JPWO2014132355A1 - Component mounting equipment - Google Patents

Abstract

The component mounting head of the component mounting apparatus includes a rotating shaft, a plurality of nozzles that are arranged around the rotating shaft and can rotate together with the rotating shaft, and a nozzle lifting member that lifts and lowers the nozzle. The nozzle raising / lowering member can rotate integrally with the rotating shaft, and the first state in which the nozzle can be raised and lowered, and the second state in which the rotating shaft and the plurality of nozzles can be rotated with respect to the nozzle raising / lowering member. And can be switched to.

Description

  The present invention relates to a component mounting apparatus, and particularly to a component mounting apparatus including a component mounting head having a plurality of nozzles.

  Conventionally, a component mounting apparatus including a component mounting head having a plurality of nozzles is known. Such a component mounting apparatus is disclosed by Unexamined-Japanese-Patent No. 2012-221947, for example.

  In JP 2012-212947 A, a rotating shaft, a plurality of nozzles arranged around the rotating shaft, and a rotating shaft are rotated to rotate (revolve) the nozzles around the rotating shaft. R-axis motor, elevating member for pressing and lowering the nozzle from above, Z-axis motor for moving the elevating member up and down, and θ-axis motor for rotating (spinning) each of the plurality of nozzles around the central axis The component mounting apparatus provided with the component mounting head containing these is disclosed. The elevating member is attached to a vertical movement shaft provided at a position separated in the horizontal direction from the rotation shaft, and is configured to be movable only in the vertical direction. The elevating member is disposed at a predetermined position on the path through which the nozzle revolving around the rotation axis passes, and has a pressing portion that presses the nozzle downward from below. When performing component mounting, first, the rotation shaft is rotated by the R-axis motor, and the nozzle for mounting the component is disposed at a position below the elevating member. Also, all the nozzles including the nozzle for mounting the component are rotated by the θ-axis motor, and the component sucked by the nozzle for mounting the component is directed to a predetermined component mounting angle (mounting angle). Then, the elevating member is lowered by the Z-axis motor, the nozzle arranged at the lower position is lowered, and the component is mounted on the circuit board.

JP 2012-221947 A

  However, in the component mounting apparatus disclosed in JP 2012-212947 A, a Z-axis including an R-axis rotation mechanism including an R-axis motor for selecting a nozzle to be moved up and down and a Z-axis motor for moving up and down the selected nozzle. A lifting mechanism and a θ-axis rotation mechanism including a θ-axis motor for changing the direction of the nozzle (component mounting angle) are required, and the configuration of the device for mounting components by switching a plurality of nozzles is complicated. There is a point.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to suppress the complexity of the device configuration for mounting a component by switching a plurality of nozzles. It is providing the component mounting apparatus which can be performed.

  In order to achieve the above object, a component mounting apparatus according to one aspect of the present invention includes a component mounting head that can be mounted on a substrate by sucking a component with a plurality of nozzles, and the component mounting head rotates about a central axis. Possible rotating shaft, a plurality of nozzles arranged around the rotating shaft and provided so as to be rotatable integrally with the rotating shaft, a rotation driving unit that rotates the rotating shaft, and a nozzle that moves the nozzle up and down as it moves up and down The nozzle raising / lowering member includes a raising / lowering member and a raising / lowering drive unit that moves the nozzle raising / lowering member up and down. The nozzle raising / lowering member engages with the rotation shaft and can rotate integrally with the rotation shaft, and the first can raise and lower the nozzle. By being fixed in the rotation direction and the rotation state, the rotation shaft and the plurality of nozzles can be switched to a second state in which the nozzle lift member can be rotated.

  In the component mounting apparatus according to one aspect of the present invention, as described above, the nozzle elevating member is engaged with the rotation shaft and can rotate integrally with the rotation shaft, and the first state can raise and lower the nozzle. And a mechanism for selecting a nozzle by being configured to be switchable to a second state in which the rotation shaft and the plurality of nozzles can be rotated with respect to the nozzle lifting member by being fixed in the rotation direction. And a mechanism for changing the direction of the nozzle (component mounting angle) can be configured using a common rotational drive unit. That is, if the nozzle raising / lowering member is switched to the second state, a plurality of nozzles can be rotated with respect to the nozzle raising / lowering member to select the nozzle to be raised / lowered, and if the nozzle raising / lowering member is switched to the first state, the nozzle is raised / lowered. The direction of the nozzle (component mounting angle) can be changed by rotating the nozzle and the nozzle lifting member together with the rotating shaft. For this reason, since the nozzle to be moved up and down can be selected by the same rotational drive unit and the nozzle direction (component mounting angle) can be changed, the R-axis drive unit for selecting the nozzle to be lifted and the nozzle direction ( Compared with a configuration in which a θ-axis drive unit for changing a component mounting angle) is separately provided, it is possible to suppress a complicated configuration of an apparatus for performing component mounting by switching a plurality of nozzles.

  In the component mounting apparatus according to the above aspect, the nozzle elevating member is preferably configured to be switchable between the first state and the second state according to the position in the vertical direction. With this configuration, the first state and the second state of the nozzle lifting member can be switched with a simple configuration in which the nozzle is moved up and down by the lifting drive unit. Unlike the case where a dedicated switching mechanism is provided in the apparatus, it is possible to prevent the apparatus configuration from becoming complicated.

  In this case, preferably, the nozzle elevating member has a pressing piece for lowering the nozzle, and is disposed above the plurality of nozzles, and is switched to the first state at the vertical engagement position and the pressing piece is The nozzle is lowered, and is configured to be switched to the second state at a fixed position above the engagement position. If comprised in this way, if the nozzle which raises / lowers by selecting a nozzle raising / lowering member in the fixed position above an engagement position is selected, it will switch to a 1st state in an engagement position only by dropping a nozzle raising / lowering member as it is. And the nozzle can be lowered for component mounting. For this reason, it is not necessary to move the nozzle lifting member up and down many times for state switching and component mounting. Therefore, even in a configuration in which the state switching is performed according to the vertical position of the nozzle lifting member, the nozzle lifting member is lifted and lowered. It is possible to suppress the operation from becoming complicated.

