JPS63296399A - Mounting device for component parts - Google Patents

Abstract

PURPOSE:To prevent a mechanism from critical damage even if the rotation is carelessly transmitted to a suction axis by a method wherein the rotation of the suction axis is stopped by means of the contact of a brake flange with a brake face. CONSTITUTION:When a suction axis 92 is needed to be revolved for the adjustment of the direction of a part, the suction axis 92 is made to slide in the direction of the axis through a brake releasing device 170 so that a brake flange 114 gets out of the contact with a brake face 115. In this state, a suction axis direction adjustment device 175 is brought into frictional contact with the suction axis 92 so as to rotate the suction axis by a required angle. After the rotation is completed, the suction axis angle adjustment device 175 is separated from the suction axis 92 and the brake releasing device 170 is transferred in the reverse direction so as to let the brake flange 114 to be in pressure contact with the brake face 115. By these processes, a mechanism is protected from damage due to the careless transmission of rotation to the suction axis 92.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an apparatus for mounting small components such as up capacitors and chip resistors on a substrate.

(b) Prior Art In the above-mentioned apparatus, it is common to pick and place parts using a vacuum suction device.

By the way, when parts are placed on a board, it is often required to change the orientation of the parts depending on where they are placed.
Since the orientation of the component at the component supply point is usually constant, the orientation of the component must be changed in some way between the time the vacuum suction device picks up the component and the time it is placed on the board. There are two methods for changing the parts: one is to directly grab and twist the part itself, and the other is to rotate the suction shaft of the vacuum suction device around its axis without touching the part. An example of the former method is described in JP-A-60-67090, and an example of the latter can be found in JP-A-59-28400 or JP-A-59-55200. Considering this, if the suction shaft rotates freely after the suction shaft is rotated to a predetermined angle until the component is transferred to the board, there is a concern that the orientation of the carefully adjusted component will be distorted. After determining the direction of the suction shaft, it is necessary to apply some form of brake to prevent the suction shaft from rotating.In the device disclosed in Japanese Patent Application Laid-Open No. 59-28400, the brake is simply applied by friction.However, It is a natural theory that when rotating the suction shaft, it is better to have less friction, and to maintain the angle of the suction shaft, it is better to have large friction. A satisfactory friction value must be found and the value must be 1llllL, but it is quite difficult to maintain such an appropriate value of friction force for a long period of time. A gear is installed on the shaft, and a locking means is engaged between the teeth of the gear, so that the lock is released only when the suction shaft is rotated.With this method, there is no need to worry about adjusting the friction. However, if the lock does not release for some reason when rotating the suction shaft, there is a risk of damage to the mechanism.

(c) Problems to be Solved by the Invention The present invention adjusts the orientation of the parts by rotating the suction shaft around the axis. ．．
In order to allow for light rotation when rotating is required, the angle of the part is maintained by increasing the resistance to rotation after setting the angle, and the mechanism will not be damaged even if rotation is applied carelessly. The idea is to create a structure like this.

(d) Means for Solving the Problems In the present invention, the suction shaft is supported by the casing so as to be able to rotate around the axis and slide in the axial direction. The suction shaft is provided with a brake flange, the casing is provided with a brake surface facing the brake flange, and the suction shaft is urged in the axial direction by a spring so that the brake flange comes into pressure contact with the brake surface. Furthermore, a brake release device that prevents the suction shaft from sliding in the axial direction so that the brake flange separates from the brake surface, and a brake release device that makes frictional contact with the suction shaft in the brake release state;
A suction angle iIl adjustment device that rotates this is provided.

(E) When it is necessary to rotate the suction shaft in order to adjust the direction of the working part, the brake release device slides the suction shaft in the axial direction to break the contact between the brake flange and the brake surface. Then, the suction shaft angle adjustment device is brought into frictional contact with the suction shaft, and after completing one rotation in which the suction shaft is rotated by a predetermined angle, the suction shaft angle adjustment device is separated from the suction shaft, and the brake release device is moved in the opposite direction. Place the brake flange and brake surface in pressure contact again.

(f) Examples Hereinafter, one embodiment will be described based on the drawings.

- Overall configuration □ The planar arrangement of the units that make up the component mounting device 1t (10) is schematically shown in FIG. 2. The units are as follows:
Mounting unit (11), component supply unit (12), board support unit (13), board loading unit (
14) The mounting unit (11), which is a substrate asiling unit (15), is a component supply unit (12) in which a plurality of vacuum suction devices are arranged around the periphery of a rotary index table type support device. A plurality of component supply devices (21) are arranged on a linearly moving support table (20), and a device storing a desired component can be selected from among these component supply devices (21). Tape is used as a means for storing zero parts.

The parts supply tape (22) shown in FIG.
In the configuration shown in the figure, parts (
1) one by one, cover it with cover tape (24), feed the component supply tape (22) one pitch at a time while peeling off the cover tape (24), and place the components (1) into the component mounting unit (11). 1), the basic support unit (13) is mainly composed of a two-dimensional movable table type substrate support device (30) that positions and loads the substrate (2), and the substrate loading unit (14) is a substrate magazine. A loader (40) that pushes out the substrates (2) one by one while raising and lowering the substrate (not shown) inside like an elevator, and a substrate support unit that uses a belt (not shown) to carry the pushed out substrates (2). It consists of a loading bridge (41) that carries the vehicle to (13).

The board asilding unit (15) is connected to an asiloding lift (51) that carries the board (2) with components mounted thereon from the board support unit (13) by a belt (not shown), and an elevator inside. The unloading bridge (
It consists of an asilodder (50) that takes in the substrate (2) from the substrate (51).

