JPH09107198A - Electronic component fitter - Google Patents

Electronic component fitter

Info

Publication number
JPH09107198A
JPH09107198A JP7265484A JP26548495A JPH09107198A JP H09107198 A JPH09107198 A JP H09107198A JP 7265484 A JP7265484 A JP 7265484A JP 26548495 A JP26548495 A JP 26548495A JP H09107198 A JPH09107198 A JP H09107198A
Authority
JP
Japan
Prior art keywords
electronic component
holder
chuck
nozzle
mounting head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP7265484A
Other languages
Japanese (ja)
Inventor
Atsushi Shindo
淳 進藤
Original Assignee
Tdk Corp
ティーディーケイ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tdk Corp, ティーディーケイ株式会社 filed Critical Tdk Corp
Priority to JP7265484A priority Critical patent/JPH09107198A/en
Publication of JPH09107198A publication Critical patent/JPH09107198A/en
Withdrawn legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To interpose an electronic component between and hold it with a mechanical chuck stably and to fit it to a printed board, even if it is an electronic component of a different type, by causing a holding means to close the claws of the chuck by a vacuum-suction from a holder part side and to clamp the electronic component. SOLUTION: In an electronic component fitting device, a mechanical chuck is fitted to a fitting head 1 provided with an ascending and descending shaft 8 freely ascendable and descendable and having a holder part at its lower end, and the mechanical chuck closes the chuck claws 19, 29 by a vacuum-suction from the side of the holder part and interposes an electronic component B between and holds it. And the vacuum suction can be performed by also using vacuum suction which is done by fitting a suction nozzle 9 to the holder part and sucks and holds the electronic component B, and for the same holder part a suction nozzle 9 and a mechanical chuck having different electronic component B holding constitutions can be exchanged. Accordingly, it becomes possible for the mechanical chuck to hold the electronic component B which can not be held stably by suction since the mechanical chuck clamps the electronic component B with the chuck claws 19, 29.