  In the configuration in which the nozzle elevating member can be switched between the first state and the second state according to the position in the vertical direction, it is preferable that the rotation shaft has a first engagement portion provided at the engagement position in the vertical direction. And the nozzle raising / lowering member has a 2nd engaging part which switches a nozzle raising / lowering member to a 1st state by engaging with a 1st engaging part in the engaging position of an up-down direction. If comprised in this way, it will switch to a 1st state easily according to the position of the up-down direction of a nozzle raising / lowering member by the 1st engaging part and 2nd engaging part which are engaged in the engaging position of an up-down direction. A configuration can be obtained.

  In this case, preferably, the first engaging portion of the rotating shaft is a spline shaft portion provided on the outer peripheral portion of the rotating shaft, and the rotating shaft is disposed inside the second engaging portion of the nozzle lifting member. The spline hole is movable in the vertical direction relative to the spline shaft and engages in the rotational direction. With this configuration, the nozzle lifting member and the rotating shaft can be moved relative to each other in the vertical direction with a simple configuration in which the spline shaft portion of the rotating shaft is engaged with the spline hole portion of the nozzle lifting member. It is possible to easily achieve the first state of rotating integrally with the.

  In the configuration in which the rotating shaft has a first engaging portion and the nozzle lifting member has a second engaging portion, preferably, the first engaging portion and the second engaging portion are a nozzle lifting member with respect to the rotating shaft. The relative rotation angle is configured to be engageable when the number of the first rotation angles is the same as the number of nozzles, and the nozzle lifting member is switched to the first state among the plurality of nozzles. The nozzle corresponding to the first rotation angle is configured to be able to move up and down. If comprised in this way, since the 1st rotation angle which can engage with a 1st engaging part and a 2nd engaging part and each nozzle can be made to respond | correspond one-to-one, either 1st rotation If the first engagement portion and the second engagement portion are engaged with each other at an angle, the nozzles corresponding to the first rotation angle can be lifted and lowered individually.

  In the configuration in which the nozzle elevating member can be switched between the first state and the second state according to the position in the vertical direction, preferably, the component mounting head engages with the nozzle elevating member to restrict rotational movement. The nozzle elevating member further includes a member, and has a third engaging portion that switches the nozzle elevating member to the second state by engaging the rotation restricting member at a predetermined fixed position in the vertical direction. If comprised in this way, a nozzle raising / lowering member can be switched to a 2nd state by the simple structure which only moves a nozzle raising / lowering member to a fixed position, and engages a 3rd engaging part with a rotation control member.

  In this case, preferably, the rotation restricting member has a first tooth portion as the fourth engaging portion, and the third engaging portion of the nozzle elevating member has a second tooth portion meshing with the first tooth portion. When the first tooth portion and the second tooth portion are engaged with each other, the third engaging portion and the fourth engaging portion are engaged, and the nozzle lifting member is switched to the second state. If comprised in this way, the structure which makes a 3rd engaging part and a rotation control member engage easily in a fixed position can be obtained by providing the 1st tooth part and 2nd tooth part which mutually mesh | engage. .

  In the configuration in which the component mounting head includes a rotation restricting member that engages with the nozzle elevating member and restricts rotational movement, preferably, the rotation restricting member and the third engaging portion include a plurality of rotation shafts around the component mounting head. The nozzle elevating member is switched to the second state at any one of a plurality of second rotation angles by engaging the rotation restricting member and the third engagement portion. It is configured to be possible. If comprised in this way, after mounting components in the first state, when switching to the second state in order to lower the next nozzle, the next time the component is mounted from among the plurality of second rotation angles. The nozzle rotation member can be switched to the second state by selecting the second rotation angle close to the rotation angle. That is, for example, when there is only one second rotation angle (0 degree), when the next component is mounted at a rotation angle of 180 degrees, the nozzle lifting member is switched to the second state at the 0 degree position, and the next After the nozzle is lowered, the component cannot be mounted unless it is rotated 180 degrees from the 0 degree position to the 180 degree position. In contrast, as in the present invention, if there are a plurality of second rotation angles, the nozzle elevating member can be switched to the second state at a second rotation angle closer to the mounting angle of the next component. As a result, when the next nozzle component is mounted, the amount of rotation from when the nozzle is lowered to when it is positioned at the mounting angle can be reduced, so that useless rotation operations can be reduced.

  In this case, preferably, the plurality of second rotation angles are rotation angles corresponding to the plurality of mounting angles of the component when the component is mounted on the substrate. With this configuration, when the component is mounted in the first state and then switched to the second state in order to lower the next nozzle, the nozzle elevating member is not rotated at the component mounting angle at the immediately preceding nozzle. Can be switched to the second state. If the mounting angle of the component at the next nozzle matches the mounting angle of the component at the previous nozzle, the next component is also mounted at the same angle after switching from the second state to the first state. be able to. For this reason, especially when mounting the components adsorbed to each nozzle at the same mounting angle, it is possible to suppress the amount of nozzle rotation and quickly mount the components.

  According to the present invention, as described above, it is possible to prevent the device configuration for performing component mounting by switching a plurality of nozzles from becoming complicated.

1 is a plan view schematically showing an overall configuration of a component mounting apparatus according to an embodiment of the present invention. It is the front view which showed typically the head unit provided with the component mounting head of the component mounting apparatus by one Embodiment of this invention. In FIG. 2, it is a typical longitudinal cross-sectional view of a component mounting head in case a nozzle raising / lowering member exists in a fixed position (2nd state). In FIG. 3, it is the expanded sectional view which showed the state (1st state) which made the nozzle raising / lowering member protrude the nozzle in the engagement position. It is the figure which showed typically the side part of the component mounting head when the nozzle raising / lowering member shown in FIG. 3 exists in a fixed position (2nd state). It is the figure which showed typically the side part of the component mounting head when the nozzle raising / lowering member shown in FIG. 4 exists in an engagement position (1st state). It is the typical perspective view which showed the rotating shaft of the component mounting head of the component mounting apparatus by one Embodiment of this invention. It is the typical perspective view which showed the nozzle raising / lowering member of the component mounting head of the component mounting apparatus by one Embodiment of this invention. It is a figure for demonstrating the 1st rotation angle which a nozzle raising / lowering member and a rotating shaft can engage in a 1st state. It is the typical perspective view which showed the rotation control member of the component mounting head of the component mounting apparatus by one Embodiment of this invention. It is a figure for demonstrating the 2nd rotation angle which a nozzle raising / lowering member and a rotation control member can engage in a 2nd state. It is the control block diagram which showed the control structure of the component mounting apparatus by one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  With reference to FIGS. 1-12, the structure of the component mounting apparatus 100 by one Embodiment of this invention is demonstrated.

