JPH088589A - Electronic part mounting device - Google Patents

Abstract

PURPOSE:To make the carrying route of electronic parts shorter in distance. CONSTITUTION:Suction nozzles 9a and 9b are attached to the head 6 of a Cartesian-coordinate robot 2 and electronic part A is carried to a printed wiring board B by operating the robot 2 after the nozzles 9a and 9b attract the part A. An LED 16 and plane mirror 15 are respectively provided on the head 6 of the robot 2 and a Y-axis frame 5 and the image of the part A produced by the light from the LED 16 is reflected to the non-movable area of the head 6. The reflected light is detected with a line sensor 18.

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 for mounting an electronic component on a printed wiring board, which has means for detecting the shape, size, posture, etc. of the electronic component.

[0002]

2. Description of the Related Art In an electronic component mounting apparatus, a vacuum suction nozzle is attached to a head of a rectangular coordinate type robot, and the electronic components set in a component supply means are sucked by the vacuum suction nozzle, and then mounted on a printed wiring board. Some are configured for shipping and packaging. In the case of this configuration, in order to improve the mounting accuracy of the electronic component, a CCD camera for visual recognition is fixed to the mount of the Cartesian robot, and the sucked electronic component is moved in front of the CCD camera. After measuring the shape, dimensions, posture, etc. of the parts, they are conveyed onto the printed wiring board.

[0003]

However, in the above-mentioned conventional structure, since the CCD camera is fixed to the mount of the Cartesian robot, the electronic parts are purposely moved in front of the CCD camera and then transferred to the printed wiring board. Therefore, the electronic component cannot be transported to the printed wiring board by the shortest route. Therefore, a CCD camera is also fixed to the head of a rectangular coordinate robot, but in this configuration also, the vacuum suction nozzle is rotated to move the electronic component in front of the CCD camera, or the vacuum camera is moved. An extra operation of supplying an image to the CCD camera by raising the suction nozzle and inserting an optical system below the electronic component is required, and it takes time to convey the printed wiring board.

The present invention has been made in view of the above circumstances, and an object thereof is to be able to convey an electronic component to a printed wiring board in the shortest path, and further, to rotate the electronic component, or to electronic component. An object of the present invention is to provide an electronic component mounting apparatus that does not require extra operations such as inserting an optical system below.

[0005]

According to a first aspect of the present invention, there is provided an electronic component mounting apparatus, a supporting means for supporting an electronic component, and a transporting means for transporting the electronic component to a printed wiring board as the supporting means is moved. Means, a light projecting means that is connected to the supporting means, and projects light onto the electronic component, a mounting means provided on a transport path of the electronic component, and a mounting means provided on the mounting means. Reflecting means for reflecting the image of the electronic component generated by the light projection to the non-movable area of the supporting means, and light receiving light reflected by the reflecting means provided in the non-moving area of the supporting means. The image data detecting means for detecting the image data of the electronic component is also provided.

According to a second aspect of the present invention, there is provided an electronic component mounting apparatus, a supporting means for supporting the electronic component, a transporting means for transporting the electronic component to a printed wiring board when the supporting means is moved, and the electronic component. Attaching means provided on the conveyance path of the light source, and light projecting means provided on the attaching means for projecting light through the electronic component to the non-movable region of the supporting means.
It is characterized in that it is provided in an immovable region of the supporting means, and is provided with image data detecting means for detecting image data of the electronic component based on receiving the projection light of the light projecting means.

According to a third aspect of the present invention, there is provided an electronic component mounting apparatus, a supporting means for supporting the electronic component, a conveying means for conveying the electronic component to a printed wiring board along with the movement of the supporting means, and the supporting means. A projection means for projecting light to the electronic component, a mounting means provided on the transport path of the electronic component, and a mounting means provided on the mounting means and generated by the projection of the projection means. The image data of the electronic component is detected based on the received light of the image of the electronic component.

An electronic component mounting apparatus according to a fourth aspect is the electronic component mounting apparatus according to the first or second aspect, characterized in that the image data detecting means is connected to the mounting means so as to be located in the non-movable region of the supporting means. Have. The electronic component mounting apparatus according to claim 5, wherein the component supplying means for supplying the electronic component to the supporting means and the first position adjusting means for adjusting the position of the component supplying means according to the width dimension of the printed wiring board. When,
It is characterized in that it is provided with a second position adjusting means for adjusting the position of the attaching means in accordance with the change of the transport path accompanying the movement of the component supplying means.

