JPH08279700A - Electronic component mounting equipment - Google Patents

Abstract

PURPOSE: To accurately mount a component on a board without touching the component at all, by optically recognizing the component sucked by a suction head, adjusting the attitude of the component by rotating the suction head on the basis of the recognized data, and determining the position of an XY table. CONSTITUTION: An electronic component which is mounted by a head part A, subjected to taping, wound up on a reel 3 in this state, and accommodated is carried as far as just under a suction head 54 and sucked by a tape sending pin of a component supply part B, rotated intermittenly by an index unit 12, and sent to a visual recognition part E. The position is detected by a camera, and fed back to a control equipment, which gives a command of the position where the electronic component is mounted on a board 8 to a monitor of an XY table C, and moves it by setting transfer data to which the position deviation data from the visual recognition part E are added, as a command value. One pitch is again sent from an index unit 12, and the suction head 54 repreats the sequence.

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 electronic component adsorbed to the mounting head is positioned from four sides by a mechanical mechanism using a plurality of claws, and the electronic component positioned at the next station is mounted on the substrate.

[0004]

When the electronic parts are positioned by the mechanical mechanism as described above, the burrs of the electronic parts,
If the taper of the molded portion has a defective shape, problems such as poor positioning of electronic components and dropping or damage of electronic components may occur.

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. Further, since electronic components having different shapes cannot be handled with the same claw, it is necessary to replace the claw each time, and a lot of time is wasted.

Further, the mounting head has a rotating function, and since there is only one rotary drive source for a large number of mounting heads, when changing the mounting postures of the components, all the mounting heads are attracted. The electronic components will be changed according to the attitude of the electronic component that is about to be mounted on the board. Therefore, when the electronic component is positioned, the electronic component is oriented in various directions, which makes it extremely difficult to position the electronic component, which reduces productivity.

Further, since the feeding mechanism of the taping component is generally dedicated to 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.

In view of the above-mentioned conventional technique, an object of the present invention is to provide an electronic component mounting apparatus which enables accurate positioning without dropping and damage of electronic components and improves productivity. is there.

[0009]

In order to achieve the above object, in the present invention, a feed drive member having a projection fitted in a tape feed hole and for feeding the tape pitch, and a tape feed hole are provided. Having a projection to be fitted and having a feed locking member for preventing the movement of the tape, a component supply section for carrying in a taped electronic component below a suction head, and sucking the supplied electronic component, The electronic component is rotated in the sucked state to adjust the attitude of the electronic component, and the mounting head that transfers and mounts the electronic component from the component supply unit onto the substrate and the XY of the substrate on which the electronic component is mounted. And an XY table for positioning the substrate in a predetermined position below the suction head.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. First, FIG. 1 is an external view of an electronic component mounting apparatus according to the present invention. In the figure, 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 attached to the table 70 so as to be vertically movable. The section B is a component supply unit that carries the taped electronic component below the suction head 54. The section C is an XY table for positioning the board on which the electronic component is 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. Part E is the suction head 5
It is a visual recognition unit for optically monitoring the posture of the electronic component adsorbed on 4.

The parts A to E are mounted on the housing 10. In addition, a control device (separate case), an image input processing unit, a drive system (case 10
Inside) and. In the board supply unit D, the board 8 on which electronic components are mounted is conveyed by the conveyor 191, and the chuck D ′ of the board supply unit D moves the conveyor 191 to the XY table C.
Of the substrate holder. This substrate 8 is an XY table C
Are carried to the lower part of the mounting head part A, and electronic parts are sequentially mounted by the mounting head part A. After the electronic components have been mounted, the XY table C is used to move the substrate 8 to the substrate supply unit D again.
Is transferred to the conveyor 201 by the chuck D and sent to the next step.

