertical hole 38a of the main shaft 34. By connecting the nipple 33a to a vacuum pump (not shown) or the like, the groove 36a, the vertical hole 38a, the pipe 4
0a, side hole 46, groove 45, hollow portion 48, suction nozzle 54
A vacuum circuit is formed through a, and the component 1 can be sucked onto the tip of the suction nozzle 54a.

A suction nozzle 5 for sucking and mounting the component 1
The vertical movements of 4a to 54d are performed by pressing levers 22a to 22b.
Is performed and the cap follower 41a is pushed down by the cam follower 41a, the suction nozzle 54a is lowered together with the nozzle holder 43. Raise the pressure lever 22
a swings upward, and the suction spring 54 is moved by the compression spring 47.
a is lifted upward together with the nozzle holder 43.

The operation of the pressure lever 22a is performed by the cams 17a and 17b, as shown in FIGS. The pressure lever 22a is fixed to the shaft 21a, and the shaft 21a is rotatably instructed by the bracket 20a. Axis 21
The other end of a is fixed to the lever 19a, and the lever 19a and the lever 25a are rotatably connected by a rod 18a. The cam follower 26a fixed to the other end of the lever 25a is in contact with the cam 17a and is always in contact with the cam 17a by the tension spring 28a. This allows the cam 17a
Of the suction nozzle 54a is transmitted to the pressure lever 22a.
Up-down of 54d is performed to perform suction and mounting of the component 1 (at the time of mounting, the vacuum source is turned off and released to the atmosphere). Further, four suction mechanisms including the suction heads 54 are arranged on the table at 90 ° pitch. The gear 66 is engaged with the gears 53a and 53b which oppose each other. Further, the gear 67 is a gear 53c, 53d whose position is changed by 90 °.
Is engaged with.

Further, as shown in FIG. 6, the position where the component 1 is sucked and the position where the component 1 is mounted are 180 degrees with the main shaft 34 as the axis of symmetry.
° It is located at the opposite position. Therefore, the suction nozzle 5
After the component 1 is sucked by 4b and the pulse motor 63 rotates a required amount during mounting on the substrate 8 to change the mounting posture of the component 1, the other suction nozzle 54a also rotates by the same amount. However, since the suction nozzle 54a does not already have the component 1, it is irrelevant to the rotation angle (already mounted). That is, two gears 66 and 67 are installed on the lower surface of the table 70, gears 53a and 53b facing each other are meshed with the gear 66, gears 53c and 53d are meshed with the gear 67, and two pulse motors 63, By sequentially providing the rotation angles to the component 1 at 60, the mounting posture can be arbitrarily controlled without accumulating the rotation angles of the other components 1.

In the component mounting portion configured as described above, an intermittent torque is applied to the main shaft 34 shown in FIG. 6 via the timing belt 16, the timing pulley 15 and the input shaft 13 shown in FIG. Rotates intermittently. The suction nozzle 5 is rotated by the rotation of the table 70.
4a-54d orbit.

On the other hand, the pulse motors 63, 60 are inserted through the hollow suction head rotating shaft 72 and the suction head rotating shaft 55.
This causes the suction nozzles 54a to 54d to rotate. By the rotation of the suction nozzles 54a to 54d, the sucked components are rotated and the posture is adjusted.

Further, when picking up a component from the component supply section B and mounting the component on the board, the cams 17a, 17a are provided.
The suction nozzles 54a-
Press 54d to perform.

Further, the transfer of the component from the component supply section B to the substrate 8 is carried out by the revolution of the suction nozzles 54a to 54d.

In this way, the suction nozzles 54a to 54d
The component supplied to the component supply unit B is sucked by a combination of the revolving, rotating, and vertical movements, and the posture of the component is adjusted and the component is mounted on the board.

(Parts Supply Section B) Next, the parts supply section B will be described. As shown in FIG. 2, the present invention relates to a mechanism for feeding the component 1 stored in the tape 2 together with the tape 2 to just below the suction head 54, and the configuration thereof is shown in FIGS. 9 to 15.

