JPH11121990A - Component installing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component installing device the nozzle of which can be speedily and easily replaced. SOLUTION: A component installing device is provided with an installing head 150 on which a replaceable nozzle 164 for sucking and installing the component is mounted, a nozzle cartridge 165 which is mounted on the installing head side and can hold multiple nozzles 164 for replacement, a nozzle detaching/ attaching means 161 for automatically replacing the nozzle 164 mounted on the placing head 150 with a nozzle, for replacement held by the nozzle cartridge 165 and so on.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component mounting apparatus, and more particularly to a component mounting apparatus for mounting an electronic component on a substrate.

[0002]

2. Description of the Related Art FIG. 24 is a perspective view showing an example of a conventional component mounting apparatus. The component mounting device 10 is a component mounting device for mounting electronic components on a substrate, and has a configuration in which an XY robot 12, a substrate transport conveyor 13, a replacement nozzle holding unit 14, and the like are disposed on an upper surface of a gantry 11. I have. The XY robot 12 is provided with a mounting head 15 having a suction nozzle. In such a configuration, when the electronic component is mounted on the substrate, the XY robot 12
Moves the mounting head 15 in the X and Y directions to position it on the electronic component to be mounted. Then, after the suction nozzle is lowered in the Z direction to suck the electronic component, the suction nozzle is raised in the Z direction. Again, the mounting head 15 is moved in the XY directions by the XY robot 12, and positioned on the mounting position of the substrate transported by the substrate transport conveyor 13. Then, the suction nozzle is lowered in the Z direction, and the electronic component is mounted at the mounting position of the substrate.

When the type of electronic component is changed and the current suction nozzle cannot suction the electronic component, the suction nozzle is replaced with a suction nozzle that matches the shape of the electronic component. That is, the mounting head 1 is moved by the XY robot 12.
5 is moved in the X and Y directions, and positioned on the empty area of the replacement nozzle holding unit 14. Then, the suction nozzle is removed from the nozzle mounting portion of the mounting head 15 and stored in the empty area. Then, the mounting head 1 is moved by the XY robot 12.
5 is moved in the XY directions, and positioned on a predetermined suction nozzle of the replacement nozzle holding unit 14. Then, the suction nozzle is mounted on the nozzle mounting portion of the mounting head 15.

[0004]

In the conventional component mounting apparatus 10 described above, when replacing the suction nozzle in accordance with the shape of the electronic component to be mounted, the replacement nozzle holding section 14 is fixed to the upper surface of the bridge 11. Therefore, the mounting head 15 must be moved to the fixed position of the replacement nozzle holding unit 14 to perform the replacement operation. Therefore, there is a problem in that the movement to the nozzle replacement position and the nozzle replacement work increase the number of steps for mounting the electronic component on the board.

The present invention has been made in view of the above-mentioned circumstances, and has as its object to provide a component mounting apparatus capable of performing nozzle replacement quickly and easily.

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mounting head having a replaceable nozzle for adsorbing and mounting a component, and a mounting head mounted on the mounting head. A nozzle cartridge capable of holding a plurality of replacement nozzles, and a nozzle attaching / detaching means for automatically replacing a replacement nozzle held in the nozzle cartridge with a nozzle attached to the mounting head. This is achieved by providing:

According to the above configuration, since the replacement nozzle is provided on the mounting head side, the nozzle can be replaced while the mounting head is moving, and the mounting speed can be increased.

[0008]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. The embodiment described below is a preferred specific example of the present invention,
Although various technically preferable limits are given, the scope of the present invention is not limited to these embodiments unless otherwise specified in the following description.

FIG. 1 is a schematic perspective view showing the entire configuration of an embodiment of a component mounting apparatus according to the present invention. The component mounting apparatus 100 is a component mounting apparatus for mounting an electronic component on a board.
1, a Y-axis 122, a substrate transport conveyor 130, and the like. A mounting head 150 having a suction nozzle is attached to the Y axis 122 of the robot unit 120. FIG. 2 is a cross-sectional side view showing details of the mounting head 150, and FIG. 3 is a side view of the mounting head 150 viewed from another direction. The mounting head 150 moves the suction nozzle up and down in the Z direction and rotates in the θ direction to vacuum-suction the electronic components supplied from the component feeder and mount them on the substrate.