On the other hand, the electronic parts mounted by the mounting head section A are wound around the reel 3 and housed in a state where they are taped to the component supply section B, and these are adsorbed by the tape feed pins of the component supply section B. The sheet is conveyed to a position right below the head 54, and the suction head 54 descends and picks up the suction head 54. Next, the suction head 54 is the index unit 1.
It is intermittently rotated by 2 and sent to the visual recognition unit E. In the visual recognition unit E, the position of the electronic component (positional shift with respect to the suction head 54) is detected by the camera, and the data (ΔX, ΔY, Δθ) is fed back to the control device.

According to a program instructed in advance, the control device commands the motor of the XY table C to move the position where the electronic component of the board 8 is to be mounted to the mounting position. At this time, the movement data considering the positional deviation data (ΔX, ΔY, Δθ) of the electronic component from the visual recognition unit E is used as the command value. The XY table C moves based on this command.

The suction head 54 is again fed by one pitch by the index unit 12 and carries the electronic component directly above the substrate 8. At this point, the suction head 54 descends to mount the electronic component on the substrate 8. The above procedure is repeated to mount the electronic component on the substrate 8.

Hereinafter, each part will be described in more detail. (Regarding Mounting Head A) FIG. 4 is a front view of the mounting head 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, and FIG. -B sectional drawing, FIG. 8 is CC sectional drawing similarly.

In FIGS. 4 and 5, the index device 12 is fixed on the column 11. In the index device 12, when the input shaft 13 is continuously rotated via the timing pulley 15 and the timing belt 16, the output shaft 30 (see FIG. 6) is intermittently driven and rotated. In FIG. 6, a main shaft 34 is fixed to the output shaft 30 with bolts 35, and a table 70 is fixed to the lower end of the main shaft 34. Further, four mechanisms including a suction head 54 for sucking the electronic component 1 (see FIG. 2) are arranged on the outer peripheral portion of 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 portion, and the main shaft 34, the suction head rotating shaft 72, and A gap is provided between the suction head rotating shaft 72 and the suction head rotating shaft 55, and the above three shafts operate independently.

The outside of the lower end of the suction head rotating shaft 72 is supported by a bearing 71, and a gear 66 is fixed to the lower end. A lower end of the suction head rotating shaft 55 is rotatably supported by a bush 64, and a gear 67 is fixed to a lowermost end of the gear 67 by a nut 65. Also, the suction head rotating shaft 5
A gear 56 is fixed to the upper end of the gear 5, and a gear 59 fixed to the shaft of the pulse motor 60 and a timing belt 58.
Are connected by

On the other hand, a similar gear 57 is fixed to the upper end of the suction head rotating shaft 72, and is linked to the timing belt 61 and linked with the pulse motor 63. The output shaft 30 of the index device 12 has a hollow portion penetrating from the upper end to the lower end, and the hollow portion passes through the hollow portion.
And the suction head rotation shaft 55 passes through.

The nozzle holder 43 is held by a guide 44 so as to be vertically movable and rotatable. Further, the nozzle holder 43 is engaged with the bush 52 so as to be slidable up and down, and the rotation direction is regulated 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. In addition, the nozzle holder 4
A compression spring 47 is incorporated in the flange portion of No. 3, and the nozzle holder 43 is always biased upward.
In addition, a compression spring 49 is provided in the hollow portion 48 of the nozzle holder 43.
Is incorporated, and the upper end of the suction nozzle 54a is constantly pushed downward.

The suction nozzle 54a slides up and down in the nozzle holder 43. The guide 44 is fixed to the table 70. The gear 53a is the gear 6
6, the pulse motor 63 rotates through the bush 52 and the nozzle holder 43 and the suction nozzle 54.
and the suction nozzle 54a is rotated by the pulse motor 63 to obtain an arbitrary rotation angle.