In FIG. 9, the tape 2 is the tape reel 3
The whole reel is set on the reel support 82. The reel support 82 is fixed to the base 80 via a bar 81. The tape 2 is pulled out from the tape reel 3, and the parts supply table B
It is placed at a predetermined position on the part.

As shown in FIG. 10, the component supply table B'has a structure capable of supplying a plurality of (eight in this example) tapes, and slidably slides on the two guide bars 103. The guide bar 103 is fixed to the brackets 113 and 114. A rack 88 is fixed to the lower part of the parts supply table B ′ with bolts 132 (see FIG. 12), the rack 88 engages with the pinion 87, and the pinion 87 is connected to the motor 85 via the coupling 86. . The bracket 155 is fixed to the base 80 and rotatably supports the pinion 87. Motor 8
5 is fixed to the bracket 84. Therefore, by rotating the motor 85, the component supply table B ′ can be moved to an arbitrary position by using the two guide bars 103 as guides via the pinion 87 and the rack 88, and then the suction / mounting is performed. The component 1 to be moved is moved directly below the suction head 54.

Next, the feeding mechanism for the tape 2 will be described. The tape 2 has a table 131 as shown in FIG.
The component 1 accommodated in the tape 2 through the predetermined groove 121a is placed directly below the suction nozzle 54b. The rollers 124a to 124c are rotatably supported by a lever 125, and the lever 125 is rotatably supported by a bracket 152 via a pin 153. The tension spring 154 has one end on the lever 125 and the other end on the bolt 1
The roller 12 is fixed to the roller 56 through the lever 125 at all times.
4a to 124c hold the tape 2 and prevent the tape 2 from rising from the groove 121a. The tape 2 is shown in FIG.
As shown in FIG. 4, the feed locking member 135 having the feed hole 2'and pin-shaped projections 140 and 134 engaging with the feed hole 2'and the feed drive member 150 having the same shape are formed.

In this embodiment, both members 150 and 13 are
In FIG. 5, two pins 140 and 134 are fixed according to the pitch of the feed holes 2 ′ of the tape 2. When implementing the present invention, the number of pins 140 and 134 can be set arbitrarily. Further, the feed locking member 135 and the feed driving member 1
50 does not necessarily have to have the same shape. In this embodiment, in order to guide these members in the vertical direction,
The main body portion is formed into a cylindrical shape, and cylindrical guides 133 and 149 that are externally fitted to the main body portion are provided.

On the other hand, the arm 126 is fixed to the table 131, and the guide 13 is fitted on the feed locking member 135.
3 is fixed to this arm 126. As a result, the feed locking member 135 is guided so as to be reciprocally slidable in the vertical direction with respect to the tape 2. A slider 1 is slidably supported on the arm 126 in the tape feeding direction (XX 'direction), and the guide 1 is fitted on the feeding driving member 150.
49 is fixed to this slider 147. As a result, the feed driving member 150 is slidably guided in the vertical direction with respect to the tape 2, and in the tape feeding direction (XX ′ direction),
It can slide with slider 147.

A bracket portion is formed on the slider 147 to fix the pin 143, and the lever 145 is rotatably supported with the pin 143 as a fulcrum. In this embodiment, the lever 145 is formed in a T-shape, the center of which is supported by the pin 142, and the long holes 1 are formed at both ends of the long side.
41 and 146 are provided, and these long holes are connected to the feed locking member 135 and the feed driving member 150 by pin-long holes. Accordingly, when a force in the X direction and a force in the X ′ direction are alternately applied to the tip portion of the vertical side of the T-shaped lever 145, the lever 145 reciprocally rotates around the pin 143 and moves together with the slider 147. It slides back and forth in the XX 'direction.

The rotation of the lever 145 causes the feed locking member 135 and the feed driving member 150 to alternately slide up and down, and the pins 134 and 140 fixed to the upper ends thereof are inserted into and removed from the feed holes of the tape 2. To be done. Further, the lever 145 is moved back and forth in parallel with the slider 147 in the XX 'direction. 144 and 144 'are stopper bolts for restricting the rotation angle of the lever 145. By adjusting the rotation angle of the lever 145 with this stopper bolt, the depth at which the pins 134 and 140 engage with the feed holes of the tape 2 can be adjusted.