A main body 151 of the mounting head 150 is provided with a shaft 152 that can move up and down in the Z direction and rotate in the θ direction. The shaft 152 has a spline groove and a ball screw groove cut on its surface, and a spline nut 153 and a ball screw nut 154 are attached to each groove as shown in FIG. Spline nut 1
A pulley 155 is attached to 53 as shown in FIG. The pulley 155 is connected to the pulley 15 attached to the rotation servomotor 156.
7 and a belt connection. Accordingly, the spline nut 153 and the shaft 152 are rotated by the rotation of the rotation servomotor 156.

Also, the ball screw nut 154 has
, A pulley 158 is attached.
The pulley 158 is connected to the servomotor 1 for up and down.
The belt is connected to a pulley 160 attached to 59. Accordingly, the ball screw nut 154 is rotated by the rotation of the vertical servomotor 159, and the shaft 15
2 moves up and down. At the lower end of the shaft 152, as shown in FIG.
61 is fixed via a spline shaft 162 and a spline nut 163. Since the nozzle fixing bracket 161 is restricted from rotating with respect to the shaft 152 and can only move up and down, the stroke of this up and down movement absorbs obstacles when mounting electronic components and variations in component height. Then, the nozzle fixing bracket 161
Has a suction nozzle 164 for vacuum suction of an electronic component.
Is detachably mounted.

The main body 151 of the mounting head 150
A replacement nozzle fixing plate 165 for accommodating a plurality of replacement suction nozzles 164 arranged in a straight line as shown in FIG. The replacement nozzle fixing plate 165 is supported by a linear guide 166 as shown in FIGS. 2 and 3, and a belt 167 is fixed as shown in FIG. The belt 167 is connected to a pulley 169 attached to the nozzle selection servomotor 168 by a belt. Therefore, the replacement nozzle fixing plate 165 is moved in the horizontal direction by the rotation of the nozzle selection servomotor 168, and the suction nozzle 164 suitable for the application is moved to the nozzle fixing bracket 1.
It is possible to replace the nozzle by moving it to the position 61.

FIG. 6 is a sectional side view showing a detailed example of a nozzle attaching / detaching mechanism for attaching / detaching the suction nozzle. In this nozzle attaching / detaching mechanism, a spline nut 163 is fixed inside a lower end of a shaft 152 that can move and rotate vertically, and the spline shaft 162 is inserted into the spline nut 163. The spline shaft 162 is configured to be vertically movable and restricted in rotation. Spline shaft 1
O-rings 170 are attached to both ends of 62 to prevent leakage of air during vacuum suction of components. Further, a nozzle fixing shaft 171 is fixed to the spline shaft 162 by a screw 172.

The suction nozzle 164 is pressed against a tapered surface at the lower end of the nozzle fixing shaft 171 by a nozzle fixing bracket 161 and a sleeve 173 and a spring 174 fixed inside the nozzle fixing bracket 161, and the friction of the tapered surface and the press-fit into the suction nozzle 164. The fixing pin 175 and the U-shaped groove at the lower end of the nozzle fixing shaft 171 are fixed to the nozzle fixing shaft 171. Also, the suction nozzle 164
Is coupled to a spline shaft 162 via a nozzle fixing shaft 171 and can move up and down with respect to the shaft 152.
The pin 176 and the elongated hole of the shaft 152 are press-fitted into the pin 176. The vertical movement of the suction nozzle 164 reduces the impact, obstacles, and variations in component height when mounting electronic components, and the spring 1 disposed above the spline shaft 162.
77 absorbs.

The nozzle attaching / detaching operation in such a configuration will be described with reference to FIG. For the sake of simplicity, here, the shaft 152 and the nozzle fixing shaft 17 will be described.
1 is regarded as one, and is referred to as a shaft 178. First, a suction nozzle 164 fixed to a shaft 178 that can be moved up and down and rotated by a nozzle fixing bracket 161 and a spring 174 sucks and mounts electronic components in a region below a replacement nozzle fixing plate 165 (FIG. )). Next, shaft 1
78 rises and the stopper 1 fixed to the main body 151
The upper surface of the nozzle fixing bracket 161 comes into contact with 79, and the suction nozzle 164 is fixed to the shaft 178 and positioned at an intermediate height of the replacement nozzle fixing plate 165. That is,
Since the suction nozzle 164 is located above the center of the roller 180 in the replacement nozzle fixing plate 165 composed of the roller 180, the shaft 181 connected thereto and the spring 182 for pushing the roller 180, the roller 180 In a state in which the shaft is pushed upward by the shaft 178, the height is regulated by the shaft 178 and the shaft is stopped (FIG. 13B).