Next, the structure of the vacuum circuit for sucking the components will be described. Grooves 36a to 36d are formed on 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). It has slipped out to the outer periphery of the main shaft 34 again. The seal ring 31 is fixed to the frame of the index device 12 by bolts 32, and the inner diameter is in contact with the main shaft 34 so as to be rotatable.
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 formed in the upper outer peripheral portion of the nozzle holder 43, and a hollow portion 48 is formed from a part of the groove 45.
The horizontal hole 46 is passed through the pipe 40, and the pipe 40 is
One end of a is connected. The other end of the pipe 40a is the main shaft 3
4 vertical holes 38a. By connecting the nipple 33a to a vacuum pump (not shown) or the like by this, the groove 36a, the vertical hole 38a, the pipe 40a, the horizontal hole 4
A vacuum circuit is configured through 6, the groove 45, the hollow portion 48, and the suction nozzle 54a, and the electronic component 1 can be sucked onto the tip of the suction nozzle 54a.

The vertical movement of the suction nozzles 54a to 54d when the electronic component 1 is sucked and mounted is performed by the pressure levers 22a to 22d.
2b swings, the cap 42 is pushed down by the cam follower 41a, and the suction nozzle 54a is lowered together with the nozzle holder 43. When rising, the pressure lever 22a is swung upward to move the compression spring 47a.
This pushes up the suction nozzle 54a 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 a shaft 21a, and the shaft 21a is rotatably supported by a bracket 20a. Axis 21
The other end of a is fixed to a 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 always connected to the cam 1 by the tension spring 28a.
It is in contact with 7a. As a result, the displacement of the cam 17a is transmitted to the pressure lever 22a, and the suction nozzles 54a to 54d are moved up and down to perform the suction and mounting operation of the electronic component (when mounting, release the vacuum source to the atmosphere and release it to the atmosphere).

Four suction mechanisms including suction heads 54 are arranged on the table at a pitch of 90 °. The gear 66 is engaged with the gears 53a and 53b which oppose each other. The gear 67 changes its position by 90 ° and is engaged with the gears 53c and 53d.

Further, as shown in FIG. 6, the position where the electronic component is sucked and the position where the electronic component is mounted are 18 with the main shaft 34 as the axis of symmetry.
It is arranged at a position facing 0 °. Therefore, when the pulse motor 63 rotates a required amount and the mounting posture of the electronic component is changed while the electronic component is suctioned by the suction nozzle 54b and then mounted on the substrate 8, the other suction nozzle 54a also rotates by the same amount. .

However, since the suction nozzle 54a already has no electronic component, it has nothing to do with the rotation angle (already mounted). That is, the two gears 6 are provided on the lower surface of the table 70.
6, 67 are installed, and gears 53a, 53b facing each other
Is engaged with the gear 66, and the gears 53c and 53d are connected to the gear 6
7 is engaged with the two pulse motors 63 and 60 to sequentially give rotation angles to the electronic components, so that the rotation angles of the other electronic components are not accumulated and the mounting posture of the required electronic components is arbitrarily controlled. You can

In the component mounting portion constructed as described above, an intermittent rotational force 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 electronic component is rotated and the posture is adjusted.

The cam 17 is used when the electronic component is picked up from the component supply section B and when the electronic component is mounted on the board.
Timing is measured by a and 17b, and the suction nozzles 54a to 54d are pushed down. In addition, the parts supply unit B
The electronic components are transferred from the suction nozzle 54a to the substrate 8 through the suction nozzle 54a.
It is performed by the above-mentioned revolution of 54d.

In this way, the suction nozzles 54a to 54d
The electronic components supplied to the component supply unit B are adsorbed by a combination of the revolving, rotating, and vertical movements, and the electronic components are adjusted in attitude and mounted on the substrate.

(Parts Supply Section B) Next, the parts supply section B will be described. FIG. 2 is an external view of a taping component. As shown in the figure, the electronic component 1 has a feed hole 2
The tape reel 3 is housed in the tape 2 formed with
Is wrapped around.

FIG. 9 is a side view of the component supply section, and FIG.
FIG. 11 is a view taken along the line DD of FIG. 9, and FIG.
-E cross-sectional view, FIG. 12 is a cross-sectional view of B ′ portion of FIG. 10, FIG.
3 to FIG. 15 are operation process diagrams of FIG.

In FIG. 9, the tape 2 is set on the reel support 82 together with the tape reel 3. Reel support 82
Is fixed to the base 80 via a bar 81. The tape 2 is pulled out from the tape reel 3 to a predetermined position on the part supply table B '.