In order to regulate the sliding stroke of the slider 147 in the XX 'direction, a notch groove 148 is formed in the slider 147.
The stroke adjusting means 138 having a structure in which the ball 136 is pressed against the notch groove 148 by the spring 137 is fixed to the arm 126. The stroke adjusting means 138 including the ball, the spring, and the notch groove elastically locks the position of the slider 147 and allows the slider 147 to slide when receiving a force stronger than the locking force. In order to reciprocate the tip of the vertical side of the lever 145 in the XX 'direction, a dog 90 and a cam follower 127 are provided, a rod 129 for supporting the cam follower 127 is configured, and one end thereof is rotated by the pin 142 to the lever 145. It is freely pivoted. Reference numeral 128 is a bush for slidably supporting the rod 129, and 130 is a spring for urging the rod 129 rightward in the drawing to bring the cam follower 127 into contact with the dog 90.

The dog 90 is a bracket 89 as shown in FIG.
Is slidably supported by. The lever 100 swings around a pin 92 as a fulcrum, one end slidably engages with a locking member 91 having a T groove fixed to the lower surface of the dog 90, and the other end is pulled downward by a tension spring 101. ing.
Further, the rod 93 is rotatably engaged with the lever 100. As a result, the movement of the rod 93 in the YY 'direction is
It is transmitted to the dog 90 through the lever 100 and the locking member 91, and the rod 129 is moved through the cam follower 127.
Slide it in the ´ direction.

Next, the operation of the feeding mechanism configured as described above will be described with reference to FIGS. 13 to 15. FIG.
3 shows a state in which the rod 129 has moved to the right. In this state, the lever 145 rotates counterclockwise in the drawing, and
It is pulled rightward together with the slider 147. Therefore, the feed locking member 135 moves up to engage the pin 134 with the feed hole of the tape 2. Since the feed locking member 135 is fitted in the guide 133 fixed to the arm 126, it is locked so that the tape 2 does not move in the XX 'direction and does not move in the XX' direction.

Next, when the rod 129 moves to the left, the lever 145 rotates clockwise as shown in FIG. 14 to lower the feed locking member 135 and move the feed drive member 150. To raise. As a result, the pin 134 of the feed locking member 135 is pulled out from the feed hole of the tape 2, and the pin 140 of the feed drive member 150 engages with the feed hole of the tape 2. After the stopper bolt 144 abuts the slider 147 as shown in the figure and the rotation of the lever 145 is locked, when the rod 129 further moves to the left in the drawing, the slider 147 slides to the left together with the lever 145. At this time, the feed drive member 150 fitted to the guide 149 fixed to the slider 147 is moved to the left in the drawing to feed the tape 2 to the left in the drawing.

When the rod 129 moves to the right again, the state shown in FIG.
In contrast to the above, as shown in FIG. 5, the feed locking member 135 moves up to lock the movement of the tape 2 in the XX ′ direction, and the feed driving member 150 moves down and then is pulled to the right side.
As shown in FIG.
When engaged with 8, the slider 147 is in the X direction (to the right)
Sliding is stopped. As will be easily understood with reference to FIG. 12, when the sliding of the slider 147 is locked while the rod 129 is moving to the right, a gap is created between the dog 90 and the cam follower 127, and the rod 129 is Stop.

As in the present embodiment described above, means for controlling the sliding stroke of the slider 147 (the above-mentioned balls, springs,
By providing a notch groove, the feeding pitch of the tape 2 can be adjusted without changing the lift of the dog 90.

