JPH09199899A - Electronic part-mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately position an electronic part preventing it from falling off and getting damaged by a method wherein the picture image of an electronic part attracted to a vacuum-sucking nozzle is picked up, an XY table which positions a board is corrected on position, and furthermore the electronic part is corrected for direction. SOLUTION: A vacuum-sucking nozzle 54d is arranged on the vacuum-sucking head of a table 70. An XY table holds a board and moves in the directions of X and Y to position it. An electronic part 1 is vacuum-sucked by the vacuum- sucking nozzle 54d and delivered to a visual recognition section. At the visual recognition section, the picture image of the electronic part 1 is picked up by a camera 239 through the intermediary of a mirror 232 and others, and the position and shape of the electronic part 1 are recognized by a picture image processing device, whereby positional corrections for the part 1 are obtained. The vacuum-sucking nozzle 54d is rotated to adjust the posture of the electronic part 1, the XY table C mounted with the board 8 is corrected for position and then positioned to mount the electronic part 1 on the board 8 at a prescribed position.

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 and, more particularly, to an electronic component mounting apparatus for positioning electronic components in a contactless manner and mounting them on a substrate.

[0002]

2. Description of the Related Art Devices for mounting electronic components on a substrate include:
There are various schemes. Among them, an apparatus of the same type as that of the present invention is disclosed in JP-A-55-24491.

In this conventional electronic component mounting apparatus, a large number of mounting heads are arranged on a lower surface of an intermittently rotating table, and electronic components sent from a component supply unit are attracted to the mounting heads, and then, at the next station, The electronic components adsorbed on the mounting head are positioned from four sides by using a plurality of claws by a mechanical mechanism, and the electronic components positioned in the next station are mounted on the substrate.

[0004]

When an electronic component is positioned by a mechanical mechanism in this way, burrs on the electronic component,
If there is a shape defect in the taper of the mold portion, a problem such as a poor positioning of the electronic component or a drop or breakage of the electronic component may occur.

[0005] Further, claws for positioning a ceramic component such as a chip resistor are severely worn and require regular replacement and adjustment. Also, electronic components having different shapes cannot be handled by the same nail, so that a lot of time is wasted, such as the need to replace the nail each time.

Further, the mounting head has a rotation function, and since there is only one rotation drive source for a large number of mounting heads, when changing the mounting posture of the components, the mounting head is attracted to all the mounting heads. The electronic component will be changed according to the attitude of the electronic component that is about to be mounted on the substrate. Therefore, at the time of positioning the electronic component, the direction of the electronic component is oriented in various directions, so that the positioning of the electronic component becomes extremely difficult, and the productivity is reduced.

In general, the feed mechanism for taping parts is dedicated to the type of tape. Therefore, even if the feed pitch of the tape is the same, if the mounting pattern is changed (the cross-sectional shape is different), However, there is an inconvenience that the tape (taping component) must be replaced each time.

SUMMARY OF THE INVENTION An object of the present invention is to provide an electronic component mounting apparatus capable of accurately positioning an electronic component without dropping or damaging the same and improving productivity, in view of the above conventional technology. is there.

[0009]

In order to achieve the above object, in the present invention, a component supply section for supplying an electronic component and a plurality of rotatable suction nozzles for sucking the electronic component from the component supply section are provided. An image that captures an image of an electronic component that is arranged radially and that is mounted between the component supply unit and the component mounting position that mounts the electronic component on the substrate and that is sucked by the suction nozzle of the mounting head unit. A capturing device, an XY table that holds the substrate and positions the substrate at the mounting position of the electronic component, and corrects the position of the substrate through the XY table based on information from the image capturing device, and the suction And a control device for correcting the direction of the electronic component via the nozzle.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. FIG. 1 is an external view of an electronic component mounting apparatus according to the present invention. In the figure, A is a mounting head part, and a table 70 is attached to the lower end of a hollow main shaft, and a plurality of suction heads 5 are vertically movable on the table 70.
4 are attached. B is a component supply unit that carries the taped electronic component below the suction head 54. C is an XY table for positioning the board on which the electronic component is mounted in the XY direction and arranging the board at a predetermined position below the suction head 54. D is a substrate supply unit.
E is a visual recognition unit for optically monitoring the posture (direction) of the electronic component sucked by the suction head 54.