Then, the shaft 178 further rises, but since the nozzle fixing bracket 161 is restricted in its upward position by the stopper 179, the shaft 178 is moved upward.
Only rise. Thus, the fixing between the shaft 178 and the suction nozzle 164 is released. Also, the suction nozzle 164
Since the height is not restricted by the shaft 178, the roller is pushed upward by the roller 180, and is held by the roller 180 and the replacement nozzle fixing plate 165.
Furthermore, since the nozzle fixing bracket 161 is separated from the nozzle fixing bracket 161, the nozzle fixing bracket 161 can be moved in the notch direction (FIG. (C)). The suction nozzle 16 is moved by the vertical movement of the shaft 178 and the movement of the replacement nozzle fixing plate 165.
The nozzle can be replaced by repeating the attachment / detachment of No. 4.
The above is the basic configuration of the embodiment of the component mounting apparatus of the present invention. However, the partial configuration can be changed as follows.

FIG. 8 is a plan view showing a detailed example of a cartridge mechanism capable of easily performing the setup change when all the suction nozzles are replaced when the model of the target substrate is changed. The nozzle cartridge 201 of the cartridge mechanism 200 includes a detachable button 202, a pin 203 and a spring 204 connected thereto. The movement of the attachment / detachment button 202 is restricted by a pin 203 and a long hole provided in the nozzle cartridge 201, and is pushed outward by a spring 204. The cartridge frame 205 holds the nozzle cartridge 201 in the main body 151.
Is fixed so that it can move horizontally.
6, a spring 207, a pin 208, and a pin 209. FIG. 9 shows the cartridge frame 205.
The belt 167 is fixed as shown in FIG. The belt 167 is connected to a pulley 169 attached to the nozzle selection servomotor 168 by a belt. Therefore, the rotation of the nozzle selection servomotor 168 causes the nozzle cartridge 201 and the cartridge frame 205 to move in the horizontal direction, and the suction nozzle 164 suitable for the application is attached to the nozzle fixing bracket 16.
It is possible to replace the nozzle by moving it to the position 1.

In such a configuration, the cartridge attaching / detaching operation will be described with reference to FIGS. 10 and 11A and 11B. First, the suction nozzles 164 are arranged in the nozzle cartridge 201, and the nozzle cartridge 201 is moved to the cartridge frame 205 (FIG. 10). Next, when the nozzle cartridge 201 is pushed into the cartridge frame 205, the tapered portion of the hole provided in the detach button 202 hits the tapered portion at the tip of the pin 209, and the detach button 202 is pushed back inside the nozzle cartridge 201. When the nozzle cartridge 201 is further pushed into the cartridge frame 205, the step portion of the hole provided in the attaching / detaching button 202 is fitted into the step portion of the pin 209 by the force of the spring 207. Thus, the nozzle cartridge 201 is fixed to the cartridge frame 205 (FIG. 11).

The nozzle cartridge 201 loaded in the cartridge frame 205 is positioned at the top, bottom, left and right by a V block 206 and a pin 208, respectively, and the rear end is positioned by a pin 209. The nozzle cartridge 201 includes a V-block 206 and a spring 2
07, the step of the detachable box 202 is pressed against the step of the pin 209. Then, the nozzle cartridge 20
When removing 1 from the cartridge frame 205,
Both detachable buttons 202 are pushed into the nozzle cartridge 201 to release the engagement at the step portion and to be pulled out (FIG. 10).