As is apparent from the operation described with reference to FIGS. 13 to 15, the feed locking member 1 of this embodiment is provided.
The reference numeral 35 slides only in the direction perpendicular to the tape 2 so that the pin 134 can be inserted straight in and out of the feed hole of the tape 2. Similarly, the feed driving member 150 also has the pin 14
Insert 0 straight into the feed hole of tape 2 and pull it out. The feed drive member 150 also moves in the XX ′ direction, but the slider 147 moves to the ball 136 and the cutout groove until the feed lock member 135 has finished descending (that is, until the feed drive member 150 has finished rising). Since it is locked by 148, the pin 140 does not obliquely enter the feed hole. The reason is that the rotation of the lever 145 in the clockwise direction must be stopped by the stopper bolt 144 before the slider 147 overcomes the locking force of the ball 136 and the notch groove 148 and slides to the left. This is because you will not receive it. After the pin 140 of the feed driving member 150 is securely inserted into the feed hole of the tape 2 as described above, the feed driving member 150 feeds the pin 140 for a predetermined stroke, and at other times, the feed locking member 135 feeds the tape. Since 2 is locked, the feeding pitch of the tape 2 can be accurately kept constant.

The feed locking member 135 and the feed driving member 150 move vertically in the vertical direction, and the vertical strokes are adjusted by the stopper bolts 144 and 144 'according to the type of the tape 2, so that various tapes 2 can be used. Correspond.

Although the tape 2 is fed by the operation described above, the component 1 stored in the tape 2 as shown in FIG.
It is necessary to remove the upper tape 4 in order to take out. Next, the peeling-off and winding mechanism of the upper tape 4 will be described.

In FIG. 12, the upper tape 4 is peeled from the tape 2 by being pulled in a direction opposite to the feeding direction of the tape 2 from the point of passing the tape guide 156a. The peeled upper tape 4 is a take-up reel 111.
It is wound up by. As shown in FIG. 9, the take-up reel 111 is pressed by the pressing roller 107 so as to come into contact with two points of the supporting roller 109 and the driving roller 110. The pressing roller 107 is rotatably supported by the lever 106, and the lever 106 is supported by the bracket 104 by the pin 105.

FIG. 11 shows the sectional structure of the driving roller 110. The main body 115 of the drive roller is rotatably supported by the bracket 117 by a bearing 118, and the rotation is driven by the motor 112 (see FIG. 10).
6, transmitted to the roller body 115 via the bush 119. The bracket 117 is fixed to the table 131. Therefore, as described above, when the table 131 slides in the left-right direction by the motor 85, the bracket 117 naturally slides in the left-right direction. Therefore, it is assumed that the relationship between the spline shaft 116 and the bush 119 transmits only the rotation, and the movement in the axial direction can be freely performed. As many take-up reels 111 as the number of set tapes 2 are in contact with one drive roller 110.
The drive roller 110 and the take-up reel 111 are always slipping, and only when the tape 2 is fed, the operation of winding the extra length is performed. Further, the fixed cutter 97 shown in FIG.
Are fixed to the base 7 via brackets 95 and columns 94, and the movable cutter 96 keeps a constant gap with the fixed cutter 97, and sequentially pitches the tape 2 fed by the vertical movement of the rod 98. Cut to size and drop.

(Regarding XY Table C) Next, the XY table C which positions the substrate 8 and moves in the XY directions so that the component 1 is mounted at a predetermined position will be described. 16 is a plan view of the XY table, FIG. 17 is a FF sectional view of FIG. 16, and FIG. 18 is a GG sectional view of FIG.

In FIG. 16, the table 163 is guided by guides 169 and 170 and held by the frame 162. A rack 164 is fixed to the frame 162, and the shaft 1 is connected from the motor 166 via a coupling 168.
The pinion 165 fixed to 85 is the rack 1
It meshes with 64. Therefore, when the motor 166 is rotated, the table 163 is moved to YY ′ via the rack 164.
Move in the direction.

