JPH08316698A - Nozzle driving mechanism for mounting machine - Google Patents

Abstract

PURPOSE: To efficiently rotate many nozzle members in the same direction by one motor and to enhance the maintainability of a mechanism part for rotating the nozzles. CONSTITUTION: A plurality of nozzle members are rotatably held at a head unit via a nozzle guide, and the rotary force of a servo motor 40 is transmitted to nozzle members via power transmission means. The transmission means includes a pulley 45 rotated by the motor 40, a transmission pulley 47 mounted at the members via a housing an idle pulley 48 and rotation transmitting belts 46a, 46b mounted over the pulley 45 and the nozzle members via the pulleys 47, 48. The pulleys 47, 48 are mounted upside down at the adjacent nozzle guides, and the belts 46a, 46b are mounted in a zigzag engagement state inverted upside down to the upper and lower pulley 48 of the nozzle members.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounter nozzle drive mechanism for driving each nozzle member in a mounter having a head unit provided with a plurality of nozzle members for picking up components.

[0002]

2. Description of the Related Art Conventionally, a head unit having a nozzle member for picking up a component picks up a small chip component such as an IC from a component supply unit and transfers it onto a positioned printed circuit board. A mounting machine is known which is mounted on a predetermined position of a printed circuit board.

In such a mounting machine, the nozzle member can move vertically with respect to the frame of the head unit and rotate about the nozzle center axis. For example, an elevating mechanism using an air cylinder as a drive source. Further, it is adapted to be operated by being connected to a rotation mechanism having a motor as a drive source.

[0004]

In the structure of the mounting machine as described above, when pursuing work efficiency of picking up and mounting components, as an example, a head unit is equipped with a large number of nozzle members and a large number of nozzle members are mounted at one time. It is conceivable to attach the above component to the printed circuit board by suction from the component supply side.

In such a mounting machine, since it is necessary to sequentially mount components on each nozzle member, for example, it is required to provide an air cylinder or a motor for each nozzle member to operate each nozzle member. To be done.

However, it is not preferable to provide a drive source for raising and lowering and rotating each nozzle member, because this leads to an increase in the size and weight of the head unit. In particular, the motor for rotating the nozzle needs to be further provided with a position detecting device such as an encoder, which is disadvantageous in terms of occupied space or weight. Therefore, in the mounting machine in which the head unit is equipped with a large number of nozzle members as described above, a structure in which each nozzle member is efficiently rotated by a single motor is desired. For example, each nozzle member is simultaneously moved by a belt transmission mechanism. A rotating structure is conceivable.

In such a structure, if the mechanical part for rotation is damaged, the rotational operation of all the nozzle members will be hindered, and the phase in the rotational direction between the nozzle members will change over time. Since a situation such as a deviation is expected, it is necessary to improve the maintainability of the rotating mechanism portion so as to appropriately cope with such a situation.

In view of the above problems, the present invention is capable of efficiently rotating a large number of nozzle members in the same direction with a single motor, and improving the maintainability of the mechanism for rotating each nozzle. The purpose is to provide a drive mechanism.

[0009]

According to another aspect of the present invention, there is provided a nozzle driving mechanism for a mounting machine, wherein a plurality of nozzle members are arranged in parallel and rotatable on a frame of a head unit movable between a component supply side and a mounting side. The structure is such that each nozzle member is held and connected to one motor through a power transmission means, and the power transmission means includes a pair of upper and lower transmission belts that are simultaneously driven to rotate by the motor, and each nozzle. And a pulley provided on the member, the transmission belt and the pulley are arranged so that the rotational force is transmitted to every other half of the nozzle members by the upper and lower transmission belts, and the power transmission means is provided. Is arranged at the lower end portion of the head unit.