These A to E are mounted on the housing 10. In addition, the control device (separate housing), the image input processing unit, and the drive system (housing 10) are not shown in FIG.
). In the substrate supply unit D, the substrate 8 on which electronic components are mounted is transported by the conveyor 191, and the XY table C is transferred from the conveyor 191 by the chuck D ′ of the substrate supply unit D.
Transferred to the substrate holder. This substrate 8 is an XY table C
Is transported to a lower portion of the mounting head A, and the mounting head A sequentially mounts electronic components. After the mounting of the electronic components is completed, the substrate 8 is again supplied from the XY table C to the substrate supply section D.
To the conveyor 201 by the chuck D ″ and sent to the next step.

On the other hand, the electronic components mounted by the mounting head unit A are wound and stored on the reel 3 while being taped to the component supply unit B, and are sucked by the tape feed pins of the component supply unit B. The sheet is conveyed to a position directly below the head 54, and the suction head 54 descends and sucks the sheet. Next, the suction head 54 is the index unit 1.
The image is rotated intermittently by 2 and sent to the visual recognition unit E. In the visual recognition unit E, the position of the electronic component (positional deviation with respect to the suction head 54) is detected by the camera, and the data (ΔX, ΔY, Δθ) is fed back to the control device.

The control device instructs the motor of the XY table C to move the electronic component mounting position on the board 8 to the mounting position in accordance with a previously designated program. At this time, the movement data taking into account the displacement data (ΔX, ΔY, Δθ) of the electronic component from the visual recognition unit E is used as the command value. The XY table C moves based on this command.

The suction head 54 is again fed one pitch by the index unit 12 and conveys the electronic component directly above the substrate 8. Here, the suction head 54 is lowered to mount the electronic component on the substrate 8. The above procedure is repeated to mount the electronic component on the substrate 8.

Hereinafter, each part will be described in more detail. (Regarding Mounting Head A) FIG. 4 is a front view of the mounting head A, FIG. 5 is a view taken along line AA of FIG. 4, FIG. 6 is a vertical sectional view showing the mounting head, and FIG. FIG. 8 is a sectional view taken along the line CC in FIG.

In FIGS. 4 and 5, an index device 12 is fixed on a column 11. When the index device 12 continuously rotates the input shaft 13 via the timing pulley 15, the timing belt 16, and the like, the output shaft 30 (see FIG. 6) is intermittently driven to rotate. 6, a main shaft 34 is fixed to the output shaft 30 with bolts 35, and a table 70 is fixed to a lower end of the main shaft 34. On the outer periphery of the table 70, four mechanisms including a suction head 54 for sucking the electronic component 1 (see FIG. 2) are arranged.

The central portion of the main shaft 34 is hollow, and a hollow suction head rotary shaft 72 and a suction head rotary shaft 55 doubly pass through the hollow portion, and the main shaft 34 and the suction head rotary shaft 72 are connected to each other. And a gap is provided between the suction head rotation shaft 72 and the suction head rotation shaft 55.
The three shafts 34, 72, 55 operate independently.

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

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

The nozzle holder 43 is held by a guide 44 so as to freely move up and down and rotate. Further, the nozzle holder 43 is engaged with the bush 52 so as to be slidable up and down, and the rotation direction is regulated by the key 51. The bush 52 is rotatably held via the table 70 and the bearing 50. A gear 53a is fixed outside the lower part of the bush 52. Further, a compression spring 47 is incorporated in the flange portion of the nozzle holder 43,
The nozzle holder 43 is always biased upward. Further, a compression spring 49 is incorporated in the hollow portion 48 of the nozzle holder 43, and the upper end portion of the suction nozzle 54a is always pushed downward.

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

Next, the structure of the vacuum circuit for sucking the components will be described. Grooves 36a to 36d are formed in the outer periphery of the main shaft 34, and a vertical hole 38a connected to the groove 36a is formed below the main shaft 34 (see FIG. 7). It has escaped to the outer periphery of the main shaft 34 again. The seal ring 31 is fixed to the frame of the index device 12 by bolts 32, and has an inner diameter rotatably in contact with the main shaft.
For this reason, there is a slight gap between the outer diameter of the main shaft 34 and the inner diameter of the seal ring 31, and the O-ring 37 is mounted on the main shaft 34 side to prevent vacuum air leakage.

On the other hand, a groove 45 is formed in the upper outer peripheral portion of the nozzle holder 43, and a hollow portion 48 is formed from a part of the groove 45.
Through the horizontal hole 46 and the pipe 40 at a position corresponding to the groove 45.
a is connected to one end. The other end of the pipe 40a is the main shaft 3.
4 are connected to the vertical hole 38a. By connecting the nipple 33a to a vacuum pump (not shown) or the like, the groove 36a, the vertical hole 38a, the pipe 40a, the horizontal hole 4
6, a vacuum circuit is formed through the groove 45, the hollow portion 48, and the suction nozzle 54a, and the electronic component 1 can be sucked to the tip of the suction nozzle 54a.