Further, the both sides of the table 163 are shown in FIG.
, The stays 186, 186 'are fixed, and the guide bars 17 are provided at the lower ends of the stays 186, 186'.
1 is held. The guide bar 171 is a roller 17
5,175 'guides from both sides in the X direction. The rollers 175 and 175 'are held by a slide block 179 via a bracket 178, and a rack 181 is fixed to one end of the slide block 179.
A block 180 that slidably holds a slide block 179 is fixed to a sub base 177. The motor 182 is held by the motor bracket 147 held by the sub base 177, and the pinion 18 is attached via the shaft 148.
7 meshes with the rack 181. As a result, the table 163 slides in the X direction by the rotation of the motor 182. On the sub-base 177, as shown in FIG. 17, rollers 174, 174 ', 189 similar to the roller 175,
189 'is rotatably held on the block 173. However, the roller held by the block 173 cannot move in the XY directions. In addition, sub-base 177
There are side blocks 160a and 160b at both ends of
It holds slide shafts 161a and 161b in the Y direction. As shown in FIG. 17, the substrate 8 (see FIG. 16) is supplied onto the jig 251 on the XY table at the substrate supply position (position indicated by arrow Q) (supply means will be described later).

In FIG. 16, the substrate 8 is positioned by feeding the substrate while the substrate pressing rollers 257 and 258 are sufficiently opened, and then pressing the substrate pressing rollers 257 and 258.
Is performed by pressing the substrate 8 against the reference rollers 252a to 252d by the force of the spring 259.

After the substrate 8 is positioned on the XY table, X
The Y table moves to the work position (the position of arrow P).
However, if the XY table is configured as described above,
At the working position P, the motor 182 is rotated, and the table 163 integrated with the guide bar 171 is moved in the X direction via the rollers 175 and 175 ', and arbitrary positioning is possible. Further, when moving to the substrate supply position Q by largely moving in the Y direction, first, the position in the X direction is positioned at a position where the guide bar 171 is guided by the rollers 174 and 174 ', and then in the Y direction. The guide bar 171 is disengaged from the rollers 175 and 175 ', successively passes through the fixed rollers, is guided by the fixed rollers 260 and 260', and reaches the substrate supply position Q. If the Y direction is positioned here, the X roller has already been positioned by the fixed roller in the X direction, so that the positioning necessary for substrate supply is completed.

With the structure as described above, the respective motors 182 and 166 for XY bidirectional movement can be fixed on the sub base 177, and even if a long stroke from the work position P to the substrate supply position Q is moved. The guide bar 171 may be relatively short. This requires only a small amount of inertia when the table is moved, which is very advantageous for a small size and high speed operation.

Next, the substrate supply section D will be described.
FIG. 19 is a plan view of the substrate supply section D, and FIG. 20 is H- of FIG.
21. FIG. 21 and FIG. 22 are views showing details of the substrate chuck portions D ′ and D ″ of FIG.

In FIG. 19, the substrate is held on the XY table of the C section. In addition, the board supply side conveyor 19
1 is a substrate guide 192, 192 'and a stopper 19
3 is attached. 201 is a board discharge side conveyor, which is driven in the direction of the arrow in the figure. The substrate chuck portions D ′ and D ″ are connected by a connecting plate 205 as shown in FIG.

In FIG. 20, the block 202 and the block 210 are connected by a connecting plate 205, and are further slidably supported by the guide shaft 200. The guide shaft 200 is supported by two brackets 195a and 195b fixed to the sub base 194. Also,
Blocks 202 and 210 have axes 203 and 212
Are slidably engaged. A plate 190a is provided on the upper end of the shaft 203, and a plate 190b is provided on the upper end of the shaft 212.
Are fixed to each other, and the plates 190a and 190b are connected by a connecting plate 208. A cylinder 207 is attached to the center of the connecting plate 205,
The rod of the cylinder 207 is fixedly connected to the connecting plate 208. Therefore, the cylinder 207 allows the shafts 203, 21
The plates 190a and 190b can move up and down with the guide 2 as a guide.

In addition, as shown in FIG.
The cylinder 198 attached to the bracket 197 fixed to 94 has its rod tip connected to the block 210 via the L metal fitting 199. Therefore, the plates 190a and 190b freely slide in the XX 'direction by the cylinder 198 using the shaft 200 as a guide. 196a and 196b are stopper bolts for stroke adjustment. The shock absorbers 213 and 214 shown in FIG. 20 relax the shock at the forward and backward ends of the cylinder 198.