According to a second aspect of the present invention, there is provided a nozzle drive mechanism for a mounting machine, wherein in the nozzle drive mechanism according to the first aspect, a transmission pulley and an idle pulley are respectively mounted on the shafts of the nozzle members, and the pulleys are adjacent to each other. The fitting means is arranged upside down with matching nozzle members, and is provided with fastening means capable of changing the transmission pulley between a coupled state in which it integrally rotates with the shaft and a coupled state.

[0011]

According to the nozzle drive mechanism of the mounting machine described in claim 1, the rotational force is transmitted to the nozzle member via one of the upper and lower transmission belts according to the rotation of each transmission belt driven by the motor. Each nozzle member is simultaneously rotated in one direction. Therefore, the mechanism for rotating each nozzle member is achieved with a relatively simple structure using one motor as a drive source. Moreover, since the power transmission means is arranged at the lower end portion of the head unit, the constituent parts of the power transmission means are easily exposed to the outside, and maintenance work is easily performed.

According to the nozzle drive mechanism of the mounting machine of the second aspect, it is possible to achieve a mechanism for transmitting the rotational force in the same direction to each nozzle member by the upper and lower transmission belts with a simple structure. . Also, by rotating the transmission pulley relative to the shaft in the uncoupled state, it becomes possible to easily correct the phase shift in the rotation direction of the nozzle member.

[0013]

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 schematically shows the entire mounting machine according to an embodiment of the present invention. In this figure, a conveyor 2 forming a transfer line is arranged on a base 1, and a printed circuit board 3 is transferred on the conveyor 2 and stopped at a predetermined mounting work position.

On the side of the conveyor 2, a parts supply section 4 is provided.
Is arranged. The component supply unit 4 includes a large number of rows of tape feeders 4a. Each tape feeder 4a is a reel in which small pieces of chip components such as ICs, transistors and capacitors are stored and held at predetermined intervals. In addition, the tape feed-out end is provided with a ratchet type feed mechanism so that the tape is intermittently fed out as parts are picked up by a head unit 5 described later.

A head unit 5 for mounting components is installed above the base 1, and the head unit 5 is mounted on the head unit 5.
Can move in the X-axis direction (direction of the conveyor 2) and in the Y-axis direction (direction orthogonal to the X-axis on the horizontal plane).

That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 rotatably driven by a Y-axis servomotor 9 are arranged on the base 1, and the fixed rails 7 are mounted on the fixed rail 7. A head unit support member 11 is arranged in the head unit, and a nut portion 12 provided on the support member 11 is screwed onto the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are arranged on the support member 11, and the head unit 5 can be moved on the guide member 13. The nut portion 16 (shown in FIG. 3) held and provided on the head unit 5 is attached to the ball screw shaft 14
It is screwed to. Then, the ball screw shaft 8 is rotated by the operation of the Y-axis servomotor 9 to move the support member 11 in the Y-axis direction, and the ball screw shaft 14 is rotated by the operation of the X-axis servomotor 15, so that the head unit is rotated. 5
Moves in the X-axis direction with respect to the support member 11.

Reference numeral 17 denotes a component recognition camera installed at a predetermined position on the base 1. The camera 17 captures an image of the component adsorbed by the nozzle member 20 of the head unit 5, which will be described later. The component recognition process is used to determine the component suction state.

2 to 5 show the structure of the head unit 5. In these figures, the head unit 5 is provided with a nozzle member 20 for sucking components, and in this embodiment, eight nozzle members 20 are arranged in a state of being aligned in the X-axis direction. Further, the head unit 5 includes an elevating and lowering drive mechanism for elevating and lowering each nozzle member 20, a rotary drive mechanism for rotating each nozzle member, a negative pressure supply system for supplying a negative pressure for component adsorption to each nozzle member 20, and the like. Is provided.

The lifting drive mechanism is one servo motor 2 for vertically moving all the nozzle members 20 at the same time.
1 and a predetermined number (8) of air cylinders 25 for individually raising and lowering each nozzle member 20 by a fixed stroke,
By using the servo motor 21 and the air cylinder 25 together, each nozzle member 20 is configured to be moved up and down between a predetermined raised position and a predetermined lowered position. Further, the rotation drive mechanism has one rotation servomotor 40, and is configured to rotate each nozzle member 20 via the power transmission means by this servomotor 40.