The vertical movement of the suction nozzles 54a to 54d when the electronic component 1 is suctioned and mounted is controlled by the pressing levers 22a to 22d.
2b is swung, the cap 42 is pushed down by the cam follower 41a, and the suction nozzle 54a is lowered together with the nozzle holder 43. When ascending, the compression spring 47 is moved by swinging the pressure lever 22a upward.
This pushes up the suction nozzle 54a together with the nozzle holder 43.

The operation of the pressure lever 22a is performed by the cams 17a and 17b, as shown in FIGS. The pressure lever 22a is fixed to a shaft 21a, and the shaft 21a is rotatably supported by a bracket 20a. Shaft 21
The other end of a is fixed to a lever 19a, and the lever 19a and the lever 25a are rotatably connected by a rod 18a.

Further, the cam follower 26a fixed to the other end of the lever 25a is always moved by the tension spring 28a.
7a. As a result, the displacement of the cam 17a is transmitted to the pressure lever 22a, and the suction nozzles 54a to 54d are moved up and down to perform the operation of sucking and mounting the electronic component (turning off the vacuum source during mounting and releasing the electronic component to the atmosphere).

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

As shown in FIG. 6, the position at which the electronic component is sucked and the position at which the electronic component is mounted are determined by using the main axis 34 as a symmetry axis and the position of
It is arranged at a position facing 0 °. Therefore, when the pulse motor 63 rotates by a required amount to change the mounting position of the electronic component while mounting the electronic component on the substrate 8 after the electronic component is sucked by the suction nozzle 54b, the other suction nozzle 54a also rotates by the same amount. .

However, since the suction nozzle 54a already has no electronic components, it is irrelevant to the rotation angle (it is already mounted). That is, two gears 6 are provided on the lower surface of the table 70.
Gears 53a and 53b are installed with 6, 67 facing each other.
With the gear 66, and the gears 53c and 53d with the gear 6
By engaging the rotation angle of the electronic components with the two pulse motors 63 and 60 in sequence, the rotation angles of the other electronic components are not accumulated, and the mounting posture of the required electronic components can be controlled arbitrarily. You can

In the component mounting section configured as described above, intermittent rotational force is applied to the main shaft 34 shown in FIG. 6 via the timing belt 16, the timing pulley 15 and the input shaft 13 shown in FIG. Rotates intermittently. The rotation of the table 70 causes the suction nozzle 5
4a to 54d revolve.

On the other hand, the pulse motors 63 and 60 are provided via the hollow suction head rotating shaft 72 and the suction head rotating shaft 55.
Thereby, the suction nozzles 54a to 54d rotate. By the rotation of the suction nozzles 54a to 54d, the sucked electronic component is rotated and its direction is corrected.

When the electronic component is sucked from the component supply section B and when the electronic component is mounted on the board, the cam 17 is used.
Timing is measured by a and 17b, and the suction nozzles 54a to 54d are pushed down. Also, the component supply unit B
The transfer of the electronic component from the suction nozzle 54a to the substrate 8 is performed.
This is performed by the orbit of 54d.

Thus, the suction nozzles 54a to 54d
The electronic components supplied to the component supply unit B are adsorbed by a combination of the revolving, rotating, and vertical movements, and the direction of the electronic components is adjusted and mounted on the substrate.

(Regarding Component Supply Unit B) Next, the component supply unit B will be described. FIG. 2 is an external view of the taping component. As shown in the figure, the electronic component 1 has a feed hole 2
'Is stored in the tape 2 on which the tape reel 3 is formed.
It is wound.

FIG. 9 is a side view of the component supply unit, and FIG.
FIG. 11 is a view taken along the line DD in FIG. 9, and FIG.
FIG. 12 is a sectional view taken along a line B ′ in FIG.
3 to FIG. 15 are operation process diagrams of FIG.

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

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

The bracket 155 is fixed to the base 80, and rotatably supports a pinion 87 engaged with the rack 88. The bracket 155 is fixed to the base 80 and supports the motor 85. The pinion 87 and the motor 85 are connected via a coupling 86. Therefore, the rotation of the motor 85 causes the pinion 87 and the rack 8 to rotate.
8, the component supply table B 'can be moved to an arbitrary position by using the two guide bars 103 as a guide,
As a result, the electronic component 1 to be subsequently sucked and mounted is moved to a position immediately below the suction head 54.