Description

【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【産業上の利用分野】本発明は、電子部品を装着ヘッド
により保持してプリント基板上に装着する装置に関す
る。更に詳しくは、複数の電子部品を配列し且つ収容し
ている部品供給部と、この部品供給部に収容されている
所定の電子部品を真空吸着しプリント基板上に移載する
装着ヘッドと、該装着ヘッドの先端部である吸着ノズル
等の電子部品保持手段を交換可能に構成する電子部品装
着装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for holding an electronic component by a mounting head and mounting it on a printed circuit board. More specifically, a component supply unit that arranges and accommodates a plurality of electronic components, a mounting head that vacuum-suctions a predetermined electronic component accommodated in the component supply unit and transfers the electronic component onto a printed circuit board, The present invention relates to an electronic component mounting device in which electronic component holding means such as a suction nozzle, which is the tip of a mounting head, is replaceable.
【0002】[0002]
【従来の技術】従来、特開平6−237094号公報に
は、X−Y駆動機構により水平面内で移動自在に支持さ
れている装着ヘッドが移動する下方に、チップ部品等の
電子部品を装着すべきプリント基板は搬送機構によって
位置決め固定されており、装着ヘッドのホルダ部に着脱
自在な吸着ノズルをノズル交換部にて取り付けて、取り
付けた吸着ノズルで部品供給部からチップ部品を吸着保
持した装着ヘッドをTVカメラに対向する画像取り込み
位置に移動し、TVカメラによりチップ部品の影像が取
り込まれて吸着ノズルに対するずれが制御部に認識さ
れ、この認識結果を利用して装着ヘッドのプリント基板
へのチップ部品装着点を補正することで高精度の部品装
着を実現できる電子部品装着機が示されている。
2. Description of the Related Art Conventionally, in Japanese Unexamined Patent Publication No. 6-237094, an electronic component such as a chip component is mounted below a mounting head that is movably supported in a horizontal plane by an XY drive mechanism. The printed circuit board to be mounted is positioned and fixed by the transport mechanism, and a removable suction nozzle is attached to the holder part of the mounting head by the nozzle replacement part, and the mounting head that suction-holds the chip component from the component supply part with the attached suction nozzle. Is moved to the image capturing position opposite to the TV camera, the image of the chip component is captured by the TV camera, and the deviation with respect to the suction nozzle is recognized by the control unit, and the recognition result is used to chip the mounting head on the printed circuit board. An electronic component mounting machine that can realize highly accurate component mounting by correcting the component mounting point is shown.
【0003】[0003]
【発明が解決しようとする課題】ところで、チップ部品
等の電子部品をプリント基板へ装着して組み立てた回路
を使う製品の小型化、また、そうしたプリント基板の高
密度化に伴い、従来はリード線をプリント基板に設けた
穴に挿入して組み立てる形式の電子部品で、表面実装化
されていなかった電子部品が表面実装用に変更されてき
ている。これらの電子部品は、コネクタや異形部品と呼
ばれるような電子部品が多く、汎用の吸着ノズルでは吸
着できない電子部品が多く含まれている。このような電
子部品を保持するには、吸着ノズルの形状を特殊化し、
個々の電子部品専用の吸着ノズルを用意するか、あるい
は、電子部品を製造する段階で該電子部品の一部に汎用
の吸着ノズルが吸着可能な面を新たに付け加えるとかし
ている。しかし、吸着ノズルの形状を特殊化しても吸着
できない電子部品があり、一方、電子部品を製造する段
階で付加した吸着面は、該電子部品をプリント基板に装
着してしまうと不要になり取り外さなければならず、電
子部品のコストを上げるだけにとどまらず、プリント基
板組立工程上新たな作業が発生することになりさらにコ
ストを上げることになる。また、このような吸着面を付
加できないような電子部品も存在する。
By the way, with the miniaturization of products that use circuits assembled by mounting electronic components such as chip components on a printed circuit board and the high density of such printed circuit boards, conventionally, lead wires have been conventionally used. In the electronic component of the type that is inserted into a hole provided in a printed circuit board and assembled, the electronic component that has not been surface-mounted has been changed for surface mounting. Many of these electronic components are electronic components called connectors and odd-shaped components, and many electronic components that cannot be adsorbed by a general-purpose adsorption nozzle are included. In order to hold such electronic parts, the suction nozzle has a special shape,
A suction nozzle dedicated to each electronic component is prepared, or a surface on which a general-purpose suction nozzle can suction is newly added to a part of the electronic component at the stage of manufacturing the electronic component. However, there are electronic components that cannot be sucked even if the suction nozzle shape is specialized. On the other hand, the suction surface added at the stage of manufacturing electronic components becomes unnecessary when the electronic components are mounted on the printed circuit board and must be removed. In addition to increasing the cost of electronic components, new work is required in the process of assembling the printed circuit board, further increasing the cost. In addition, there are electronic components to which such a suction surface cannot be added.
【0004】本発明は、上記の点に鑑み、汎用の吸着ノ
ズルでは吸着できない電子部品を、吸着ノズルを用いず
に機械的なメカチャックによって保持してプリント基板
への装着を実行でき、また該メカチャックは装着ヘッド
のホルダ部に着脱自在な吸着ノズルと同様にノズル交換
部にて該ホルダ部に取り付け可能にして、汎用の吸着ノ
ズルと機械的なメカチャックとを任意の組合せで備え、
装着ヘッドの先端部である電子部品保持手段を機械的な
メカチャックを含めて交換且つ動作可能に構成する電子
部品装着装置を提供することを目的とする。
In view of the above points, the present invention can mount an electronic component which cannot be sucked by a general-purpose suction nozzle on a printed circuit board by holding it by a mechanical mechanical chuck without using the suction nozzle. The mechanical chuck can be attached to the holder part by the nozzle replacement part in the same manner as the removable suction nozzle on the holder part of the mounting head, and a general-purpose suction nozzle and a mechanical mechanical chuck are provided in any combination,
An object of the present invention is to provide an electronic component mounting apparatus in which an electronic component holding means, which is a tip end portion of a mounting head, can be replaced and operated including a mechanical mechanical chuck.
【0005】[0005]
【課題を解決するための手段】上記目的を達成するため
に、本発明の電子部品装着装置は、ホルダ部を下端に有
する昇降軸を昇降自在に設けてなる装着ヘッドと、電子
部品の部品供給部と、電子部品の保持手段を収納するノ
ズル交換部とを備え、前記装着ヘッドの前記ホルダ部に
前記ノズル交換部に収納する保持手段を取り付けて、前
記装着ヘッドの昇降軸を昇降し前記保持手段で前記部品
供給部から電子部品をピックアップして位置決めされた
プリント基板上に移動し装着する電子部品装着装置であ
って、前記保持手段は前記ホルダ部側より真空吸引する
力でチャック爪を閉じて電子部品を挟持し保持する構成
としている。
In order to achieve the above object, an electronic component mounting apparatus according to the present invention comprises a mounting head provided with an elevating shaft having a holder portion at its lower end so as to be able to move up and down, and component supply for electronic components. Section and a nozzle exchanging section for accommodating a retaining means for electronic parts, the retaining section accommodating in the nozzle exchanging section is attached to the holder section of the mounting head, and the elevating shaft of the mounting head is elevated and held. An electronic component mounting apparatus that picks up an electronic component from the component supply unit by means to move and mount it on a printed circuit board that is positioned, wherein the holding unit closes a chuck claw by a force of vacuum suction from the holder unit side. The electronic parts are clamped and held by the electronic parts.
【0006】また、ホルダ部を下端に有する昇降軸を昇
降自在に設けてなる装着ヘッドと、電子部品の部品供給
部と、電子部品を吸着し保持する吸着ノズルと、電子部
品を挟持し保持するメカチャックと、前記吸着ノズル及
び前記メカチャックを収納するノズル交換部とを備え、
前記装着ヘッドの前記ホルダ部に前記ノズル交換部に収
納する前記吸着ノズルあるいは前記メカチャックを取り
付けて、前記装着ヘッドの昇降軸を昇降し前記吸着ノズ
ルあるいは前記メカチャックで前記部品供給部から電子
部品をピックアップして位置決めされたプリント基板上
に移動し装着する電子部品装着装置であって、前記ホル
ダ部に取り付けた前記吸着ノズルは前記ホルダ部側より
真空吸引して電子部品を吸着し保持し、前記ホルダ部に
取り付けた前記メカチャックは前記ホルダ部側より真空
吸引する力でチャック爪を閉じて電子部品を挟持し保持
する構成として、さらに、ホルダ部に前記メカチャック
を取り付けて前記ホルダ部側より真空吸引は、前記ホル
ダ部に前記吸着ノズルを取り付けて電子部品を吸着し保
持する真空吸引と兼用する構成となっている。
[0006] Further, a mounting head provided with a lifting shaft having a holder portion at the lower end so as to be movable up and down, a component supply portion for electronic components, a suction nozzle for sucking and retaining electronic components, and sandwiching and retaining electronic components. A mechanical chuck, and a nozzle replacement unit that houses the suction nozzle and the mechanical chuck,
The suction nozzle or the mechanical chuck housed in the nozzle exchanging portion is attached to the holder portion of the mounting head, and the elevating shaft of the mounting head is moved up and down to move the suction nozzle or the mechanical chuck from the component supply unit to the electronic component. Is an electronic component mounting device for picking up and moving on a positioned printed circuit board and mounting the electronic component mounting device, wherein the suction nozzle mounted on the holder part sucks a vacuum from the holder part side to suck and hold the electronic part, The mechanical chuck attached to the holder portion is configured to close the chuck claws by the force of vacuum suction from the holder portion side to clamp and hold an electronic component, and further, the mechanical chuck is attached to the holder portion to the holder portion side. More vacuum suction is a vacuum suction in which the suction nozzle is attached to the holder part to suck and hold an electronic component. And it has a configuration to use.
【0007】[0007]
【作用】本発明の電子部品装着装置においては、ホルダ
部を下端に有する昇降軸を昇降自在に設けてなる装着ヘ
ッドにメカチャックを取り付けて、該メカチャックはホ
ルダ部側より真空吸引する力でチャック爪を閉じ電子部
品を挟持し保持する構成としているので、該真空吸引は
前記ホルダ部に前記吸着ノズルを取り付けて電子部品を
吸着し保持する真空吸引と兼用することができ、吸着ノ
ズルとメカチャックの電子部品を保持する構成が異なる
ものを同一ホルダ部に対して交換可能である。また、メ
カチャックはチャック爪で電子部品を挟持し保持するの
で吸着では安定に保持できない電子部品でも保持可能に
なる。
In the electronic component mounting apparatus of the present invention, the mechanical chuck is attached to the mounting head which is provided with the elevating shaft having the holder portion at the lower end so as to be able to move up and down, and the mechanical chuck is subjected to vacuum suction from the holder portion side. Since the chuck claw is closed to hold and hold the electronic component, the vacuum suction can also be used as the vacuum suction for attaching and holding the electronic component by attaching the suction nozzle to the holder portion. It is possible to replace the chuck having a different structure for holding electronic components with the same holder portion. Further, since the mechanical chuck holds and holds the electronic parts by the chuck claws, it becomes possible to hold the electronic parts which cannot be stably held by suction.
【0008】[0008]
【実施例】以下、本発明に係る電子部品装着装置の実施
例を図面に従って説明する。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of an electronic component mounting apparatus according to the present invention will be described below with reference to the drawings.
【0009】図1乃至図8において、1は装着ヘッドで
あり、該装着ヘッド1の本体2を相互に平行なガイド軸
3、ボール螺子軸4及びボールスプライン軸5が貫通し
ている、なお、ガイド軸3は円柱状の軸で機能するが、
装着ヘッド1の軸回り方向への振れ止めを期待してボー
ルスプライン軸を回転しないよう固定し採用している、
また、各軸とも軽量化を期待して中空状の軸を採用して
いる。これらのガイド軸3、ボール螺子軸4及びボール
スプライン軸5はX方向に配列支持されるものであり、
装着ヘッド1の本体2にはガイド軸3に対し摺動自在に
嵌合するスライド軸受6が固定されるとともに、前記ボ
ール螺子軸4に螺合するナット部材7が固定されてい
る。ガイド軸3は装着ヘッド1をX方向に摺動自在に支
持するもので、ボール螺子軸4はその回転により装着ヘ
ッド1をX方向に駆動するためのものである。ボールス
プライン軸5は吸着ノズル9を下部に有する昇降軸8を
昇降駆動するためのものである。
1 to 8, reference numeral 1 denotes a mounting head, through which a guide shaft 3, a ball screw shaft 4 and a ball spline shaft 5 which are parallel to each other pass through a main body 2 of the mounting head 1. The guide shaft 3 functions as a cylindrical shaft,
The ball spline shaft is fixed so that it does not rotate in anticipation of steadying of the mounting head 1 in the direction around the axis.
In addition, hollow shafts are used for each shaft in anticipation of weight reduction. These guide shaft 3, ball screw shaft 4, and ball spline shaft 5 are arranged and supported in the X direction,
A slide bearing 6 slidably fitted to a guide shaft 3 is fixed to a main body 2 of the mounting head 1, and a nut member 7 screwed to the ball screw shaft 4 is fixed. The guide shaft 3 supports the mounting head 1 slidably in the X direction, and the ball screw shaft 4 drives the mounting head 1 in the X direction by its rotation. The ball spline shaft 5 is for vertically moving the elevating shaft 8 having the suction nozzle 9 in the lower part.
【0010】図7に示す、電子部品装着装置の全体構成
の平面図から明らかなように、前記装着ヘッド1は、基
台15上の左右に設けられたY軸駆動系11とY軸駆動
系11によってY方向に駆動されるY方向スライダ12
A,12Bに設けられたX軸駆動系13とからなるX−
Y駆動系14でX−Y方向に駆動されるようになってい
る。
As is apparent from the plan view of the overall structure of the electronic component mounting apparatus shown in FIG. 7, the mounting head 1 includes the Y-axis drive system 11 and the Y-axis drive system provided on the left and right sides of the base 15. Y direction slider 12 driven in Y direction by 11
X-comprising the X-axis drive system 13 provided in A and 12B
The Y drive system 14 is driven in the XY direction.
【0011】前記Y軸駆動系11は、基台15上に水平
で且つY方向に軸支された一対のY方向のボール螺子軸
20A,20Bと、該ボール螺子軸20A,20Bの一
端部にそれぞれ固着された歯付プーリー21A,21B
と、支持部材22を介して基台15に固定されたY軸駆
動モーター23と、該モーター23の出力回転軸129
とボール螺子軸20Aの一端部を軸継手24で連結し
て、該モーター23の回転力を軸継手22を介して前記
ボール螺子軸20Aに伝達し、さらに歯付プーリー21
A,21Bを介して前記ボール螺子軸20Bに伝達する
歯付ベルト25と、ボール螺子軸20A,20Bにそれ
ぞれ螺合しているY方向スライダ12A,12Bとを具
備し、ボール螺子軸20A,20Bを等しい角度回転さ
せることで各Y方向スライダ12A,12Bを等量移動
させる機能を持っている。
The Y-axis drive system 11 has a pair of Y-direction ball screw shafts 20A and 20B horizontally supported on the base 15 and axially supported in the Y-direction, and one end portions of the ball screw shafts 20A and 20B. Toothed pulleys 21A and 21B fixed to each other
And a Y-axis drive motor 23 fixed to the base 15 via the support member 22, and an output rotary shaft 129 of the motor 23.
And one end of the ball screw shaft 20A are connected by a shaft joint 24, the rotational force of the motor 23 is transmitted to the ball screw shaft 20A through the shaft joint 22, and the toothed pulley 21
A toothed belt 25 that transmits to the ball screw shaft 20B via A and 21B, and Y direction sliders 12A and 12B screwed to the ball screw shafts 20A and 20B, respectively, are provided. Has a function of moving the Y-direction sliders 12A and 12B by the same amount by rotating the sliders by the same angle.
【0012】前記X軸駆動系13は、装着ヘッド1をX
方向に摺動自在に支持する前記ガイド軸3と、装着ヘッ
ド1をX方向に駆動する前記ボール螺子軸4と、該装着
ヘッド1の昇降軸8と吸着ノズル9を昇降させるための
前記ボールスプライン軸5を前記Y方向スライダ12
A,12B間に架設した構造を持ち、各軸3,4,5は
水平面内で前記Y方向に直交するX方向に配列されてい
る。前記ガイド軸3はY方向スライダ12A,12Bに
固着され、ボール螺子軸4及びボールスプライン軸5は
Y方向スライダ12A,12Bに回転自在に支持され、
一端部に固着された軸継手33,34を介しそれぞれX
軸駆動モーター30及び昇降駆動モーター31の回転力
を受けるようになっている。各モーター30,31はY
方向スライダ12A上に搭載されている。
The X-axis drive system 13 moves the mounting head 1 to the X-axis.
The guide shaft 3 slidably supporting the mounting head 1, the ball screw shaft 4 driving the mounting head 1 in the X direction, the elevating shaft 8 of the mounting head 1 and the ball spline for elevating the suction nozzle 9. Align the shaft 5 with the Y-direction slider 12
