JPH08330791A - Nozzle drive mechanism of mounter - Google Patents

Abstract

PURPOSE: To prevent a mounter equipped with a large number of nozzle members from decreasing mounting efficiency, while saving the space of a head unit. CONSTITUTION: Nozzle members 20 are mounted on a head unit in a rotatable manner, and the torque of servomotors 40a and 40b is transmitted to the nozzle members 20 through the intermediary of a belt transmitting means. The belt transmitting means is composed of pulleys 45a and 45b rotated by the motors 40a and 40b, transmission pulleys 47 and idlers 48 fixed to the nozzle members 20 through the intermediary of nozzle guides 24, and rotation transmission belts 46a and 46b fixed to pulleys 46a and 46b and the nozzle members 20 through the intermediary of the pulleys 47 and 48. The pulleys 47 and 48 are fixed upside down through the intermediary of the adjacent, nozzle guides 24, and the belts 46a and 46b are fixed upside down to the pulleys 47 and 48 of the nozzle members 20 by crossing each other.

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 transfers a small chip component such as an IC from a component supply section onto a printed circuit board which is positioned and printed. A mounting machine is known which is mounted on a predetermined position of a 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 and a motor using an air cylinder as a drive source. Is connected to a rotating mechanism having a drive source as a driving source.

Recently, in order to improve the work efficiency of sucking and mounting components, a head unit is equipped with a large number of nozzle members so that a large number of components can be sucked from the component supply side at a time and mounted on a printed circuit board. A mounting machine that has been proposed is also proposed.

[0004]

By the way, in the case where a large number of nozzle members are provided in the head unit as described above, if a drive source for raising and lowering or rotating is provided for each nozzle member, the size of the head unit increases and It is disadvantageous in structure because it causes an increase in weight. Therefore, for example, the above rotation mechanism is configured by a motor and a transmission belt mounted over the motor and each nozzle member, and each nozzle member is simultaneously rotated in the same direction by a single motor. Therefore, it is possible to avoid the above-mentioned structural inconvenience.

However, such a rotating mechanism is advantageous in terms of the structure of the head unit, but since each nozzle member is simultaneously rotated in the same direction, it may be disadvantageous in terms of mounting efficiency.

That is, at the time of mounting a component, the operation of moving the component to the mounting position and rotating the nozzle member during the movement to adjust the mounting angle and then mounting the component is attracted to each nozzle member. When the mounting positions on the printed circuit board are close to each other and the mounting angle of each component is large, the two mounting components are mounted consecutively by the adjacent nozzle members. When mounting the next component after mounting the first component, it takes more time to position the next component in the rotational direction than the moving time of the head unit, which delays the mounting of the next component. There are cases where Therefore, compared with the structure in which each nozzle member is rotated, there is a disadvantage in efficiency in such a case.

The present invention has been made in order to solve the above problems, and in a mounting machine equipped with a large number of nozzle members, it is possible to avoid a reduction in mounting efficiency while saving space in the head unit. An object is to provide a nozzle drive mechanism for a mounting machine.

[0008]

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. A structure in which each nozzle member is held and driven by a motor via a belt transmission means, wherein the belt transmission means includes a pair of upper and lower transmission belts that are rotationally driven by the motors, and pulleys provided on each nozzle member. And the above transmission belts and pulleys are arranged so that the rotational force is transmitted to every other half of the nozzle members by the upper and lower transmission belts.

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 mounted on the shafts of the nozzle members, and the pulleys are adjacent to each other. The nozzle members are matched with each other and are arranged upside down.

[0010]

According to the nozzle driving mechanism of the mounting machine described in claim 1, the rotational force is transmitted to each of the nozzle members of the two groups, which are made up of every other half according to the operation of the upper and lower transmission belts. , This allows the groups to be separated independently
Every other half of the nozzle members are rotated simultaneously. Therefore, it is possible to rotate the nozzle member of the other group while the component is being mounted by the nozzle member of the one group, and perform positioning in the rotational direction of the component adsorbed by the nozzle member of the group. Become.

According to the nozzle driving mechanism of the mounting machine described in claim 2, the mechanism for transmitting the rotational force to each of the nozzle members of the two groups, each of which is made up of every other half by the pair of upper and lower transmission belts, is simple. And, it is possible to achieve with a compact configuration.

[0012]

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

FIG. 1 schematically shows the whole 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 orthogonal to the X-axis direction (direction of the conveyor 2) and the Y-axis direction (horizontal plane to the X-axis). Direction).

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 is a component recognition camera 17 installed at a predetermined position on the base 1.
Thus, the component suctioned by the nozzle member 20 described later of the head unit 5 is imaged, and the component recognition processing based on the image 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 elevating and lowering drive mechanism comprises a single 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. In addition, the rotation drive mechanism includes two rotation servomotors 40.
a, 40b, and these servomotors 40a, 40
It is configured to rotate each nozzle member 20 via the belt transmission means by b.