  As shown in FIG. 1, the component mounting apparatus 100 according to the present embodiment includes a base 1, a substrate transport unit 2 that is disposed on the base 1 and transports a substrate 110 in the X direction, a component supply unit 3, and 3. And a head unit 4 provided with two component mounting heads 4a.

  The substrate transport unit 2 includes a pair of conveyors 2 a extending in the transport direction (X direction) of the substrate 110. The pair of conveyors 2a are configured to receive the substrate 110 from the X1 direction side and transport the substrate 110 to a predetermined working position, and to carry out the worked substrate 110 to the X2 direction side after the operation. Further, at the time of work, the substrate 110 is configured to be held (fixed) at a predetermined position above the base 1 by a clamp mechanism (not shown).

  The component supply unit 3 is disposed on the front side (Y2 direction side) and the rear side (Y1 direction side) of the substrate transport unit 2. In the component supply unit 3, a plurality of tape feeders 3 a are arranged along the substrate transport unit 2 in the X direction. These tape feeders 3a hold tapes (not shown) in which components 10 such as ICs, transistors and capacitors are accommodated. The tape feeder 3a is configured to supply the component 10 to a predetermined component supply position in the vicinity of the substrate transport unit 2 while intermittently feeding the tape.

  As shown in FIGS. 1 and 2, the head unit 4 includes three component mounting heads 4 a each having a component suction nozzle (component suction nozzle) 41 (see FIG. 2), and is supplied from the component supply unit 3. The component 10 has a function of adsorbing to the nozzle 41 and mounting it on the substrate 110. The head unit 4 is configured to be movable in the conveyance direction (X direction) and the front-rear direction (Y direction) of the substrate 110 at a position above the substrate conveyance unit 2 and the component supply unit 3. Specifically, the head unit 4 is supported by a unit support member 5 extending in the X direction so as to be movable in the X direction. The head unit 4 has a nut (not shown) that is screwed onto the ball screw shaft 6b. The head unit 4 is moved along the unit support member 5 as the ball screw shaft 6b is rotated by the X-axis motor 6a. Moved in the X direction. The unit support member 5 is supported by a pair of elevated frames 1a straddling the upper side of the substrate transport unit 2 via a pair of fixed rails 1b extending in the Y direction so as to be movable in the Y direction. The unit support member 5 has a nut (not shown) that engages with the ball screw shaft 7b, and the ball screw shaft 7b is rotated by the Y-axis motor 7a, so that the Y direction along the fixed rail 1b. Moved to.

  The three component mounting heads 4a are arranged at equal intervals along the X direction. Each of the plurality of component mounting heads 4a has a plurality of (eight) nozzles 41 (see FIG. 2), and is configured so that component suction and component mounting can be performed for each nozzle 41 individually. As a result, the head unit 4 positions the three component mounting heads 4a at arbitrary positions in the horizontal direction above the substrate transport unit 2 and the component supply unit 3, and the component mounting head 4a absorbs the component 10 and the substrate. The component 10 is mounted (mounted) on 110.

  As shown in FIG. 1, the head unit 4 includes a board imaging unit 4 b for imaging and recognizing the board 110. The substrate imaging unit 4b is configured to recognize the position and orientation of the substrate 110 by imaging a fiducial mark (not shown) of the substrate 110 fixed by a clamp mechanism (not shown). Thereby, it is possible to position the nozzle 41 of the component mounting head 4a above an arbitrary mounting position of the substrate 110 and perform component mounting.

  In the component mounting apparatus 100, the component imaging unit 8 that captures and recognizes the component 10 in a state of being attracted by the nozzle 41 of the component mounting head 4 a has a front side (Y2 direction side) and a rear side on the base 1. It is provided on each side (Y1 direction side). The component imaging unit 8 recognizes the holding state of the component 10 taken out from the component supply unit 3 by the component mounting head 4a (nozzle 41) by imaging the component 10 sucked by the component mounting head 4a from below. Is provided. Thereby, the suction position shift and orientation of the suction component are recognized, and the component can be mounted at a position and orientation appropriate to the mounting position of the substrate 110 based on the recognition result.

  Next, the configuration of the component mounting head 4a of the head unit 4 will be described. Since all the three component mounting heads 4a of the head unit 4 have the same configuration, only one component mounting head 4a will be described here.

  As shown in FIGS. 2 to 4, the component mounting head 4 a includes a rotating shaft 42 and a plurality of (eight) nozzles 41 arranged around the rotating shaft 42. The components 10 of each nozzle 41 can be individually mounted on the substrate 110 by lifting and lowering the components individually. In addition, each nozzle 41 can hold the component 10 at the same time. After the component suction is performed a total of eight times for each nozzle 41, the component 10 sucked by each nozzle 41 can be sequentially mounted. Is possible. The component mounting head 4a includes a rotation motor 43 that rotates the rotation shaft 42 around the vertical central axis C, a nozzle lifting member 44 that moves the nozzle 41 up and down, and a vertical motor 45 that moves the nozzle lifting member 44 up and down. And a rotation restricting member 46 that engages with the nozzle elevating member 44 and restricts the rotational movement of the nozzle elevating member 44. Each of these parts is assembled in a housing 40 common to the three component mounting heads 4a. The three component mounting heads 4a are configured to be operable independently of each other. The rotation motor 43 and the vertical motor 45 are examples of the “rotation drive unit” and the “lifting drive unit” of the present invention, respectively.