Next, the mechanism for feeding the tape 2 will be described. As shown in FIG.
The stored electronic component 1 is disposed so as to be directly below the suction nozzle 54b through one predetermined groove 121a. The rollers 124a to 124c are provided with pins 153 on the bracket 152.
It is rotatably supported by a lever 125 which is rotatably supported via. One end of the tension spring 154 is the lever 1
25, the other end is fixed to a bolt 156, and the lever 1 is always
Rollers 124a to 124c hold down the tape 2 via 25, and prevent the tape 2 from floating from the groove 121a.

The locking member 135 having the pin-shaped protrusions 134 fixed to the feeding holes 2'of the tape 2 and the feeding member 150 having the pin-shaped protrusions 140 having the same shape fixed thereto are two protrusions each. 140 and 134 are the feeding holes 2 of the tape 2
It is fixed to the pitch of '. The protrusion 14
The numbers 0 and 134 can be set arbitrarily. Also, the locking member 1
35 and the feeding member 150 do not necessarily have to have the same shape. In order to guide these members in the vertical direction, the main body portion is formed into a cylindrical shape, and cylindrical guides 133 and 149 that are externally fitted thereto are provided.

On the other hand, the arm 126 is fixed to the table 131, and the guide 133 fitted on the locking member 135 is fixed to the arm 126. Thereby, the locking member 135
Are guided so that they can slide back and forth in the vertical direction with respect to the tape 2. The tape feeding direction (X
A slider 147 is slidably supported in the −X ′ direction, and a guide 149 fitted onto the feed member 150 is fixed to the slider 147. As a result, the feeding member 150 is slidably guided in the vertical direction with respect to the tape 2 and can slide with the slider 147 in the tape feeding direction (XX 'direction).

A bracket portion is formed on the slider 147 to fix a pin 143, and a T-shaped lever 145 is rotatably supported with the pin 143 as a fulcrum. Slots 141, 1 are provided at both ends of the long side of the lever 145.
46 are provided, and these elongated holes are connected to the locking member 135 and the feeding member 150 by pin-long holes. As a result, the force in the X direction and X ′ are applied to the tip of the vertical side of the lever 145.
Direction, the lever 145 is moved to the pin 1 position.
While reciprocating around 43, X
It reciprocates in the −X ′ direction.

By the rotation of the lever 145, the locking member 135 and the feeding member 150 are slid up and down alternately, and the protrusions 134 and 140 fixed to the upper end of the locking member 135 and the feeding member 150 are attached to the tape 2.
Is inserted and removed from the feed hole. Further, the lever 145 is reciprocally translated in the X-X 'direction together with the slider 147. 144 and 144 'are stopper bolts for restricting the rotation angle of the lever 145. By adjusting the rotation angle of the lever 145 with the stopper bolts 144 and 144 ', the depths at which the pins 134 and 140 engage with the feed holes of the tape 2 can be adjusted.

In order to regulate the sliding stroke of the slider 147 in the XX 'direction, a notch groove 148 is formed in the slider 147.
The stroke adjusting means 138 having a structure in which the ball 136 is pressed against the cutout groove 148 by the spring 137 is fixed to the arm 126. The stroke adjusting means 138 elastically locks the position of the slider 147 and allows the slider 147 to slide when receiving a force stronger than the locking force.

The tip of the vertical side of the lever 145 is XX
Dog 90 and cam follower 1
27, and a rod 1 for supporting the cam follower 127.
29, one end of which is rotatably mounted on the lever 145 with the pin 142. A bush 128 slidably supports the rod 129, and a spring 130 biases the rod 129 rightward in the drawing to cause the cam follower 127 to contact the dog 90.

The dog 90 is provided with a bracket 89 as shown in FIG.
Is slidably supported by The lever 100 swings with the pin 92 as a fulcrum. One end is slidably engaged with a locking member 91 having a T-shaped groove fixed to the lower surface of the dog 90, and the other end is pulled downward by a tension spring 101. ing.
The rod 93 is rotatably engaged with the lever 100. Thereby, the movement of the rod 93 in the YY ′ direction is
It is transmitted to the dog 90 through the lever 100 and the locking member 91, and the rod 129 is moved through the cam follower 127.
Slide in the 'direction.

Next, the operation of the feed mechanism configured as described above will be described with reference to FIGS. FIG.
3 shows a state where the rod 129 has moved in the X direction. In this state, the lever 145 is rotated in the counterclockwise direction in the drawing, and is pulled rightward together with the slider 147. For this reason, the locking member 135 rises and the projection 134
Is engaged with the feed hole 2 ′ of the tape 2. Further, since the locking member 135 is fitted to the guide 133 fixed to the arm 126, the locking member 135 does not move in the XX 'direction and locks the tape 2 so as not to move in the XX' direction. .