FIGS. 12A, 12B, 12C and 12D
Is a plan view, a cross-sectional side view, a plan view of the inside, and a side view of a main part showing a detailed example of a nozzle adapter that enables the diversion of a suction nozzle of an electronic component mounting device of another model and facilitates spare management of the suction nozzle. FIG. This nozzle adapter 210 separates the tip end of the suction nozzle 164 from another,
A nozzle fixing ring 211 fixed inside, a steel ball 212 inserted into three holes radially drilled in the nozzle fixing ring 211, and an outer periphery of the steel ball 212 is held. An O-ring 213 is provided. The nozzle 214 attached to the nozzle adapter 210 has three grooves, the rotation direction of which is regulated by the steel balls 212, and is held so as to be movable only in the vertical direction. Further, the nozzle 214 absorbs a shock, an obstacle, and a variation in component height when mounting the electronic component by the spring 215. The spring 215 has the same function as the spring 177 shown in FIG. 6, but has a smaller mass under the spring than the spring 177, and thus is effective when mounting a small electronic component or a component that dislikes impact.

FIGS. 13A and 13B are a plan view and a side view showing a detailed example of a nozzle cartridge changer capable of automatically exchanging a plurality of nozzle cartridges at the time of switching the model of a target substrate. The nozzle cartridge changer 220 has a table 221 on which two guide shafts 222 and one rodless cylinder 223 are arranged in parallel.
24 is mounted on the guide shaft 222 and the rodless cylinder 223 so as to be able to move horizontally, and a guide 226 for maintaining the attitude of the nozzle cartridge 201 is provided on the guide shaft 222 and the rodless cylinder. It is arranged at one end of the cylinder 223. In this example, three parallel opening / closing air chucks 225 and the like are arranged in parallel. However, the present invention is not limited to this, and an arbitrary number of sets may be arranged.

The nozzle cartridge change operation in such a configuration will be described. First, the rodless cylinder 223 moves the parallel type opening / closing air chuck 225 along the guide shaft 222 toward the nozzle cartridge 201 loaded in the mounting head 150.
Then, the parallel type opening / closing air chuck 225 pushes the detachment button 202 of the nozzle cartridge 201 by closing the two claws 224. As a result, the nozzle cartridge 201 is released from being fixed to the cartridge frame 205, and is held by the parallel opening / closing air chuck 225. Next, the rodless cylinder 223 moves the parallel type opening / closing air chuck 225 to the guide shaft 222.
, And the nozzle cartridge 201 held by the parallel opening / closing air chuck 225 is pulled out of the mounting head 150 along the guide 226.
The nozzle cartridge 201 can be loaded on the mounting head 150 by performing an operation reverse to the above operation.

FIGS. 14A and 14B are a sectional side view showing another embodiment of the mounting head and a side view seen from another direction. The mounting head 230 has a disk-shaped nozzle fixing plate 232 as shown in FIG. Then, the nozzle fixing plate 232 includes
A plurality (six in this example) of suction nozzles 233 are held at equal intervals on the circumference. Also, the nozzle fixing plate 232
Is connected to a nozzle selection servomotor 235 via a speed reducer 234 fixed to the main body 231 to enable rotational positioning. Above the holding position of one suction nozzle 233 on the nozzle fixing plate 232, a shaft 237 in which a nozzle bracket 236 can move up and down and rotate.
Attached to one end.

The mounting operation in such a configuration will be described. First, the nozzle selecting servomotor 235
However, by rotating the nozzle fixing plate 232, the essential suction nozzle 233 is positioned below the nozzle bracket 236. Next, the shaft 237 moves downward to attach the suction nozzle 233 to the nozzle bracket 236. still,
By performing the operation opposite to the above operation, the suction nozzle 233 can be removed from the nozzle bracket 236 and replaced.

FIG. 16A is a side view showing a detailed example of another nozzle attaching / detaching mechanism for attaching / detaching the suction nozzle, and FIG. 16B is a sectional side view seen from another direction. The nozzle attachment / detachment mechanism 240 has a pin 242 at both sides of a lower end of a shaft 241 that can move up and down and can rotate.
A book lever 243 is attached. A bearing 244 is attached to a lower end of the lever 243, and a spring 245 is attached to an upper end of the lever 243. A nozzle positioning shaft 247 for positioning the suction nozzle 246 is provided inside the shaft 241.
And a spring 248 are incorporated. Further, two rotatable stoppers 2 are provided on both sides of the shaft 241.
49 are attached.