It has a structure installed between A and 12B, and the axes 3, 4, and 5 are arranged in the X direction orthogonal to the Y direction in the horizontal plane. The guide shaft 3 is fixed to the Y-direction sliders 12A and 12B, and the ball screw shaft 4 and the ball spline shaft 5 are rotatably supported by the Y-direction sliders 12A and 12B.
X through the shaft couplings 33 and 34 fixed to one end, respectively.
It receives the rotational force of the shaft drive motor 30 and the elevation drive motor 31. Each motor 30, 31 is Y
It is mounted on the direction slider 12A.
【0013】前記基台15に設けられた台座41上に
は、チップ部品等の電子部品を供給するための部品供給
部40が多数配列されている(図7は部品供給部40を
6個搭載し配列した状態を示す)。また、プリント基板
45の搬送及び位置決め保持を行う搬送部50が、装着
ヘッド1の下方位置にX方向へプリント基板45を搬送
するよう配設されている。
A large number of component supply parts 40 for supplying electronic parts such as chip parts are arranged on a pedestal 41 provided on the base 15 (in FIG. 7, six component supply parts 40 are mounted. Shows the state of arrangement). Further, a transport unit 50 that transports and positions and holds the printed circuit board 45 is disposed below the mounting head 1 to transport the printed circuit board 45 in the X direction.
【0014】図3及び図4は装着ヘッド1を示し、図3
は装着ヘッド1の平面図であり、図4は前記各軸3,
4,5を断面にして示す装着ヘッド1の側面図である。
前記ボールスプライン軸5に嵌合しているスプラインナ
ット60は装着ヘッド1の本体2に固定された軸受61
にて回転自在に保持されており、該スプラインナット6
0に昇降カム62及び供給部駆動カム63が固着されて
いる。昇降カム62に従動するカムフォロアとしてのレ
バー64の右端部は、揺動支点Pにて本体2に枢支され
ており、該レバー64の中間部に枢着されたローラー6
5が昇降カム62に当接するようになっている。レバー
64の左端部に枢着されたローラー66は前記昇降軸8
に一体化されたフランジ付部品68の係合用凹部69に
係合しており、レバー64左端部と本体2との間に引っ
張りばね67が配設されて前記ローラー65を前記カム
62に圧接させる向きに付勢している。
3 and 4 show the mounting head 1, and FIG.
FIG. 4 is a plan view of the mounting head 1, and FIG.
It is a side view of the mounting head 1 which shows 4 and 5 in a cross section.
The spline nut 60 fitted to the ball spline shaft 5 is a bearing 61 fixed to the main body 2 of the mounting head 1.
Is rotatably held by the spline nut 6
An elevating cam 62 and a supply unit drive cam 63 are fixed to the position 0. A right end portion of a lever 64 as a cam follower that follows the lifting cam 62 is pivotally supported by the main body 2 at a swing fulcrum P, and the roller 6 pivotally attached to an intermediate portion of the lever 64.
5 contacts the lift cam 62. The roller 66 pivotally attached to the left end of the lever 64 is the lifting shaft 8
Is engaged with the engaging recess 69 of the flanged component 68 integrated with the main body 2, and a tension spring 67 is disposed between the left end of the lever 64 and the main body 2 to press the roller 65 against the cam 62. It is biasing in the direction.
【0015】また、前記本体2には部品供給部40に駆
動力を与えるための押し下げレバー90A,90Bが枢
着点Q,Rにて対称的に枢支され、一方の押し下げレバ
ー90Aにレバー89が固着され、該レバー89の端部
にはローラー91が枢着されている。該ローラー91は
本体2との間に配設された図示しない引っ張りばねに引
かれて前記供給部駆動カム63に当接している。
Further, push-down levers 90A and 90B for giving a driving force to the component supply unit 40 are symmetrically pivoted at the main body 2 at pivot points Q and R, and one push-down lever 90A has a lever 89. And a roller 91 is pivotally attached to the end of the lever 89. The roller 91 is pulled by a tension spring (not shown) provided between the roller 91 and the main body 2 and is in contact with the supply portion drive cam 63.
【0016】そして、押し下げレバー90A,90B各
々の前記枢着点Q,R側には歯車92A,92Bが固着
され、レバー90A,90Bと各々一体になって各々枢
着点Q,Rにて回動可能に枢支され、また、歯車93
A,93Bは相互に噛み合った状態で前記本体2に固定
の軸S,Tに回転自在に軸支され、そうして、歯車92
Aは歯車93Aと、歯車92Bは歯車93Bと相互に噛
み合っている。また、押し下げレバー90A,90Bの
他方の端部にはローラー94A,94Bが枢着されてい
る。従って、一方の押し下げレバー90Aが供給部駆動
カム63により下方に押し下げられたとき、ローラー9
4Aが取り付けられた端部が下がるとともに、他方の押
し下げレバー90Bも歯車92A,93A,93B,9
2Bを介し作動され、ローラー94Bが取り付けられた
端部も下がるようになっている。ローラー94A,94
Bは部品供給部40側の駆動力を受けるレバーを作動さ
せ(押し下げ)、部品供給部40の部品供給位置に電子
部品を吸着ノズル9あるいは機械的なメカチャック10
で、吸着可能あるいは保持可能な状態で送り出すもので
ある。なお部品供給部40は搬送部50の両側に設置で
きローラー94A,94Bは各々の側を受け持ち作動さ
せる(図7では部品供給部40の反対側には部品供給部
130の異なるタイプが設置された場合を示す)。
Gears 92A and 92B are fixed to the side of the pivot points Q and R of the push-down levers 90A and 90B, respectively. The gears 92A and 92B are integrated with the levers 90A and 90B and rotate at the pivot points Q and R, respectively. And a gear 93
A and 93B are rotatably supported by shafts S and T fixed to the main body 2 in a state where they mesh with each other.
A is gear 93A, and gear 92B is geared with gear 93B. Further, rollers 94A and 94B are pivotally attached to the other ends of the push-down levers 90A and 90B. Therefore, when one of the push-down levers 90A is pushed downward by the supply unit drive cam 63, the roller 9
4A is attached to the lower end, and the other push-down lever 90B is also attached to the gears 92A, 93A, 93B, 9
It is operated via 2B so that the end to which the roller 94B is attached is also lowered. Rollers 94A, 94
B activates (pushes down) a lever that receives a driving force on the component supply unit 40 side to pick up an electronic component at the component supply position of the component supply unit 40 by a suction nozzle 9 or a mechanical mechanical chuck 10.
Then, it is sent out in a state where it can be adsorbed or held. Note that the component supply unit 40 can be installed on both sides of the transport unit 50, and the rollers 94A and 94B take charge of their respective sides (in FIG. 7, different types of the component supply unit 130 are installed on the opposite side of the component supply unit 40). Show case).
【0017】また、前記本体2の下端には左右一対の取
付座51を備え、装着ヘッド1側に背景発光用照明手段
を備える場合は、スペーサ52を介して取付具54がボ
ルト53で固定され、該取付具54に大径照明基板55
及び大径拡散板56がボルトで固定されている。大径照
明基板55の下面には発光ダイオードが面状に配列され
ており、発光ダイオードの明るさを制御できるようにな
っている。前記大径拡散板56は前記大径照明基板55
と同面積であって半透明樹脂等で形成され、前記照明基
板55に対してスペーサ57を介し所要間隔で対向して
おり、前記照明基板55上の発光ダイオードの光を略一
様に拡散する機能を有している。また、前記大径拡散板
56の中央部には円筒状支持体58が固定され、該支持
体58の先端部に円環状の小径照明基板59が取り付け
られている。該小径照明基板59の下面には発光ダイオ
ードが面状に配列されており、発光ダイオードの明るさ
を制御できるようになっている。それらの発光ダイオー
ドが配置された大径照明基板55、大径拡散板56、及
び発光ダイオードが配置された小径照明基板59は背景
照明手段の一種の背景発光用照明手段を構成している。
なお、大径照明基板55、大径拡散板56及び小径照明
基板59の中央部には前記昇降軸8を回避するための中
央穴が形成されている。
When the lower end of the main body 2 is provided with a pair of left and right mounting seats 51 and the mounting head 1 side is provided with a background light emitting means, a mounting tool 54 is fixed with bolts 53 via a spacer 52. , A large-diameter illumination board 55 on the fixture 54
The large-diameter diffusion plate 56 is fixed with bolts. Light-emitting diodes are arranged in a plane on the lower surface of the large-diameter illumination board 55, and the brightness of the light-emitting diodes can be controlled. The large-diameter diffusion plate 56 is the large-diameter illumination board 55.
It is formed of a semitransparent resin or the like with the same area as that of the light emitting diode and is opposed to the illumination substrate 55 with a spacer 57 interposed therebetween at a predetermined interval and diffuses the light of the light emitting diode on the illumination substrate 55 substantially uniformly. It has a function. A cylindrical support 58 is fixed to the center of the large-diameter diffusion plate 56, and an annular small-diameter illumination board 59 is attached to the tip of the support 58. Light emitting diodes are arranged in a plane on the lower surface of the small-diameter illumination substrate 59, and the brightness of the light emitting diodes can be controlled. The large-diameter illuminating board 55 on which the light emitting diodes are arranged, the large-diameter diffuser plate 56, and the small-diameter illuminating board 59 on which the light emitting diodes are arranged constitute a kind of background illuminating illuminating means.
A central hole for avoiding the elevating shaft 8 is formed in the central portions of the large-diameter illumination board 55, the large-diameter diffusion plate 56, and the small-diameter illumination board 59.
【0018】図1,2及び図8は装着ヘッド1のホルダ
部を構成する前記昇降軸8の下端部を断面図で示す。図
1及び図2は電子部品の機械的なメカチャック10を取
り付けた場合を、図1は内部の構造が説明しやすい方向
に断面図とし、図2は図1に対し側面から見た状態を示
す。図8は従来から知られている汎用の吸着ノズル9を
取り付けた場合を示す。図4は装着ヘッド1のホルダ部
を構成する昇降軸8の下端部に、図8に示すような汎用
の吸着ノズル9を取り付けた場合である。該昇降軸8の
下端部は図1,2及び図8に示す如く、該昇降軸8の下
端部の外径に穴部81を嵌合して固定した外筒体80を
備え、また該外筒体80の該穴部81は、吸着ノズル9
やメカチャック10の嵌合部131,101の外径を着
脱自在に受け入れ嵌合する。一方、嵌合部131,10
1の先端部円周に渉ってテーパ部132,102を設
け、穴部81に対して所定の位置関係の範囲で容易に嵌
合可能なようになっている。嵌合部131,101は穴
部81に嵌合してからは、該穴部81に対して所定の位
置精度を保持する。さらに嵌合部131,101の所定
個所円周に渉って凹溝部133,103を設け、穴部8
1に嵌合されて所定の位置まで入り込むと、クランプ駒
84の半球状の先端が該凹溝部133,103に係合し
て脱落を防止する。すなわち、外筒体80の下端から所
定の高さ位置に、外筒体80の外径が他よりも大きい個
所を用意して外周に渉って凹溝82を設ける、該凹溝8
2は外筒体80の外径が他よりも大きい個所において壁
面127,128を形成する、そうして、該凹溝82の
底面から外筒体80の軸心に向かってクランプ穴83を
設ける、クランプ穴83は壁面127,128の間隔よ
り穴径がはみ出さないか、はみ出す場合は壁面127,
128の部分も削って形成し、且つクランプ駒84の外
径に対して適度なすきまを有し該駒84を摺動自在に嵌
入可能とする、なお該クランプ穴83は外筒体80の穴
部81に近い部分で穴径をテーパ状に小さくしておく、
嵌入されたクランプ駒84を穴部81側に脱落させない
ためである。
1, 2 and 8 are sectional views showing the lower end of the elevating shaft 8 which constitutes the holder of the mounting head 1. 1 and 2 show a case where a mechanical mechanical chuck 10 for an electronic component is attached, FIG. 1 is a sectional view in a direction in which the internal structure is easy to explain, and FIG. 2 shows a state when viewed from the side with respect to FIG. Show. FIG. 8 shows a case where a general-purpose suction nozzle 9 which has been conventionally known is attached. FIG. 4 shows a case where a general-purpose suction nozzle 9 as shown in FIG. 8 is attached to the lower end of the elevating shaft 8 which constitutes the holder of the mounting head 1. As shown in FIGS. 1, 2 and 8, the lower end of the elevating shaft 8 is provided with an outer cylindrical body 80 in which a hole 81 is fitted and fixed to the outer diameter of the lower end of the elevating shaft 8, and The hole 81 of the cylindrical body 80 is provided in the suction nozzle 9
The outer diameters of the fitting portions 131 and 101 of the mechanical chuck 10 are detachably received and fitted. On the other hand, the fitting parts 131, 10
Tapered portions 132 and 102 are provided so as to extend along the circumference of the distal end portion of No. 1 so that they can be easily fitted into the hole portion 81 within a predetermined positional relationship. After the fitting portions 131 and 101 are fitted into the hole portion 81, the fitting portions 131 and 101 maintain a predetermined positional accuracy with respect to the hole portion 81. Further, recessed groove portions 133 and 103 are provided so as to extend along the circumference of a predetermined portion of the fitting portions 131 and 101, and the hole portion 8
When the clamp piece 84 is fitted to the predetermined position and enters a predetermined position, the hemispherical tip of the clamp piece 84 engages with the concave groove portions 133 and 103 to prevent the clamp piece 84 from falling off. That is, a portion where the outer diameter of the outer tubular body 80 is larger than the other is prepared at a predetermined height position from the lower end of the outer tubular body 80, and a concave groove 82 is provided across the outer periphery.
2 forms the wall surfaces 127 and 128 at a portion where the outer diameter of the outer cylindrical body 80 is larger than the other, and the clamp hole 83 is provided from the bottom surface of the groove 82 toward the axial center of the outer cylindrical body 80. , The clamp hole 83 does not protrude from the distance between the wall surfaces 127 and 128, or if it protrudes, the wall surface 127,
The portion 128 is also formed by scraping, and has a proper clearance with respect to the outer diameter of the clamp piece 84 so that the piece 84 can be slidably fitted therein. The clamp hole 83 is a hole of the outer cylinder body 80. The diameter of the hole is tapered in a portion close to the portion 81,
This is to prevent the inserted clamp pieces 84 from falling off to the hole 81 side.
【0019】クランプ駒84は前記クランプ穴83と適
度なすきまを有し摺動自在になる外径を有し、一方の先
端は半球状に、他方の端は平面状に形成する。前記クラ
ンプ穴83に該クランプ駒84の半球状の先端を外筒体
80の穴部81に向けて嵌入する。そうして、Oリング
85を前記凹溝82の全周に渉って壁面127,128
の間に嵌め込む、嵌め込まれた状態でOリング85は適
度な張力を有するようにすると、前記クランプ駒84の
平面状の端を押して該クランプ駒84を穴部81に向け
て押し出す、するとクランプ駒84の半球状の先端が穴
部81に突出するが、穴部81に何もない状態でもクラ
ンプ穴83の穴径をテーパ状に小さくしてあるので穴部
81側に脱落してしまうことはない。なお、Oリング8
5は単なるリング状のゴムとかリング状に形成したばね
とかを用いても機能する、また、クランプ穴83の穴径
をテーパ状に小さくすることに替えてストッパピン等を
打ち込んでクランプ駒84の脱落を防止することもでき
る。
The clamp piece 84 has an appropriate clearance with respect to the clamp hole 83 and an outer diameter such that it can slide, and one end is formed in a hemispherical shape and the other end is formed in a planar shape. The hemispherical tip of the clamp piece 84 is fitted into the clamp hole 83 toward the hole portion 81 of the outer cylindrical body 80. Then, the O-ring 85 is spread over the entire circumference of the groove 82, and the wall surfaces 127, 128 are formed.
When the O-ring 85 has a proper tension in the fitted state, the flat end of the clamp piece 84 is pushed to push the clamp piece 84 toward the hole 81. The hemispherical tip of the piece 84 projects into the hole portion 81, but even if there is nothing in the hole portion 81, the hole diameter of the clamp hole 83 is tapered so that it falls off to the hole portion 81 side. There is no. The O-ring 8
5 also functions by using a simple ring-shaped rubber or a spring formed in a ring shape. Further, instead of tapering the hole diameter of the clamp hole 83, a stopper pin or the like is driven to clamp the clamp piece 84. It can also be prevented from falling off.
【0020】図1,2及び図8に示す如く、外筒体80
の穴部81の中心を通って径方向に該穴部81に直交し
て取付穴を設けピン86を嵌着する、該ピン86は外筒
体80の穴部81を昇降軸8の外径に嵌合したときに該
昇降軸8の下端面が当接する位置に設けると、組み付け
るときに位置合わせが容易になる。また図8において、
汎用の吸着ノズル9の嵌合部131を穴部81に嵌合し
たときに上端面が当接する位置として、嵌合するときの
上下の位置を合わせ易くすることができる。ここで図
1,2において、外筒体80の穴部81に嵌着した該ピ
ン86の主要な機能を説明する、機械的なメカチャック
10の嵌合部101の上端面に、該嵌合部101の中心
を通って直線状にV溝104を設ける、そうして、該メ
カチャック10の嵌合部101を穴部81に嵌合したと
きに該V溝104がピン86に当接する、図2で示すよ
うにV溝104の2面が当接してメカチャック10の中
心線Cを中心とする回転方向についても位置決めされる
ことになり、この外筒体80を介し昇降軸8に対してメ
カチャック10の回転方向を位置決めし、且つクランプ
駒84の半球状の先端が凹溝部103に係合して嵌合部
101を押し上げるので、前記V溝104の2面がピン
86に押し当てられ位置決めされるとともに脱落しない
よう保持する。
As shown in FIGS. 1, 2, and 8, the outer cylindrical body 80
A mounting hole is provided through the center of the hole portion 81 in the radial direction orthogonal to the hole portion 81 and a pin 86 is fitted therein. The pin 86 fits the hole portion 81 of the outer cylindrical body 80 to the outer diameter of the lifting shaft 8. If the lower end surface of the elevating shaft 8 is provided in a position where the lower end surface of the elevating shaft 8 comes into contact with each other when it is fitted in, the positioning becomes easy when assembling. Also in FIG.