The main body of the mounting unit (11) is a rotary index table type support device (60) shown in Fig. 1.
), the support device (60) is a device frame (61)
The 0-rotation shaft (63) fixedly traced to the lower end of the rotation shaft (63) vertically supported by the bearing part (62) of the index drive device (
64) intermittently rotates in one direction (in the case of this embodiment, clockwise when viewed from above), whereby the support device (60) rotates intermittently in one direction (clockwise when viewed from above) in a horizontal plane.
63) is hollow, and the central cavity is a vacuum suction path (65) connected to a vacuum source (not shown).The lower end opening of the vacuum suction path (65) is connected to the connection fitting of the vacuum hose connection layer. The chamber is closed with a stopper (67) having a plurality of (66). A vacuum hose extending from a vacuum suction device, which will be described later, is connected to the connection layer ^<66).

The intermittent rotation unit of the support device (60) is 1/16 of one rotation.
, that is, 22.5"t'. One point on the periphery of the support device (60) is 16"t' during one rotation of the support device (60).
It will have individual stopping points. As is customary for this type of equipment, such a stopping point is established at the work station. As schematically shown in Figure 3, the support device (60) (symbolized by a large circle in the Figure) has a total of 16 working stations, numbered A to P in alphabetical order. It will be placed around its periphery. A large circle symbolizing the support device (60) and the work station (K
)(L) and also at the work station (M)(N
>, two intersecting small circles symbolize suction tool stockers, which will be described later. Support device (6
0) has 16 vacuum suction devices (70
) around its periphery.

Supporting the Isshin air suction device □ Each vacuum suction device (70) is supported so as to be movable up and down on a bearing block (71) fixed to the outer periphery of the support device (60). Two vertical rods (72) (73) arranged radially from the center of the support device (60) slidably pass through the bearing block (71), and these rods (72) ( Connecting plates (74 buff 5) are fixed to the upper and lower ends of 73), respectively. An outwardly projecting portion of the lower connecting plate (75) supports the vacuum suction device (70). The upper connecting plate (74) is r L
.

It has the shape of a square, and on both sides of the vertically rising part there are rollers (76) facing the center of rotation of the support device (60) and rollers (76) facing the opposite direction.
7) are attached to each. Laura (76)
(77) are both rotatable around the horizontal axis. (7g> is an annular cam member fixed to the device frame (61), and a roller (76) is inserted into the cam groove (79) on its outer periphery.
) is engaged. That is, the connecting plate (74), the rod (72
) (73), connecting plate (75), and vacuum suction device (70
) is suspended from the cam member (78) by the roller ( ) 6) and follows the undulations of the cam groove (79) as the support device (60) rotates. Move up and down. At certain work stations, supports! In order to give a particularly large lifting stroke to the vacuum suction device (70) during the stop period of (6G), a descending passage (81) for the roller (76) is provided branching off from the cam groove (79). At this point, the roller (76) is no longer supported, but instead, the roller (77) engages with the C-shaped support member (82) and the roller (76)
) instead of supporting members (
82) is fixed to the lower end of the vertical rod (83) and constitutes a drive device I (84). The rod (83) is supported by a bearing (85) that is fixed to the device frame (61). The rod (83) is given, at a predetermined timing, a descending-to-ascending motion with a stroke length necessary for the 5th work stage by a drive mechanism (for example, a cam mechanism) not shown. Laura (76) came up after descending.
) is transferred to the cam groove (79) again when the support device (60) starts moving, and the other roller (77) is removed from the support member (82). Such a combination of the descending passage (81) and the drive device (84) can be used for the work stations (A) (D) (1) (K) (L) (
M)(N)t: Installing the rod (72) in order to ensure that the roller (76) or (77) is in contact with the cam groove (79) or the upward supporting surface of the support member (82). ) and a stay (86) that protrudes horizontally from the upper end of the bracket (86) and a stay (60) fixed to the support device (60).
87) and a tension coil spring (88),
A tension fill spring (88), which pulls the structure (80) downward with its spring force, passes through a hole (89) that passes vertically through the support device (60).

□Vacuum suction device - Now, the vacuum suction device (70) has a structure as shown in FIG. 6, and its main axis as a whole is vertical. The support device (70) has a casing (90) fixed to the connecting plate (75). The casing (90) has a bearing (91) at the bottom, and this bearing (91) supports the hollow suction shaft (92) so as to be able to rotate around the axis and slide in the axial direction. The lower part of the suction shaft (92) protrudes below the bearing (91), and the upper part of the shaft enters the cavity (112) in the upper part of the casing (90). At the bottom of the suction shaft (92) is a removable suction tool (93).
), the suction tool mounting part (94) is a suction tool mounting part (94) that attaches the suction tool (93) from both sides. Sandwich 1
0 elastic fasteners (96) comprising a pair of elastic fasteners (96);
96) consists of a band-shaped leaf spring, and the upper end is a screw (97).
It can be fixed to the suction shaft (92) with
”-shaped bent portion (98) is formed. Bending part (98)
The apex of the suction tool (93) faces toward the connecting pipe part (95).
are manufactured with various specifications according to the 11M shape of part <1), but all have a common shape regarding the upper connection point. That is, as best shown in FIG. 21, the upper part of the suction tool (93) has a tapered part (99) that becomes thinner at the top so as to wedge the elastic locking tool (96) open. The tapered part (99)
A groove (100) with a "v"-shaped cross section is formed below the elastic stopper (96), into which the bent portion (98) engages. The upper part of the center hole (101) of the suction tool (93) is connected to the connecting pipe part (9
5) Of course, the dimensions are such that it fits perfectly. A flange (102) having a rectangular planar shape is formed at a level below the groove (100). Flange (102
) are notched according to a certain rule on both end faces, the meaning and function of which will be explained later.

As best shown in FIG. 18, the suction shaft (92) has a circular flange (
105). The role of the flange (105) and the positioning flat part (106) formed by cutting out a part of the flange (105) will also be described later.