As shown in FIG. 10, the parts supply table B '
Has a structure capable of supplying a plurality of (eight in this example) tapes, and is slidably supported on two guide bars 103 fixed to brackets 113 and 114. The rack 88 is fixed to the lower part of the component supply table B ′ with bolts 132 (see FIG. 12).

The bracket 155 is fixed to the base 80 and rotatably supports the pinion 87 that engages with the rack 88. The bracket 155 is fixed to the base 80 and supports the motor 85. The pinion 87 and the motor 85 are connected via a coupling 86. Therefore, the rotation of the motor 85 causes the pinion 87 and the rack 8 to move.
The component supply table B ′ can be moved to an arbitrary position through the two guide bars 103 as a guide via
As a result, the electronic component 1 to be next picked up and mounted is moved to just below the suction head 54.

Next, the tape 2 feeding mechanism will be described. As shown in FIG. 12, the tape 2 is attached to the table 13
The stored electronic component 1 is arranged so as to come directly below the suction nozzle 54b through the predetermined groove 121a. The rollers 124a to 124c have pins 153 on the bracket 152.
It is rotatably supported by a lever 125 which is rotatably supported via. One end of the tension spring 154 is the lever 1
25, the other end is fixed to a bolt 156, and the lever 1
The rollers 124a to 124c press the tape 2 through the rollers 25, and prevent the tape 2 from floating from the groove 121a.

Pin-shaped projection 1 engaging with the feed hole 2 '.
The feed locking member 135 to which 34 is fixed and the feed drive member 150 to which the pin-shaped projection 140 of the same shape is fixed are provided with two pins 140 and 134, respectively, for the feed hole 2 ′ of the tape 2.
It is fixed according to the pitch. The pins 140,
The number of 134 can be set arbitrarily. Also, the feed locking member 1
35 and the feed drive member 150 do not necessarily have to have the same shape. 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 a pin 143, and a lever 145 having a T-shape is rotatably supported with the pin 143 as a fulcrum. The long holes 141, 1 are formed at both ends of the long side of the lever 145.
46 are provided, and these long holes and the feed locking member 13 are provided.
5. The feed driving members 150 are connected to the pin-long holes. As a result, when a force in the X direction and a force in the X ′ direction are alternately applied to the tip of the vertical side of the lever 145, the lever 1
The slider 45 is reciprocally rotated around the pin 143.
It reciprocally slides in the XX ′ direction together with 7.

The rotation of the lever 145 causes the feed locking member 135 and the feed driving member 150 to slide up and down alternately, 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, the 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 elastically locks the position of the slider 147 and allows the slider 147 to slide when receiving a force stronger than the locking force.

The tip of the vertical side of the lever 145 is XX
The dog 90 and the cam follower 1 are driven to reciprocate in the 'direction.
And a rod 1 for supporting the cam follower 127.
29, one end of which is rotatably attached to the lever 145 by a pin 142. Reference numeral 128 is a bush that slidably supports the rod 129, and 130 is a spring that urges 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 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 in the X direction. In this state, the lever 145 rotates in the counterclockwise direction in the drawing, and is pulled rightward together with the slider 147. Therefore, the feed locking member 135 moves up and the pin 1
34 is engaged with the feed hole 2 ′ of the tape 2. Also,
Since the feed locking member 135 is fitted in the guide 133 fixed to the arm 126, it does not move in the XX 'direction and locks the tape 2 so that it does not move in the XX' direction.

FIG. 14 shows a state in which the rod 129 has moved in the X'direction. In this state, the lever 145 rotates clockwise in the drawing to lower the feed locking member 135 and raise the feed driving member 150. As a result, the pin 134 of the feed locking member 135 is pulled out from the feed hole 2 ′ of the tape 2, and the pin 140 of the feed drive member 150 engages with the feed hole 2 ′ of the tape 2. Stopper bolt 14
When the rod 129 further moves in the X ′ direction in the figure after 4 comes into contact with the slider 147 and the rotation of the lever 145 is locked, the slider 147 slides in the X ′ direction together with the lever 145. At this time, the feed driving member 150 fitted to the guide 149 fixed to the slider 147 can be moved in the X ′ direction in the figure to feed the tape 2 in the X ′ direction in the figure.