  The rotary shaft 42 extends in the vertical direction (Z direction) at a position on the front side (Y2 direction side) of the housing 40, is fixed in the vertical direction, and is attached to the housing 40 so as to be rotatable about the central axis C. It has been. Around the rotating shaft 42, eight nozzle shafts 47 each having a nozzle 41 mounted at the tip (lower end) are circumferentially arranged at equal angular intervals (45 degree intervals). As shown in FIG. 7, on the outer peripheral surface of the rotating shaft 42, a groove-shaped guide portion 42 a that extends in the vertical direction and engages with each nozzle shaft 47 is provided. As a result, the nozzle shaft 47 rotates about the central axis C integrally with the rotating shaft 42 and is movable in the vertical direction with respect to the rotating shaft 42. Further, a polygonal (octagonal) spline shaft portion 42b is integrally formed on the outer peripheral surface of the rotating shaft 42 so as to extend vertically. As shown in FIGS. 5 and 6, the spline shaft portion 42b is formed in a range of a length L1 from the vertical engagement start position P1 of the rotation shaft 42 to the upper end portion of the guide portion 42a (see FIG. 7). Has been. Further, a round shaft portion 42c having an outer diameter smaller than that of the spline shaft portion 42b is formed above the spline shaft portion 42b in the rotary shaft 42. The spline shaft portion 42b is an example of the “first engagement portion” in the present invention.

  As shown in FIG. 3, the rotation motor 43 is provided at a position on the near side of the upper surface of the housing 40. The rotation motor 43 is configured to drive the rotation shaft 42 via an output gear 43 a at the tip of the output shaft and a driven gear 42 c at the upper end of the rotation shaft 42.

  The nozzle raising / lowering member 44 is a cylindrical member into which the rotating shaft 42 is inserted, and is configured to raise and lower the nozzle 41 along with the vertical movement in order to attract the component 10 and mount the component. In the present embodiment, the nozzle elevating member 44 is engaged with the rotation shaft 42 and can rotate integrally with the rotation shaft 42, and the first state in which the nozzle 41 (nozzle shaft 47) can be moved up and down, and rotation. By being fixed in the direction, the rotary shaft 42 and the eight nozzles 41 can be switched to a second state in which the nozzle lifting member 44 can be (relatively) rotated. Moreover, the nozzle raising / lowering member 44 is comprised so that switching to each of a 1st state and a 2nd state is possible according to the position of an up-down direction. Specifically, as shown in FIGS. 5 and 6, the nozzle elevating member 44 is switched from the engagement start position P1 to the first state (see FIG. 6) at the lower position (engagement position) and engaged. The state is switched to the second state (see FIG. 5) at a fixed position P2 above the start position P1.

  As shown in FIGS. 8 and 4, the nozzle elevating member 44 includes a cylindrical portion 44a extending vertically (Z direction), a pressing piece 44b disposed on the lower end surface of the cylindrical portion 44a, and the cylindrical portion 44a. It has integrally the tooth part 44c arrange | positioned at an upper end surface. As shown in FIGS. 3 and 4, the rotating shaft 42 is inserted into the cylindrical portion 44 a, and the nozzle elevating member 44 is positioned above (in the Z1 direction) the eight nozzle shafts 47 (nozzles 41). Is arranged. The nozzle raising / lowering member 44 is held by the arm portion 48 via a bearing on the outer peripheral surface of the cylindrical portion 44a, and is rotatable about a central axis C coaxial with the rotation shaft 42. As will be described later, the arm portion 48 is configured to move up and down by an up-and-down motor 45, and the nozzle elevating member 44 is moved along the rotation shaft 42 penetrating the center as the arm portion 48 moves up and down. It is configured to move up and down. The tooth portion 44c is an example of the “third engagement portion” and the “second tooth portion” in the present invention.

  Specifically, the arm portion 48 holds the nozzle lifting member 44 from the back side (Y1 direction side) of the housing 40. A ball screw shaft 49 extending vertically is disposed in the arm portion 48 so as to penetrate the arm portion 48, and a nut portion 48 a attached to the arm portion 48 is screwed to the ball screw shaft 49, thereby The part 48 is supported by the ball screw shaft 49 so as to be movable up and down. The ball screw shaft 49 is rotatably mounted on the housing 40 via a bearing, and is connected to the output shaft of the vertical motor 45 at the upper end. The vertical motor 45 is installed on the upper surface of the housing 40 so as to be aligned with the rotational motor 43 in the front-rear direction (Y direction). A guide rail 50 is provided on the back side of the housing 40 so as to extend vertically, and a slider 48 b that moves up and down along the guide rail 50 is attached to the arm portion 48. Thus, when the vertical motor 45 rotates the ball screw shaft 49, the arm portion 48 moves up and down along the guide rail 50 via the nut portion 48a, and the nozzle lifting member 44 held by the arm portion 48 also moves up and down. Moving.

  As shown in FIGS. 3, 4 and 8, the pressing piece 44b of the nozzle lifting member 44 has a columnar shape extending downward from the lower end surface of the cylindrical portion 44a. The pressing piece 44b is disposed such that the distance from the central axis C coincides with the distance from the central axis C of the nozzle shaft 47 around the rotation shaft 42, and the pressing piece 44b is moved along with the movement of the nozzle lifting member 44. The nozzle shaft 47 disposed at a position directly below the nozzle shaft 47 is individually pushed down to project downward.

  Here, in this embodiment, the nozzle raising / lowering member 44 engages with the spline shaft portion 42b at a position below the engagement start position P1, thereby causing the nozzle raising / lowering member 44 to switch to the first state. 8). The spline hole portion 44d is an example of the “second engaging portion” in the present invention. The spline hole portion 44d is provided in a portion extending vertically from the lower end portion to the central portion on the inner peripheral surface of the cylindrical portion 44a, and has a polygonal (octagonal) cross section corresponding to the outer shape of the spline shaft portion 42b. Has a shape. The spline hole portion 44d is formed so as to be movable relative to the spline shaft portion 42b of the rotation shaft 42 disposed on the inner side in the vertical direction and to be engaged only in the rotation direction. Therefore, when the nozzle elevating member 44 moves to the engagement start position P1 where the spline shaft portion 42b is formed, the spline hole portion 44d engages with the spline shaft portion 42b, so that the nozzle elevating member 44 and the rotating shaft 42 are engaged. It engages and rotates integrally with the rotating shaft 42. Here, the position of the nozzle lifting member 44 will be described with reference to the lower end portion of the spline hole portion 44d (lower end portion of the cylindrical portion 44a). That is, when the nozzle elevating member 44 is at the engagement start position P1, the position of the lower end portion of the spline hole 44d of the nozzle elevating member 44 is at the engagement start position P1.