According to a sixth aspect of the present invention, there is provided an electronic component mounting apparatus, wherein the supporting means is provided with a component supplying means for supplying an electronic component, and the supporting means is composed of eight supporting members which are not respectively supported by the electronic component. It is characterized in that the component supply means is composed of a plurality of component supply members that simultaneously supply electronic components to the respective support members. The electronic component mounting apparatus according to claim 7 is characterized in that a rotation position adjusting means for moving a plurality of electronic components while sequentially supplying the plurality of electronic components to the mounting means in accordance with the adjustment of the rotation position of the supporting means is provided. Have.

[0010]

According to the means described in claim 1, when the supporting means supports the electronic component, the carrying means moves the supporting means to start carrying the electronic component. After that, when the electronic component arrives at the mounting means located on the transport path of the electronic component, the image of the electronic component generated by the light projection of the light projecting means is reflected to the non-movable region of the supporting means, and the image data detection is performed. The means detects the image data of the electronic component based on receiving the reflected light. Therefore, unlike the conventional method in which the CCD camera is fixed to the gantry of the Cartesian robot, it is not necessary to move the electronic parts to the front of the image data detecting means, and the supporting means can be printed circuit board in the shortest conveyance path. Can be transported to. At the same time, it is not necessary to rotate the electronic component to move it to the front of the image data detecting means or to perform an extra operation such as inserting an optical system below the electronic component.

According to the second aspect, when the electronic component arrives on the straight line connecting the image data detecting means and the light projecting means, the image of the electronic component is projected on the non-movable area of the supporting means, and the image data is obtained. The detection means detects the image data of the electronic component based on receiving the projected light. Therefore,
The reflecting means can be eliminated and the structure can be simplified. According to the means described in claim 3, when the image data detecting means, the electronic component and the light projecting means are positioned on a straight line, the image of the electronic component is directly captured by the image data detecting means. Therefore, image data without distortion can be detected.

According to the fourth aspect of the invention, the image data detecting means is connected to the attaching means. Therefore, if the attaching means is moved along with the change of the conveying path, the image data detecting means also moves at the same time. . Therefore, it is not necessary to position the image data detecting means again with the change of the transport path. According to the means of claim 5, the positions of the component supply means and the attachment means are adjusted according to the width dimension of the printed wiring board, so that the transport path of the electronic component from the component supply means to the printed wiring board is adjusted. It can be further shortened.

According to the means described in claim 6, since the electronic components are simultaneously supplied to the plurality of support members, the plurality of electronic components are transported at one time, and as a result, the number of transports can be reduced. . According to the means described in claim 7, when a plurality of relatively large electronic components are simultaneously conveyed,
Since the electronic components are sequentially supplied to the attaching means, the image data can be detected by one image data detecting means.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A first embodiment of the present invention will be described below with reference to FIGS.
It will be explained based on. First, as shown in FIG.
A Cartesian robot 2 corresponding to the carrying means according to claim 1 is provided. This Cartesian robot 2 is XY
It is of a table type, and both ends of the X-axis frame 3 are fixed to the gantry 1. An X-axis motor 3a is attached to the X-axis frame 3, and a ball screw 3b is connected to the X-axis motor 3a as shown in FIG. A nut 3c is screwed into the ball screw 3b, and when the X-axis motor 3a is driven, the nut 3c is screwed in the arrow X direction along the ball screw 3b (see FIG. 2). .

The X-axis frame 3 includes a ball screw 3
Linear guides 3d and 3d are provided parallel to b. A connecting member 4 is fitted to each of the linear guides 3d, and a Y-axis frame 5 is connected to the connecting member 4. The connecting member 4 is connected to the nut 3c, and when the X-axis motor 3a is driven, each linear guide 3d is driven.
The Y-axis frame 5 is moved in the arrow X direction together with the nut 3c.

A Y-axis motor 5a is attached to the Y-axis frame 5, and a ball screw 5c is connected to the Y-axis motor 5a via a coupling 5b. A nut 5d is screwed into the ball screw 5c, and when the Y-axis motor 5a is driven, the nut 5d is screwed in the arrow Y direction along the ball screw 5c. Also,
As shown in FIG. 2, the Y-axis frame 5 is provided with two linear guides 5e parallel to the ball screw 5c, and the head 6 is fitted into each linear guide 5e via bearings 5f and 5f. Have been combined. This head 6 is a nut 5
When the Y-axis motor 5a is driven, it is guided by each linear guide 5e and moves in the arrow Y direction together with the nut 5d.