FIG. 14 shows a state in which the rod 129 has moved in the X 'direction. In this state, the lever 145 rotates clockwise in the drawing to lower the locking member 135 and raise the feeding member 150. As a result, the protrusion 134 of the locking member 135 is pulled out from the feed hole 2 ′ of the tape 2, and the protrusion 140 of the feed member 150 engages with the feed hole 2 ′ of the tape 2. Stopper bolt 144 is slider 14
7 and the rotation of the lever 145 is locked, the rod 129 further moves in the X ′ direction in the figure, the slider 14
7 slides in the X ′ direction together with the lever 145. At this time, the feed drive member 150 fitted to the guide 149 fixed to the slider 147 is moved in the X 'direction in the drawing to feed the tape 2 in the X' direction in the drawing.

When the rod 129 again moves in the X direction, as shown in FIG. 15, the locking member 135 moves upward to lock the movement of the tape 2 in the XX 'direction, as shown in FIG. After descending, 150 is pulled to the right, and as shown in FIG. 13, the ball 136 moves into the notch groove 148 of the slider 147.
And the sliding of the slider 147 in the X direction (to the right) is stopped. As can be easily understood with reference to FIG. 12, when the slider 147 is locked while the rod 129 is moving in the X direction, a gap is generated between the dog 90 and the cam follower 127, and the rod 129 is moved. Stop.

As described above, if the means for regulating the sliding stroke of the slider 147 (the above-described ball, spring, and notch groove) is provided, the feed pitch of the tape 2 can be adjusted without changing the lift of the dog 90. Can be.

As is clear from the operation described with reference to FIGS. 13 to 15, the locking member 135 slides only in the vertical direction with respect to the tape 2, and the projection 134 is fed to the feeding hole 2 of the tape 2.
′ Is inserted and removed straight. Also, the feed member 1
Similarly, 50 also inserts and removes the projection 140 straight into and from the feed hole 2 ′ of the tape 2.

Although the feeding member 150 also moves in the XX 'direction, the slider 147 moves to the ball 136 and the notch groove until the stopping of the locking member 135 (that is, the raising of the feeding member 150). Since it is locked by 148, the protrusion 140 does not obliquely enter the feed hole 2 '. The reason for this is that unless the rotation of the lever 145 in the clockwise direction is stopped by the stopper bolt 144, the slider 147 overcomes the locking force of the ball 136 and the notch groove 148 and slides in the X ′ direction. Because it does not receive power.

As described above, the projection 1 of the feeding member 150
After 40 is securely inserted into the feed hole 2 ′ of the tape 2,
Sent by a predetermined stroke by the sending member 150,
Since the tape 2 is locked by the locking member 135 during the other time, the feeding pitch of the tape 2 can be accurately kept constant.

The locking member 135 and the feeding member 150
Moves up and down in the vertical direction.
Since the stroke in the vertical direction can be adjusted by 44, 144 ', the stroke in the vertical direction can be adjusted depending on the type of the tape 2 and can correspond to various tapes 2.

Although the tape 2 is fed by the operation described above, in order to take out the electronic component 1 stored in the tape 2 as shown in FIG. 2, the upper tape 4 must be peeled off. The mechanism for peeling off and winding up the upper tape 4 will be described.

In FIG. 12, the upper tape 4 is peeled from the tape 2 by being pulled from the point past the tape guide 156a in the direction opposite to the tape 2 feeding direction. The peeled upper tape 4 is taken up by the take-up reel 11.
Winded by 1. This take-up reel 111 is shown in FIG.
As shown in FIG. 7, the pins 105 are attached to the bracket 104 so as to contact two points of the support roller 109 and the drive roller 110.
And is pressed by a pressing roller 107 rotatably supported by a lever 106 supported to be swingable.

As shown in FIG. 11, the main body 115 of the drive roller 110 is rotatably supported by the bracket 104 fixed to the table 117 via a bearing 118. The rotation of the motor 112 (see FIG. 10) is transmitted to the roller body 115 via the spline shaft 116 and the bush 119. Therefore, as described above, when the table 131 slides in the left-right direction by the motor 85, the bracket 104 also slides in the left-right direction.
For this reason, the relationship between the spline shaft 116 and the bush 119 transmits only rotation, and the spline shaft 116 can freely move in the axial direction.

The take-up reels 111 are in contact with one drive roller 110 by the number of tapes 2 set. For this reason, the drive roller 110 and the take-up reel 111 are always slipping, and when the tape 2 is fed, an operation of winding the upper tape 4 by the length removed from the tape 2 is performed.