  The nozzle lifting member 44 has a length L1 range (formation range of the spline shaft portion 42b) from the engagement start position P1 of the upper end of the spline shaft portion 42b to the lower end portion (near the upper end of the nozzle shaft 47). 44 and the rotating shaft 42 are engaged, and can be moved up and down while maintaining the first state (engaged state) within the length L1 range. Thereby, when the nozzle raising / lowering member 44 is in the first state, the nozzle shaft 47 can be pushed down by the pressing piece 44b, and the nozzle 41 can be protruded downward for sucking the component 10 or mounting the component. The nozzle elevating member 44 and the nozzle shaft 47 can rotate together with the rotating shaft 42 for adjusting the mounting angle. Note that the round shaft portion 42c (see FIG. 4) above the spline shaft portion 42b does not engage with the spline hole portion 44d, and at a position above the engagement start position P1, the nozzle elevating member 44 and the rotating shaft 42 are engaged. And can rotate relative to each other freely.

  Further, the spline hole portion 44d having the octagonal spline shape and the spline shaft portion 42b can be engaged with each other at a relative angular interval of 45 degrees (a relative rotation angle of the nozzle elevating member 44 with respect to the rotation shaft 42). For this reason, as shown in FIG. 9, the spline shaft portion 42 b and the spline hole portion 44 d have the same number (eight) of rotation angles of the nozzle lifting member 44 with respect to the rotation shaft 42 as the number of the nozzles 41. Engagement is possible at any one of the rotation angles α1 to α8. The first rotation angles α1 to α8 at intervals of 45 degrees coincide with the rotation angle positions of the nozzles 41 (nozzle shafts 47) arranged around the rotation shaft 42 with respect to the rotation shaft 42. That is, assuming that the eight nozzles 41 are No. 1 to No. 8 and the No. 1 nozzle is a reference (0 degree), the position of each nozzle 41 is α1 = 0 degree (No. 1 nozzle), α2 = 45 degrees (2 No. 3), α3 = 90 degrees (No. 3 nozzle), α4 = 135 degrees (No. 4 nozzle), α5 = 180 degrees (No. 5 nozzle), α6 = 225 degrees (No. 6 nozzle), α7 = 270 degrees (7 No. nozzle), α8 = 315 degrees (No. 8 nozzle). Thus, in the first state where the spline hole portion 44d and the spline shaft portion 42b are engaged with each other, the pressing piece 44b is always disposed above one of the nozzles 41, and the spline hole portion 44d and the spline at other relative angles. The shaft portion 42b cannot be engaged and the first state is not achieved.

  As shown in FIGS. 5, 6, and 8, the tooth portion 44 c of the nozzle elevating member 44 is integrally formed with the tubular portion 44 a so as to protrude upward from the upper end surface of the tubular portion 44 a. On the upper end surface of the portion 44a, four tooth portions 44c are arranged circumferentially at equal angular intervals (intervals of 90 degrees). The tooth portion 44c is engaged with and engaged with the tooth portion 46b of the rotation restricting member 46 at a predetermined fixed position P2 in the vertical direction, whereby the nozzle lifting member 44 is fixed in the rotational direction around the central axis C (second state). (See FIG. 5). The tooth portion 46b is an example of the “first tooth portion” and the “fourth engagement portion” in the present invention. Since the fixed position P2 is disposed above the engagement start position P1, the nozzle elevating member 44 and the rotation regulating member 46 are engaged with the nozzle elevating member 44 and the rotation shaft 42 (that is, in the first state). ) Is configured to be engageable only in a released state. The fixed position P2 is shown as the position of the lower end surface of the cylindrical portion 44a when the tooth portion 44c of the nozzle elevating member 44 is engaged with the tooth portion 46b of the rotation restricting member 46. The engagement start position P1 and the fixed position P2 are arranged at positions close to each other in the vertical direction. For this reason, the nozzle raising / lowering member 44 does not correspond to either the first state or the second state between the engagement start position P1 and the fixed position P2 (not engaged with any of the rotation shaft 42 and the rotation restriction member 46). The position range that becomes the state is very small. Thereby, the vertical movement distance of the nozzle elevating member 44 for switching between the first state and the second state is minimized, and the time required for the state switching is shortened.

  As shown in FIGS. 5, 6, and 10, the rotation restricting member 46 includes a through hole 46 a into which the rotation shaft 42 is inserted, and a plurality (eight) tooth portions 46 b that protrude downward around the through hole 46 a. And have. The rotation restricting member 46 is fixed to the housing 40 with the tooth portion 46b facing downward above the nozzle elevating member 44 in a state where the rotating shaft 42 is inserted into the through hole 46a. For this reason, the fixed position P <b> 2 where the tooth portion 44 c of the nozzle elevating member 44 engages with the tooth portion 46 b of the rotation restricting member 46 corresponds to the upper end position of the moving range of the nozzle elevating member 44. The eight tooth portions 46b are arranged circumferentially around the central axis C at equal angular intervals (45 ° intervals). As a result, as shown in FIG. 11, the tooth portion 44c of the nozzle elevating member 44 and the tooth portion 46b of the rotation restricting member 46 have eight second portions around the rotation axis 42 (around the central axis C) with respect to the component mounting head 4a. Engagement is possible at rotation angles β1 to β8. That is, the tooth portion 44c and the tooth portion 46b can be engaged at eight angles (β1 to β8) at intervals of 45 degrees.