The head 6 is provided with a rotating mechanism 7. The rotating mechanism 7 is provided with lifting mechanisms 8a and 8b, and the lifting mechanisms 8a and 8b are provided with supporting means 9. The supporting means 9 is composed of suction nozzles 9a and 9b provided on the lifting mechanisms 8a and 8b, and the suction nozzles 9a and 9b are independently operated as the lifting mechanisms 8a and 8b are driven. It moves up and down and integrally rotates as the rotating mechanism 7 rotates. These suction nozzles 9a and 9b are used for the electronic component A.
For vacuum adsorption and support, and corresponds to the supporting member according to claim 6.

The pedestal 1 is provided with component supply means 10 at both ends of the Y-axis frame 5 (only one is shown). As shown in FIG. 1, each of these component supply means 10 is composed of a mounting table 10a and a plurality of conveyors 10b mounted on the mounting table 10a, and each conveyor 10b contains a plurality of electronic components. The portion 10c is formed, and the electronic component A is stored in each electronic component storage portion 10c. Then, the cylinder 1 is provided on the side of each conveyor 10b.
0d is provided, and when each cylinder 10d operates, one electronic component A is sent out. Further, each mounting table 10a is provided with a substrate supporting portion 10h, and the printed wiring board B is fixed by being sandwiched between the substrate supporting portions 10h on both sides, and is transported by a transporting conveyor (not shown).

The X-axis motor 3a and the Y-axis motor 5a are
As shown in FIG. 3, it is connected to the control device 11. The control device 11 is mainly composed of a microcomputer, and its software configuration controls a series of operations described later. Further, an X-axis movement amount detection unit 12 and a Y-axis movement amount detection unit 13 are connected to the control device 11. The X-axis movement amount detection unit 12 and the Y-axis movement amount detection unit 13 are configured by a rotary encoder and a counter that counts the number of output pulses of the rotary encoder. The control device 11 detects the X-axis movement amount. The X-axis motor 3a and the Y-axis motor 5a while feeding back the count values of the unit 12 and the Y-axis movement amount detection unit 13.
The electronic component A is transported to the printed wiring board B by controlling the driving of. The rotary motor 7a connected to the control device 11 is a drive source of the rotary mechanism 7. The rotation amount detection unit 7b is for detecting the rotation amount of the rotation motor 7a, and includes a rotary encoder and a counter.

As shown in FIG. 2, mounting means 14, 14 are fixed to both ends of the Y-axis frame 5. As shown in FIG. 1, each of the mounting means 14 includes a first mounting portion 1
4a and a second mounting portion 14b are formed into a bifurcated shape, and the first mounting portion 14a is directed in the direction of the gap between the component supply means 10 and the printed wiring board B, and is located on the transport path of the electronic component A. are doing. Further, the second mounting portion 14b is directed toward the component supplying means 10 and the suction nozzles 9a and 9a.
It is located in the non-movable region of b.

The second mounting portion 1 is attached to the first mounting portion 14a.
A plane mirror 15 is provided as a reflection means that tilts toward the 4b side, and a plurality of LEDs 16 as a light projection means are provided around the suction nozzles 9a and 9b. When the plurality of LEDs 16 emit light, the suction nozzles 9a and 9b
The shadow of the electronic component A attracted by is projected on the plane mirror 15 and reflected to the second mounting portion 14b side. Incidentally, FIG.
As shown in, the LED 16 is connected to the control device 11 and is drive-controlled by the control device 11.

In the second mounting portion 14b of the mounting means 14,
As shown in FIG. 1, a line sensor 18 having a condenser 17 is provided. The light condensing unit 17 is composed of a lens, condenses the image (shadow) of the electronic component A reflected by the plane mirror 15, and makes it enter the line sensor 18.
The line sensor 18 is composed of a CCD camera, and is connected to the control device 11 as shown in FIG. Then, the control device 11 detects the image data of the electronic component A based on the output signal of the line sensor 18, and detects the suction posture of the electronic component A based on the image data. That is, the line sensor 18 corresponds to the image data detecting means described in claim 1.

Next, the operation of the above configuration will be described. The control device 11 first moves the head 6 by driving and controlling the X-axis motor 3a and the Y-axis motor 5a, and positions the suction nozzle 9a or 9b directly above the electronic component A set in the component supply means 10. Let Then, by operating the elevating mechanism 8a or 8b, the suction nozzle 9a or 9b is lowered as shown by the two-dot chain line in FIG. 1, and the electronic component A is suctioned by the suction nozzle 9a or 9b. Next, the suction nozzle 9a or 9b is raised and X
By controlling the drive of the shaft motor 3a and the Y-axis motor 5a, the electronic component A is conveyed to the printed wiring board B as shown by the chain double-dashed line in FIG.