21 and 22, the gears 207 and 206 mesh with each other, and further rotatably engage with the shafts 206 'and 207' fixed to the plate 190a. In addition, the gear 207 has a lever 20.
3, a gear 204 is connected to a lever 204, and the other end of the lever 203 is rotatably connected to a rod of the cylinder 202. The other end of the cylinder 202 is swingably supported by the block 217. Also, the claw portion 2
14, 215 are slidably supported by a shaft 213, and the shaft 21
3 is a bracket 212 fixed to the plate 190a,
It is supported by 211. Pins 208 and 205 are fixed to the claws 214 and 215, respectively, and project upward through the elongated holes of the plate 190a to abut the levers 203 and 204.

That is, when the rod of the cylinder 202 is retracted, the lever 203 hits the pin 208 and the claw portion 2
14 moves in the opening direction, and at the same time, the lever 203 and the gear 2
The lever 204 contacts the pin 205 via 07 and 206, and the claw portion 215 also moves in the opening direction. The cylinder 2
When the 02 rod sticks out, the claw 2
14, 215 move in the closing direction to chuck the substrate. A spring 216 is attached to the end surfaces of the claws 214 and 215, and a force for closing the claws (a force for chucking the substrate) is applied.

The substrate chuck mechanism having the above-mentioned structure is used as D '.
Section and D "section.

Next, the substrate supply operation will be described. FIG.
Shows the state immediately before the substrate is supplied and discharged. That is, the substrate flowing on the supply conveyor 191 is stopped by the stopper 193. On the other hand, the board on the XY table (on which the component 1 is completely mounted) is in a state in which the clamp lever 262 hits the stopper 261 to release the clamp. The claws 214 and 215 are kept open by the cylinder 202. In the above state, the chucks D ′ and D ″ are respectively lowered by the cylinder 207.

At the lower end, the clamp cylinder 202 is closed, and the tips of the claws 214 and 215 simultaneously chuck the substrate on the conveyor 191 and the substrate on the XY table. Next, the cylinder 207 works, and the chuck portion D ′,
D "is raised. After that, the cylinder 198 moves forward,
The chuck part D ′ moves to the XY table, and the chuck part D ″ moves to the discharge conveyor 201. Here, the cylinder 207 operates again, and after the chuck parts D ′ and D ″ are lowered, the claw part is moved by the cylinder 202. The substrates 214 and 215 are opened and each substrate is set on the XY table, and the other substrate is discharged onto the discharge conveyor 201. By simultaneously supplying and discharging the substrate 8 in this manner,
We are trying to reduce the time required to replace the board.

(Regarding Visual Recognition Unit E) Next, the visual recognition unit E will be described. When the suction head 54 descends in the component supply unit B described above, and the suction head 54 rises after suctioning the component 1 stored in the tape 2, the component 1 is visually recognized by the index recognition unit E. Be delivered to. FIG. 25 shows a state in which the component 1 is stored in the tape 2. As is clear from this figure, since the component 1 is housed in the recess 6 of the tape 2 with a gap, it is in a state where it can move freely inside the recess 6. Therefore,
The posture of the component 1 sucked by the suction head 54 varies. For this reason, if the substrate 8 is mounted in this state, misalignment occurs and connection failure or the like occurs.

Therefore, the posture of the component 1 is detected by the configuration shown in FIG. 23, and the component 1 is mounted after correction. Part 1
A reflection plate 231 having a mirror 232 is attached below a suction nozzle 54d that has absorbed the light by a holder 233 to form a lens barrel 2 of the optical system.
34, and the camera 2 is attached to the other end of the lens barrel 234.
39 is connected, and the entire detection system is fixed to the base 7 by a bracket 238. With this detection system, component 1
Image is reflected by the mirror 232 and reaches the camera 239 via the optical systems 236 and 237. By processing this image by an image processing device (not shown) using a microcomputer, the position and shape of the component 1 are determined. recognize. Based on this data, while indexing to the next mounting position, an angle correction amount is applied to the pulse motors 63 and 60 shown in FIG. If the shift amounts in the XY directions are sent to the motors 166 and 182 of the XY table C that is positioning 8 to position the correction amount, the component 1 is mounted on the substrate 8 at a predetermined position.