  The rotation restricting member 46 has eight second rotation angles β1 to β8 that can engage the tooth portion 44c and the tooth portion 46b in the X-direction (X-axis) and Y-direction (Y-axis) coordinate systems. Is fixed to the housing 40 so as to have a rotation angle corresponding to the mounting angle of the component 10 when mounting the circuit board 110 on the board 110. Specifically, the mounting angle of the component 10 (that is, the direction of the pressing piece 44b) is 0 degree (= β1), 45 degrees (= β2), 90 degrees (= β3), 135 degrees (= β4), 180 degrees. At eight angles of (= β5), 225 degrees (= β6), 270 degrees (= β7), and 315 degrees (= β8), the tooth portion 44c and the tooth portion 46b can be engaged. Here, for convenience, the X2 direction is set to 0 degree. When the mounting angle of the component 10 mounted on the substrate 110 matches any of the eight second rotation angles β1 to β8, the second rotation angle β3 (which matches the mounting angle (for example, 90 degrees) of the mounted component 10) 90 degrees), when the nozzle 41 that has picked up the component 10 to be mounted is positioned below the pressing piece 44b of the nozzle lifting member 44, the mounting angle of the component 10 is substantially reduced. The nozzle 41 can be lowered in a matching state.

  Note that the mounting angle of the component 10 mounted on the board 110 is normally the four angles (0 degrees, 90 degrees, 180 degrees, 270 degrees) at intervals of 90 degrees due to the circuit layout design on the board 110. Many. Furthermore, it can be mounted at any one of 8 angles including other 4 angles (45 degrees, 135 degrees, 225 degrees, 315 degrees) inclined at 45 degrees, but at other angles (for example, 30 degrees, 80 degrees, etc.) Compared to the case where the component 10 is mounted on the substrate 110, the number is very large.

  With the configuration described above, the nozzle lifting member 44 is in the first state at a position below the engagement start position P1 above the plurality of nozzles 41 (nozzle shaft 47), as shown in FIGS. While being switched, the pressing piece 44b lowers the nozzle 41. And the nozzle raising / lowering member 44 is switched to a 2nd state in the fixed position P2 above the engagement starting position P1, as shown in FIG. 3 and FIG. In the second state, the nozzle elevating member 44 is fixed to rotate about the central axis C above each nozzle shaft 47. For this reason, the nozzle 41 arrange | positioned directly under the press piece 44b of the nozzle raising / lowering member 44 is selected by rotating the rotating shaft 42 (and each nozzle 41) in a 2nd state. Then, after the nozzle 41 is selected, the nozzle raising / lowering member 44 is lowered and switched to the first state, whereby the selected nozzle 41 is lowered and the nozzle 41 is raised / lowered according to the mounting angle of the component 10. The member 44 can be rotated around the central axis C.

  As shown in FIG. 4, the eight nozzle shafts 47 are held by the rotating shaft 42 in a state where the eight nozzle shafts 47 are inserted into the cylindrical nozzle holding member 51 together with the rotating shaft 42. The nozzle shaft 47 is biased upward by a spring member 52 (see FIG. 5). Thus, after the nozzle shaft 47 is pushed down by the pressing piece 44b of the nozzle lifting member 44, when the nozzle lifting member 44 moves upward, the biasing force of the spring member 52 causes the nozzle shaft 47 to move to the raised position (guide of the rotating shaft 42). To the upper end position of the portion 42a. An air passage 47 a is provided inside the nozzle shaft 47 and communicates with the nozzle 41 mounted at the tip of the nozzle shaft 47. Two upper and lower communication ports 47b and 47c are provided in the upper and lower portions of the air passage 47a. The nozzle holding member 51 and the upper and lower two introduction paths 53 and 54 (see FIG. 2) of the housing 40 are provided. The air pressure supply unit 60 (see FIG. 12) can be connected in two systems. The nozzle holding member 51 is provided with a circumferential air passage (not shown), and connects the air passages 47a of all eight nozzle shafts 47 to the introduction passages 53 and 54.

  Although details are omitted, negative pressure is always supplied from the upper introduction passage 53, and when the nozzle shaft 47 is in the raised position, the introduction passage 53 and the upper communication port 47b of the air passage 47a are connected. The lower communication port 47 c is blocked by the inner wall of the nozzle holding member 51. For this reason, the negative pressure is supplied to the tip of the nozzle 41 through the communication port 47b to the nozzle shaft 47 in the raised position.

  On the other hand, the lower introduction path 54 can be switched between negative pressure, positive pressure and no pressure. When the nozzle shaft 47 is pushed down from the raised position by the nozzle lifting member 44, the air passage 47a reaches the switching position where the communication ports 47b and 47c are connected to the introduction paths 53 and 54, respectively, and below the switching position, Only the communication port 47 c (or both of the communication ports 47 b and 47 c) is connected to the introduction path 54, and the introduction path 53 is blocked by the outer peripheral surface of the nozzle shaft 47. For this reason, the nozzle 41 (nozzle shaft 47) lowered by the nozzle raising / lowering member 44 can adsorb the component 10 by negative pressure supply from the introduction path 54 and can mount the component 10 by positive pressure supply. In this manner, the component suction and the component suction and the suction are independently performed for one nozzle 41 lowered by the nozzle lifting member 44 while supplying the negative pressure to the other nozzle 41 in the raised position and holding the suction component 10. It can be installed.

  Next, a control configuration of the component mounting apparatus 100 will be described.

  As shown in FIG. 12, the component mounting apparatus 100 further includes a control device 9 that comprehensively controls the operation thereof. The control device 9 includes a main control unit 91 including a CPU, a drive control unit 92, an imaging control unit 93, a valve control unit 94, and a storage unit 95.

  The main control unit 91 controls each drive mechanism of the component mounting apparatus 100 via the drive control unit 92 according to the mounting program stored in the storage unit 95. Further, the main control unit 91 controls the imaging operation of the board imaging unit 4b and the component imaging unit 8 via the imaging control unit 93, and based on the obtained image, the position and orientation of the substrate 110 and the suction nozzle The holding state of the component 10 adsorbed by 41 is recognized.

  The main control unit 91 is configured to control the suction operation of the component 10 by the suction nozzle by controlling the air pressure supply unit 60 provided in the head unit 4 via the valve control unit 94. . The storage unit 95 stores component information including information such as the type and size of the mounted component and a mounting program.

  The drive control unit 92 is configured to control the transport of the substrate 110 by the substrate transport unit 2 and the horizontal movement of the head unit 4 (X-axis motor 6a and Y-axis motor 7a). The drive control unit 92 controls the drive of the up / down motor 45 of each component mounting head 4a to raise / lower the nozzle 41 (up / down the nozzle raising / lowering member 44) and to control the drive of the rotation motor 43. Thus, the nozzle 41 (rotating shaft 42) is configured to rotate (rotate) about the central axis C.