In this case, the suction nozzles 9a and 9b always move in the arrow Y direction and pass over the plane mirror 15. Therefore, the control device 11 causes the plurality of LEDs 16 to emit light,
The image data of the electronic component A is detected by the line sensor 18. Here, the control device 11 includes the Y-axis movement amount detection unit 1
The movement positions of the suction nozzles 9a and 9b corresponding to the detection value of 2 are stored, and the control device 11 detects the light-dark change point of the image data corresponding to the edge of the electronic component A and the Y-axis movement amount detection unit 12. Suction nozzle 9a or 9 corresponding to the value
b based on the moving position of the suction nozzle 9a or 9b.
The position and orientation of the electronic component A with respect to the electronic component A is detected, and the X-axis motor 3a, the Y-axis motor 5a, and the rotary motor 7a are drive-controlled based on the detection result, and the orientation of the electronic component A is corrected. After that, the elevating mechanism 8a or 8b is lowered to mount the electronic component A on the regular position of the printed wiring board B.

As is clear from the above description, according to the present embodiment, the plane mirror 15 is provided on the conveying path of the electronic component A, and the line sensor 18 is provided in the non-movable area of the suction nozzles 9a and 9b. Since the shadow of A is reflected on the non-movable regions of the suction nozzles 9a and 9b and the image data of the electronic component A is detected here, the CCD camera is fixed to the mount 1 of the Cartesian robot 2. Unlike the above, it is not necessary to move the electronic component A to the front of the line sensor 18, and the electronic component A can be transported to the printed wiring board B by the shortest route. At the same time, it is not necessary to rotate the electronic component A to move it to the front of the line sensor 18 or to insert an optical system below the electronic component A, so that the working time is shortened as a whole. It

Moreover, the second mounting portion 14 of the mounting means 14
Since the line sensor 18 is provided in b, the plane mirror 15 and the line sensor 18 can be moved simultaneously.
Therefore, it is not necessary to position the line sensor 18 again when the transport path of the electronic component A is changed, and the usability is improved. Further, since the suction posture of the electronic component A is detected based on the rotation amount of the Y-axis motor 5a,
The electronic component A when passing through the plane mirror 15 can detect the suction posture of the electronic component A regardless of the acceleration state, the deceleration state, the constant velocity state, or any state. . Moreover, since the electronic component A to be conveyed must pass only the plane mirror 15 provided on the first mounting portion 14a, the elevating mechanisms 8a and 8b are operated more than necessary to move the electronic component A up and down. It also has the advantage that it does not have to be moved.

Next, a second embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only different members will be described below. The mounting means 19 is the Y-axis frame 5.
Fixed to both ends of the first mounting portion 19a directed in the direction of the gap between the component supply means 10 and the printed wiring board B, and the second mounting portion located in the non-movable region of the suction nozzles 9a and 9b. The second mounting portion 19b is formed to be shorter than the second mounting portion 14b. Then, the light collecting means 1 is provided on the second mounting portion 19b.
The line sensor 18 having the number 7 is attached, and the first attaching portion 19a is provided with the light emitter 20 as a light projecting means. When the light emitter 20 emits light, the light transmitted through the electronic component A is transmitted to the line sensor 18. It is supposed to be incident.

According to this structure, when the electronic component A is conveyed in the direction of the arrow Y and reaches the straight line connecting the light emitter 20 and the line sensor 18 as shown by the solid line, the light transmitted through the electronic component A is emitted. It is incident on the line sensor 18, and the image data of the electronic component A is detected by the line sensor 18. Therefore, the control device 11 detects the position and orientation of the electronic component A based on the image data of the line sensor 18 and corrects the position and orientation, as in the first embodiment. Therefore, the same effect as that of the first embodiment can be obtained, and the flat mirror 15 can be omitted and the configuration can be simplified.

Next, a third embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only different members will be described below. Mounting means 21 are fixed to both ends of the Y-axis frame 5 (only one is shown). Each of these mounting means 21 is in the form of a single leg that is oriented in the gap direction between the component supply means 10 and the printed wiring board B, and the mounting means 21 is provided with a contact type line sensor 22.