There is an elbow-shaped connection fitting (1) on the side of the casing (90).
10) Attach. A vacuum hose (not shown) is connected to the connection fitting (110), and thereby the center hole (101) of the suction tool (93) is connected to the center hole (11) of the suction shaft (92).
1) and from the cavity (112) of the casing (90) to the fitting (110). A cap-shaped strainer (113) made of sintered alloy is attached to the upper end of the suction shaft (92) to prevent foreign matter from entering the central part of the vacuum passage. At a level slightly below the strainer installation point, attach the suction shaft (92).
has a brake flange (110), and a brake surface (115) is formed on the bottom surface of the cavity (112) of the casing (90) so as to oppose this.A bearing (115) is formed on the ceiling surface of the cavity (112). A rotary seat (117) rotatably supported by the rotary seat (116) is arranged.
) and the brake flange (114), the compression coil spring (118) urges the suction shaft (92) in the axial direction, causing the brake flange (114) to press against the brake surface (11
5).

□Vacuum switching valve - The other end of the vacuum hose connected to the connection fitting (110) of the vacuum adsorption device (70) is connected to the vacuum switching valve (120) placed on the side of the bearing block (71).
The structure of the vacuum switching valve (12G) is shown in Figures 5 and 9.
This will be explained with reference to drawings such as FIG. 10, FIG. 11, and FIG. 12. The basic part of the vacuum switching valve (120) is an overhang block (121) that is machined into a single piece from the bearing block (71>).
) is provided with a horizontal through hole (122) parallel to the arrangement direction of the rods (72) (73). The front 1f (124) and rear cover (125) fixed with bolts (123) to the front and rear surfaces of the Haritashi block (121) have through holes (122>
to be sealed. The overhanging block (121) does not protrude from the bearing block (71) enough to cover the entire width given to the vacuum switching pulp <120>. , a recessed portion (12) is formed on the side surface of the bearing block (71).
6) Form (127) and front! (124) and rear lid (12
5>, each half of which is seen from the front direction is inserted into the recessed portions (126) (127).

The rear cover (125) has two connecting fittings (128) (12
9) Attach. One connection fitting (12g) is connected to the connection fitting (110) of the vacuum suction device t (7G>) with a vacuum hose (not shown).The vacuum hose (not shown) connected to the other connection fitting (129) is connected to the Device (60)
through the horizontal through hole (130) formed in the support device (60) and again through the vertical through hole (131) formed in the support device (60).
) (shown in Figure 1), and the stopper (
67) to the connecting fitting (66). As a matter of course, both of the connection fittings (128) and (129) are
It is in communication with the inside of the rear lid (125).

(130) is a valve body inserted into the vacuum switching valve (120). The valve body (130) has a main body portion (13
1) and a shaft portion (132) with a smaller diameter than the piston-like member, the main body portion (131) is mainly located in a region belonging to the inside of the rear lid (125),
The shaft portion (132) passes through the front lid (124) and extends to the outside. The main body (131) of the valve body (130) includes:
Seal rings (133) (134) for two airtight seals
) are installed at intervals in the axial direction. One seal ring (133) is for the valve seat (135) on the inner bottom surface of the rear lid (125), and the other seal ring (134) is for the valve body (130) and the inner periphery of the rear lid (125). This is for a ring-shaped movable valve seat (136) disposed between the valve seat and the surface. The movable valve seat (136) is attached to the front cover (124).
) is pressed against a shoulder (138) on the inner surface of the rear lid (125) by a compression fill spring (137) inserted between the rear lid (125) and the rear lid (125). The valve body (130) is also connected to the main body (13
1) and the front cover (120).
139), the valve seat (135) is always sealed with a seal ring (133). Valve body (130)
The shaft part (132) has an air hole (140) from its tip.
is pierced.

The air hole (140) branches into an r7 shape when it reaches the inside of the main body (131).
) has an opening on the side. When the seal ring (133) is seated on the valve seat (135) as shown in FIG. 12, the opening on the side of the valve body of the air hole (140) is connected to the connecting fitting (12g) and the connecting fitting (129). ) is located in a position protruding from the movable valve seat (136), and supplies vacuum breaking air to the connecting fitting (128). As shown in FIG. 10, when the valve body (13G) is pulled out against the pressure of the compression coil spring (139) and the seal ring (134) is seated on the movable valve seat (136), the connection fitting <128> (129) communicate with each other, and conversely, the air hole (140) has a side opening of the valve body connected to the movable valve seat (136).
), the path of air inflow is blocked.

□Pulp switching device□ The vacuum switching valve (120) is attached with a pulp switching device (150) for switching the valve open/closed state and maintaining that state. The pulp switching device (150) is
It is assembled based on a shelf (151) cut out integrally from the front surface of the bearing block (71). Shelf (1
A bell crank (15, 2) and a lever <153) are pivotally supported on the upper surface of 51) by mounting shafts (154) and (155) so as to be rotatable in a horizontal plane, respectively. The bell crank (152) has rollers (156) (157) at both ends. As is clear from FIG. 10, the roller (156) is fully supported at the top of the mounting shafts (154, 155), and at a position higher than the roller (157) and its mounting shaft. The rollers (157) have shallow recesses (158) (15
9). The tip of the lever (153) engages with the back IM of a flange (consisting of a so-called double nut) (160) formed at the tip of the shaft of the valve body (130) of the vacuum switching valve (12G). As shown in Figure 9, the roller (157) of the bell crank (152)
When the lever (153) engages with the recess (158), the lever (153) pulls out the valve body (130) from the vacuum switching pulp (12G) and opens the vacuum suction passage. As shown in Fig. 11, the roller (157)
9), the valve body (130) is pulled into the vacuum switching valve (120) by the force of the compression coil spring (13j), and the vacuum suction passage is blocked. In any pulp state, the roller (157) is in the recess (158) or 15
9), the vacuum switching valve (120) is maintained autonomously while moving through the space together with the support device (60) without equal power supply.