As shown in FIG. 24, the back plate 230 is installed on the lower surface of the nozzle holder 43, and the lamp 235 is installed.
The components a and 235b are respectively installed diagonally below the back plate 230, and the lower surface of the back plate 230 is illuminated without directly illuminating the component 1 to capture the component 1 as a silhouette image. As a result, a clear image can be obtained without causing halation or the like due to the solder surface or the metallic glossy surface of the component 1.

Next, the image input to the camera 239 is converted into a voltage signal and sent to the image processing section. In the image processing section, as shown in FIG. 26, the component 1 is displayed in the screen ABCD.
When (the four corners are a, b, c, d) are captured, the screen is scanned in the direction A → D sequentially from the upper side, and the background part is white and the part 1 is black. When it is displayed with, the point a at which black begins, the point c at which black disappears, and the point at which black begins to become discontinuous, that is, points b and d at which the monotonous increase or monotonous change changes are obtained, and these four points are determined as parts. The positions of the component 1 are calculated as the four vertices of 1. The correction amount is obtained based on this result.

Now, it is assumed that the point O is the original position of the image of the component 1 and the sides of the image of the component 1 should be parallel to the X and Y axes. The coordinates of a, b, c, d at this point are a (x ₁ ,
y ₁ ), b (x ₂ , y ₂ ), c (x ₃ , y ₃ ), d (x ₄ , y
₄ ) then the slope Δθ is

[0065]

[Equation 1]

Or

[0067]

[Equation 2]

It is calculated by

Next, assuming that the rotation angle is corrected by rotating by Δθ around the rotation center (= image center of the suction head 54) O, the coordinate P (x ₀ ,
y ₀ ) moves to P (x ₀ ′, y ₀ ′). x ₀ ′, y ₀ ′
Is

[0070]

(Equation 3)

[0071]

[Equation 4]

[0072]

(Equation 5)

It becomes Where x ₀ and y ₀ are

[0074]

(Equation 6)

[0075]

(Equation 7)

It is calculated by

As a result, Δθ, x ₀ ′, y ₀ ′ are sent as correction values to the control microcomputer as data, and Δθ is sent to the pulse motors 63, 60 shown in FIG.
When x ₀ ′ and y ₀ ′ are commanded from the microcomputer as correction values to the motors 182 and 166 shown in FIG. 18 and each is operated by the correction amount, the component 1 is mounted at the correct position.

In the visual recognizing section E thus constructed, the posture of the component 1 sucked by the suction head 54 is optically recognized, and the recognized data is converted into an electric signal. By rotating 54 to adjust the posture of the component 1 and aligning the XY table, the component 1 can be accurately mounted on the substrate 8 without contact.

[0079]

As described above, according to the electronic component mounting apparatus of the present invention, the component supplied from the component supply unit is sucked by the suction head, and the sucked component is optically detected by the visual recognition unit. It recognizes and rotates the suction head based on the recognized data to adjust the posture of the component and determine the position of the XY table. Therefore, the component is accurately touched without touching it. It can be mounted on a substrate without any burrs or defective positioning due to defective shape, and the component can be accurately mounted on the substrate without dropping or damaging the component.

Further, since it is non-contact, there is no need for regular inspection, adjustment and replacement of the claw portion as in the conventional case, so that no time is spent on them and the productivity is greatly improved. did it.

Further, in the component supplying section B, a feed locking member and a feed driving member which vertically move vertically are provided, and the tape feeding stroke and the vertical movement stroke can be adjusted through the lever. Since it can be used with various tapes (parts), it is not necessary to replace the parts supply part, and the productivity can be greatly improved.

Further, in the mounting head portion A, a suction head rotating shaft is provided concentrically with the main shaft for rotating the table, and 2
The postures of the components are adjusted by rotating the pair of suction heads, and the suction heads are revolved by the table to transfer the components. Therefore, the postures of the components are adjusted and transferred. Was carried out promptly and was able to greatly improve productivity.