This contact type line sensor 22 is, for example, C
It is a compact one-dimensional image sensor such as a CD, and is arranged so as to be orthogonal to the direction of the arrow Y, and directly captures one-dimensional image data (line data) of the electronic component A accompanying the light emission of the LED 16. That is, the contact type line sensor 22 corresponds to the image data detecting means in claim 3. Further, the contact type line sensor 22 is connected to the control device 11. Then, the control device 11 detects the edge positions on both sides of the electronic component A based on the image data output from the contact type line sensor 22 and the detection value of the Y-axis movement amount detection unit 12, and the first embodiment described above. Similarly to the above, the position and orientation of the electronic component A are detected and corrected.

According to this embodiment, the same effect as the first embodiment can be obtained, as well as the contact type line sensor 2
Since the image data of the electronic component A located right above 2 is directly captured, it is possible to detect the image data without distortion, and as a result, the detection accuracy can be improved. Moreover,
Since the electronic component A and the contact type line sensor 22 are close to each other, it is possible to detect image data with less distortion. Further, with the elimination of the plane mirror 15, the use of the contact type line sensor 22 and the simplification of the structure of the mounting means 21, there is an advantage that the apparatus can be made compact.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. 6 and 7. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
Only different members will be described. First, in FIG. 6, bearings 14c, 14c are provided on the inner surface of one of the mounting means 14. Further, the linear guides 2 are provided on the Y-axis frame 5 on both sides in the depth direction of the drawing.
3 is provided (only one is shown), and the mounting means 1
The four bearings 14c, 14c are movably fitted to the respective linear guides 23. As a result, the mounting means 14 is moved in the arrow Y direction along the Y-axis frame 5.

A mounting means moving motor 24 is mounted on the end of the Y-axis frame 5, and a ball screw 24b is connected to the mounting means moving motor 24 via a coupling 24a. A nut 24c is screwed onto the ball screw 24b, and when the mounting means moving motor 24 is driven, the nut 24c is moved to the ball screw 2b.
4b is screwed in the direction of the arrow Y. And nut 2
4c and the mounting means 14 are connected via a connecting member (not shown), and the mounting means 14 is guided by each linear guide 23 when the mounting means moving motor 24 is driven, and moves in the direction of the arrow Y. Moving.

As shown in FIG. 7, the control device 11 includes a mounting means moving motor 24 and a mounting means moving amount detecting section 24.
d is connected. This mounting means movement amount detecting section 24d
Is composed of a rotary encoder and a counter that counts the number of output pulses of the rotary encoder. The control device 11 adjusts the position of the mounting means 14 while feeding back the count value of the mounting means movement amount detection section 24d. To do. That is, the mounting means moving motor 24
Corresponds to the second position adjusting means.

As shown in FIG. 6, a bearing 10e is provided on the mounting table 10a of the one component supply means 10.
On the other hand, the gantry 1 is provided with the linear guide 1a,
The bearing 10e of the mounting table 10a is movably fitted to the linear guide 1a. Each of these linear guides 1a is Y
It is arranged in parallel to the shaft frame 5, and the component supply means 10 moves in the arrow Y direction along the linear guide 1a.

As shown in FIG. 7, the control device 11 is connected with a component supplying means moving motor 10f and a component supplying means moving amount detecting section 10g. The component supplying means moving motor 10f is connected to the mounting table 10a via a ball screw, a nut or the like (not shown). When the component supplying means moving motor 10f is driven, the component supplying means 10 moves together with the nut. Has become. The component supply means movement amount detection unit 10g includes a rotary encoder and a counter that counts the number of output pulses of the rotary encoder.
1 adjusts the position of the component supply means 10 while feeding back the count value of the component supply means movement amount detection unit 10g. That is, the component supply means moving motor 10f is defined in claim 5.
It corresponds to the first position adjusting means described.

According to this embodiment, when the width of the printed wiring board B is large, as shown by the solid line in FIG. 6, the mounting means 14 and the component supplying means 10 are moved in the direction opposite to the arrow Y to move the width. When the size is small, the attachment means 14 and the component supply means 10 are moved in the direction of the arrow Y as indicated by the chain double-dashed line, and the transport path of the electronic component A is shortened according to the width dimension of the printed wiring board B. . Therefore, the transport time of the electronic component A is shortened, and the working time can be further shortened.

In the above embodiment, the component supplying means moving motor 10f is used to automatically move the component supplying means 10, but the invention is not limited to this. For example, a handle may be provided in place of the component supplying means moving motor 10f, and the operator may rotate the handle to adjust the position of the component supplying means 10. In this case, the handle serves as the first position adjusting means. Equivalent to. In addition, the worker uses the component supply means 10 for the linear guide 1
The position of the component supply means 10 may be adjusted by pushing along the line a. In this case, the linear guide 1
a corresponds to the first position adjusting means.