Vacuum switching valve (120) and pulp switching device (150)
11 to the state shown in FIG. 9 is the switching actuator (161).Simply speaking, the switching actuator (161) is a roller (158).
), which moves or swings in a straight line from the solid line position to the two-dot chain line position in Figure 9 by a driving force source (not shown), and pushes the roller (156) to raise the bell crank <152). Rotate clockwise as seen from
The roller (157) that was previously engaged in the recess (159)
into the recess (158), and then move the lever (153) to the recess (158).
) changes the angle of Switching actuator (1
61) is placed at the work station (A). The switching actuator (161) waits in a stationary state for the valve switching device (150) to arrive at the work stage (A), but as mentioned above, the roller (156) is located at a high position, and the lower end of the switching actuator (161) is also raised accordingly, so the switching actuator (161)
There is no interference between the object and the moving object.

Vacuum switching valve (120) and valve switching device (15G)
It is the switching actuator (162) that shifts the state from the state shown in 9150 to the state shown in FIG. 11. In the embodiment, the switching actuator (162) is configured as follows. (163) is a pair of rods that are horizontally slid by a driving force source (not shown), and a connecting plate (164) is fixed to the tip of each rod. Connecting plate (1
64) is a bushing (165) and an air injection nozzle (166)
). The air injection nozzle (166) has a mouthpiece (167) made of an elastic material such as rubber at its front end, and a connecting fitting (168) for connecting a compressed air hose (not shown) at its rear end. Air injection nozzle (166)
is slidable within a fixed stroke range with respect to the connecting plate (164), and is biased toward the front end by a compression fill spring (169). Switching actuator (1 (i2)
approaches the valve switching device (150), the button (
165) pushes the roller (156) and the bell crank (1
52) counterclockwise when viewed from above, and rotate the concave portion (15) counterclockwise.
8) is engaged with the ninth roller (157) and the recess (159)
and change the angle JjE of the lever (153). At this time, the air injection nozzle (166) is inserted into the mouthpiece (167) under the spring force of the compressed fill spring (169).
) Press against the shaft (132) of the stuttering valve body (130) and blow compressed air from the air hole (14G).The compressed air enters the inside of the rear cover (125) of the vacuum switching valve (120), but as mentioned above At this time, the air passage to the connection fitting (129) is sealed by the seal ring (133), so the compressed air goes only to the connection fitting (128).
This compressed air actively destroys the vacuum inside the vacuum suction device f (70), and the i-switching actuator (162) plays the role of completely ending the suction of the suction shaft (92) at the work station (! ) and (J).

One work station □ The mounting unit (11) formed as #I as described above moves its vacuum suction devices (70) from the work station to the work stage 1 while drawing a closed loop trajectory. Can be moved intermittently. (A) Although the work stations up to Karu (P) include play stations that do not perform any special action on the vacuum suction device (70),
Arrange various devices. Hereinafter, a description will be given of the devices disposed at each work stage ξ. Note that some work stations are given special names that represent the work content performed at that work station. That is, the work station (A) is a parts supply station,
The work station (c) is a suction axis angle iit station, the work station (D) is a part direction mvi stage dn, the f'P work station (F) is a parts recognition station, and the work station (!) is a parts mounting station. , work station (J) is a parts dumping station, work stations (K) and (M) are suction device separation stations, work stations (L) and (N) are suction device installation stations, and work station (0) is a suction device separation station. Each station will be named a tool recognition station. Other work stations become play stations.

□Parts supply station□ The equipment supply station (A) is occupied by the parts supply unit (12) described in the section ``Overall configuration''.

11. At the suction axis angle adjustment station (c), a brake release device (170) and a suction shaft angle m* device (175) are arranged (see No. 7150), and the brake release device (170) is , an adsorption shaft angle adjustment device (175) consisting of an arm (171) that is moved in space by a drive device (not shown), and a roller (172) supported rotatably around a horizontal axis at the tip of the arm (171). ) is supported by a slider (176) that is slid horizontally by a drive device (not shown) and a slider (178) to rotate around a vertical axis, and includes a gear train (178), a timing pulley (179), and a timing belt ( When adjusting the angle of the adsorption shaft (92) consisting of a friction wheel (177) connected to an electric motor (not shown) via a transmission train constituted by
The roller (172) of the flange (105)
) to make the brake flange (114> float above the brake surface (115). In this state, the suction shaft angle adjustment device (175) is brought close to the suction shaft (92), and the friction wheel (177) is lifted up from the flange (105). ) to apply a desired angle of rotation to the suction shaft (92). After the rotation of the suction shaft (92) is completed, the suction shaft angle adjustment device (175) is separated from the suction shaft (92), Lower the brake release device (170) and release the brake flange (1
14) is pressed against the brake surface (115), and the suction shaft (9
2) Prevent it from rotating freely. In addition, in the brake release device (170), the roller (172) is connected to the suction shaft (92).
If it is placed in a position where it does not violate the trajectory of the suction shaft (92), it is possible to release the brake by simply moving up and down, without adding movement toward and away from the suction shaft (92). It is.

One component orientation adjustment station The one component orientation adjustment station (D) is equipped with a component orientation adjustment device (190). The outline of the component orientation adjustment device (19G) is shown in Fig. 8. (191) is arranged around the vertical axis. A 0-turn disc (191) that rotates and is oriented at a desired angle in a certain angular unit, for example, 1° by an electric motor (not shown), supports a pair of direction adjustment claws (192) on its upper surface. . The direction adjusting claw (192) is supported so as to be able to slide point-symmetrically and linearly, and is driven by a drive device (not shown) to move the zero component (1) toward and away from the center of the rotary disk (191). The direction aIIv that will lead to the pinching! Claw (192) (7) f
i-plane Gt, direction m it Claw (192) (7) Finish so that it is exactly perpendicular to the direction of movement.