In such a configuration, the nozzle attaching / detaching operation will be described with reference to FIG. Suction nozzle 246
The plane 246a (see FIG. 17C) provided on both side surfaces of the shaft is sandwiched by the bearing 244 by the action of the spring 245 of the lever 243, and the tip of the shaft is caused by the action of the spring 248. It is pressed and held by the tapered portion of the nozzle positioning shaft 247. At this time, since the suction nozzle 246 is held on the flat surface 246a by the bearing 244, its rotation is restricted but it can be moved up and down, so that it absorbs shocks, obstacles, and variations in component height when mounting electronic components. When the shaft 241 rises from such a state, the lever 243 comes into contact with the stopper 249 (FIG. 7A). Further, the shaft 241
Rises, the upper end of the lever 243 closes, and the lever 24
3, the holding of the suction nozzle 246 by the bearing 244 is released (FIG. 2B). And
When the shaft 241 further moves up, the lower end of the lever 243 comes to a position higher than the suction nozzle 246, so that the suction nozzle 246 is moved in the horizontal direction to perform nozzle replacement.

FIGS. 18 and 19 are cross-sectional side views showing a nozzle replacement mechanism which enables the above-described nozzle replacement to be performed at a higher speed. In the nozzle replacement mechanism 250 shown in FIG. 18, the suction nozzle 251 has a nozzle bracket 25 attached to a shaft 252 that can move up and down and rotate.
When the nozzle 3 is in a free state, the tapered shaft portion of the suction nozzle 251 is positioned by the spring 254 in contact with the tapered hole of the shaft 252 and is fixed to the shaft 252 (FIG. 7A). Is in contact with the mounting head body 255, the spring 254 is released, the tapered shaft portion of the suction nozzle 251 is separated from the tapered hole of the shaft 252, and is removed from the shaft 252 (FIG. (B)). ).

In the nozzle exchange mechanism 260 shown in FIG. 19, the suction nozzle 261 is fixed to a shaft 262 that can move up and down and can rotate, and a region below a nozzle fixing plate 264 that can move horizontally by a linear guide 263. Then, the electronic component is sucked and mounted ((A) in the figure). Then, immediately after the shaft 262 moves up and the nozzle bracket 265 comes into contact with the mounting head main body 266, the suction nozzle 261 is still fixed to the shaft 262 (FIG. (B)). When the shaft 262 further rises, the nozzle bracket 265
Since the position is regulated by the mounting head body 266, only the shaft 262 moves up with respect to the nozzle bracket 265. Therefore, the suction nozzle 261 and the shaft 26
2 is released.

Here, the nozzle replacement cylinder 267 is
When the replacement suction nozzle 261 is pushed out to the nozzle fixing position on the central axis of the shaft 262, the suction nozzle 261 that is currently released is pushed by the replacement suction nozzle 261 and is opposed to the nozzle fixing plate 264. And is held by the magnet 268 (FIG. 3C). From the above,
Complete nozzle replacement. Therefore, as shown in FIG. 20, by moving the suction nozzle 261 to be replaced next to the replacement position in advance, the nozzle fixing plate 2 at the time of nozzle selection can be changed.
64 moving time can be omitted, and high-speed nozzle replacement can be realized.

FIG. 21 is a side view showing another example of the suction nozzle. The suction nozzle 270 has its main body 271
2 in which information such as the nozzle number and shape is recorded
72 are embedded. Then, the information of the suction nozzle 271 arranged on the nozzle fixing plate is obtained by a head 273 fixed to the mounting head main body side and capable of reading information recorded on the chip 272 by spatial transmission. This makes it possible to recognize the presence or absence and arrangement of the suction nozzles 271 necessary for the mounting operation, and prevent setting errors of the apparatus.

FIG. 22 is a block diagram showing an example of a control device of the mounting head 150 of the component mounting device 100, and FIG. 23 is a flowchart showing an operation example thereof. Servo motors 301, 3 for rotation axis, vertical axis, nozzle selection axis
02 and 303 are driving circuits 304, 305 and 3 respectively.
06, it is connected to the control unit 307. The initial parameter storage unit 30 stores the mounting head movement position, the mounting / suctioning component data, the mounting nozzle shape information, and the like.
8 and the vertical axis position confirmation sensor 309 are also connected to the control unit 307.