When the rod 129 again moves in the X direction, as shown in FIG. 15, the feed locking member 135 moves upward to lock the movement of the tape 2 in the XX 'direction, as shown in FIG. After the driving member 150 descends, it is pulled to the right, and the ball 136 engages with the notch groove 148 of the slider 147 as shown in FIG. 13, and the X direction (right direction) of the slider 147.
Sliding is stopped. As will be easily understood with reference to FIG. 12, the slider 1 moves while the rod 129 moves in the X direction.
When the slide of 47 is locked, the dog 90 and the cam follower 1
A gap is created between 27 and the rod 129 stops.

As described above, when the means for restricting the sliding stroke of the slider 147 (the above-mentioned balls, springs and notch grooves) is provided, the feed pitch of the tape 2 can be adjusted without changing the lift of the dog 90. You can

As is apparent from the operation described with reference to FIGS. 13 to 15, the feed locking member 135 slides only in the vertical direction with respect to the tape 2 and the pin 134 with respect to the feed hole 2 ′ of the tape 2. Insert it straight in and out. Similarly, the feed drive member 150 also inserts and removes the pin 140 straight into and from the feed hole 2 ′ of the tape 2.

Although the feed drive member 150 also moves in the XX 'direction, the slider 147 moves the ball 136 until the feed lock member 135 is completely lowered (that is, the feed drive member 150 is completely raised). And the notch groove 148, the pin 140 is attached to the feed hole 2 '.
There is no diagonal intrusion against. The reason is that the clockwise rotation of the lever 145 causes the stopper bolt 14 to rotate.
This is because the slider 147 overcomes the locking force of the ball 136 and the notch groove 148 and does not receive the force of sliding in the X ′ direction unless it is braked by No. 4.

After the pin 140 of the feed driving member 150 is securely inserted into the feed hole 2'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 feeding member Since the tape 2 is locked by the stopper member 135, the feeding pitch of the tape 2 can be accurately kept constant.

Further, the feed locking member 135 and the feed driving member 150 can move vertically in the vertical direction, and the vertical stroke can be adjusted by the stopper bolts 144 and 144 '. Therefore, depending on the type of the tape 2. By adjusting the stroke in the vertical direction, it is possible to deal with various tapes 2.

Although the tape 2 is fed by the operation described above, in order to take out the electronic component 1 stored in the tape 2 as shown in FIG. 2, the upper tape 4 must be peeled off. The peeling 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 11
Take up by 1. This take-up reel 111 is shown in FIG.
As shown in FIG.
It is pressed by a pressing roller 107 which is rotatably supported by a lever 106 which is swingably supported by.

As shown in FIG. 11, the main body 115 of the drive roller 110 is rotatably supported by a bracket 117 fixed to the table 131 via a bearing 118. The rotation of the motor 112 (see FIG. 10) is transmitted to the roller body 115 via the spline shaft 116 and the bush 119. 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.

The take-up reels 111 are in contact with one drive roller 110 by the number of the set tapes 2. Therefore, the drive roller 110 and the take-up reel 111 are always slipping, and when the tape 2 is fed, the upper tape 4 is wound up by the length peeled from the tape 2.

Further, as shown in FIG. 9, the fixed cutter 97
Is fixed to the base 7 via a bracket 95 and a support 94, and the movable cutter 96 cuts the tape 2 which is pitch-fed by the vertical movement of the rod 98 sequentially while keeping a fixed gap with the fixed cutter 97. Let it fall.

(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 the figure, side blocks 160a, 1 are provided at both ends of a sub base 177 fixed on the base 7.
60b is arranged, slide shafts 161a, 161
Holds b. The frame 162 coupled by the pair of guides 169 and 170 has a slide shaft 161a,
It is supported by 161b so as to be movable in the YY 'direction.
A rack 164 is fixed to the frame 162.