One part recognition stage 5, one part ¥1! , the recognition station (F) is equipped with a parts recognition device (
The 0 component recognition device (200) in which the 0 component recognition device (200) is placed is the 23rd
It is configured as shown in the figure, and will be explained below. (201) is an elevator whose height can be adjusted by a drive device (not shown). Elevator (201)
Two visual sensors (202) (203) and two
irradiation units (204) (205) are fixed. The visual sensor (202) and the irradiation unit (204), and the visual sensor (203') and the irradiation unit (205) form a pair, respectively.The visual sensors (202) and (203) are arranged so that their arrangement directions are orthogonal to each other. He, the irradiation unit (2
04) (205) is placed directly facing its paired visual sensor. Visual sensor (202) (203)
A large number of light receiving elements are arranged inside horizontally long light receiving windows (206) (207, which are placed at the same height). The irradiation units (204) (205) irradiate the light receiving windows (206) (207) with wide parallel light. Such parallel light can be obtained by collimating laser light emitted by a semiconductor laser (208) using a reflecting mirror (209) and a lens (210), as shown in the concept in FIG. The parallel light emitted by the irradiation unit (204) and the parallel light emitted by the illumination unit (2 (15)) are emitted from the zero work station (E) where they intersect at right angles, and the gap between the visual sensor (203) and the irradiation unit (204) is The vacuum suction device (70) that passed through and entered the enclosure consisting of the visual sensor and the irradiation unit (the suction shaft (92) in Figure 23)
(only the tip part is shown) is part (1)
Stop with a glare. Visual sensor (202) (
203) measures the silhouette width of the component (1) in the relevant direction and its position from the projection of the shadow of the component (1) from two orthogonal directions. The measurement data is transmitted to a control device (215) schematically shown in FIG. Control device (215)
is based on such measurement data and parts known in advance (1
) from the shape data, direction data, etc. of An appropriate position correction command is given to the board support device (30), which is programmed with a moving fist positioning program, so that the part (1) is in the correct setting position.
Let it be placed. Note that the control device (215) is not only responsible for recognizing the component (1) and moving the board support device (30), but also for controlling the six components ( After the recognition of step 1) is completed, the vacuum suction device (70) passes through the gap between the visual sensor (202) and the irradiation unit (205) and heads to the work station (G).

The component (1) that has been successfully suctioned by the vacuum suction device (70) and arrives at the component recognition station (F) is directly transferred to the board and (2).
), but sometimes when the vacuum suction device (70) sucks up the component (1) from the component supply device (21), the component (1) ) may attract the wrong side of things.

This is due to the feeding movement of the parts supply tape (22).
This is caused by things like 1) bouncing up. The part (1) that has been picked up in an abnormal position must be removed without being able to be attached.The visual sensor (202) determines whether the position of the part (1) is normal or abnormal.
The determination is made from the measurement data of 203). That is, when the silhouette of part (1) is projected onto visual sensors (202) (203), Silera.

The position and length of the part (1) are obtained as measurement data, and based on this data, the length of part (1) in the circumferential direction (horizontal direction) is calculated.
Normally, there is a noticeable difference in the results obtained between normal posture and abnormal posture.
With this, it is possible to easily determine whether it is normal or abnormal. This judgment method is effective because there are almost no examples of parts with a small circumferential length in a normal posture and a circumferential length in an abnormal posture, that is, a part with a shape close to a cube. If the result is that it is abnormal,
The control device (215) excludes the component (1) from being mounted. That is, the drive device (84) and the switching actuator (1) arranged in the component mounting station (1)
62), and even if the vacuum suction device (70) arrives at the component mounting station (I), it will not be lowered.
Nor does it complete suction 1 of part (1).

One-component mounting station The one-component mounting station (1,) is provided with the substrate support unit (13) described in the section ``Overall configuration''. Adhesive is applied to predetermined portions of the substrate (2) fully supported by the substrate support device (30).

One-part dumping station The one-part dumping station (J) is provided with a switching actuator (162) and, although not shown, a parts collection box that receives the parts (1) that have fallen from the vacuum suction device (70). Also, similar to the suction shaft angle adjustment station (c), a brake release device (17G>) and a suction shaft angle SR1 device (175) are arranged.Furthermore, an angle adjustment device (220) is arranged at this station.Angle adjustment Equipment (22G
) is shown in FIG. 18, which consists of two horizontally arranged rollers (221) at the tip of a slider (221) that is reciprocated in the horizontal direction by an actuator (not shown).
2) is equipped with a roller row (223). The roller row (223) is pressed against the outer periphery of the flange (105) of the suction shaft (92) while receiving the elastic force of a spring (224) symbolized in FIGS. 19 and 20. The action of the angle adjustment device (220) is related to the structure of the suction tool stocker, which will be described next, and will therefore be explained in the next section.

-Ichihiki Separation Steel John.

Suction device installation station □ In this embodiment, one suction device stocker (230) is arranged across the suction device separation station (K) and the suction device installation station (L), and the suction device separation station (M Another suction tool stocker (231) is installed across the > and the suction tool mounting station (N).