Further, in the above embodiment, the mounting means 1
No. 4 and component supply means 10 for adjusting the position of the first
Although it is applied to the embodiment, the position adjustment of the attachment means 19 of the second embodiment and the attachment means 21 of the third embodiment may be performed in the same manner as described above, and in this case, the same as in the present embodiment. Produce an effect.

Next, a fifth embodiment of the present invention will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only different members will be described below. The pitch Pa between the suction nozzles 9a and 9b is set to an integral multiple “k × Pb” (k is a positive integer) of the pitch Pb between the conveyors 10b of the component supply unit 10.

According to this embodiment, the lifting mechanisms 8a and 8a
By operating both b, the two electronic components A are adsorbed at one time and conveyed to the printed wiring board B. Then, the line sensor 18 simultaneously detects the image data of the two electronic components A and detects the position and orientation of each electronic component A. Then, the position and orientation are corrected based on the detection result, and the electronic components A are sequentially mounted on the printed wiring board B. Therefore, the transportation time of the electronic component A is shortened, and the working time is further shortened.

In the above embodiment, the suction nozzle 9
Although the pitch Pa between a and 9b is set to an integral multiple of the pitch Pb between the conveyors 10b, it may be set to "Pb = Pa". Further, in the above-described embodiment, the number of the suction nozzles 9a and 9b is two, but it may be further increased within the range detectable by the line sensor 18. Further, in the above embodiment, “Pa = k × P
Although the configuration "b" is applied to the first embodiment, the same effect can be obtained by applying it to the second or third embodiment.

Next, a sixth embodiment of the present invention will be described with reference to FIGS.
Description will be made based on 0. The same members as those in the fifth embodiment are designated by the same reference numerals and the description thereof will be omitted.
Only different members will be described. First, in FIG. 9, a rotary motor 25 is provided inside the head 6, and a reduction mechanism 26 is connected to a rotary shaft of the rotary motor 25. The bearing 2 is attached to the output shaft 26a of the reduction mechanism 26.
The rotary member 27 is attached via 7a, and when the rotary motor 25 rotates, the rotation is reduced by the speed reduction mechanism 26 so that the rotary member 27 rotates slowly.

Plates 28, 28 are fixed to the head 6. A first elevating motor 29a and a second elevating motor 30a are attached to each of these plates 28, and a pulley 29b is attached to the rotation shaft of each motor 29a and 30a.
And 30b are connected. Further, an elliptic cylinder type pulley 29c is rotatably fitted to the outer peripheral surface of the rotating member 27. A timing belt 29d is stretched between the long cylindrical pulley 29c and the pulley 29b. When the first lifting motor 29a rotates, the long cylindrical pulley 29c rotates via the timing belt 29d. It has become.

A short cylindrical pulley 30c is rotatably fitted on the outer peripheral surface of the long cylindrical pulley 29c. A timing belt 30d is stretched between the short cylindrical pulley 30c and the pulley 30b, and when the second lifting motor 30a rotates, the timing belt 30d.
The short cylindrical pulley 30c is adapted to rotate via the. Incidentally, 29e is a bearing that rotatably supports the long cylindrical pulley 29c, and 30e is a short cylindrical pulley 30.
It is a bearing that rotatably supports c.

At the intermediate portion of the rotating member 27, a mounting portion 27a,
27a is provided. Ball screws 29f and 30f are pivotally supported by the mounting portions 27a, and pulleys 29g and 30g are connected to the upper ends of the ball screws 29f and 30f. Timing belts 29h and 30h are stretched between the pulley 29g and the long cylindrical pulley 29c and between the pulley 30g and the short cylindrical pulley 30c, respectively, and when the long cylindrical pulley 29c rotates, the timing belt Two
Ball screw 2 through 9h and pulley 29g
9f rotates. When the short cylindrical pulley 30c rotates, the timing belt 30h and the pulley 30g
The ball screw 30f rotates via the. Incidentally, 29
Reference numeral i denotes a bearing that rotatably supports the ball screw 29f, and although not shown, the ball screw 30f is also rotatably supported by the bearing.