In such a configuration, the nozzle replacement
This is performed during the movement of the mounting head 150 to the component suction position (steps S1 to S7). First, the vertical axis and the rotary axis move to the nozzle replacement standby position (step S2, FIG. 7).
(A)). Next, the vertical axis rises (step S3, FIG. 7).
(B)), the state where the fixation of the suction nozzle 164 is released (step S4, FIG. 7C). Here, it is confirmed by the vertical position confirmation sensor 309 that the vertical axis has been raised to a predetermined height and the suction nozzle 164 has been released, and the nozzle selection axis moves (step S5).
Is selected. After the selection of the suction nozzle 164 is completed, the vertical axis is lowered (step S6), and the original suction nozzle 164 is returned.
Is fixed, and the nozzle replacement is completed.

According to the mounting head 150 of the component mounting apparatus 100 as described above, like the mounting head 15 of the conventional component mounting apparatus 10, when replacing the suction nozzle in accordance with the shape of the electronic component to be mounted, the replacement is performed. To solve the problem that the mounting speed of electronic components to the printed circuit board is reduced due to the position movement and the replacement work in the nozzle replacement for each electronic component shape to perform the replacement operation by moving to the nozzle position for Can be. That is, the mounting head 1 of this embodiment
The nozzle 50 has a nozzle replacement function and completes the nozzle replacement in the process of moving the mounting head at the time of mounting and sucking the electronic component, so that a time loss in the nozzle replacement can be eliminated. Further, by making the replacement suction nozzle a cartridge type, it is possible to easily perform a setup change in a short time in accordance with a model change of the target substrate.

[0034]

As described above, according to the present invention, nozzle replacement can be performed quickly and easily.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an overall configuration of an embodiment of a component mounting apparatus according to the present invention.

FIG. 2 is a sectional side view showing details of a mounting head of the component mounting apparatus of FIG. 1;

FIG. 3 is a side view of the mounting head of FIG. 2 as viewed from another direction.

4 is a plan view and a rear view of a replacement nozzle fixing plate of the mounting head in FIG. 2;

FIG. 5 is a plan view showing details of a replacement nozzle fixing plate of FIG. 4;

FIG. 6 is a sectional side view showing a detailed example of a nozzle attaching / detaching mechanism.

FIG. 7 is a sectional side view showing a nozzle attaching / detaching operation of the nozzle attaching / detaching mechanism of FIG. 6;

FIG. 8 is a plan view showing a detailed example of a cartridge mechanism.

FIG. 9 is a plan view showing a detailed example of the cartridge mechanism of FIG. 8;

FIG. 10 is a perspective view showing a cartridge attaching / detaching operation of the cartridge mechanism of FIG. 8;

11A and 11B are a plan view and a side view showing a cartridge attaching / detaching operation of the cartridge mechanism of FIG.

FIG. 12 is a plan view, a sectional side view, an internal plan view, and a side view of a main part showing a detailed example of the nozzle adapter.

FIG. 13 is a plan view and a side view showing a detailed example of a nozzle cartridge changer.

FIG. 14 is a cross-sectional side view showing another embodiment of the mounting head and a side view seen from another direction.

FIG. 15 is a plan view showing a nozzle fixing plate of the mounting head of FIG. 14;

FIG. 16 is a side view showing a detailed example of another nozzle attaching / detaching mechanism, and a cross-sectional side view seen from another direction.

FIG. 17 is a sectional side view showing a nozzle attaching / detaching operation of the nozzle attaching / detaching mechanism of FIG. 16;

FIG. 18 is a sectional side view showing a nozzle replacement mechanism.

FIG. 19 is a sectional side view showing another nozzle replacement mechanism.

FIG. 20 is a plan view of the nozzle replacement mechanism of FIG. 19;

FIG. 21 is a side view showing another example of the suction nozzle.

FIG. 22 is a block diagram showing an example of a mounting head control device of the component mounting device.

FIG. 23 is a flowchart showing an operation example of the control device of FIG. 22;

FIG. 24 is a perspective view showing an example of a conventional component mounting apparatus.