The structures of the suction tool
This will be explained based on the diagram. (232) is the device frame (61
), the lower deck (233) is supported at its four corners by four pillars (234>), and the lower deck (232)
) is the upper deck fixed to the top. Pillar (234)
The lower deck (232) and upper deck (23
3) respectively hold bearings (235) (236), and these upper and lower bearings (235) (236)? Therefore, the zero-turn disc (237), which supports the hollow rotary disc (237) so that it can rotate around the vertical axis, is itself a single timing pulley, and its presence is indicated by the dashed line. A crown-shaped holder (239) is fixed to a zero rotation disc (237) which is connected to an electric motor (not shown) by a belt (238) and can be rotated by any angle by the electric motor. The holder (239) has a flange (24G) at the upper end, and this plunge (24G) has a shallow groove (242) into which the flange (102) of the suction tool (93) fits, and a groove (242) into which the flange (102) of the suction tool (93) is fitted. Suction tool holding parts (241) consisting of through holes (243) are formed at regular intervals (see Fig. 18), (24
4) is a block (24) located at the center of the zero rotation disc (237), which is a bridge fixed to the lower deck (232).
5) is fixed to the top surface of the bridge (244). A bracket (246) is fixed to the upper end of the block (245), so as to face the tip of this bracket (246).
A block (247) is fixed to the upper surface of the upper deck (233).

The suction tool separation station (K) is attached to the bracket (246
) and block (247).

The bracket (246) and the block (247) support the separating device (248).The separating devices (24g) are mounted on the bracket (246) and the block (247), one each, facing each other so that they can rotate in a vertical plane. The nails attached together (
249) and a compressed fill spring (250) that applies a biasing force to the upper tips of these claws (249) so that they approach each other to a certain distance. ) is slightly smaller than the longitudinal dimension of the plunger (102), and the bracket (251) (2
52) and these brackets (251) (25
2) includes a light emitting part (254) of a transmission type optical sensor (253).
) and the light receiving section (255). Optical sensor (253
) checks the presence or absence of the suction tool (93) in the suction tool holder (241) located at the suction tool separation station (K), thereby removing the already diced suction tool holder (
This prevents accidents such as pushing the suction tool (93) into the tube (241).

As mentioned above, the suction tool stocker (230) is arranged across the suction tool separation station (K) and the suction tool mounting station (L), but the identification device (260) is installed in the suction tool mounting station (L). ). The identification device (260) is composed of three reflective optical sensors. In rxJ, among the constituent parts of the optical sensor, only a part of the optical fiber (a bundle of optical fibers housed in a metal tube) that serves as both the light emitting part and the light receiving part is shown, and these are indicated by (261) (262) ( 263).

The tips of the optical fibers (261, 262, and 263) are held in a holder (260) in a horizontal line at predetermined intervals.The holder (264) is attached to the upper block (23
3). The identification device (260) is connected to the holder (23
It is located at the same level as the 7 flange (102) of the suction tool (93) supported by 9) and serves to read the type identification symbol (265) (see Figure 21) attached to both ends of the flange (102). The 0 type identification symbol (265) is constituted by a notch (266) cut into the end of the flange (102), as mentioned in the "vacuum adsorption device" section. Notsuchi (2)
There are three locations where 66) should be carved, and the spacing between these locations is the same as the length of the optical fiber (261), (262), and (263).
is equal to the array spacing of

Another type of reflective optical sensor (
270) is fixed. The optical sensor (270) is mounted on a rotary disk (2
37), and recognizes the presence of a notch (272) carved at an appropriate position on the ring part (271). Thereby, the rotational position of the rotary disk (237) can be known.

The suction tool stocker (230) has a plurality of suction tool holding parts (2
4'l) are arranged along a circle that is part of the closed loop, and the arrangement loop of the suction tool holding part (241) is movable along the loop, and the vacuum suction devices flf, (
70) and intersects with the orbital loop with a height difference, that is, in a three-dimensional manner. At the intersection of the suction device separation station (K) and the suction device installation station (L), the drive device (84) is arranged as described above. (84), the vacuum suction device R (70) is lowered from the orbital loop by the suction tool stocker (
230). At the suction tool separation station (K), empty suction tool holding parts (241
) is positioned directly below the vacuum suction device (70), and the suction device (93) is transferred from the vacuum suction device (70) to this suction device holder (241). The grooves (242) are arranged such that their longitudinal direction coincides with the direction of radiation from the center of the holder (239), and at this station, as seen in FIG.
Since the longitudinal direction of the vacuum suction device (70) coincides with the tangential direction of the orbital loop of the vacuum suction device (70), the suction tool (242)
93) also has to change its orientation. For this purpose, an angle adjustment device (
220). That is, as shown in FIG. 19, while the roller row (223) is brought into pressure contact with the flange (105) of the suction shaft (92), the suction shaft angle adjustment device i! (
175), move the suction shaft (92) to the angle origin (suction tool holder (
Insert the flange (241) of the suction tool (93) into the groove (242).
102), the roller row (223)
engages with the positioning flat part (106) of the flange (105), and the suction shaft (92) stops in a state exactly aligned with the angular origin. Then the adsorption shaft angle adjustment device! <1
75) and the angle adjustment device (220) from the suction shaft (92) in this order, and then lower the brake release device (170) that was lifting the suction shaft (92) during the rotation period of the suction shaft (92). Once allowed, the suction shaft (92) is placed in the braking state again.

The suction shaft angle adjustment device (175) may be controlled by rotating the suction shaft (92) by a pre-estimated angle, and then allowing the angle to be adjusted naturally by the pressing force of the roller row (223). The wheel (177) may be rotated by a certain angle each time, and after the suction shaft (92) has settled at the angular origin, a slip may be generated between the wheel (177) and the suction shaft (92) to absorb the excess rotation. , or a friction wheel (
The current value of the electric motor that drives the friction wheel (177) may be set at 1, and the drive of the friction wheel (177) may be stopped when it is known from the current change that the mounting shaft (92) has stopped.