Two linear guides 27b extending in the vertical direction are provided at the tip of the rotary member 27, and elevators 29 and 30 are fitted to each linear guide 27b. Each of these lifts 29 and 30 is a linear guide 27.
b, and the suction nozzles 9a and 9b and the LED 1 are attached to the lower ends of the lifts 29 and 30.
6 are attached, and nuts 29j and 30j are fixed to the upper end thereof. And ball screw 2
9f and 30f are screwed to nuts 29j and 30j, and when the ball screws 29f and 30f rotate, the nuts 29j and 30j screw along the ball screws 29f and 30f, and the lift nozzles 29 and 30 together with the suction nozzles. 9a and 9b move up and down along each linear guide 27b. When the rotary motor 25 rotates, the rotary member 27 rotates, and the suction nozzles 9a and 9b rotate integrally.

As shown in FIG.
The rotation motor 25, the first elevating motor 29a, and the second elevating motor 30a are connected to the output side thereof, and the rotation amount detecting section 25a and the first vertical movement amount are located to the input side thereof. The detection unit 29k and the second vertical movement amount detection unit 30k are connected.

The rotation amount detector 25a, the first and second vertical movement amount detectors 29k and 30k are composed of a rotary encoder and a counter, and the control device 11 controls the count value of the rotation amount detector 25a. The rotation position of the suction nozzles 9a and 9b is adjusted by drivingly controlling the rotation motor 25 while feeding back. That is, the rotation motor 25 corresponds to the rotation position adjusting means according to claim 7. Further, the control device 11 drives and controls the first and second lifting motors 29a and 30a while feeding back the count values of the first and second vertical movement amount detection units 29k and 30k, and the suction nozzle 9a.
And the vertical position of 10a is adjusted.

According to the above embodiment, in order to convey small electronic parts A such as chip parts at the same time, the rotary motor 25 is used to arrange the suction nozzles 9a and 9b in the arrow X direction.
By lowering the suction nozzles 9a and 9b in this state, the two electronic components A are suctioned. Then, the carrying operation is performed so that the two electronic components A cross the plane mirror 15 at the same time, and the suction postures of the two electronic components A are simultaneously detected by the line sensor 18. After that, when the two electronic components A are transported to the printed wiring board B, the suction nozzle 9
After positioning and correcting the position of the electronic component A by rotating a and 9b, the suction nozzles 9a and 9b
b is lowered.

When two large electronic components A such as a multi-pin QFP are simultaneously transported, the two electronic components A do not enter the visual field of the line sensor 18 at the same time.
After sucking the one electronic component A, the suction motors 9 rotate the suction nozzles 9a and 9b by 90 degrees. And
The carrying operation is performed so that the two electronic components A sequentially cross over the plane mirror 15, and the suction postures of the two electronic components A are sequentially detected. Therefore, when two large electronic components A are simultaneously conveyed, each electronic component A scans the central portion of the line sensor 18 without switching to an optical system having a different field of view or providing two line sensors. The configuration can be simplified.

In each of the first to sixth embodiments, the mounting means 14, 19 and 21 are provided at the end of the Y-axis frame 5, but the invention is not limited to this, and the electronic component is not limited to this. It may be arranged on the transport path A. Further, in each of the above-mentioned embodiments, the Cartesian coordinate type robot 2 is illustrated as the transporting means, but the present invention is not limited to this, and a manipulator type robot such as a cylindrical coordinate type robot or an articulated robot may be used. good.

[0053]

As is apparent from the above description, the electronic component mounting apparatus of the present invention has the following excellent effects. According to the means described in claim 1, since the image of the electronic component is taken out from the transport path of the electronic component and the image is detected in the non-movable region of the supporting means, the supporting means is transferred to the printed wiring board by the shortest transport path. It becomes possible to carry. At the same time, it is not necessary to rotate the electronic component to move it to the front of the image data detecting means or to insert an optical system below the electronic component, and it is not necessary to perform an extra operation. .

According to the second aspect, the image of the electronic component is taken out from the transport path to the non-movable region by directly projecting the light onto the electronic component. Therefore, the same effect as that of the first aspect can be obtained. Of course, the abolition of the reflection means,
The configuration is simplified. According to the means described in claim 3, since the image of the electronic component is directly captured on the conveying path, the same effect as the means described in claim 2 can be obtained, and the image data without distortion can be detected. Is possible, and as a result, the detection accuracy is improved.

According to the means described in claim 4, since the mounting means and the image data detecting means can be moved at the same time, it is not necessary to position the image data detecting means in accordance with the change of the transport path of the electronic component. , The usability is improved. According to the means described in claim 5, since the positions of the component supplying means and the mounting means can be adjusted according to the width dimension of the printed wiring board, the electronic component carrying path from the component supplying means to the printed wiring board is further improved. It is shortened and, as a result, working time is further shortened.