Further, the XY table driving motor is attached to the fixing plate to reduce the weight of the XY table, and one of the X and Y directions of the XY table is fixed by the guide to facilitate the receiving of the substrate. , XY table movement speed can be increased,
The positioning of the substrates was facilitated and the productivity was greatly improved.

Further, in the visual recognition section E, since the component is captured as a silhouette image, halation or the like due to the solder surface or metallic glossy surface of the component does not occur, a clear image can be obtained, and it can be applied to various components. And moreover,
Since the correct posture of the component can be obtained, the positioning of the component becomes more accurate.

[Brief description of drawings]

FIG. 1 is an external view of an electronic component mounting apparatus according to the present invention.

FIG. 2 is an external view of an electronic component.

FIG. 3 is a sectional view taken along line LL in FIG.

FIG. 4 is a front view of a mounting head unit.

5 is a view taken along the line AA of FIG.

FIG. 6 is a vertical sectional view of a mounting head.

7 is a cross-sectional view taken along line BB of FIG.

8 is a sectional view taken along line CC of FIG.

FIG. 9 is a side view of a component supply unit.

FIG. 10 is a view taken along the line DD of FIG.

11 is a sectional view taken along line EE of FIG.

12 is a cross-sectional view of a B'section in FIG.

13 is an explanatory diagram of the operation process of FIG.

14 is an explanatory diagram of an operation process of FIG.

15 is an explanatory diagram of the operation process of FIG.

FIG. 16 is a plan view of an XY table.

17 is a cross-sectional view taken along the line FF of FIG.

18 is a sectional view taken along line GG of FIG.

FIG. 19 is a plan view of a substrate supply section.

20 is a cross-sectional view taken along line HH of FIG.

21 is a plan view showing a partially enlarged view of D ′ and D ″ parts shown in FIG. 19. FIG.

22 is a vertical cross-sectional view of FIG.

FIG. 23 is a side view showing the entire visual recognition unit.

FIG. 24 is a side view showing an enlarged illumination part.

FIG. 25 is a plan view showing a state of parts.

FIG. 26 is an explanatory diagram shown for explaining component detection.

[Explanation of symbols]

1 ... Parts, 2 ... Tape, 3 ... Tape reel, 8 ... Board,
12 ... Index device, 30 ... Output shaft, 34 ... Hollow main shaft, 53, 66, 67 ... Gear (transmission mechanism), 54 ...
Suction heads 54a to 54d ... Suction nozzles, 55 ... Suction head rotating shaft, 72 ... Hollow suction head rotating shaft, 23
0 ... Back plate, 231, ... Reflector plate, 232 ... Mirror, 2
39 ... Camera, A ... Mounting head section, B ... Component supply section, C
... XY table, D ... Substrate supply section, E ... Visual recognition section.

Claims (1)

[Claims] 1. An electronic component mounting apparatus for optically recognizing a position and a direction of an electronic component, correcting the position or the direction, and then mounting the electronic component on a substrate, and a component supply section for supplying the electronic component. A mounting head portion provided with a plurality of suction heads for sucking an electronic component from the component supply portion with a tip of a nozzle having a cross-sectional area smaller than that of the electronic component and being rotatable at an arbitrary rotation angle; and the mounting head portion. An illuminated portion provided on each of the plurality of suction heads, the illuminated portion being disposed on the mounting head portion side of the electronic component and receiving illumination light; and a rotating means for rotating the mounting head portion. And a silhouette image obtained by the light from the illuminated portion is imaged with respect to the electronic component adsorbed to the tip of the nozzle of the mounting head rotated by the rotating means, and the position and direction of the electronic component are determined. Visual perception Based on the recognition means and the position and direction of the electronic component recognized by the visual recognition means, the relative position between the substrate and the electronic component is corrected, and the electronic component attracted to the tip of the nozzle of the mounting head is attached to the substrate. And a means for controlling the components to be sequentially mounted on the electronic component mounting apparatus.