A coupling 168 is attached to the rotation shaft of the motor 166 supported by the base 7 via the bracket 167.
A pinion 165 that meshes with the rack 164 via
Are combined. Therefore, when the motor 166 is rotated, the table 163 moves in the YY 'direction via the rack 164.

On the sub-base 177, rollers 174,
174 ', 189, 189'260, 260' are rotatably held on the block 173. However, the rollers 174 and 174 held by the block 173 are
′, 189, 189 ′ 260 and 260 ′ cannot move in the XY directions.

A slide block 179 is supported by a block 180 fixed on the sub-base 177 so as to be movable in the XX 'direction. This slide block 17
A pair of rollers 175 are rotatably supported on the plate 9 via brackets 178 at predetermined intervals. A rack 181 is fixed to the slide block 179.

The motor 182 is supported by a motor bracket 147 fixed to the lower surface of the sub base 177. A pinion 187 rotatably supported by a bearing 188 so as to mesh with the rack 181 is coupled to a motor 182 via a shaft 148. Therefore, the motor 18
When 2 is rotated, the slide block 179 moves in the XX ′ direction via the rack 181.

On both side surfaces of the table 163 supported by the guides 169 and 170 so as to be movable in the XX 'direction,
The guide bar 171 is fixed via stays 186 and 186 'that project downward. The guide bar 171 includes the rollers 174 and 174 ', 189 and 1
It is movable between 89'260 and 260 ', and is held by the roller 175 from the XX' direction.

Therefore, the table 163 has the motor 166.
The XY table is configured to move in the YY 'direction by the operation of and the movement of the motor 182 in the XX' direction.

A jig 251 is fixed on the table 163, and the reference rollers 252a to 252d are attached to the jig 251.
Are arranged along two orthogonal sides. Also, the jig 2
A pair of levers 255, to which the pinions 254 and 256 are integrally fixed, are swingably supported by 51, and a spring 259 is stretched between the levers 255.
Further, pressing rollers 257 and 258 are rotatably supported on the levers 255, respectively.

In such a construction, the substrate 8 is positioned by pressing the rollers 257, 258 by swinging the lever 255 in the closing direction by the force of the spring 259 after the substrate is supplied with the lever 255 opened. Is performed by pressing the substrate 8 against the reference rollers 252a to 252d.

After positioning the substrate 8 on the XY table, X
The Y table moves to the work position (the position of arrow P).
At the work 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 roller 175, whereby the substrate 8 can be positioned at an arbitrary position.

When moving to the substrate supply position Q by largely moving in the Y direction, first, the position in the X direction of the XY table is positioned so that the guide bar 171 is guided by the rollers 174 and 174 '. Then, when moving in the Y direction, the guide bar 171 comes off the roller 175, successively passes through the fixed roller, and is guided by the fixed rollers 260 and 260 ′ to reach the substrate supply position Q. If only the positioning in the Y direction is performed here, the fixed roller 260,
Since it is positioned at 260 ', X necessary for substrate supply
The positioning of the Y table is completed.

With the configuration as described above, the respective motors 182 and 166 for XY bidirectional movement can be fixed on the sub base 177, and furthermore, a long stroke from the working position P to the substrate supply position Q can be moved. However, 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 ″ in FIG.

In the figure, the substrate is held on the XY table of the C section. On the board supply side conveyor 191,
Substrate guides 192, 192 'and a stopper 193 are attached. The board discharge side conveyor 201 is driven in the arrow direction. The substrate chuck portions D ′ and D ″ are shown in FIG.
As shown in FIG.

A bracket 195 is attached to the sub-base 194.
The guide shaft 200 is supported via a and 195b. The block 210a and the block 210b are connected by a connecting plate 205 and are slidably supported by the guide shaft 200. Shafts 203 and 212 are slidably supported.