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

(About XY Table C) Next, the XY table C which positions the substrate 8 and moves in the XY directions so that the component 1 is mounted at a predetermined position will be described. 16 is a plan view of the XY table, FIG. 17 is a sectional view taken along line FF of FIG. 16, and FIG. 18 is a sectional view taken along line GG of FIG.

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

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

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

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

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

On both sides of the table 163 supported by the guides 169 and 170 so as to be movable in the XX 'direction,
The guide bar 171 is fixed via stays 186 and 186 'projecting downward. The guide bar 171 includes the rollers 174 and 174 ', 189 and 1
It is movable between 89 ′ 260 and 260 ′, and is pinched by rollers 175 in the XX ′ direction.

Therefore, the table 163 is
Constitutes an XY table which moves in the YY 'direction by the operation of and moves in the XX' direction by the operation of the motor 182.

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

In such a configuration, the substrate 8 is positioned by feeding the substrate with the lever 255 opened and then swinging the lever 255 in the closing direction by the force of the spring 259 to press the pressing rollers 257 and 258. This is performed by pressing the substrate 8 against the reference rollers 252a to 252d.

After positioning the substrate 8 on the XY table, X
The Y table moves to the work position (the position of arrow P).
In the working position P, the substrate 8 can be positioned at an arbitrary position by rotating the motor 182 and moving the table 163 integrated with the guide bar 171 via the rollers 175 in the X direction.

When moving to the substrate supply position Q by largely moving in the Y direction, first, the position of the XY table in the X direction is set to a position where the guide bar 171 is guided by the rollers 174 and 174 '. Then, when the guide bar 171 moves in the Y direction, the guide bar 171 comes off the roller 175, sequentially passes through the fixed rollers, is guided by the fixed rollers 260 and 260 ', and reaches the substrate supply position Q. Here, if only the positioning in the Y direction is performed, the X direction is already fixed roller 260,
X 'required for substrate supply since it is positioned at 260'
The positioning of the Y table is completed.

With the above-described configuration, the respective motors 182 and 166 for XY bidirectional movement can be fixed on the sub-base 177, and a long stroke from the work position P to the substrate supply position Q can be moved. However, the guide bar 171 may be relatively short. This requires only a small amount of inertia when the table is moved, which is very advantageous for small and high-speed operation.

Next, the substrate supply section D will be described.
FIG. 19 is a plan view of the substrate supply unit D, and FIG.
21. FIG. 21 and FIG. 22 are views showing the details of the substrate chuck portions D ′ and D ″ in FIG.

In the figure, the substrate is held on the XY table of the C section. The substrate supply side conveyor 191 includes:
The board guides 192, 192 'and the stopper 193 are attached. The substrate discharge side conveyor 201 is driven in the direction of the arrow. The substrate chuck portions D ′ and D ″ are connected by a connecting plate 205 as shown in FIG.

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

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

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

At the upper end of the shaft 203, a plate 190a is provided.
Plates 190b are fixed to the upper ends of the shafts 212, respectively, and the plates 190a and 190b are connected to each other by connecting plates 208. A cylinder 207 is attached to the center of the connecting plate 205, and the rod of the cylinder 207 is fixedly connected to the connecting plate 208. Therefore, by operating the cylinder 207, the plates 190a and 190b can be moved up and down via the connection plate 208.

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

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

Therefore, when the cylinder 202 is operated and its rod is retracted, the levers 204a and 204b are pivoted in the opening direction, and the pins 219 are moved in the direction away from each other by the levers 204a and 204b, so that the tensile force of the spring 216 is increased. The nail portion 215 is opened against the finger. When the rod of the cylinder 202 protrudes, the levers 204a,
04b is rotated in the closing direction, and the claw 215 is moved in the direction of closing (holding the substrate 8) by the tensile force of the spring 216. The plate 190b also has a substrate chuck mechanism having the same configuration as described above.

Next, the substrate supply operation will be described. FIG.
Indicates a state immediately before the substrate is supplied and discharged. That is, the substrate flowing on the supply-side conveyor 191 is stopped by the stopper 193. On the other hand, the board on the XY table (where the electronic component 1 has been mounted)
The clamp lever 262 hits the stopper 261 to release the clamp. The claw 215 is kept open by the cylinder 202. In the above state, the chucks D ′ and D ″ are lowered by the cylinder 207.