  Next, the component mounting operation of the component mounting apparatus 100 will be described with reference to FIGS. 1, 4 to 6, 9 and 11.

  First, as shown in FIG. 1, after the substrate transport unit 2 transports and clamps the substrate 110 to the working position, and the substrate imaging unit 4b performs substrate imaging (substrate position recognition), the mounting of the component 10 is started. Is done.

  First, the suction operation of the component 10 is performed. The head unit 4 moves in the XY directions, and each component mounting head 4a is positioned above the component supply position. During this movement, the component mounting head 4a first lowers the nozzle 41 (for example, the first nozzle in FIG. 9) that sucks the component 10. The lowering operation of the nozzle 41 is divided into a selection operation of the nozzle 41 to be lowered and a lowering operation of the selected nozzle 41.

  That is, the nozzle lifting member 44 is raised to the fixed position P2 to switch to the second state (see FIG. 5). Next, the rotating shaft 42 is rotated with respect to the nozzle lifting member 44 in the second state, and the nozzle 41 (No. 1 nozzle) is disposed below the pressing piece 44b of the nozzle lifting member 44 (see FIG. 9). ). As a result, the nozzle 41 (first nozzle) to be lowered is selected.

  Thereafter, the nozzle elevating member 44 is lowered. As shown in FIGS. 4 and 6, when the nozzle elevating member 44 is further lowered from the engagement start position P1, the selected nozzle 41 (No. 1 nozzle) is lowered and protrudes downward. Thus, the component 10 at the component supply position can be sucked by the protruded nozzle 41 (the first nozzle). In the same way for the No. 2 nozzle to No. 8 nozzle, the target nozzle 41 is lowered above the component supply position where the component 10 to be adsorbed is arranged, and the components 10 are sequentially adsorbed.

  When the component 10 is attracted to each of the eight nozzles 41 of the three component mounting heads 4a, the head unit 4 moves above the component imaging unit 8 as shown in FIG. After the suction state is recognized, mounting on the substrate 110 is performed.

  First, the head unit 4 moves in the X and Y directions, and the component mounting head 4 a is positioned above the component mounting position of the substrate 110. During this movement, the component mounting head 4a first lowers the nozzle 41 (for example, the first nozzle in FIG. 9) on which the component 10 is mounted.

  At the time of component mounting, when selecting the nozzle 41 to be lowered (No. 1 nozzle), the nozzle raising / lowering member 44 is the second closest to the mounting angle of the component 10 to be mounted among the eight second rotation angles β1 to β8. Switch to state. For example, as shown in FIG. 11, when the component 10 of the first nozzle is mounted at a mounting angle of 90 degrees, the nozzle lifting member 44 is also switched to the second state (β3) with the same 90 degrees (β3). Next, the rotating shaft 42 is rotated with respect to the nozzle lifting / lowering member 44 in the second state (β3), and the selected nozzle 41 (No. 1 nozzle) is disposed below the pressing piece 44b of the nozzle lifting / lowering member 44. To do. Then, the nozzle 41 (No. 1 nozzle) is directed in the same direction (β3) as the mounting angle 90 degrees of the component 10.

  After that, the nozzle lifting member 44 is moved to the engagement start position P1 to be switched to the first state, and further lowered from the engagement start position P1, thereby the nozzle 41 (first nozzle) pressed by the pressing piece 44b. Protrudes (see FIG. 4). In this case, since the nozzle 41 (No. 1 nozzle) is lowered in the state of the rotation angle of 90 degrees (β3), the nozzle 41 (No. 1 nozzle) is rotated after switching to the first state. Fine adjustment such as correction of the suction angle deviation of the component 10 recognized by 8 is sufficient. After fine adjustment of the angle of the nozzle 41 (No. 1 nozzle) in the first state, the component 10 is mounted on the substrate 110. For this reason, when one of the eight second rotation angles β1 to β8 matches the mounting angle of the component 10, the component 10 can be mounted quickly by reducing the amount of rotation in the first state. After component mounting, the nozzle elevating member 44 is raised to the engagement start position P1, and the nozzle 41 (No. 1 nozzle) returns to the raised position.

  Subsequently, the nozzle 41 (for example, the second nozzle in FIG. 9) for mounting the component 10 is lowered. At this time, the nozzle raising / lowering member 44 is switched to the second state at an angle closest to the mounting angle of the component 10 to be mounted next adsorbed by the second nozzle. For example, as shown in FIG. 11, when the second component 10 is mounted at a mounting angle of 180 degrees, the nozzle elevating member 44 is rotated to a fixed position after being rotated from 90 degrees (β3) to 180 degrees (β5). It is raised to P2 and switched to the second state (β5). And the rotating shaft 42 is rotated with respect to the nozzle raising / lowering member 44 with a 2nd state ((beta) 5), and the selected nozzle 41 (2nd nozzle) is arrange | positioned in the downward position of the press piece 44b of the nozzle raising / lowering member 44. FIG. . In this state, the nozzle 41 (second nozzle) is oriented in the same direction (β5) as the mounting angle of the component 10 is 180 degrees. The subsequent operations from descending to component mounting are the same as those of the first nozzle.

  When the mounting of the plurality of components 10 continues at any one of the second rotation angles β1 to β8, the nozzle lifting member 44 does not need to be rotated when switching to the second state. That is, when the component 10 of the first nozzle is mounted at 90 degrees (β3) and the component 10 of the second nozzle is mounted at 90 degrees (β3) as described above, the component 10 of the first nozzle is mounted. Thereafter, the nozzle elevating member 44 is raised to the fixed position P2 while maintaining 90 degrees (β3) and switched to the second state. Then, after the nozzle No. 2 is disposed below the pressing piece 44b, if the nozzle lifting member 44 is lowered, the first state is switched as it is at the mounting angle of the component 10 of the nozzle No. 2. For this reason, the time required for switching the nozzle 41 is shortened.

  By repeating the above, component mounting is performed by each of the eight nozzles 41 of the component mounting head 4a. When the respective components 10 sucked by the eight nozzles 41 of the three component mounting heads 4a are mounted, the component suction is performed again. In this way, the component mounting operation of the component mounting apparatus 100 is performed.