To describe the structure of the head unit 5 more specifically, a housing 22 holding the nozzle member 20, the air cylinder 25 and the like is attached to the head unit body 5a so as to be vertically movable, and A vertical movement servomotor 21 is mounted on the upper side, and the servomotor 21 vertically moves the housing 22 via a ball screw 23.

Each nozzle member 20 is composed of a hollow nozzle shaft 20a and a nozzle 20b which is detachably attached to the lower end of the nozzle shaft 20. The nozzle member 20 is vertically mounted on the housing 22 via a nozzle guide 24. It is mounted so that it can move and rotate. That is, the housing 22
A nozzle guide 24 is rotatably attached to the nozzle guide 24, and the nozzle shaft 20a is fitted to the nozzle guide 24 so as to be vertically movable.

A plurality of types of nozzles 20b are prepared according to the types of parts to be mounted, etc., and these nozzles are selectively mounted at the tip of the nozzle shaft 20a during mounting. For example, a general nozzle with a circular hole, a nozzle with a cross-shaped hole, or a nozzle with a square hole suitable for mounting small parts are available. Nozzles are prepared in advance and stored in a nozzle exchanging section (not shown), and the nozzles are mounted and exchanged between the nozzle exchanging section and the head unit 5 to selectively select the nozzles according to the type of parts. It is designed to be attached to.

A bearing 33 is fixed to a substantially middle portion of the nozzle shaft 20a, and a spring 32 is attached to a lower portion of the nozzle shaft 20a. The spring 32 raises the nozzle shaft 20a through the bearing 33. I am biased. The outer ring portion of the bearing 33 is a guide portion 22 a formed on the housing 22.
When the nozzle shaft 20a moves up and down, the outer ring portion of the bearing 33 is in contact with the guide portion 22a.
The sliding contact with the nozzle prevents the nozzle shaft 20a from swinging due to vertical movement.

Further, a descending end sensor 34 is provided at a position facing the nozzle shaft 20a of each nozzle member 20, and the sensor 34 detects the bearing 33 as the nozzle shaft 20a descends. It is configured to detect that the nozzle shaft 20a has reached the lower end position.

Above each of the nozzle member dispositions on the front surface side of the housing 22, the air cylinders 25 are provided.
An air supply / discharge system for each air cylinder 25 is provided, and the upper end of the nozzle shaft of each nozzle member 20 projects into the corresponding air cylinder 25.

Each air cylinder 25 has a piston 26 therein, and pressure chambers 27 and 28 above and below the piston 26, respectively.
28 is connected to the passage of the air supply / discharge system via ports 29 and 30. When the air is discharged from the lower pressure chamber 27 while the air is supplied to the upper pressure chamber 28, the piston 26 descends, and conversely, the air is supplied from the upper pressure chamber 28 while the air is supplied to the lower pressure chamber 27. When is discharged, the piston 26 rises.

At the lower end of the piston 26, a cylindrical sleeve 26a is formed that is longer than its lifting stroke.
Is integrally provided, and the nozzle shaft 20a of the nozzle member 20 thrust into the air cylinder 25 is rotatably inserted into the piston 26 through the sleeve 26a. In addition, a spring 3 is provided in the lower part of the pressure chamber 27.
1 is attached, and when the piston descends, the descending speed of the piston 26 near the descending end is reduced by the cushioning action of the spring 31 being compressed between the piston 26 and the bottom surface constituting portion of the pressure chamber 27. However, the shock can be mitigated.

Although a detailed description of the air supply / discharge system of each air cylinder 25 is omitted, the housing 2
2, a solenoid valve 35 for driving the air cylinder is provided in front of (on the left side in FIG. 3) the solenoid valve 35.
Is connected to an air supply source (not shown), and a speed control valve or the like for adjusting the air supply / discharge speed is provided, so that the air supply / discharge system can be configured to change the ascending / descending speed of the air cylinder 25. Has been done.