When the fitting portion 131 of the general-purpose suction nozzle 9 is fitted into the hole 81, the upper end surface abuts on the fitting portion 131, so that the upper and lower positions at the time of fitting can be easily aligned. Here, referring to FIGS. 1 and 2, the main function of the pin 86 fitted in the hole 81 of the outer cylindrical body 80 will be described. The fitting is performed on the upper end surface of the fitting portion 101 of the mechanical mechanical chuck 10. The V groove 104 is provided linearly through the center of the portion 101, and when the fitting portion 101 of the mechanical chuck 10 is fitted into the hole portion 81, the V groove 104 abuts on the pin 86. As shown in FIG. 2, the two surfaces of the V-shaped groove 104 come into contact with each other, and the mechanical chuck 10 is also positioned in the rotational direction about the center line C. Position of the mechanical chuck 10 in the rotation direction, and the hemispherical tip of the clamp piece 84 engages with the concave groove portion 103 to push up the fitting portion 101, so that the two surfaces of the V groove 104 are pressed against the pin 86. Positioned and held so that it does not fall off That.
【0021】前記昇降軸8の中心部には上下に貫通する
貫通穴87を備える、該昇降軸8の下端部で外筒体80
の穴部81と該昇降軸8の外径並びに嵌合部101の外
径はしっくり嵌合しており、貫通穴87は吸着ノズル9
やメカチャック10と気密に連結する、従って、外筒体
80の下部開口とクランプ穴83による開放はそれぞれ
嵌合部131,101とクランプ駒84を嵌入すると、
吸着ノズル9の先端のみが開放状態あるいはメカチャッ
ク10の後述する作動機構に接続した気密状態になる。
また、該昇降軸8の上端部まで貫通した貫通穴87の上
端は継手88で外部に連結可能な以外には気密にされ
る、すなわち継手88を介して図示しない外部の空圧回
路に接続して真空吸引あるいは空圧供給を行うことがで
きる。
At the center of the lifting shaft 8, there is provided a through hole 87 that penetrates vertically, and the outer cylinder 80 is provided at the lower end of the lifting shaft 8.
The hole 81 and the outer diameter of the elevating shaft 8 and the outer diameter of the fitting portion 101 are fitted properly, and the through hole 87 is formed in the suction nozzle 9.
And airtightly connected to the mechanical chuck 10. Therefore, when the lower opening of the outer tubular body 80 and the opening by the clamp hole 83 are fitted with the fitting portions 131, 101 and the clamp piece 84, respectively,
Only the tip of the suction nozzle 9 is in an open state or in an airtight state in which the mechanical chuck 10 is connected to an operation mechanism described later.
Further, the upper end of the through hole 87 penetrating to the upper end of the elevating shaft 8 is made airtight except that it can be connected to the outside by a joint 88, that is, is connected to an external pneumatic circuit (not shown) via the joint 88. Vacuum suction or pneumatic supply can be performed.
【0022】図5,6及び図7のように、装着ヘッド1
に取り付ける吸着ノズル9あるいはメカチャック10を
交換するためのノズル交換部70が、ノズル交換位置に
ある装着ヘッド1に対向する如く配置されている。該ノ
ズル交換部70は、昇降ブロック73と、該昇降ブロッ
ク73へその昇降方向に軸を互いに平行に取り付けられ
たスライド軸75A,75Bと、前記基台15に設けら
れた台座140は搬送部50の支持部材であるが、該台
座140を共用して取り付けられた、前記スライド軸7
5A,75Bを摺動自在に支持するスライド軸受76
A,76Bと、同じく該台座140に取り付けられた、
前記昇降ブロック73を昇降駆動する昇降用エアシリン
ダ77と、吸着ノズル9あるいはメカチャック10を載
置しておくために昇降ブロック73に固定された環状支
持部材71a乃至71fと、該環状支持部材71a乃至
71f上に載置された吸着ノズル9あるいはメカチャッ
ク10をクランプするために昇降ブロック上に摺動自在
に配置されるクランプ部材72A,72Bとを具備して
いる。クランプ部材72A,72Bは、支点Pで昇降ブ
ロック73に枢着された駆動レバー74で相互に連動す
るようになっており、クランプ部材72Aは昇降ブロッ
ク側に取り付けられた開閉用エアシリンダ78で往復動
するように構成されている。そして各クランプ部材72
A,72Bが図5の2点鎖線で示す状態のとき閉鎖状態
となり、図5の実線で示す状態のとき開放状態となる。
As shown in FIGS. 5, 6 and 7, the mounting head 1
A nozzle exchanging section 70 for exchanging the suction nozzle 9 or the mechanical chuck 10 attached to is disposed so as to face the mounting head 1 at the nozzle exchanging position. The nozzle exchanging unit 70 includes an elevating block 73, slide shafts 75A and 75B that are attached to the elevating block 73 in parallel with each other in the ascending and descending directions, and a pedestal 140 provided on the base 15 includes a conveying unit 50. The slide shaft 7, which is a support member of the
Slide bearing 76 that slidably supports 5A and 75B
A and 76B, also attached to the pedestal 140,
An elevating air cylinder 77 that drives the elevating block 73 up and down, annular support members 71a to 71f fixed to the elevating block 73 for holding the suction nozzle 9 or the mechanical chuck 10, and the annular support member 71a. Clamping members 72A and 72B slidably arranged on the elevating block for clamping the suction nozzle 9 or the mechanical chuck 10 mounted on 71 to 71f. The clamp members 72A and 72B are interlocked with each other by a drive lever 74 pivotally attached to the elevating block 73 at a fulcrum P, and the clamp member 72A reciprocates with an opening / closing air cylinder 78 attached to the elevating block side. Configured to move. And each clamp member 72
When A and 72B are in the state shown by the chain double-dashed line in FIG. 5, they are in the closed state, and when they are in the state shown by the solid line in FIG. 5, they are in the open state.
【0023】これらのクランプ部材72A,72Bは図
5の2点鎖線で示す閉鎖状態では、前記X−Y駆動系1
4でX−Y方向に駆動され位置付けられた装着ヘッド1
のホルダ部に取り付けられていた吸着ノズル9あるいは
メカチャック10について、昇降用エアシリンダ77の
昇降駆動で昇降ブロック73を上昇してノズル交換部7
0が上昇して、図1,2及び図8に示す背景円板13
4,105の上面側をクランプして、該ノズル交換部7
0が下降時に当該装着ヘッド1のホルダ部から吸着ノズ
ル9あるいはメカチャック10を外すことができる。ま
た、図5に実線で示す開放状態では特定の環状支持部材
71a乃至71f上に載置されている吸着ノズル9ある
いはメカチャック10を装着ヘッド1のホルダ部に対し
て該ノズル交換部70を上昇させることで特定の吸着ノ
ズル9あるいはメカチャック10の嵌合部131,10
1を嵌め込み、当該吸着ノズル9あるいはメカチャック
10を取り付けることができる。
These clamp members 72A and 72B are in the closed state shown by the chain double-dashed line in FIG.
Mounting head 1 driven and positioned in the X-Y direction at 4
With respect to the suction nozzle 9 or the mechanical chuck 10 attached to the holder portion of the nozzle exchanging unit 7 by raising and lowering the raising and lowering air cylinder 77, the raising and lowering block 73 is raised.
0 rises and the background disc 13 shown in FIGS.
The upper surface side of 4, 105 is clamped, and the nozzle replacement portion 7
When 0 is lowered, the suction nozzle 9 or the mechanical chuck 10 can be removed from the holder portion of the mounting head 1. Further, in the open state shown by the solid line in FIG. 5, the suction nozzle 9 or the mechanical chuck 10 mounted on the specific annular support members 71a to 71f is lifted from the holder exchanging portion 70 with respect to the holder portion of the mounting head 1. By doing so, the fitting portions 131, 10 of the specific suction nozzle 9 or the mechanical chuck 10 are
1 can be fitted and the suction nozzle 9 or the mechanical chuck 10 can be attached.
【0024】前記ノズル交換部70には実施例の場合6
個の吸着ノズル9あるいはメカチャック10を収納する
が、図8の吸着ノズル9を収納するのは環状支持部材7
1a乃至71cの3個所、図1のメカチャック10を収
納するのは環状支持部材71d乃至71fの3個所に限
るようにしている。そのひとつの理由は、吸着ノズル9
は嵌合部131の軸心に対する回転方向をノズル交換部
70において一定に保って収納する必要がないことによ
る。一方、メカチャック10は嵌合部101の上端面に
設けられたV溝104の2面をピン86に当接して回転
方向について位置決めされるように、常に一定の方向を
保って収納しておく必要があり位置を保持する構成にな
っている。また他の理由は、吸着ノズル9あるいはメカ
チャック10が収納されているかどうかを検出するセン
サー79A,79Bを備えるが、吸着ノズル9とメカチ
ャック10はかなりの部分で異なった形状をしており、
結果としててセンサー79Aと79Bは異なった個所を
検出する、すなわち、吸着ノズル9を収納するための環
状部材71a乃至71cに対してセンサー79Aをそれ
ぞれに配置し、メカチャック10を収納するための環状
部材71d乃至71fに対してセンサー79Bをそれぞ
れに配置する。
The nozzle exchanging portion 70 has 6
The individual suction nozzles 9 or the mechanical chucks 10 are housed, but the suction nozzles 9 of FIG.
1a to 71c, and the mechanical chuck 10 of FIG. 1 is accommodated in only three places of the annular supporting members 71d to 71f. One reason is the suction nozzle 9
The reason is that it is not necessary to store the fitting portion 131 in the nozzle exchanging portion 70 while keeping the rotational direction with respect to the axis center constant. On the other hand, the mechanical chuck 10 is always stored in a fixed direction so that the two surfaces of the V groove 104 provided on the upper end surface of the fitting portion 101 are brought into contact with the pins 86 and positioned in the rotational direction. It is necessary to hold the position. Another reason is that sensors 79A and 79B for detecting whether the suction nozzle 9 or the mechanical chuck 10 is housed are provided, but the suction nozzle 9 and the mechanical chuck 10 have different shapes in a considerable part.
As a result, the sensors 79A and 79B detect different points, that is, the sensors 79A are arranged respectively for the annular members 71a to 71c for accommodating the suction nozzle 9 and the annular member for accommodating the mechanical chuck 10. The sensor 79B is arranged for each of the members 71d to 71f.
【0025】図8に示す吸着ノズル9は嵌合部131
と、背景円板134と、ノズルパイプ135とが一体構
造を成しており、いずれも外径は円形の回転体を成し回
転中心線Dを共有する、また該回転中心線Dを中心とす
る穴136を嵌合部131側に該穴136より小径の穴
137をノズルパイプ135側に穿って、両方の穴は連
通する構成として真空吸引穴あるいは空気供給穴とし、
ノズルパイプ135には貫通穴を有するノズルキャップ
138を嵌着してノズル先端とし、穴136と穴137
とノズルキャップ138の貫通穴とは連通する、背景円
板134のノズルパイプ135側の面には背景板139
を備える、該背景板139は吸着した電子部品Eの画像
認識の仕方に応じて背景板139側から照明するよう
に、装着ヘッド1側に背景発光用照明手段を用いる場合
は小型拡散板として背景円板134とともに半透明樹脂
等で形成する、あるいは光を乱反射する光沢金属面等の
反射板として横方向外部から照明光を当てて反射光を得
る構成、あるいは背景を無反射として吸着した電子部品
Eに照明光を当てて画像認識する場合は、黒色植毛シー
ト等の光吸収板として構成する。ノズルキャップ138
は吸着する電子部品Eに対応して外径や穴径や材質を変
えたものを取り付けて適用範囲を選択することができ、
また磨耗等による損傷が生じた場合の交換を可能にした
ものである。
The suction nozzle 9 shown in FIG.
, The background disk 134 and the nozzle pipe 135 form an integral structure, and each of them forms a rotating body having an outer diameter of a circle, shares a rotation center line D, and has the rotation center line D as a center. A hole 136 is formed on the fitting portion 131 side, and a hole 137 having a smaller diameter than the hole 136 is formed on the nozzle pipe 135 side, and both holes are made to be a vacuum suction hole or an air supply hole,
A nozzle cap 138 having a through hole is fitted to the nozzle pipe 135 to form the nozzle tip, and the holes 136 and 137 are formed.
And the through hole of the nozzle cap 138 communicate with each other. The background plate 139 is provided on the surface of the background disk 134 on the nozzle pipe 135 side.
In order to illuminate the background plate 139 from the background plate 139 side in accordance with the method of recognizing the image of the sucked electronic component E, the background plate 139 has a background as a small diffuser plate when the mounting head 1 side uses a background light emitting means. It is formed of a semi-transparent resin or the like together with the circular plate 134, or is a reflection plate such as a glossy metallic surface that diffusely reflects light, and is configured to obtain reflected light by illuminating light from the outside in the lateral direction, or an electronic component that adsorbs the background without reflection. In the case of illuminating E and recognizing an image, it is configured as a light absorbing plate such as a black flocked sheet. Nozzle cap 138
Can select the applicable range by attaching the one with different outer diameter, hole diameter and material corresponding to the electronic component E to be adsorbed.
In addition, it is possible to replace it when it is damaged due to wear or the like.
【0026】図1,2に示す電子部品の機械的なメカチ
ャック10は嵌合部101と、前記吸着ノズル9の背景
円板134に外形寸法を同一化した円盤部105と、チ
ャック機構110とが一体構造を成している。すなわち
該チャック機構110は、図1に示す如く中心線Cを共
通の中心基準として円筒状の嵌合部101と円盤部10
5とその下方に構成される。図1はピン86と固定ボル
ト106及び左右のチャック爪111L,111Rとス
プリング112を除く部分を、図2に示す点a,b,
c,dを結ぶ切断線のA−A断面で示す。ガイド軸10
8は上部に円柱の部分121と下部に円柱に中心線C対
称の平行2面を加工した部分122とでなる、円柱の部
分は勘合部101の下方から中心線Cを中心として設け
られた穴98に嵌入し、嵌合部101の上方から中心線
Cを中心として設けられたボルト頭用座ぐり穴100と
ボルト用穴99から、固定ボルト106を該ガイド軸1
08の円柱の中心に穿ったネジ穴123に螺合して締め
ガイド軸108を嵌合部101に固着する。なおネジ穴
123の下穴124は下方へ余分に長く設け、該固定ボ
ルト106の中心には貫通穴95が設けられ、また、ガ
イド軸108の円柱の中心に穿った下穴123の下端は
開放していないが該円柱の側面から連絡穴96,97を
穿って、該下穴123と後述する円盤部105の内側に
設けた空間を連結して該空間に真空吸引あるいは空圧供
給を及ぼす働きを可能にする。
The mechanical mechanical chuck 10 for electronic parts shown in FIGS. 1 and 2 includes a fitting portion 101, a disk portion 105 having the same outer dimensions as the background disk 134 of the suction nozzle 9, and a chuck mechanism 110. Form an integral structure. That is, as shown in FIG. 1, the chuck mechanism 110 has a cylindrical fitting portion 101 and a disc portion 10 with a center line C as a common center reference.
5 and below. FIG. 1 shows a portion excluding the pin 86, the fixing bolt 106, the left and right chuck claws 111L and 111R, and the spring 112.
It is shown by the AA cross section of the cutting line connecting c and d. Guide shaft 10
Reference numeral 8 denotes a cylindrical portion 121 at the upper portion and a cylindrical portion 122 at the lower portion, which is formed by processing two parallel planes symmetrical to the center line C. The cylindrical portion is a hole provided from below the fitting portion 101 with the center line C as the center. 98, and the fixing bolt 106 from the bolt head counterbore hole 100 and the bolt hole 99 provided around the center line C from above the fitting portion 101.
The tightening guide shaft 108 is fixed to the fitting portion 101 by being screwed into the screw hole 123 formed in the center of the column 08. It should be noted that the pilot hole 124 of the screw hole 123 is provided with an extra length downward, a through hole 95 is provided in the center of the fixing bolt 106, and the lower end of the pilot hole 123 drilled in the center of the cylinder of the guide shaft 108 is open. Although not formed, a function of exerting vacuum suction or air pressure supply to the space by connecting communication holes 96 and 97 from the side surface of the cylinder to connect the prepared hole 123 and a space provided inside a disk portion 105 described later. To enable.
【0027】摺動ブッシュ32はリング形状をしてお
り、内径穴部36と同心に径の異なるいくつかの外径部
を有し、該外径部は下からいずれも後述するスライダー
114とベロー115と各々嵌合する異なる外径の部分
37,38と、べロー115の上側を押さえる鍔35を
構成する更に大きい径の部分と、その上側で鍔35の部
分より径が小さい部分とでなる。そうして内径穴部36
は前記ガイド軸108の円柱の部分98に嵌合し摺動自
在である、従って、摺動ブッシュ32は下端をガイド軸
108の前記部分122に接する位置から上端は空間が
許す範囲を移動可能である。前記部分122の最も外側
は中心線Cを中心とする円柱の一部分をなしており、該
円柱の外径と比べ摺動ブッシュ32のスライダー114
と嵌合する外径の部分37の方が僅かに大きくなってい
る。スライダー114は円柱から加工され42は大きい
外径部分、43は小さい外径部分である、そうして43
側から前記摺動ブッシュ32の対応する外径37の部分
と嵌合する内径穴部44を設ける、該内径穴部44は前
記ガイド軸108の前記部分122の一部である円柱の
外径より僅かに大きい径であり接触することはない、そ
うして外径部分42,43及び内径部分44はいずれも
中心線Cを中心として同心である、47,48は図2の
紙面に直交する方向に平面取りしたものである。