The cylinder 198 attached to the bracket 197 fixed to the sub-base 194 has its rod tip connected to the block 210a via the L metal fitting 199. Therefore, by operating the cylinder 198, the block 210a and the block 210b become XX.
Slide in the ´ direction.

The stopper bolts 196a and 196b are provided on the brackets 195a and 195b, and are attached to the block 21.
0a and the moving end of the block 210b are regulated. The shock absorbers 213 and 214 advance the cylinder 198,
The impact caused by the collision between the blocks 210a and 210b and the stopper bolts 196a and 196b at the backward end is reduced.

A plate 190a is provided on the upper end of the shaft 203.
A plate 190b is fixed to the upper end of the shaft 212, 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, and the rod of the cylinder 207 is fixedly connected to the connecting plate 208. Therefore, by operating the cylinder 207, the plates 190a and 190b can be moved up and down via the connecting plate 208.

As shown in FIGS. 21 and 22, the plate 190a is provided with shafts 206a and 206b at predetermined intervals.
Is fixed, and a gear 209 is attached to the shafts 206a and 206b.
a and 209b are rotatably supported so as to mesh with each other. Further, levers 204a and 204b are integrally fixed to the gears 209a and 209b, respectively.
One end of the cylinder 202 is swingably supported by the plate 190a via a block 217, and the other end is 204
It is rotatably connected to b.

The pair of claws 215 are slidably supported by a shaft 218 fixed between a pair of brackets 211 arranged on the lower surface of the plate 190a, and are biased by springs 216 in the direction of approaching each other. . Each of the claw portions 215 penetrates through an elongated hole formed in the plate 190a so as to be slidable in the major axis direction thereof, and the levers 204a and 204b.
The pin 219 facing is fixed.

Therefore, when the cylinder 202 operates and its rod retracts, the levers 204a and 204b rotate in the opening direction, and the levers 204a and 204b move the pins 219 away from each other, and the tensile force of the spring 216 is increased. The nail portion 215 is opened against. When the rod of the cylinder 202 is projected, the levers 204a, 2
04b is rotated in the closing direction, and the claw portion 215 is moved in the closing direction (holding the substrate 8) by the tensile force of the spring 216. The plate 190b also includes a substrate chuck mechanism having the same structure as described above.

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 side conveyor 191 is stopped by the stopper 193. On the other hand, the substrate on the XY table (the one on which the electronic component 1 has been mounted) is
The clamp lever 262 hits the stopper 261 to open the clamp. The claw portion 215 is 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 cylinder 202 operates, and the tip of the claw 215 simultaneously chucks the substrate on the supply side conveyor 191 and the substrate on the XY table. Next,
The cylinder 207 works to raise the chuck parts D ′ and D ″. After that, the cylinder 198 moves forward, and the chuck part D ′ moves onto the XY table and the chuck part D ″ moves onto the discharge-side conveyor 201. Here again cylinder 207
Is operated to lower the chucks D ′ and D ″, and then the claw 215 is opened by the cylinder 202 to set each substrate on the XY table, and on the other hand, on the discharge side conveyor 201. The substrate is ejected. By simultaneously supplying and discharging the substrate in this manner, the substrate exchange time is shortened.

(Regarding Visual Recognition Unit E) Next, the visual recognition unit E will be described. 23 is a side view showing the entire visual recognition section, FIG. 24 is a side view showing an enlarged illumination part, FIG. 25 is a plan view showing a state of electronic parts, and FIG.
FIG. 6 is an explanatory diagram shown for explaining electronic component detection.

In the component supply section B described above, the suction head 54
Moves down, and after sucking the electronic component 1 stored in the tape 2, the suction head 54 rises and is indexed by the index device 12, and the electronic component 1 is carried out to the visual recognition unit E. FIG. 25 shows a state in which the electronic component 1 is stored in the tape 2. As is clear from this figure, since the electronic 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 electronic component 1 sucked by the suction head 54 varies. For this reason, if it is mounted on the substrate in this state, a positional shift will occur and a connection failure or the like will occur.