The housing 22 is further provided with the rotation servomotor 40 and a drive shaft 44 which is interlocked with the servomotor 40 via a speed reduction mechanism composed of pulleys 41 and 42 and a belt 43. Power transmission means is provided between the drive shaft 44 and each nozzle member 20.

The power transmission means includes a pulley 45 mounted on the drive shaft 44, a transmission pulley 47 and an idle pulley 48 mounted on each nozzle member 20, and each nozzle via the pulleys 47, 48. Two upper and lower rotation transmission belts 46a, 46 mounted over the member 20.
b of the predetermined number of nozzle members 20 and every other half (first group) of the nozzle members 20, the rotation of the drive shaft 44 is in the upper stage of the rotation transmission belt 46a.
The rotation of the drive shaft 44 is transmitted to the remaining half (second group) of the nozzle members 20 via the rotation transmission belt 46b in the lower stage.

More specifically, the tip end of the nozzle guide 24 is projected below the housing 22, and a transmission pulley 47 and an idle pulley 48 are vertically stacked and mounted on this portion. Each of these pulleys 47, 48 is shown in FIG.
As shown in FIG. 5, the nozzle members 20 are mounted so that they are turned upside down. The rotation transmission belts 46a and 46b are timing belts (toothed belts), and the upper and lower pulleys 39 and 40 of the nozzle guide 24 are respectively arranged in FIGS.
As shown in (a) and (b), they are hung in a zigzag pattern in which the upper and lower phases are inverted. In other words, the upper rotation transmission belt 4
6a meshes with the transmission pulley 47 of the nozzle member 20 of the first group and the nozzle member 20 of the second group.
The idle pulley 48 of the second side is abutted on the back side of the idle pulley 48.
The nozzle members 20 of the first group are engaged with the transmission pulley 47 of the nozzle members 20 of the first group, and the idler pulleys 48 of the nozzle members 20 of the first group are laid so that their rear surfaces are in contact with each other.

In this way, the rotation transmitting belts 46a, 46
The rotation transmitting belts 46a and 46b are stretched over so that the b and the transmission pulley 47 are surely meshed with each other, and the tension pulleys 45a to 45c maintain the tension state of the rotation transmitting belts 46a and 46b. When the drive shaft 44 rotates, the rotation transmission belts 46a, 4a
Rotation is transmitted to each transmission pulley 47 of each half of the nozzle members 20 via 6b, so that each nozzle member 20
Are rotated in the same direction at the same time.

The transmission pulleys 47 are, for example,
As shown in FIG. 4, it is integrally coupled to the nozzle guide 24 by tightening a bolt 49 from the outer peripheral side, and by loosening the bolt 49, the transmission pulley 47 and the nozzle guide 24 can be relatively rotated. You can do it.

The head unit 5 is further provided with a vacuum generator 50 for supplying a negative pressure to each of the nozzle members 20, which is arranged above the head unit body 5a. . The negative pressure introducing portion at the upper end of the air cylinder 25 is connected to the vacuum generator 50 via a flexible pipe, a valve, and the like (not shown), so that the nozzle is inserted through the inside of the piston 26 of the air cylinder 25. A negative pressure supply / discharge system is configured so that negative pressure is supplied to the member 20. It should be noted that the piston 26 and the nozzle member 20 are such that the upper end of the nozzle shaft 20a is the piston 2
Since it is rotatably inserted with respect to 6, there is a concern about the sealing property between these members at the time of negative pressure supply, and if an O-ring is press-fitted to secure the sealing property of this part,
This is not convenient because the rotational resistance of the nozzle shaft 20a increases. However, in the present embodiment, as described above, the sleeve 26a, which is longer than the lifting stroke of the piston 26, is integrally formed with the piston 26, and the nozzle shaft 20a is connected to the piston 26 via this sleeve 26a. By piston 26 and nozzle member 2
The sealing property with 0 is secured and the rotation resistance is reduced.