[Explanation of symbols]

100: component mounting device, 150: mounting head,
151 body, 152 shaft (nozzle detaching means), 153 spline nut (nozzle detaching means), 154 ball screw nut (nozzle detaching means), 155 pulley (nozzle detaching means) ), 15
6 ... rotation servomotor (nozzle detaching means), 15
7 Pulley (nozzle detaching means), 158 ... Pulley (nozzle detaching means), 159 ... Vertical servomotor (nozzle detaching means), 160 ... Pulley (nozzle detaching means), 161 ... · Nozzle fixing bracket (nozzle attaching / detaching means), 162: spline shaft (nozzle attaching / detaching means), 163: spline nut (nozzle attaching / detaching means), 164: suction nozzle, 165
... Replacement nozzle fixing plate (nozzle cartridge), 1
66 ··· Linear motion guide (nozzle attaching / detaching means), 167
・ Belt (nozzle detaching means), 168 ... servo motor for nozzle selection (nozzle detaching means), 169 ... pulley (nozzle detaching means), 170 ... O-ring (nozzle detaching means), 171 ... Nozzle fixing shaft (nozzle detaching means), 172... Screw (nozzle detaching means),
173: sleeve (nozzle detaching means), 174
・ Spring (nozzle attaching / detaching means), 175 ... pin (nozzle attaching / detaching means), 176 ... pin (nozzle attaching / detaching means), 1
77: spring (nozzle attaching / detaching means), 178 ... shaft (nozzle attaching / detaching means), 179 ... stopper (nozzle attaching / detaching means), 180 ... roller (nozzle attaching / detaching means), 181 ... shaft ( Nozzle desorption means), 18
2 ... Spring (nozzle attaching / detaching means), 200 ... Cartridge mechanism, 201 ... Nozzle cartridge, 202
... Removable button, 203 ... Pin, 204 ... Spring, 205 ... Cartridge frame, 206 ...
V block, 207: spring, 208: pin, 2
09 ... pin, 210 ... nozzle adapter, 21
DESCRIPTION OF SYMBOLS 1 ... Nozzle fixing ring, 212 ... Steel ball, 213
... O-ring, 214 ... Nozzle, 215 ... Spring, 220 ... Nozzle cartridge changer, 2
21: table, 222: guide shaft, 2
23 ... Rodless cylinder, 224 ... Claw, 2
25: Parallel type open / close air chuck, 226: Guide, 230: Mounting head, 231: Body, 2
32 ... Nozzle fixing plate, 233 ... Suction nozzle, 2
34 ... reducer, 235 ... nozzle selection servomotor, 236 ... nozzle bracket, 237 ... shaft, 240 ... nozzle detaching mechanism, 241 ... shaft, 242 ... pin, 243 ... lever, 24
4 ... Bearing, 245 ... Spring, 246 ...
Suction nozzle, 247: nozzle positioning shaft, 2
48 ... spring 249 ... stopper 250 ...
Nozzle exchange mechanism, 251 ... suction nozzle, 252 ...
・ Shaft, 253 ・ ・ ・ Nozzle bracket, 254 ・
..Spring, 255, mounting head body, 260
Nozzle exchange mechanism, 261 ... suction nozzle, 262 ...
・ Shaft, 263: Linear guide, 264: Nozzle fixing plate, 265: Nozzle bracket, 266
..Mounting head body, 270... Suction nozzle, 271
... Main body, 273 ... Tips 301, 302, 30
3 ... servo motor, 304, 305, 306 ...
Drive circuit, 307: control unit, 308: initial parameter storage unit, 309: vertical axis position confirmation sensor

Claims (4)

[Claims] 1. A mounting head to which a replaceable nozzle for sucking and mounting a component is mounted, and a nozzle mounted on a mounting head side thereof and capable of holding a plurality of the nozzles for replacement. A component mounting apparatus comprising: a cartridge; and a nozzle attaching / detaching means for automatically exchanging a replacement nozzle held in the nozzle cartridge with a nozzle attached to the mounting head. 2. The component mounting apparatus according to claim 1, wherein the nozzle cartridge is replaceable. 3. The component mounting apparatus according to claim 2, further comprising a nozzle cartridge changer for automatically replacing the replaceable nozzle cartridge. 4. The component mounting apparatus according to claim 1, wherein a tip adapter of the nozzle is provided with a replaceable nozzle adapter.