The sliding bush 32 has a ring shape, and has several outer diameter portions that are concentric with the inner diameter hole portion 36 and have different diameters, and these outer diameter portions are all described below from the slider 114 and the bellows. 115, each of which has a different outer diameter and which fits with each other, a portion of a larger diameter that constitutes the collar 35 that presses the upper side of the bellows 115, and a portion of which the diameter is smaller than the portion of the collar 35 on the upper side. . Then the inner diameter hole 36
Is slidable by fitting in the cylindrical portion 98 of the guide shaft 108. Therefore, the sliding bush 32 can move from the position where the lower end is in contact with the portion 122 of the guide shaft 108 to the upper end within the range allowed by the space. is there. The outermost part of the portion 122 forms a part of a cylinder centered on the center line C, and the slider 114 of the sliding bush 32 is larger than the outer diameter of the cylinder.
The outer diameter portion 37 that fits with is slightly larger. The slider 114 is machined from a cylinder and 42 is a large outer diameter portion and 43 is a small outer diameter portion.
From the side, an inner diameter hole portion 44 that fits with the corresponding outer diameter portion 37 of the sliding bush 32 is provided. The inner diameter hole portion 44 is larger than the outer diameter of the cylinder which is a part of the portion 122 of the guide shaft 108. The diameters are slightly larger and do not come into contact with each other, so that the outer diameter portions 42, 43 and the inner diameter portion 44 are all concentric with each other about the center line C, 47 and 48 are directions orthogonal to the paper surface of FIG. It is a flat surface.
【0028】図2において、スライダー114へ紙面に
直交する方向にコ字状の溝46が中心線Cを中心に設け
てあり、該溝46の間にはガイド軸108の下部の角柱
形状をした部分122が位置することになる、該部分1
22の両側にチャック爪111L,111Rがそれぞれ
組み込まれる、該チャック爪111L,111Rは各々
の支点穴17,27を支点ピン107L,107Rで各
々前記部分122に設けた各々のピン穴126L,12
6Rに枢支される、各々のピン穴126L,126Rは
前記部分122へ紙面に直交する方向に設けたスリット
125の両側壁に貫通している、なお、ピン穴126L
はこの図2のピン穴126Rの裏側に重なっているので
図示しない、該チャック爪111L,111Rと支点ピ
ン107L,107Rはともに該溝46の向かい合った
両側壁で挟まれるので、チャック爪111L,111R
は支点ピン107L,107Rを支点にして揺動自在で
あるが、それ以外の方向はスリット125の両側壁によ
り規制される、また、支点ピン107L,107Rは該
スリット125の両側壁により抜け止めされる。
In FIG. 2, a U-shaped groove 46 is provided on the slider 114 in a direction orthogonal to the plane of the drawing with the center line C as the center, and between the grooves 46 is formed a prism shape below the guide shaft 108. Portion 1 will be where the portion 122 will be located
22. Chuck claws 111L and 111R are installed on both sides of the pin 22, respectively. The chuck claws 111L and 111R are provided with fulcrum holes 17 and 27 by fulcrum pins 107L and 107R, respectively.
The pin holes 126L and 126R pivotally supported by 6R penetrate through both side walls of a slit 125 formed in the portion 122 in a direction orthogonal to the plane of the drawing.
2 is overlapped with the back side of the pin hole 126R of FIG. 2, the chuck claws 111L and 111R and the fulcrum pins 107L and 107R are not sandwiched between the opposite side walls of the groove 46, so that the chuck claws 111L and 111R are not shown.
Is swingable around the fulcrum pins 107L and 107R as fulcrums, but the other directions are regulated by both side walls of the slit 125, and the fulcrum pins 107L and 107R are prevented from coming off by both side walls of the slit 125. It
【0029】図1において左右の駆動ピン109L,1
09Rは、前記チャック爪111L,111Rの前記支
点穴17,27より上部で各々のアーム部分がほぼ直角
に曲がった先端の係合凹溝16,26に係合する。また
該駆動ピン109L,109Rは、図2に示す如く前記
スライダー114へ前記溝46を挟んで貫通する穴49
を設け、例えば駆動ピン109Rを該溝46を渡して該
穴49に挿入し保持させる、該溝46に渡した部分でチ
ャック爪111Lの係合凹溝16と係合する、図2にお
いて反対側の駆動ピン109Lにおいてもチャック爪1
11Rの係合溝26と係合する同様の構成が存在する。
さらに、駆動ピン109L,109Rのもう一つの役割
は、前記摺動ブッシュ32の外径の部分37に前記スラ
イダー114の内径穴部44を嵌合したときの抜け止め
保持である、そのため、図2に示す該部分37の前記駆
動ピン109Rと重なる個所に半円の溝39を設ける、
該半円の溝39は該駆動ピン109Rの外周と合致する
ように構成する、また、図2の該部分37の反対側で前
記駆動ピン109Lと重なる個所も同様に構成する。前
記ガイド軸108の角柱形状をした部分122にチャッ
ク爪111L,111Rを支点ピン107L,107R
で枢支し、スライダー114をかぶせて、円柱の部分1
21に摺動ブッシュ32を嵌め、摺動ブッシュ32の外
径の部分37とスライダー114の内径穴部44を嵌合
する、そうして、スライダー114の穴49と摺動ブッ
シュ32の部分37に設けた半円の溝39を通して、駆
動ピン109L,109Rを反対側ともに挿入し保持さ
せると、スライダー114は摺動ブッシュ32と一体に
なってガイド軸108の円柱の部分121に案内されて
移動可能である。
In FIG. 1, left and right drive pins 109L, 1
09R engages with the engaging recessed grooves 16 and 26 at the tips of the chuck claws 111L and 111R above the fulcrum holes 17 and 27, and the respective arm portions are bent substantially at right angles. Further, the drive pins 109L and 109R have holes 49 penetrating the slider 114 with the groove 46 therebetween as shown in FIG.
2 is provided and, for example, the drive pin 109R is passed through the groove 46 to be inserted and held in the hole 49, and the portion passed over the groove 46 is engaged with the engaging groove 16 of the chuck claw 111L. Chuck pin 1 for the drive pin 109L of
There is a similar configuration that engages the engagement groove 26 of the 11R.
Further, another role of the drive pins 109L and 109R is to prevent the slide bush 32 from coming off when the inner diameter hole portion 44 of the slider 114 is fitted to the outer diameter portion 37 of the sliding bush 32. A semicircular groove 39 is provided at a portion of the portion 37 shown in FIG.
The semi-circular groove 39 is formed so as to match the outer circumference of the drive pin 109R, and the portion on the opposite side of the portion 37 in FIG. Chuck claws 111L and 111R are attached to fulcrum pins 107L and 107R on the prismatic portion 122 of the guide shaft 108.
Pivot with, cover with slider 114, cylinder part 1
21 is fitted with the sliding bush 32, the outer diameter portion 37 of the sliding bush 32 is fitted with the inner diameter hole portion 44 of the slider 114, and then the hole 49 of the slider 114 and the portion 37 of the sliding bush 32 are fitted. When the drive pins 109L and 109R are inserted and held on the opposite sides through the provided semicircular groove 39, the slider 114 becomes integral with the sliding bush 32 and is guided by the cylindrical portion 121 of the guide shaft 108 to be movable. Is.
【0030】前記チャック爪111L,111R各々の
アーム部分の途中に、穴18,28を設けてピンを打ち
込んでフック120L,120Rとする。ばね材をコ字
の形状にしたスプリング112を前述した部分122に
チャック爪111L,111Rを取り付けるときに一緒
に取り付ける、該スプリング112を前記スリット12
5に挿入し支点ピン107L,107Rで保持する、そ
うして、該スプリング112の両側の先端を前記フック
120L,120Rにそれぞれ掛ける、該スプリング1
12は両側に開く力を与えるのでチャック爪111L,
111Rは互いに支点ピン107L,107Rを支点に
下端を左右に開く、一方、上部の係合凹溝16,26は
下方に下がるので駆動ピン109L,109Rを介して
係合するスライダー114と摺動ブッシュ32は下方に
下がり、摺動ブッシュ32がガイド軸108の角柱形状
をした部分122に接する位置まで下がる、この状態を
図1に示す。
Holes 18 and 28 are provided in the middle of the arm portions of the chuck claws 111L and 111R, and pins are driven into the hooks 120L and 120R. The spring 112 having a U-shaped spring material is attached together with the chuck claws 111L and 111R to the above-mentioned portion 122, and the spring 112 is attached to the slit 12.
5 and hold it by fulcrum pins 107L and 107R, and then hook the ends of both sides of the spring 112 to the hooks 120L and 120R, respectively.
12 gives a force to open on both sides, so chuck jaws 111L,
111R mutually opens at the lower end to the left and right with the fulcrum pins 107L and 107R as fulcrums, while the upper engaging recessed grooves 16 and 26 descend downward so that the slider 114 and the sliding bush that engage via the drive pins 109L and 109R. FIG. 1 shows this state in which 32 is lowered downward, and the sliding bush 32 is lowered to a position in contact with the prism-shaped portion 122 of the guide shaft 108.
【0031】図1において円盤部105を断面で示す
が、該円盤部105の内部は嵌合部101の中心に設け
られた穴98に連続する4つの円形の空間を有する、全
て中心線Cを中心とする円形の空間であり、上から空間
105A,105B,105C,105Dである、空間
105Aが最も内径が小さく、空間105Bの内径はず
っと大きくなり、最も大きい内径は空間105Cであ
り、円盤部105の下方に開放する空間105Dの内径
は空間105Bより大きく空間105Cより小さい。空
間105Aは前記ガイド軸108に穿った連絡穴96,
97の出口側を広くして真空吸引あるいは空圧供給を容
易にする。空間105Bは空間105Cとの段差部分に
べロー115が密着させられて密閉された空間を構成す
る、そのべロー115は段差に密着する反対側である下
側から金属のリング116で全外周にわたって押され
る、そうして、該リング116はさらに下側から板ばね
状リング117により押し上げられながら保持される、
すなわち、該板ばね状リング117は穴径部分に押し込
まれると外径部分が穴径部分に係合して抜け止めの機能
を生じる一般に知られる部材であるが、抜け止めの機能
をより確実にするために下側の空間105Dの内径を空
間105Cより小さくして僅かな段差を設けてある。ま
た、該板ばね状リング117の下面にプレート118を
接着し更にその下面に光吸収シートを接着し背景板11
9とする。円形の板状をしている前記べロー115は中
心に穴を有し、前記摺動ブッシュ32の外径の部分38
に該穴が嵌合し、該摺動ブッシュ32の鍔35の下側に
該べロー115の該穴周辺の上側が密着した状態で、下
側を該摺動ブッシュ32に嵌合した前記スライダー11
4の上側で押しつけながら前記駆動ピン109L,10
9Rを挿入し保持させる。
In FIG. 1, the disk portion 105 is shown in a cross section, and the inside of the disk portion 105 has four circular spaces continuous with a hole 98 provided at the center of the fitting portion 101, and all have a center line C. It is a circular space around the center, and the spaces 105A, 105B, 105C, and 105D are from the top. The space 105A has the smallest inner diameter, the space 105B has a much larger inner diameter, and the largest inner diameter is the space 105C. The inner diameter of the space 105D opened below 105 is larger than the space 105B and smaller than the space 105C. The space 105A has a communication hole 96 formed in the guide shaft 108,
The outlet side of 97 is widened to facilitate vacuum suction or pneumatic supply. The space 105B constitutes a sealed space in which a bellows 115 is brought into close contact with a step portion with the space 105C, and the bellows 115 is covered with a metal ring 116 from the lower side, which is the opposite side close to the step, over the entire circumference. Pushed, so that the ring 116 is further held from below while being pushed up by a leaf spring-like ring 117,
That is, the leaf spring-shaped ring 117 is a generally known member that, when pushed into the hole diameter portion, has an outer diameter portion that engages with the hole diameter portion to provide a retaining function. For this purpose, the inner diameter of the lower space 105D is made smaller than that of the space 105C to provide a slight step. The plate 118 is attached to the lower surface of the leaf spring ring 117, and the light absorbing sheet is further attached to the lower surface of the plate 118.
9 is assumed. The bellows 115, which has a circular plate shape, has a hole at the center thereof, and has an outer diameter portion 38 of the sliding bush 32.
The slider is fitted into the sliding bush 32 on the lower side in a state where the upper side around the hole of the bellows 115 is in close contact with the lower side of the collar 35 of the sliding bush 32. 11
4, while pressing the driving pins 109L, 10
Insert and hold 9R.
【0032】前記チャック爪111L,111R各々の
アーム部分の下端は電子部品Bを挟持する爪19,29
を構成する、例えば図1及び2に仮想線で示すような横
長形状の電子部品Bがある、コネクタは横長形状で下部
にプリント基板面に載置されて回路パターンと接続され
る端子列を有する、そのような形状の電子部品Bを、図
1及び2に示すように前記チャック爪111L,111
Rを仮想線111L’,111R’に示す如く中心線C
対称に閉じて挟持する、該爪19,29は挟持する電子
部品Bに適した形状にしておくことができる。
The lower ends of the arm portions of the chuck claws 111L and 111R have claws 19 and 29 for holding the electronic component B therebetween.
1 and 2, there is a horizontally long electronic component B as shown by phantom lines. The connector is horizontally long and has a terminal row that is placed on the printed circuit board surface at the bottom and connected to the circuit pattern. , And the electronic component B having such a shape as shown in FIGS.
R is the center line C as shown by virtual lines 111L 'and 111R'
The claws 19 and 29 that are symmetrically closed and sandwiched can be formed in a shape suitable for the sandwiched electronic component B.
【0033】図1,2に示す如く、メカチャック10の
円盤部105の外周の一部に凹部113を設ける、該凹
部113は該メカチャック10を前記ノズル交換部70
に載置するときに方向を維持するためにある、すなわち
前述したように、該メカチャック10は装着ヘッド1の
昇降軸8に対しピン86とV溝104で回転方向を位置
決めされて保持されるが、該ノズル交換部70に戻され
て載置されても回転方向の位置決めをしないと、再び装
着ヘッド1の昇降軸8に取り付けるときにピン86とV
溝104が合致しなくなるのを防ぐ必要がある、該ノズ
ル交換部70に前記凹部113に対応して図示しないが
凸部を備える、該メカチャック10が該ノズル交換部7
0に載置されているときは該凹部113が該凸部に係合
して回転方向の位置決めがされた状態で配置されること
になる。
As shown in FIGS. 1 and 2, a concave portion 113 is provided in a part of the outer circumference of the disk portion 105 of the mechanical chuck 10. The concave portion 113 connects the mechanical chuck 10 to the nozzle exchanging portion 70.
In order to maintain the direction when it is mounted on the mounting head 1, that is, as described above, the mechanical chuck 10 is held in the rotational direction by the pin 86 and the V groove 104 with respect to the lifting shaft 8 of the mounting head 1. However, even if the nozzle 86 is returned to the nozzle exchanging unit 70 and is placed thereon, if the positioning in the rotational direction is not performed, the pin 86 and the V are attached when the mounting head 1 is mounted again on the lifting shaft 8.
It is necessary to prevent the grooves 104 from not matching each other. The nozzle exchanging portion 70 has a convex portion (not shown) corresponding to the concave portion 113. The mechanical chuck 10 has the nozzle exchanging portion 7.
When it is placed at 0, the concave portion 113 is arranged in a state of being engaged with the convex portion and positioned in the rotational direction.
【0034】以上の実施例の構成において、ノズル交換
部70に複数種の吸着ノズル9を各々振り分けて環状支
持部材71a乃至71cの3個所に収納し、複数種のメ
カチャック10を各々振り分けて環状支持部材71d乃
至71fの3個所に収納する。装着ヘッド1はX−Y駆
動系14でX−Y方向に駆動され移動する、そうして、
該装着ヘッド1は前記ノズル交換部70に収納する吸着
ノズル9あるいはメカチャック10の所定の位置に移動
し停止する、そうして該ノズル交換部70を上昇させる
と、前記装着ヘッド1のホルダ部を構成する昇降軸8の
下端部の外筒体80に対して所定の位置に対応する吸着
ノズル9あるいはメカチャック10の嵌合部131ある
いは101を嵌め込む、嵌合部131,101の凹溝部
133,103にクランプ駒84が係合して脱落を防止
する、クランプ部材72A,72Bを開放状態にして該
ノズル交換部70が下降すると、該装着ヘッド1は所定
の位置に移動し停止することで選択した当該吸着ノズル
9あるいはメカチャック10を取り付けることができ
る。
In the structure of the above embodiment, a plurality of types of suction nozzles 9 are distributed to the nozzle exchanging section 70 and housed in three places of the annular support members 71a to 71c, and a plurality of types of mechanical chucks 10 are distributed to form an annular shape. The support members 71d to 71f are stored in three places. The mounting head 1 is driven and moved in the XY direction by the XY drive system 14, and then,
The mounting head 1 moves to a predetermined position of the suction nozzle 9 or the mechanical chuck 10 housed in the nozzle exchanging part 70 and stops, and when the nozzle exchanging part 70 is raised, the holder part of the mounting head 1 is moved. The recessed groove portions of the fitting portions 131, 101 into which the fitting portion 131 or 101 of the suction nozzle 9 or the mechanical chuck 10 corresponding to a predetermined position is fitted into the outer cylindrical body 80 at the lower end portion of the elevating shaft 8 constituting the above. The clamp pieces 84 are engaged with the 133 and 103 to prevent the clamp pieces from falling off. When the nozzle replacement part 70 is lowered with the clamp members 72A and 72B opened, the mounting head 1 moves to a predetermined position and stops. The suction nozzle 9 or the mechanical chuck 10 selected in step 1 can be attached.