A camera 51 for checking the fiducial mark provided on the printed circuit board 3 is provided on one side of the head unit body 5a.

Next, the mounting operation of the mounting machine configured as described above will be described.

When the mounting operation is started, first, the head unit 5 is arranged above the component supply section 4, and the air cylinder 2 corresponding to the nozzle member 20 which should pick up the component.
5, the air is discharged from the lower pressure chamber 27 while the air is supplied to the upper pressure chamber 28, and the vacuum generator 5
The negative pressure generated at 0 is applied to the nozzle member 2 at a predetermined timing.
It is supplied within 0. As a result, the piston 26 and the nozzle shaft 20a are integrally displaced to the lower end position, and the components are sucked. In addition, such an air cylinder 2
In addition to the operation of 5, the vertical movement servo motor 21 is operated to adjust the descending end position.

Thereafter, the supply / discharge of air to / from the air cylinder 25 is switched to supply air to the lower pressure chamber 27 and discharge air from the upper pressure chamber 28, so that the piston 26 is raised. Above spring 3
The nozzle shaft 20a is moved to the piston 26 by the biasing force of 2.
It can be raised to the ascending end position following. This completes the removal of the component from the component supply unit 4. And
By performing the component suction operation as described above for each nozzle member 20, components are sequentially suctioned by each nozzle member 20, and if possible, a plurality of nozzle members 20 are used.
The components are sucked at the same time.

When the removal of the component from the component supply unit is completed, the head unit 5 is moved to above the printed circuit board 3, and the nozzles are operated by the vertical movement servo motor 21 and the air cylinder 25 as in the case of the component adsorption. The member 20 is moved up and down, and the negative pressure supply to the nozzle member 20 is cut off at the timing when the nozzle member 20 reaches the lower end, whereby the component is mounted on the printed circuit board 3. At this time, the nozzle member 20 is rotated by driving the rotation servomotor 40 before or after the nozzle member 20 is lowered, and thereby the components are positioned in the rotational direction.

When a component is adsorbed by each nozzle member 20 of the head unit 5, the head unit 5 is moved, the nozzle member 20 is rotated, and the nozzle member 20 is moved up and down continuously. The components attracted to each nozzle member 20 are sequentially mounted on the printed circuit board 3.

As described above, in the mounting machine, the rotational force of the rotation servomotor 40 mounted on the head unit 5 is transmitted to each nozzle member 20 via the power transmission means, thereby rotating each nozzle member 20. In order to adjust the rotation angle of the components by rotating the nozzle member 20, a mechanism for rotating the nozzle member 20
The nozzle member 20 can be rotated with a relatively simple structure using one rotation servomotor 40 as a drive source. Therefore, while the large number of nozzle members 20 are mounted on the head unit 5 to improve the mounting efficiency, the large size of the head unit 5 can be suppressed and the large number of nozzle members 20 can be rotated.

Moreover, since each nozzle member 20 has a structure in which it can be integrally rotated in the same direction as described above, it is convenient in terms of control of each nozzle member 20.

By the way, in the mechanism for transmitting the rotational force of the rotation servomotor 40 to each nozzle member 20 through the power transmission means as in the above embodiment, the portion constituting the power transmission means, that is, the rotation transmission belt 46a. , 46b, the transmission pulley 47, the idle pulley 48, etc. are damaged, all the nozzle members 20 cannot be used. Therefore, maintainability of the power transmission means is required. However, in the mounting machine described above, the nozzle guide 24 serves as the housing 22 of the head unit 5 as described above.
Is arranged so as to project downward from the transmission pulley 47,
Idle pulley 48 and rotation transmission belts 46a, 46
Since b and the like are attached, maintenance work such as belt replacement can be performed relatively easily. In particular,
By removing or retracting the tension pulleys 45a to 45c and loosening the rotation transmission belts 46a and 46b, the rotation transmission belts 46a and 46b and the pulleys 47 and 48 can be replaced.