As described above, the suction shaft angle adjustment station (c)
After returning the suction shaft (92) whose angle was adjusted with to the angle origin,
Vacuum suction device (70) at suction tool separation station (K)
When lowered, the flange (102) of suction A (93)
is the claw (249) of the separating device (248) as shown in Figure 16.
Push it open, and then make sure that the tip of the claw (249) is on the flange (
102) Vacuum suction device with 0-order movement leading to engagement with the top surface! ! When the suction tool (70) rises and leaves the suction tool stocker (230), the suction tool (93) is held by the claws (249), so it separates from the vacuum suction device (70) and remains in the suction tool holding part (241). Prisoner 17).

The vacuum suction device (70) that has lost its suction (93) picks up the suction tool (93) to be used for the next component mounting operation at the suction tool mounting stage B (L). To pick up the suction tool, it is sufficient to bring the vacuum suction device (70) close to the suction tool stocker (230) and then remove it. Suction tool stocker (23
0), the connection pipe section (70) of the vacuum suction device (70)
95) fits into the suction tool (93), and the elastic locking tool (96)
engages with the groove (100) of the suction tool (93). When the vacuum suction device (70) starts to detach from the suction tool stocker (230), the suction tool (93) remains in the suction tool holding part (
241). In this way, the vacuum suction device (
In order to supply the necessary suction tools (93) to the suction tool stocker (230), the vacuum suction device (7o) moves from the suction tool separation station (K) to the suction tool mounting station (
While moving to L), it rotates and attaches to the designated suction tool (93).
What should be noted here is the positional relationship between the suction tool holder (241) in the suction tool separation station (K) and the suction tool mounting station (L). Due to the arrangement pitch of the suction tool holders (241), the two suction tool holders (241) are connected to the suction tool separation station (K) and the suction tool separation station (K) at the same time.
L) (see Figures 13 and 15), therefore, when separating the suction tool, one suction tool holding part (241) matches only the suction tool separation station (K), and the suction tool At the time of mounting, the angle K11l of the suction tool stocker (230) is adjusted so that one suction tool holder (241) coincides only with the suction tool mounting station (L).

The identification device (260) reads the species w4 identification symbol (265) of the suction tool (93) held in the suction tool stocker (230), and transmits the information to the control device (215). Control equipment! (215) stores this information in the memory and reads it out as necessary when proceeding with the operation of the device according to the program.This is the configuration of the species MwA separate symbol (265), which is used by the identification device (26G) to Using the recognition of (266) as a dark part, the presence or absence of notch (266) is made to correspond to the binary symbol (1, 0), and as shown in Figure 22, there are a total of 7 types of 3 bits. Define. The reason why notches (266>) are carved in all three places is that the information that the identification device (264) 1 receives is only dark information, and the suction A (9
3) The 0 type identification symbol (265), which is not adopted, cannot be distinguished from the case where the item does not exist, so reading the 0 type identification symbol (265), which is not adopted, requires all suction held by the suction tool stocker (230) to be read before starting the operation of the component mounting device (10). The identification device r! t(260) can also be used to identify the type of suction tool (93) attached to the vacuum suction device (70) if the installation location is selected appropriately.

11 Suction tool recognition station □ Suction tool recognition station (0) has a suction tool recognition device (2
80). The suction tool recognition device (280) is the 25th
It is configured as shown in the figure, and will be explained below. (281) is a fixed deck, with 2
visual sensors (282) (283) and two irradiation units (284) (285) are fixed. Visual sensor (2
82), irradiation unit (2g4), vision unit (28
The visual sensors (282) (283), which are paired with the irradiation unit (284) and the irradiation unit (285), are placed so that their directions are orthogonal to each other.
285) has its own pair of visual senna (282) (
283). Visual sensor (282
) (283) and the irradiation units (284) (285) are configured by the visual sensors (202) (203) and the irradiation units (204) (
The configuration is the same as that of the visual sensor (205), but only the visual sensor (28
It differs from the component recognition device (200) in that the light receiving window of 2) is vertically long and the irradiation slit of the irradiation unit (284) is also opened in the vertical direction.The parallel light emitted by the irradiation unit (284) and the irradiation The vacuum suction device (70) intersects the parallel light emitted by the unit (285) at right angles, passes through the gap between the visual sensor (282) and the irradiation unit, and enters into the enclosure formed by the visual sensor and the irradiation unit.
Only the tip of the suction shaft (92) is shown in Figure 23).
The suction tool (93) is stopped so as to be exposed to the intersection of the lights. The suction tool (93) is the one that is about to be used for parts mounting work, and the visual sensor (
282) measures the height of the tip of this suction tool (93).

Based on the measurement results, the elevator (201) of the component recognition station (F) moves up and down, and the measured height of the component (1) is adjusted. As a matter of course, the operation of the elevator <201) is based on the suction tool (9) whose tip height was measured.
3) occurs at the point in time when it arrives at the component recognition station (F). The visual sensor (283) measures the thickness of the suction tool (93), and the rice variety of the suction tool (93) is identified based on the measured value.