【0035】まず、装着ヘッド1の昇降軸8は吸着ノズ
ル9の一つを選択して取り付けたとする、該装着ヘッド
1はX−Y駆動系14で駆動され、所定の部品供給部4
0あるいは130の部品供給位置の一つに吸着ノズル9
のノズル先端の中心を位置付ける、そうして、昇降駆動
モーター31でボールスプライン軸5を回転すると、ス
プラインナット60がボールスプライン軸5の回転と一
体となって回転し、昇降カム62が回転し、この昇降カ
ム62に従動するカムフォロアとしてのレバー64が揺
動し、これにより、このレバー64の左端部のローラー
66が昇降軸8に一体化されたフランジ付部品68に係
合して伝達され、この結果、昇降軸8が昇降動作を行
う。この昇降軸8の昇降動作とともに該昇降軸8の貫通
穴87及び継手88を通じて真空吸引を行い、吸着ノズ
ル9のノズル先端が前記部品供給部の一つから電子部品
Eをピックアップして吸着保持する。一方、プリント基
板45は搬送部50に位置決め保持されており、吸着ノ
ズル9で電子部品Eを吸着保持した装着ヘッド1はプリ
ント基板上の装着位置に移動し、前記ピックアップ時と
同様の昇降動作で吸着ノズル9を下降し電子部品Eをプ
リント基板上に載置して真空吸引を閉じる、プリント基
板上の装着位置にはあらかじめ接着剤が塗布してあり電
子部品Eを仮止めする、該電子部品Eをプリント基板に
装着して空になった吸着ノズル9は上昇し装着ヘッド1
は次のサイクルに入る。
First, it is assumed that one of the suction nozzles 9 is selected and attached to the elevating shaft 8 of the mounting head 1. The mounting head 1 is driven by the XY drive system 14, and the predetermined component supply unit 4 is supplied.
Adsorption nozzle 9 at one of 0 or 130 component supply positions
When the ball spline shaft 5 is rotated by the elevation drive motor 31, the spline nut 60 rotates together with the rotation of the ball spline shaft 5, and the elevation cam 62 rotates. A lever 64 as a cam follower that follows the lifting cam 62 swings, whereby a roller 66 at the left end of the lever 64 engages with a flanged component 68 integrated with the lifting shaft 8 and is transmitted. As a result, the elevating shaft 8 moves up and down. Along with this raising / lowering operation of the raising / lowering shaft 8, vacuum suction is performed through the through hole 87 and the joint 88 of the raising / lowering shaft 8, and the nozzle tip of the suction nozzle 9 picks up and holds the electronic component E by picking it up from one of the component supply parts. . On the other hand, the printed circuit board 45 is positioned and held by the transport unit 50, and the mounting head 1 that has suction-held the electronic component E by the suction nozzle 9 moves to the mounting position on the printed circuit board, and is moved up and down in the same manner as during the pickup. The suction nozzle 9 is lowered to place the electronic component E on the printed circuit board and vacuum suction is closed. An adhesive is applied in advance to the mounting position on the printed circuit board to temporarily fix the electronic component E. The suction nozzle 9 that has become empty after mounting E on the printed circuit board rises and the mounting head 1
Enters the next cycle.
【0036】次に、電子部品Bを装着しようとする場合
は、装着ヘッド1に所定のメカチャック10を取り付け
る、すでに該装着ヘッド1に吸着ノズル9が取り付けら
れているときは、該装着ヘッド1はノズル交換部70の
該吸着ノズル9を収納すべき個所に移動する、ノズル交
換部70はクランプ部材72A,72Bを開放状態にし
て上昇し、該吸着ノズル9が環状支持部材71d乃至7
1fのいずれかに載置されるとクランプ部材72A,7
2Bを閉鎖状態にして該ノズル交換部70を下降させ
る、該吸着ノズル9の嵌合部131の凹溝部133とク
ランプ駒84の係合に抗して該嵌合部131を外筒体8
0から抜き出し、該装着ヘッド1から吸着ノズル9が該
ノズル交換部70に戻されて該装着ヘッド1は空にな
る。続いて、該装着ヘッド1はX−Y駆動系14でX−
Y方向に駆動され、該ノズル交換部70の所定のメカチ
ャック10の位置に移動して該当するメカチャック10
を取り付ける。そうして、該装着ヘッド1はX−Y駆動
系14で駆動され、所定の部品供給部40あるいは13
0の部品供給位置の一つにメカチャック10の中心線C
で示す中心を位置付ける、電子部品Bの形状は電子部品
Eと比べると多様になる、メカチャック10の電子部品
Bを挟持する爪19,29は保持に適した形状にすると
ともに、電子部品Bのどの部分を挟持すれば安定した保
持が得られるか決定する、そうして決定した電子部品B
の部分が挟持できるように、電子部品Bの該部品供給位
置においてメカチャック10の中心を位置付ける。そう
して、昇降駆動モーター31でボールスプライン軸5を
回転すると、スプラインナット60がボールスプライン
軸5の回転と一体となって回転し、昇降カム62が回転
し、この昇降カム62に従動するカムフォロアとしての
レバー64が揺動し、これにより、このレバー64の左
端部のローラー66が昇降軸8に一体化されたフランジ
付部品68に係合して伝達され、この結果、昇降軸8が
昇降動作を行う。
Next, when mounting the electronic component B, a predetermined mechanical chuck 10 is mounted on the mounting head 1, and when the suction nozzle 9 is already mounted on the mounting head 1, the mounting head 1 is mounted. Moves to a position where the suction nozzle 9 of the nozzle exchanging portion 70 should be housed. The nozzle exchanging portion 70 moves up with the clamp members 72A and 72B in an open state, and the suction nozzle 9 moves to the annular supporting members 71d to 7d.
The clamp members 72A, 7 when placed on any of 1f
2B is closed to lower the nozzle replacement portion 70, and the fitting portion 131 is moved against the engagement between the concave groove portion 133 of the fitting portion 131 of the suction nozzle 9 and the clamp piece 84.
0, the suction nozzle 9 is returned from the mounting head 1 to the nozzle exchanging section 70, and the mounting head 1 becomes empty. Subsequently, the mounting head 1 is moved to the X-Y drive system 14 to move the X-
The mechanical chuck 10 is driven in the Y direction and moved to a predetermined position of the mechanical chuck 10 of the nozzle exchanging section 70.
Attach. Then, the mounting head 1 is driven by the XY drive system 14, and the predetermined component supply unit 40 or 13
The center line C of the mechanical chuck 10 is located at one of the zero component supply positions.
The shape of the electronic component B whose center is shown by is different from that of the electronic component E. The claws 19 and 29 for sandwiching the electronic component B of the mechanical chuck 10 have a shape suitable for holding and the electronic component B has a shape. It is determined which part should be clamped to obtain stable holding. The electronic component B thus determined
The center of the mechanical chuck 10 is positioned at the component supply position of the electronic component B so that the portion of FIG. Then, when the ball spline shaft 5 is rotated by the elevating drive motor 31, the spline nut 60 rotates together with the rotation of the ball spline shaft 5, the elevating cam 62 rotates, and the cam follower that follows the elevating cam 62 rotates. As the lever 64 swings, the roller 66 at the left end of the lever 64 engages with the flanged component 68 integrated with the lifting shaft 8 and is transmitted. As a result, the lifting shaft 8 moves up and down. Take action.
【0037】昇降軸8が下降すると電子部品Bの両側に
爪19,29が下降する。この昇降軸8の昇降動作とと
もに該昇降軸8の貫通穴87及び継手88を通じて真空
吸引を行うことは吸着ノズル9の場合と同じである、そ
こで、昇降軸8が下降し真空吸引が行われると、該真空
吸引は貫通穴87から固定ボルト106に設けられた貫
通穴95と下穴124と連絡穴96,97を通じて円盤
部105の内側に設けた空間105A,105Bへ作用
する、該空間105A,105Bはベロー115によっ
て密閉された空間を構成するので、該真空吸引はベロー
115を該空間105B側に吸引する力を及ぼすことに
なる。該ベロー115の中心には摺動ブッシュ32がス
ライダー114と一体になって密着しており、該摺動ブ
ッシュ32はガイド軸108の円柱の部分121に案内
され、チャック爪111L,111Rがスプリング11
2の両側に開く力をフック120L,120Rで受け支
点ピン107L,107Rを支点にして爪19,29が
開く方向に力を受けて、該チャック爪111L,111
Rを開く力は係合凹溝16,26を介して駆動ピン10
9L,109Rからスライダー114と該摺動ブッシュ
32に伝わり常時は下降している。前記真空吸引がベロ
ー115を空間105B側に吸引する力を及ぼすと、該
摺動ブッシュ32はガイド軸108の円柱の部分121
に案内され上昇する、一体になっているスライダー11
4も上昇するので駆動ピン109L,109Rから係合
凹溝16,26を介して、前記チャック爪111L,1
11Rはフック120L,120Rで両側からスプリン
グ112を押しながら下端の爪19,29を閉じる、図
1に一例として仮想線111L’,111R’で示す如
く爪19,29が閉じると電子部品Bを両側から挟持し
て保持する。昇降軸8が上昇すると電子部品Bは爪1
9,29が挟持して保持しピックアップする。
When the elevating shaft 8 descends, the claws 19 and 29 descend on both sides of the electronic component B. Vacuum suction through the through hole 87 and the joint 88 of the elevating shaft 8 together with the elevating operation of the elevating shaft 8 is the same as in the suction nozzle 9, and when the elevating shaft 8 descends and vacuum suction is performed. The vacuum suction acts from the through hole 87 to the spaces 105A and 105B provided inside the disk part 105 through the through hole 95, the pilot hole 124 provided in the fixing bolt 106, and the connecting holes 96 and 97. Since 105B constitutes a space sealed by the bellows 115, the vacuum suction exerts a force to suck the bellows 115 toward the space 105B. A sliding bush 32 is in close contact with the slider 114 integrally with the center of the bellows 115. The sliding bush 32 is guided by the cylindrical portion 121 of the guide shaft 108, and the chuck claws 111L and 111R are connected to the spring 11.
The hooks 120L and 120R receive the force for opening to both sides of the two, and the chuck pins 111L and 111R receive the force in the opening direction with the fulcrum pins 107L and 107R as fulcrums.
The force for opening R is applied to the drive pin 10 via the engagement grooves 16 and 26.
It is transmitted from 9L and 109R to the slider 114 and the sliding bush 32, and always descends. When the vacuum suction exerts a force for sucking the bellows 115 toward the space 105B, the sliding bush 32 causes the sliding bush 32 to have a cylindrical portion 121 of the guide shaft 108.
Slider 11 that is guided and raised
4 also rises, so that the chuck claws 111L, 1L are driven from the drive pins 109L, 109R through the engagement grooves 16, 26.
11R closes the lower end pawls 19 and 29 while pressing the spring 112 from both sides with hooks 120L and 120R. When the pawls 19 and 29 are closed as shown by phantom lines 111L 'and 111R' in FIG. It is clamped from and held. When the elevating shaft 8 rises, the electronic component B has the claw 1
9, 29 pinch, hold and pick up.
【0038】メカチャック10のチャック爪111L,
111R下端の爪19,29で電子部品Bを挟持し保持
した装着ヘッド1はプリント基板上の装着位置に移動
し、前記ピックアップ時と同様の昇降動作でメカチャッ
ク10を下降し電子部品Bをプリント基板上に載置して
真空吸引を停止する、真空吸引を停止すると図示しない
空圧回路で前記空間105B側が大気に開放され、また
は一定の時間を正圧の空気回路に切り換えて後に大気に
開放され、ベロー115を空間105B側に吸引する力
を失う、摺動ブッシュ32とスライダー114は駆動ピ
ン109L,109Rを介してチャック爪111L,1
11Rがフック120L,120Rをスプリング112
が両側に開く力を受けて下降する、該チャック爪111
L,111R下端の爪19,29が開いて電子部品Bの
挟持を開き保持を解除する、プリント基板上の装着位置
にはあらかじめ接着剤が塗布してあり電子部品Bを仮止
めする、該電子部品Bをプリント基板に装着して空にな
ったメカチャック10は上昇し装着ヘッド1は次のサイ
クルに入る。
Chuck claws 111L of the mechanical chuck 10,
The mounting head 1 which holds and holds the electronic component B by the claws 19 and 29 at the lower end of 111R moves to the mounting position on the printed circuit board, and the mechanical chuck 10 is lowered by the same lifting operation as at the time of pickup to print the electronic component B. Place on the substrate to stop vacuum suction, and when vacuum suction is stopped, the space 105B side is opened to the atmosphere by an air pressure circuit (not shown), or a certain time is switched to a positive pressure air circuit and then released to the atmosphere. As a result, the sliding bush 32 and the slider 114 lose the force of sucking the bellows 115 toward the space 105B via the drive pins 109L and 109R.
11R hooks 120L, 120R spring 112
The chuck claw 111, which receives the force to open to both sides and descends.
L and 111R the lower end claws 19 and 29 open to open and hold the electronic component B, and release the holding. The adhesive is applied in advance to the mounting position on the printed circuit board to temporarily fix the electronic component B. The mechanical chuck 10 that has become empty after mounting the component B on the printed circuit board rises and the mounting head 1 enters the next cycle.
【0039】[0039]
【発明の効果】本発明の電子部品装着装置によれば、汎
用の吸着ノズルでは吸着できない電子部品とか、吸着で
きても安定に保持して装着できない電子部品等の、いわ
ゆる異形電子部品と呼ばれるような電子部品でもメカチ
ャックにより安定に挟持して保持しプリント基板に装着
できる。また、装着ヘッドに対して汎用の吸着ノズルと
メカチャックを任意に選択して着脱可能に構成でき、従
来の装着装置の機能を損なうことなく新規にメカチャッ
クを加えて機能を大幅に拡張することができる。装着ヘ
ッドに対して汎用の吸着ノズルを取り付けた従来の構成
において、吸着ノズルに真空吸引を及ぼして電子部品を
吸着保持するが、該真空吸引を新規のメカチャックの駆
動手段として活用でき、専用の駆動手段を用意する煩わ
しさや複雑さがなく簡単な構成になる、そのうえ汎用の
吸着ノズルとともに交換自在に構成できる。多様な電子
部品が表面実装用に作られてもプリント基板への装着を
確実に実行できる電子部品装着装置を提供できる。
According to the electronic component mounting apparatus of the present invention, a so-called odd-shaped electronic component such as an electronic component that cannot be sucked by a general-purpose suction nozzle, or an electronic component that can be sucked and held stably cannot be mounted. Even electronic components can be clamped and held by a mechanical chuck and mounted on a printed circuit board. In addition, a general-purpose suction nozzle and a mechanical chuck can be arbitrarily selected and attached to the mounting head so that they can be attached and detached, and the function can be greatly expanded by adding a new mechanical chuck without impairing the function of the conventional mounting device. You can In the conventional configuration in which a general-purpose suction nozzle is attached to the mounting head, vacuum suction is applied to the suction nozzle to suck and hold electronic components, but the vacuum suction can be utilized as a driving means for a new mechanical chuck, The drive means is not complicated and has a simple structure, and the suction means can be replaced with a general-purpose suction nozzle. It is possible to provide an electronic component mounting apparatus that can reliably mount various electronic components on a printed circuit board even if they are made for surface mounting.
【0040】[0040]
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明に係る電子部品のメカチャックであっ
て、装着ヘッドの昇降軸の下端部に取り付けた状態を断
面図で示す。
FIG. 1 is a cross-sectional view showing a mechanical chuck of an electronic component according to the present invention, which is attached to a lower end portion of a lifting shaft of a mounting head.
【図2】メカチャックを装着ヘッドの昇降軸の下端部に
取り付けた状態を図1の側面から示す。
2 is a side view of FIG. 1 showing a state in which a mechanical chuck is attached to a lower end portion of a lifting shaft of a mounting head.
【図3】実施例の装着ヘッドの平面図である。FIG. 3 is a plan view of the mounting head of the embodiment.
【図4】実施例の装着ヘッドの側面図であり、吸着ノズ
ルを取り付けた場合を示す。
FIG. 4 is a side view of the mounting head of the embodiment, showing a case where a suction nozzle is attached.
【図5】ノズル交換部を示す平面図である。FIG. 5 is a plan view showing a nozzle exchanging portion.
【図6】ノズル交換部及び昇降用エアシリンダを示す側
面図である。
FIG. 6 is a side view showing a nozzle replacement section and a lifting air cylinder.
【図7】実施例における電子部品装着装置の全体構成の
平面図である。
FIG. 7 is a plan view of the overall configuration of the electronic component mounting apparatus in the example.
【図8】吸着ノズルを装着ヘッドの昇降軸の下端部に取
り付けた状態を断面図で示す。
FIG. 8 is a sectional view showing a state in which a suction nozzle is attached to a lower end portion of a lifting shaft of a mounting head.
【符号の説明】[Explanation of symbols]
1 装着ヘッド 8 昇降軸 32 摺動ブッシュ 80 外筒体 87 貫通穴 88 継手 95 貫通穴 96 連絡穴 97 連絡穴 105 円盤部 105B空間 107L支点ピン 107R支点ピン 108 ガイド軸 109L駆動ピン 109R駆動ピン 111Lチャック爪 111Rチャック爪 112 スプリング 114 スライダー 115 ベロー 120Lフック 120Rフック B 電子部品 1 Mounting Head 8 Lifting Shaft 32 Sliding Bushing 80 Outer Cylindrical Body 87 Through Hole 88 Joint 95 Through Hole 96 Communication Hole 97 Communication Hole 105 Disc 105B Space 107L Support Pin 107R Support Pin 108 Guide Shaft 109L Drive Pin 109R Drive Pin 111L Chuck Claw 111R Chuck Claw 112 Spring 114 Slider 115 Bellow 120L Hook 120R Hook B Electronic Parts