When a phase shift in the rotational direction occurs between the nozzle members for some reason, which affects the suction performance of the components, for example, the direction of the nozzle 20b rotation direction changes depending on the shape of the suction holes. However, in the mounting machine, as described above, each transmission pulley 47 tightens the bolt 49. Since it is connected to the nozzle guide 24 by loosening the bolt 49 to relatively rotate the nozzle shaft 20a and the transmission pulley 47, the phase shift in the rotational direction between the nozzle members as described above can be simplified. Can be modified.
Moreover, even for such work, since the transmission pulley 47 is arranged so as to project below the housing 22 of the head unit 5 as described above, the work can be performed extremely easily.

The mounting machine of the above-mentioned embodiment shows an embodiment of the mounting machine to which the nozzle drive mechanism according to the present invention is applied, and its concrete configuration is within the scope of the present invention. It can be changed as appropriate. For example, although eight nozzle members 20 are provided in the embodiment, the number may be eight or more or less.

[0047]

As described above, according to the present invention, a pair of upper and lower transmission belts that are simultaneously driven to rotate by a motor and a pulley provided on each nozzle member are provided, and each transmission belt has an alternate pair. Since the transmission belt and the pulley are arranged so that the rotational force is transmitted to each half of the nozzle members, a mechanism for rotating each nozzle member is achieved with a relatively simple structure using one motor as a drive source. In addition, each nozzle member can be rotated in the same direction. Further, since the power transmission means is arranged at the lower end portion of the head unit, the constituent parts of the power transmission means can be easily exposed to the outside, and workability during maintenance work can be improved.

Further, as the above-mentioned pulleys, a transmission pulley and an idle pulley are mounted on the shaft of the nozzle member, and the respective pulleys are arranged upside down by the adjacent nozzle members. The mechanism for transmitting the rotational force in the same direction to the member can be achieved with a simple structure. Further, by providing a fastening means capable of changing the transmission pulley into a coupled state in which the transmission pulley rotates integrally with the shaft and a coupled state in which the shaft is integrally rotated, the phase shift in the rotational direction of the nozzle member can be easily corrected.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing an example of a mounting machine to which a nozzle driving mechanism of the present invention is applied.

FIG. 2 is a front view of a head unit in the mounting machine.

FIG. 3 is a side view of the head unit.

FIG. 4 is a cross-sectional view showing a main part of the head unit.

FIG. 5 is a view showing a main part of the head unit as viewed from the direction of arrow A in FIG.

6 (a) and 6 (b) are explanatory views showing a state in which upper and lower two-stage belts are wound around in a mechanism for rotating each nozzle member.

[Explanation of symbols]

 5 head unit 5a head unit main body 20 nozzle member 20a nozzle shaft 20b nozzle 22 housing 40 rotation servo motor 41, 42, 45 pulley 45a to 45c tension pulley 43 belt 46a, 46b rotation transmission belt 47 transmission pulley 48 idle pulley 49 bolt

Claims (2)

[Claims] 1. A plurality of nozzle members are held in parallel and rotatably on a frame of a head unit that is movable between a component supply side and a mounting side, and each nozzle member is a single member via a power transmission means. The power transmission means includes a pair of upper and lower transmission belts that are simultaneously driven to rotate by the motor, and pulleys provided on each nozzle member. The transmission belt and the pulley are arranged so that the rotational force is transmitted to every other half of the nozzle members, and the power transmission means is arranged at the lower end portion of the head unit. Nozzle drive mechanism for mounting machine. 2. A transmission pulley and an idle pulley are respectively mounted on the shafts of the respective nozzle members, and the respective pulleys are arranged upside down by the adjacent nozzle members, and the transmission pulley is integrally rotated with the shaft. 2. The nozzle drive mechanism for a mounting machine according to claim 1, further comprising a fastening means that is capable of changing between a coupled state and a coupled state.