Therefore, the posture of the electronic component 1 is detected by the configuration shown in FIG. 23, and the electronic component 1 is mounted after correction. The mirror 23 is provided below the suction nozzle 54d that has sucked the electronic component 1.
A reflection plate 231 having 2 is held by a holder 233 in a lens barrel 234 of the optical system. A camera 239 is connected to the other end of the lens barrel 234, and the entire detection system is the bracket 23.
It is fixed to the base 7 by 8. With this detection system, the image of the electronic component 1 is reflected by the mirror 232 and reflected by the optical system 23.
The image reaches the camera 239 via 6, 237, and the position and shape of the electronic component 1 are recognized by processing this image by an image processing device (not shown) using a microcomputer.

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. 6 to rotate the suction head 54 so that a predetermined rotation angle is obtained. , XY to the motors 166 and 182 of the XY table C which simultaneously positions the board 8
The electronic component 1 is mounted at a predetermined position on the substrate 8 by sending the deviation amount in the direction and positioning at the position to which the correction amount is added.

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.
a and 235b are respectively installed obliquely below the back plate 230 so that the electronic component 1 is not directly illuminated and the back plate 23 is not illuminated.
By illuminating the lower surface of 0, the electronic component 1 is captured as a silhouette image. As a result, a clear image can be obtained without causing halation due to the solder surface or the metallic glossy surface of the electronic 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 unit, as shown in FIG. 26, when the image of the electronic component 1 (the four corners are a, b, c, d) is captured in the screen ABCD, the scanning direction of the screen is A → D. The scanning is sequentially performed from the upper side. When the background part is displayed in white and the image of the electronic component 1 is displayed in binary, the point a at which black begins, the point c at which black disappears, and the point at which black begins become discontinuous, that is, monotonous increase or monotonic Find points b and d where the decrease changes,
The position of the electronic component 1 is calculated using the points as the four vertices of the electronic component 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 electronic component 1 and the side of the image of the electronic 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
If (x ₄ , y ₄ ), the slope Δθ is

[0091]

[Equation 1]

Or

[0093]

[Equation 2]

Is obtained.

Next, assuming that the rotation angle is corrected by rotating by Δθ about the rotation center (= image center of the suction head 54) O, the coordinate P of the image center of the electronic component 1 is obtained.
(X ₀ , y ₀ ) moves to P (x ₀ ′, y ₀ ′). x ₀ ′,
y ₀ ′ is

[0096]

(Equation 3)

[0097]

[Equation 4]

[0098]

(Equation 5)

It becomes Where x ₀ and y ₀ are

[0100]

(Equation 6)

[0101]

(Equation 7)

It is calculated by

From the above, 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 by the microcomputer as correction values to the motors 182 and 166 shown in FIG. 18 and each is operated by the correction amount, the electronic component 1 is mounted at the correct position.

In the visual recognition section E thus constructed, the attitude of the electronic component 1 adsorbed by the adsorption head 54 is optically recognized, the recognized data is converted into an electric signal, and the electric signal is used for adsorption. By rotating the head 54 to adjust the posture of the electronic component 1 and aligning the XY table, the electronic component 1 can be accurately mounted on the substrate 8 in a non-contact manner.

[0105]

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 therefor and the productivity can be greatly improved. did it.

Further, in the component supply 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.

In addition, in the mounting head portion A, a suction head rotation shaft is provided concentrically with the main shaft that rotates the table.
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 the 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. A feeder for preventing a tape from moving by having a feed drive member that has a projection that fits in a tape feed hole and that feeds the tape pitch, and a projection that fits in a tape feed hole. A component supply unit that has a stop member and carries in the taped electronic component below the suction head; and the electronic component that is sucked and sucked to rotate the electronic component to change the posture of the electronic component. A mounting head that adjusts and mounts the electronic component from the component supply unit onto the substrate and mounts it, and a substrate on which the electronic component is mounted are positioned in the XY directions and at a predetermined position below the suction head. An electronic component mounting apparatus comprising: an XY table on which a substrate is arranged.