11. Weight movement □ The vacuum suction device (70) that has suctioned the component (1) at the component supply station (A) moves to the suction axis angle adjustment station (
In c), adjust the angle of the suction shaft (92) to the component angle that will be determined by the component mounting station (1)!
Il! be done. The parts (
Since the angle of 1) is not set precisely,
In this case, the angle adjustment may be somewhat rough, that is, the slip of the friction wheel (177) can be sufficiently tolerated. The vacuum suction device (70>) then arrives at the component orientation adjustment station (D), where the component orientation adjustment device (19)
0) is waiting in a predetermined direction and with its direction my claw (192) open. When the descending component (1) is grabbed by the direction adjustment claws (192), the component (1), which had a roughly fixed angle, is now precisely oriented in a predetermined direction. The component 1) whose angle has been determined in this manner is subjected to the measurement of the amount of positional deviation with respect to the vacuum suction device (70) at the component recognition station (F). Also, inhale in the correct posture.
After leaving the component recognition station (F), the vacuum suction device (70) heads to the component mounting station (i), where it corrects the position based on the positional deviation data of the component (1). Component (1) is pressed onto the board (2) that has been prepared, and after adhering the component (1) to the adhesive that has been applied to the board (2), it is lifted up leaving the component (1) behind. Adsorption If the attitude of the part (1) is abnormal, the vacuum suction device (70) moves to the parts dumping station (J) without descending from the parts mounting station (I), and discards the part (1) there. Also, at this station, the suction shaft (92) is returned to the angular origin. The suction A (93) currently attached to the vacuum suction device (70) is
If it is of a type that can be used for the next parts mounting work, the vacuum suction device (70) can be used as a suction tool strike 7 (230).
It passes directly above (231). If not thrown away, the vacuum suction device (70) is placed in the suction tool stocker (230) or <23
In step 1), replace the suction tool 93). Suction tool stocker (2
3G) (231) can be used alternately. In other words, r first
When the vacuum suction device t (70), tentatively named j, separates the suction tool (93) at the suction tool separation stage gate (K), '
The first vacuum suction device (70) will pick up a new suction tool (93) at the suction device mounting station (L), but at the same time, the first vacuum suction device (70) that will immediately follow will pick up a new suction tool (93). 70), it is not possible to remove the suction device (70) at the suction device separation station (K), because as mentioned above, the suction device holding part (241) is in the center of the suction device mounting station (L). This is because when they match, there is a mismatch between the two at the suction tool separation station (K), and even if the configuration is such that such mismatch does not occur, the empty suction tool holder (241) is placed in the suction tool separation stage 5. (K)
). Therefore, “
The second vacuum suction device (70) is a suction, ingredient stocker (2
31) to replace the suction tool (93). "The second vacuum suction device (70) is a suction tool (93)
If it is not necessary to replace the "third" vacuum suction device (70
) says, ``Of course, it is possible to use the pull gun suction device (230) for the first vacuum suction device (70).In this way, the suction necessary for the next parts mounting work After the vacuum suction device (70) equipped with the tool (93) undergoes an inspection regarding the suction tool (93) at the suction tool recognition station (0), it returns to the parts supply station (A) and
Start of new parts installation work.

(G) Effects of the Invention In the present invention, since the suction shaft is prevented from rotating by contact between the brake flange and the brake surface, even if rotation is inadvertently transmitted to the suction shaft, the brake flange and rotation are prevented. This will cause slippage between the braking surfaces.
It does not lead to fatal damage to the mechanism, and since a brake flange is provided on the suction shaft and the braking state and non-braking state are switched by moving the suction shaft in the axial direction, the structure and operation are simple and the device is robust. can do.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a cross-sectional view of a mounting unit, Fig. 2 is an explanatory diagram of the arrangement of a plurality of units constituting the component mounting device, and Fig. 3 is an explanatory diagram of the arrangement of the work station. , FIG. 4 is a developed explanatory diagram showing the work contents at each work station, FIG. 5 is a front view of the main parts of the vacuum suction device, FIG. 6 is a sectional view of the main parts in FIG. The figure is a sectional view of the same location as Figure 6, depicting the brake release device and suction shaft angle adjustment device in relation to each other, and Figure 8 is the part direction I.
t A plan view of the device, FIG. 9 is a plan view of the vacuum switching valve and pulp switching device, and FIG. 10 is a cross-sectional view of the vacuum switching valve, taken along line X-X5 in FIG. 9. Figures 11 and 121! 1 is a plan view and a sectional view similar to FIGS. 9 and 10, showing different operating states;
Fig. 13 is a plan view of the suction tool stocker, Fig. 14 is a cross-sectional view of the suction tool stocker, taken along the x-xrv line in Fig. 13, and Fig. 15 is different from Fig. 13. A plan view of the suction tool stocker in an operating state, FIG. 16 is a sectional view taken along the line XVI-XVI in FIG. 13,
Fig. 17 is a sectional view similar to Fig. 16, but in a different operating state, and Fig. 18 shows a vacuum suction device, a suction tool stocker,
and a perspective view showing a part of the angle adjustment device, FIGS. 19 and 20 are explanatory diagrams of the operation of the angle adjustment device, FIG. 21 is a perspective view of the suction tool, and FIG. 22 shows the types attached to the suction tool. An explanatory diagram of the identification symbol, Fig. 23 is a perspective view of the parts recognition device, Fig. 24
The figure is an explanatory diagram of the irradiation mechanism of the irradiation unit to the visual sensor, and FIG. 25 is a perspective view of the suction tool recognition device. (1>...parts, (2)...board, (10)...
Component mounting device, (70)...Vacuum suction device, (90)
...Casing, (92) ...Adsorption shaft, (114)
... Brake flange, (115) ... Brake surface, (118) ... Spring, (170) ... Brake release device, (175) ... Adsorption shaft angle adjustment device.

Claims (1)

[Claims] (1) A component mounting device equipped with the following components. (a) A suction shaft that performs pick-and-phrase work on parts (b) A casing that supports the suction shaft so that it can rotate around the axis and slide in the axial direction (c) A brake flange provided on the suction shaft (d) The above-mentioned suction shaft A brake surface provided on the casing so as to face the brake flange. (e) A spring that biases the suction shaft in the axial direction so that the brake flange comes into pressure contact with the brake surface. (f) A suction shaft that presses the brake flange against the brake surface. Brake release device (g) that slides in the axial direction against the urging force; in frictional contact with the suction shaft in the brake release state;
A suction shaft angle adjustment device that rotates this by a predetermined angle.