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

Each nozzle member 20 is composed of a hollow nozzle shaft 20a and a nozzle 20b detachably attached to its lower end, and each nozzle member 20 is vertically moved to 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 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.

A descending end sensor 34 is provided at a position facing each 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 installation locations on the front surface side of the housing 22, the air cylinders 25 are placed.
And 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,
It is connected to a piston 26 in the 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. A spring 31 is attached to the lower part of the pressure chamber 27, and when the piston descends, the spring 31 descends due to the cushioning action due to the compression between the piston 26 and the bottom portion of the pressure chamber 27. The descending speed of the piston 26 near the end can be reduced to reduce the impact.

Although 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 to configure the air supply / discharge system so that the ascending / descending speed of the air cylinder 25 can be changed. ing.

The housing 22 is further provided with the drive servomotors 40a and 40b, and a drive shaft 44a which is interlocked with the servomotors 40a and 40b through reduction gear mechanisms integrally attached to the respective motors. , 44b are provided, and a belt transmission means is provided between these drive shafts 44a, 44b and each nozzle member 20.

The belt transmission means includes the drive shafts 44a, 4
4b, pulleys 45a and 45b, a transmission pulley 47 and an idle pulley 48, which are respectively attached to the nozzle members 20, and upper and lower 2 which are attached to the nozzle members 20 via the pulleys 47 and 48, respectively. The rotation of the drive shaft 44a is increased in the upper half of the predetermined number of the nozzle members 20 of every other half (first group), which is composed of the rotation transmission belts 46a and 46b. The drive shaft 44 is transmitted to the remaining half (second group) of the nozzle members 20 transmitted through the transmission belt 46a.
The rotation of b is transmitted via the lower rotation transmission belt 46b.

More specifically, a transmission pulley 47 and an idle pulley 48 are mounted on the tip end portion of the nozzle guide 24 so as to be vertically stacked. Each of these pulleys 47, 48
As shown in FIG. 2, the adjacent nozzle members 20 are mounted so as to be turned upside down. Further, the rotation transmission belts 46a and 46b are timing belts (toothed belts), and the upper and lower pulleys 47 and 48 of the nozzle guide 24 are respectively shown in FIGS. 5 and 6A and 6B. It is hung in a zigzag pattern with the top and bottom reversed. That is, the rotation transmission belt 46a in the upper stage meshes with the transmission pulley 47 of the nozzle member 20 of the first group and is stretched around the idle pulley 48 of the nozzle member 20 of the second group so that the back side thereof abuts. The lower rotation transmission belt 46b meshes with the transmission pulley 47 of the nozzle member 20 of the second group and is stretched around the idle pulley 48 of the nozzle member 20 of the first group so that its back surface abuts.

Thus, the rotation transmission belts 46a, 46
The rotation transmission belts 46a and 46b are stretched over so that the b and the transmission pulley 47 are meshed with each other with certainty, and the tension state of the rotation transmission belts 46a and 46b is maintained by a tension pulley (not shown). When each drive shaft 44a is rotated by driving the rotation servomotor 40a, the rotation is transmitted to the transmission pulley 47 via the rotation transmission belt 46a, so that the nozzle members 20 of the first group are simultaneously moved. The nozzle members 20 of the second group are simultaneously rotated in one direction when the drive shafts 44b are rotated by the rotation servo motor 40b. As a result, in the head unit 5, every other half of the nozzle members 20 are simultaneously rotated independently for each group.

Origin sensors 41a and 41b are provided at the side portions of the pulleys 45a and 45b, respectively. The sensors 41a and 41b detect the amount of rotation of the pulleys 45a and 45b. The rotational position of each nozzle member 20 is detected.

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.

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, an example of the mounting operation of the mounting machine thus configured will be described with reference to the timing chart of FIG. Here, each nozzle member 20 will be referred to as a first nozzle 20A, a second nozzle 20B ... An eighth nozzle 20H in order from the left side of FIG. 5 as necessary.

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.
0 is supplied. 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 25
In addition to the above operation, 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, thereby raising the piston 26 and 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, the components are sequentially suctioned by the first nozzle 20A to the eighth nozzle 20H, and if possible, the plurality of nozzle members 20 simultaneously perform the component suction. Is adsorbed (time point t _{0 to} time point t ₁ ).

When the removal of the component from the component supply unit is completed, the head unit 5 moves above the component recognition camera 17 (image processing unit) to recognize the component adsorbed by each nozzle member 20 (image processing). It is performed, and based on this component recognition, quality determination of the components and, computation of operating correction value of the head unit 5 and the nozzle member 20 is performed (t ₁ point -
t ₃ point).

When the components are sucked and recognized in this manner, the head unit 5 is then moved to above the printed circuit board 3 and the components are sequentially mounted in this order by the first nozzle 20A to the eighth nozzle 20H. Be seen.