According to the means described in claim 6, since the electronic parts can be supplied to the plurality of supporting members at the same time, the number of times of carrying the electronic parts is reduced, and as a result, the working time is further shortened. According to the means described in claim 7, since the image data can be detected by the image data detecting means even when a plurality of large electronic components are simultaneously conveyed, it is possible to switch to an optical system having a different field of view or to use two image data. It is not necessary to provide detection means, and the configuration is simplified.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional front view of essential parts showing a first embodiment of the present invention.

FIG. 2 is a perspective view of a main part

FIG. 3 is a block diagram showing an electrical configuration.

FIG. 4 is an enlarged view of a mounting means portion showing a second embodiment of the present invention.

FIG. 5 is a view corresponding to FIG. 1 showing a third embodiment of the present invention.

FIG. 6 is a view corresponding to FIG. 1 showing a fourth embodiment of the present invention.

FIG. 7 is a view corresponding to FIG.

FIG. 8 is a schematic top view showing a fifth embodiment of the present invention.

FIG. 9 is a sectional view of a head portion showing a sixth embodiment of the present invention.

FIG. 10 is a view corresponding to FIG.

[Explanation of symbols]

A is an electronic component, B is a printed wiring board, 2 is a rectangular coordinate type robot (transporting means), 9 is supporting means, and 9a and 9b.
Is a suction nozzle (support member), 10 is a component supply means, 10
Reference numeral b is a conveyor (component supply member), 10f is a component supply means moving motor (first position adjusting means), 15 is a plane mirror (reflecting means), 16 is an LED (light projecting means), 18 is a line sensor (image data detecting means). ), 19 is mounting means, 20 is a light emitter (light projecting means), 21 is mounting means, 22 is a close contact type line sensor (image data detecting means), and 24 is a motor for moving the mounting means (second position adjusting means). Reference numerals 25 denote rotation motors (rotational position adjusting means).

Claims (7)

[Claims] 1. A support means for supporting an electronic component, a transport means for transporting the electronic component to a printed wiring board by moving the support means, and a support means connected to the support means for connecting to the electronic component. Projecting means for projecting light, a mounting means provided in the transport path of the electronic component, and an image of the electronic component generated by the projecting means provided on the mounting means for supporting the electronic component. A reflecting means for reflecting the non-movable area of the means, and an image data detecting means provided in the non-moving area of the supporting means for detecting the image data of the electronic component based on receiving the reflected light of the reflecting means; An electronic component mounting apparatus comprising: 2. A support means for supporting an electronic component, a transport means for transporting the electronic component to a printed wiring board by moving the support means, and a mounting means provided on a transport path for the electronic component. And a projecting means provided on the mounting means for projecting light to the non-movable area of the supporting means through the electronic component; and a light projecting means provided on the non-movable area of the supporting means for receiving projection light of the light projecting means. An electronic component mounting apparatus comprising: an image data detection unit that detects image data of the electronic component based on the above. 3. A support means for supporting an electronic component, a transport means for transporting the electronic component to a printed wiring board by moving the support means, and a support means connected to the support means for connecting to the electronic component. Projecting means for projecting light, an attaching means provided on the conveyance path of the electronic component, and an attaching means provided on the attaching means for receiving an image of the electronic component caused by the light emission of the light emitting means. An electronic component mounting apparatus comprising: an image data detection unit that detects image data of an electronic component based on the above. 4. The electronic component mounting apparatus according to claim 1, wherein the image data detecting means is connected to the mounting means so as to be located in the non-movable region of the supporting means. 5. Component supplying means for supplying an electronic component to the supporting means, first position adjusting means for adjusting the position of the component supplying means according to the width dimension of the printed wiring board, and the component supplying means. 5. The electronic component mounting apparatus according to claim 3, further comprising a second position adjusting unit that adjusts the position of the mounting unit according to a change in the transport path accompanying the movement of the. 6. A component supply means for supplying an electronic component to the support means, wherein the support means is composed of a plurality of support members for respectively supporting the electronic components, and the component supply means is provided for each of the support members. 4. The electronic component mounting apparatus according to claim 1, wherein the electronic component mounting apparatus comprises a plurality of component supply members that simultaneously supply electronic components. 7. The rotation position adjusting means for moving a plurality of electronic components while sequentially supplying the plurality of electronic components to the mounting means in accordance with the adjustment of the rotation position of the supporting means. Electronic component mounting equipment.