When the cylinder 202 operates at the lower end, the tip of the claw 215 simultaneously chucks the substrate on the supply side conveyor 191 and the substrate on the XY table. Next,
The cylinder 207 works to raise the chuck portions D ′ and D ″. After that, the cylinder 198 moves forward to move the chuck portion D.
′ Moves to the XY table, and the chuck part D ″ moves to the discharge side conveyor 201. Here, the cylinder 207 operates again, and after the chuck parts D ′ and D ″ are lowered, the claw part 215 is moved by the cylinder 202. In the open state, each substrate is set on the XY table, and on the other side, the substrate is discharged onto the discharge-side conveyor 201. By simultaneously supplying and discharging the substrate as described above, the substrate replacement time is reduced.

(Visual Recognition Unit E) Next, the visual recognition unit E will be described. FIG. 23 is a side view showing the entire visual recognition unit, FIG. 24 is an enlarged side view showing an illumination part, FIG. 25 is a plan view showing the state of electronic components, and FIG.
FIG. 5 is an explanatory diagram shown for explaining electronic component detection.

The suction head 54 in the component supply section B described above is used.
Is lowered, and after sucking the electronic component 1 stored in the tape 2, the suction head 54 is raised and indexed by the index device 12, the electronic component 1 is carried into the visual recognition unit E. FIG. 25 shows a state in which the electronic component 1 is stored in the tape 2. As is clear from this drawing, since the electronic component 1 is housed with a gap in the concave portion 6 of the tape 2, the electronic component 1 is in a state where it can freely move in the concave portion 6. Therefore, the posture of the electronic component 1 sucked by the suction head 54 varies. For this reason, if the device is mounted on the substrate in this state, a positional shift occurs and a connection failure or the like occurs.

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

Based on this data, during indexing to the next mounting position, the angle correction amount is applied to the pulse motors 63 and 60 shown in FIG. 6 to rotate the suction head 54 so that a predetermined rotation angle is obtained. , XY to the motors 166 and 182 of the XY table C which simultaneously positions the substrate 8.
The electronic component 1 is mounted at a predetermined position on the substrate 8 by sending the amount of deviation in the direction and positioning the electronic component 1 at a position where the correction amount is added.

As shown in FIG. 24, a back plate 230 is provided on the lower surface of the nozzle holder 43 and a lamp 235 is provided.
a and 235b are respectively installed obliquely below the back plate 230 so that the electronic component 1 is not directly illuminated by the back plate 23.
By illuminating the lower surface of the electronic component 0, the electronic component 1 is captured as a silhouette image. As a result, a clear image can be obtained without causing halation or the like due to the solder surface or the metallic gloss surface of the electronic component 1.

Next, the image input to the camera 239 is converted into a voltage signal and sent to the image processing unit. In the image processing unit, as shown in FIG. 26, when the image of the electronic component 1 (the four corners are a, b, c, and d) is captured in the screen ABCD, the scanning direction of the screen is the direction A → D. The scanning is sequentially performed from the upper side. When the background portion is displayed in white and the image of the electronic component 1 is displayed in binary of black, the point a where black starts to occur, the point c where black disappears, and the point where black starts discontinuously, that is, monotonically increasing or monotonic The points b and d at which the decrease changes are obtained, and
The position of the electronic component 1 is calculated with the points as the four vertices of the electronic component 1. The correction amount is obtained based on this result.

Now, it is assumed that the point O is the original position of the image of the electronic component 1 and that the sides of the image of the electronic component 1 should be parallel to the X and Y axes. The coordinates of a, b, c, d at this time are represented by a
(X ₁ , y ₁ ), b (x ₂ , y ₂ ), c (x ₃ , y
₃ ) and d (x ₄ , y ₄ ), the slope Δθ is

[0091]

[Equation 1]

Or

[0093]

[Equation 2]

Is obtained.

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

[0096]

(Equation 3)

[0097]

(Equation 4)

[0098]

(Equation 5)

## EQU10 ## Where x ₀ and y ₀ are

[0100]

(Equation 6)

[0101]

(Equation 7)

Is obtained.

As a result, Δθ, x ₀ ′, y ₀ ′ are sent as correction values to the control microcomputer as data, and Δθ is sent to the pulse motors 63, 60 shown in FIG.
When x ₀ ′ and y ₀ ′ are commanded from the microcomputer as correction values to the motors 182 and 166 shown in FIG. 18 and each is operated by the correction amount, the electronic component 1 is mounted at the correct position.

The visual recognition unit E thus configured optically recognizes the attitude of the electronic component 1 sucked by the suction head 54, converts the recognized data into an electric signal, and uses this electric signal to perform suction. By rotating the head 54 to adjust the attitude of the electronic component 1 and aligning the XY table, the electronic component 1 can be accurately mounted on the substrate 8 in a non-contact manner.