Claims (4)

    【特許請求の範囲】[Claims]
  1. 【請求項1】ホルダ部を下端に有する昇降軸を昇降自在
    に設けてなる装着ヘッドと、電子部品の部品供給部と、
    電子部品の保持手段を収納するノズル交換部とを備え、
    前記装着ヘッドの前記ホルダ部に前記ノズル交換部に収
    納する保持手段を取り付けて、前記装着ヘッドの昇降軸
    を昇降し前記保持手段で前記部品供給部から電子部品を
    ピックアップして位置決めされたプリント基板上に移動
    し装着する電子部品装着装置であって、前記保持手段は
    前記ホルダ部側より真空吸引する力でチャック爪を閉じ
    て電子部品を挟持し保持することを特徴とする電子部品
    装着装置。
    1. A mounting head having a vertically movable shaft having a holder portion at a lower end thereof, and a component supply portion for electronic components,
    A nozzle exchanging section for accommodating a holding means for electronic parts,
    A printed circuit board in which holding means for accommodating in the nozzle exchanging part is attached to the holder part of the mounting head, and an elevating shaft of the mounting head is moved up and down to pick up electronic components from the component supply part by the holding means and positioned. An electronic component mounting device that moves upward and mounts the electronic component mounting device, wherein the holding means closes a chuck claw by a force of vacuum suction from the holder portion side to sandwich and hold an electronic component.
  2. 【請求項2】ホルダ部を下端に有する昇降軸を昇降自在
    に設けてなる装着ヘッドと、電子部品の部品供給部と、
    電子部品を吸着し保持する吸着ノズルと、電子部品を挟
    持し保持するメカチャックと、前記吸着ノズル及び前記
    メカチャックを収納するノズル交換部とを備え、前記装
    着ヘッドの前記ホルダ部に前記ノズル交換部に収納する
    前記吸着ノズルあるいは前記メカチャックを取り付け
    て、前記装着ヘッドの昇降軸を昇降し前記吸着ノズルあ
    るいは前記メカチャックで前記部品供給部から電子部品
    をピックアップして位置決めされたプリント基板上に移
    動し装着する電子部品装着装置であって、前記ホルダ部
    に取り付けた前記吸着ノズルは前記ホルダ部側より真空
    吸引して電子部品を吸着し保持し、前記ホルダ部に取り
    付けた前記メカチャックは前記ホルダ部側より真空吸引
    する力でチャック爪を閉じて電子部品を挟持し保持する
    ことを特徴とする電子部品装着装置。
    2. A mounting head provided with a lifting shaft having a holder portion at the lower end so as to be able to move up and down, and a component supply portion for electronic components,
    An adsorption nozzle for adsorbing and holding an electronic component, a mechanical chuck for nipping and holding an electronic component, and a nozzle exchanging unit for accommodating the adsorption nozzle and the mechanical chuck, and the nozzle exchanging for the holder of the mounting head. The suction nozzle or the mechanical chuck to be housed in a unit, and the elevating shaft of the mounting head is moved up and down to pick up an electronic component from the component supply unit by the suction nozzle or the mechanical chuck and position it on a printed circuit board. An electronic component mounting device for moving and mounting, wherein the suction nozzle mounted on the holder part sucks vacuum from the holder part side to suck and hold an electronic component, and the mechanical chuck mounted on the holder part is The electric power is characterized in that the chuck claws are closed by the force of vacuum suction from the holder side to clamp and hold electronic components. Component mounting apparatus.
  3. 【請求項3】前記ホルダ部に前記メカチャックを取り付
    けて前記ホルダ部側より真空吸引は、前記ホルダ部に前
    記吸着ノズルを取り付けて電子部品を吸着し保持する真
    空吸引と兼用する請求項2記載の電子部品装着装置。
    3. The vacuum suction from the holder section side by attaching the mechanical chuck to the holder section is also used as the vacuum suction to attach the suction nozzle to the holder section to suck and hold an electronic component. Electronic component mounting device.
  4. 【請求項4】前記メカチャックはガイド軸下端に枢支す
    る一対のチャック爪と、前記ガイド軸に案内されて移動
    し一対の該チャック爪に係合し下端を相互に接離開閉す
    るスライダーと、該スライダーと中心部で固着するベロ
    ーと、該ベローの全外周に密着し連絡穴を除いて密閉さ
    れた空間を構成する円盤部とを備え、前記連絡穴を介し
    て前記空間を真空吸引し前記スライダーを移動し一対の
    前記チャック爪を閉じて、一対の該チャック爪で電子部
    品を挟持し保持することを特徴とする請求項2記載の電
    子部品装着装置。
    4. The mechanical chuck comprises: a pair of chuck claws pivotally supported on a lower end of a guide shaft; and sliders which are guided by the guide shaft and move to engage the pair of chuck claws so that the lower ends thereof are brought into contact with and separated from each other. A bellows that is fixed to the slider at the center, and a disk portion that is in close contact with the entire outer circumference of the bellows and that forms a sealed space excluding the communication hole, and vacuum suctions the space through the communication hole. 3. The electronic component mounting apparatus according to claim 2, wherein the slider is moved to close the pair of chuck claws, and the pair of chuck claws holds and holds the electronic component.
JP7265484A 1995-10-13 1995-10-13 Electronic component fitter Withdrawn JPH09107198A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP7265484A JPH09107198A (en) 1995-10-13 1995-10-13 Electronic component fitter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7265484A JPH09107198A (en) 1995-10-13 1995-10-13 Electronic component fitter