More specifically, first, the first nozzle 2
The head unit 5 is moved (X, Y positioning) to mount the component by 0A, and the rotation servomotor 40a is driven during this movement period to adjust the mounting angle of the component attracted to the first nozzle 20A. The corresponding positioning (R positioning) of the first nozzle 20A in the rotation direction is performed. Then, after the first nozzle 20A is arranged above the predetermined mounting position of the printed circuit board 3, as in the case of picking up components,
The operation of the vertical movement servo motor 21 and the air cylinder 25 raises and lowers the first nozzle 20A, and at the timing when the first nozzle 20A reaches the lower end, the supply of negative pressure is cut off, whereby the first nozzle 20A is attracted to the first nozzle 20A. parts are mounted on the printed board 3 (t ₃ time ~t ₄ times).

While the mounting operation (X, Y, R positioning and mounting) of the first nozzle 20A is performed,
In parallel with this, the positioning of the second nozzle 20B in the rotational direction is performed according to the mounting angle of the component sucked by the second nozzle 20B.

When the mounting of the component by the first nozzle 20A is completed, the head unit 5 is moved to mount the component by the second nozzle 20B, and after the movement of the head unit 5 is completed, the second nozzle The components adsorbed by the second nozzle 20B are mounted by raising and lowering the 20B and shutting off the negative pressure. The rotational direction of the positioning of the rotating servomotor 40b is attracted to the third nozzle 20 is driven parts (t ₄ time ~t ₅ when carried out during the mounting operation by such second nozzle 20B ).

[0042] Subsequently, similarly by the above-described operation is repeatedly performed, the mounting of components adsorbed to the third nozzle 20C~ eighth nozzle 20H is continuously performed (t ₅ the time-
t ₁₁ ).

As described above, in the mounting machine, the rotational force of the rotation servomotors 40a, 40b mounted on the head unit 5 is transmitted to each nozzle member 20 via the two upper and lower rotation transmission belts 46a, 46b. Since each nozzle member 20 is rotated by using the common drive source, the plurality of nozzle members 20 are rotated on the head unit 5 while the plurality of nozzle members 20 are mounted on the head unit 5. The increase in size can be effectively suppressed.

Moreover, since the structure is such that the nozzle members 20 of two groups, which are composed of every other half, are rotated independently for each group, the adjacent nozzle members 20 are
As described above, during the mounting operation of the component by the one nozzle member 20, the other nozzle member 20 can be rotated to position the component in the rotation direction.

Therefore, even when the components to be mounted on the printed circuit board 3 are close to each other and the mounting angles of the components in the rotating direction are largely different from each other, the adjacent nozzle members 20 continuously mount the components. It is possible to avoid a situation in which the positioning time in the rotation direction of the component to be mounted on is longer than the moving time of the head unit 5 for mounting the component, which delays the mounting of the next component. Therefore, according to the above-described embodiment, the components can be mounted with the same mounting efficiency as the structure in which each nozzle member 20 is rotated by the individual drive source.

The mounting machine of the above embodiment is an example of a mounting machine to which the nozzle drive mechanism according to the present invention is applied.
The specific configuration can be appropriately changed without departing from the scope of the present invention. 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 individually rotated by a motor and a pulley provided on each nozzle member are provided, and each transmission belt has a pair of transmission belts. Since the transmission belt and the pulleys are arranged so that the rotational force is transmitted to the nozzle members of the two groups each including half of the nozzle units, the size of the head unit is increased even though the nozzle units are mounted on the head unit. Alternatively, the increase in weight can be effectively suppressed. Moreover, since the adjacent nozzle members can position the component in the rotational direction by rotating the other nozzle member while the component is being mounted by the one nozzle member, when rotating each nozzle member individually. Parts can be mounted with the same mounting efficiency as.

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 with the adjacent nozzle members, so that a pair of upper and lower transmission belts are provided for each other. It is possible to achieve a mechanism for transmitting the rotational force to each half of the nozzle members with a simple and compact structure.

[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.

FIG. 7 is a timing chart showing an example of a mounting operation.

[Explanation of symbols]

 5 head unit 5a head unit main body 20 nozzle member 20a nozzle shaft 20b nozzle 22 housing 40a, 40b rotation servo motor 41a, 41b origin sensor 44a, 44b drive shaft 45a, 45b pulley 46a, 46b rotation transmission belt 47 transmission pulley 48 idle Pulley

Claims (2)

[Claims] 1. A plurality of nozzle members are rotatably held in parallel in a frame of a head unit that is movable between a component supply side and a mounting side, and each nozzle member is driven by a motor via a belt transmission means. The belt transmission means includes a pair of upper and lower transmission belts that are each rotationally driven by a motor, and pulleys provided on each nozzle member. A nozzle drive mechanism of a mounting machine, wherein the transmission belt and the pulley are arranged so that the rotational force is transmitted to the nozzle member. 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. Nozzle drive mechanism for mounting machine.