[0105]

As described above, according to the electronic component mounting apparatus of the present invention, the component supplied from the component supply unit is sucked by the suction head, and the sucked component is optically recognized by the visual recognition unit. By recognizing and rotating the suction head based on the recognized data to adjust the position of the component and determine the position of the XY table, the component can be accurately positioned in a non-contact state without touching the component at all. The components can be accurately mounted on the substrate without any burrs or defective positioning due to defective shapes of the components, and the components do not drop or break at all.

Further, since there is no contact, there is no need for regular inspection, adjustment and replacement of the nail portion as in the prior art, so that there is no time spent on these and the productivity is greatly improved. did it.

Further, in the component supplying section B, a vertically moving vertically engaging member and a feeding member are provided, and the tape feeding stroke and the vertical movement stroke can be adjusted through a lever, so Since it can be used with the tapes (parts), the replacement of the parts supply part is not required, and the productivity can be greatly improved.

In the mounting head section A, a suction head rotating shaft is provided concentrically with the main shaft for rotating the table.
The position of components is adjusted by rotating a pair of suction heads, and the components are transferred by revolving the suction heads using a table. Was carried out quickly, and productivity was greatly improved.

Further, the XY table driving motor is mounted on the fixing plate to reduce the weight of the XY table, and the XY table is fixed in one of the X and Y directions by the guide to facilitate the receiving of the substrate. , XY table movement speed can be increased,
Substrate alignment was facilitated, and productivity was greatly improved.

Further, since the visual recognition unit E captures the component as a silhouette image, a clear image can be obtained without causing halation due to the solder surface or the metallic glossy surface of the component, and can be applied to various components. And, furthermore,
Accurate component orientation is obtained, so component positioning is more accurate.

[Brief description of drawings]

FIG. 1 is an external view of an electronic component mounting apparatus according to the present invention.

FIG. 2 is an external view of an electronic component.

FIG. 3 is a sectional view taken along line LL of FIG. 2;

FIG. 4 is a front view of a mounting head unit.

FIG. 5 is an arrow view taken along line AA of FIG. 4;

FIG. 6 is a vertical sectional view of a mounting head.

FIG. 7 is a sectional view taken along the line BB of FIG. 6;

FIG. 8 is a sectional view taken along line CC of FIG. 6;

FIG. 9 is a side view of the component supply unit.

FIG. 10 is an arrow view taken along line DD in FIG. 9;

11 is a sectional view taken along line EE of FIG.

FIG. 12 is a sectional view taken along the line B ′ in FIG. 10;

FIG. 13 is an explanatory view of the operation process of FIG. 12;

FIG. 14 is an explanatory diagram of the operation process of FIG. 12;

FIG. 15 is an explanatory diagram of the operation process of FIG. 12;

FIG. 16 is a plan view of an XY table.

FIG. 17 is a sectional view taken along line FF of FIG. 16;

FIG. 18 is a sectional view taken along line GG of FIG. 16;

FIG. 19 is a plan view of a substrate supply unit.

20 is a sectional view taken along line HH of FIG.

FIG. 21 is a plan view showing a partially enlarged view of portions D ′ and D ″ shown in FIG. 19.

22 is a vertical cross-sectional view of FIG.

FIG. 23 is a side view showing the entire visual recognition unit.

FIG. 24 is an enlarged side view showing a lighting portion.

FIG. 25 is a plan view showing a state of a component.

FIG. 26 is an explanatory diagram shown to explain component detection.

[Explanation of symbols]

1 ... parts, 2 ... tape, 3 ... tape reel, 8 ... substrate,
12 ... Index device, 30 ... Output shaft, 34 ... Hollow main shaft, 53, 66, 67 ... Gear (transmission mechanism), 54 ...
Suction heads, 54a to 54d: suction nozzles, 55: suction head rotating shaft, 72: hollow suction head rotating shaft, 23
0: Back plate, 231: Reflector, 232: Mirror, 2
39: Camera, A: Mounting head part, B: Component supply part, C
... XY table, D ... substrate supply part, E ... visual recognition part.

Claims (1)

[Claims] 1. A mounting head unit for arranging a component supply unit for supplying an electronic component and a plurality of rotatable suction nozzles for sucking the electronic component from the component supply unit in a radial pattern and mounting the electronic component on a substrate. An image capturing device that is disposed between the component supply unit and the component mounting position and captures an image of the electronic component sucked by the suction nozzle of the mounting head unit; An XY table for positioning the board and a controller for correcting the position of the board via the XY table based on information from the image capturing device and for correcting the direction of the electronic component via the suction nozzle are provided. An electronic component mounting device characterized in that