Publications (1)

Publication Number Publication Date
JPH09107198A true JPH09107198A (en) 1997-04-22

Family

ID=17417825

Family Applications (1)

Application Number Title Priority Date Filing Date
JP7265484A Withdrawn JPH09107198A (en) 1995-10-13 1995-10-13 Electronic component fitter

Country Status (1)

Country Link
JP (1) JPH09107198A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10135697A (en) * 1996-10-30 1998-05-22 Matsushita Electric Ind Co Ltd Electronic parts mounting device
JP2003008292A (en) * 2001-06-22 2003-01-10 I-Pulse Co Ltd Nozzle for surface mounting device and the surface mounting device
JP2007258349A (en) * 2006-03-22 2007-10-04 Juki Corp Method for identifying nozzle and method for judging failure of nozzle
CN106416454A (en) * 2014-05-28 2017-02-15 富士机械制造株式会社 Component mounting machine
CN107176450A (en) * 2016-03-09 2017-09-19 精工爱普生株式会社 Electronic unit conveyer and electronic component inspection device
JP2018020437A (en) * 2016-02-10 2018-02-08 株式会社国際電気通信基礎技術研究所 External driving type joint structure body

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10135697A (en) * 1996-10-30 1998-05-22 Matsushita Electric Ind Co Ltd Electronic parts mounting device
JP2003008292A (en) * 2001-06-22 2003-01-10 I-Pulse Co Ltd Nozzle for surface mounting device and the surface mounting device
JP2007258349A (en) * 2006-03-22 2007-10-04 Juki Corp Method for identifying nozzle and method for judging failure of nozzle
JP4699251B2 (en) * 2006-03-22 2011-06-08 Juki株式会社 Nozzle identification method and defect determination method
CN106416454A (en) * 2014-05-28 2017-02-15 富士机械制造株式会社 Component mounting machine
CN106416454B (en) * 2014-05-28 2019-05-21 株式会社富士 Component mounter
JP2018020437A (en) * 2016-02-10 2018-02-08 株式会社国際電気通信基礎技術研究所 External driving type joint structure body
CN107176450A (en) * 2016-03-09 2017-09-19 精工爱普生株式会社 Electronic unit conveyer and electronic component inspection device

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A300 Withdrawal of application because of no request for examination

Free format text: JAPANESE INTERMEDIATE CODE: A300

Effective date: 20030107