  In the present embodiment, as described above, the nozzle lifting member 44 is engaged with the rotating shaft 42 and can rotate integrally with the rotating shaft 42, and the first state in which the nozzle 41 can be lifted and lowered is rotated. A mechanism for selecting a nozzle by being configured to be switchable to a second state in which the rotation shaft 42 and the plurality of nozzles 41 can be rotated with respect to the nozzle lifting member 44 by being fixed in the direction. And a mechanism for changing the direction of the nozzle (component mounting angle) can be configured using a common rotation motor 43. That is, if the nozzle raising / lowering member 44 is switched to the second state, the nozzle 41 to be raised / lowered can be selected by rotating the plurality of nozzles 41 with respect to the nozzle raising / lowering member 44, and the nozzle raising / lowering member 44 is set to the first state. By switching, the nozzle 41 to be lifted and the nozzle lifting member 44 can be rotated integrally with the rotating shaft 42 to change the direction of the nozzle 41 (component mounting angle). For this reason, since the nozzle 41 to be moved up and down can be selected by the same rotation motor 43 and the direction of the nozzle 41 (component mounting angle) can be changed, the R-axis drive unit for selecting the nozzle 41 to be moved up and down; Compared with a configuration in which a θ-axis drive unit for changing the orientation (component mounting angle) of the nozzle 41 is provided separately, the configuration of the device for mounting a component by switching a plurality of nozzles 41 is complicated. Can be suppressed.

  In the present embodiment, as described above, the nozzle lifting member 44 is configured to be switchable between the first state and the second state according to the position in the vertical direction. As a result, the first state and the second state of the nozzle lifting member 44 can be switched with a simple configuration in which the nozzle 41 is moved up and down by the vertical motor 45. Unlike the case where a dedicated switching mechanism is provided in the device, it is possible to prevent the device configuration from becoming complicated.

  In the present embodiment, as described above, the nozzle lifting member 44 is disposed above the nozzle 41 (nozzle shaft 47). Then, the nozzle elevating member 44 is switched to the first state in the range (engagement position) from the engagement start position P1 to the lower length L1, and the pressing piece 44b lowers the nozzle 41, and from the engagement start position P1. Is also configured to be switched to the second state at the upper fixed position P2. Thereby, if the nozzle 41 which raises / lowers by selecting the nozzle raising / lowering member 44 in the fixed position P2 above the engagement starting position P1 is selected, it can switch to the 1st state only by lowering the nozzle raising / lowering member 44 as it is. At the same time, the nozzle can be lowered for component mounting. For this reason, since it is not necessary to move the nozzle lifting member 44 up and down many times for state switching and component mounting, the nozzle lifting member is also used in the configuration in which state switching is performed according to the vertical position of the nozzle lifting member 44. It can suppress that the raising / lowering operation | movement of 44 becomes complicated.

  In the present embodiment, as described above, the spline shaft portion 42b is provided on the rotating shaft 42, and the nozzle lifting member 44 is splined in a range (engagement position) from the engagement start position P1 to the length L1 below. A spline hole 44d for switching the nozzle elevating member 44 to the first state by engaging with the portion 42b is provided. Thereby, the structure which switches to a 1st state according to the position of the up-down direction of the nozzle raising / lowering member 44 easily by the spline shaft part 42b and the spline hole part 44d which are engaged in an engagement position can be obtained. Further, the nozzle elevating member 44 and the rotating shaft 42 can be relatively moved in the vertical direction and rotated with a simple configuration in which the spline shaft portion 42b of the rotating shaft 42 is engaged with the spline hole portion 44d of the nozzle elevating member 44. The first state that rotates integrally in the direction can be easily realized.

  Further, in the present embodiment, as described above, the relative rotation angle of the nozzle lifting member 44 with respect to the rotation shaft 42 is the same as the number of the nozzles 41 (eight). The plurality of first rotation angles α1 to α8 are configured to be engageable. And the nozzle raising / lowering member 44 corresponds to the first rotation angle (for example, α1 = 0 degree) when the nozzle lifting member 44 is switched to the first state among the plurality of nozzles 41 (No. 1 nozzle to No. 8 nozzle). (No. 1 nozzle) is configured to be movable up and down. As a result, the first rotation angle (0 degree, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, 315 degrees) at which the spline shaft portion 42b and the spline hole portion 44d can be engaged with each other. Since the nozzle 41 (No. 1 nozzle to No. 8 nozzle) can be made to correspond one-to-one, the spline shaft portion 42b and the spline hole portion 44d are engaged at any first rotation angle (for example, α1 = 0 degree). If combined, the nozzle 41 (No. 1 nozzle) corresponding to the first rotation angle α1 (0 degree) can be lifted and lowered individually.

  In the present embodiment, as described above, the rotation restricting member 46 having the tooth portion 46b is provided in the component mounting head 4a. The nozzle elevating member 44 is provided with a tooth portion 44c for switching the nozzle elevating member 44 to the second state by engaging the rotation restricting member 46 at the fixed position P2. Thereby, the nozzle raising / lowering member 44 can be switched to a 2nd state by simple structure which only moves the nozzle raising / lowering member 44 to the fixed position P2, and engages the tooth | gear part 44c with the rotation control member 46. FIG. Moreover, the structure which switches the nozzle raising / lowering member 44 to a 2nd state easily in the fixed position P2 can be obtained by providing the tooth | gear part 44c and the tooth | gear part 46b which mutually mesh | engage.

  Further, in the present embodiment, as described above, the rotation regulating member 46 (tooth portion 46b) and the tooth portion 44c are provided with a plurality (eight) second rotation angles β1 to β1 around the rotation shaft 42 with respect to the component mounting head 4a. It is configured to be engageable with β8. The nozzle elevating member 44 is configured to be switchable to the second state at any one of the eight second rotation angles β1 to β8 when the rotation restricting member 46 (tooth portion 46b) and the tooth portion 44c are engaged. To do. Thereby, after mounting the component 10 in the first state, when switching to the second state in order to lower the next nozzle 41 (for example, No. 2 nozzle), from among the eight second rotation angles β1 to β8, Next, the nozzle lifting member 44 can be switched to the second state by selecting the second rotation angle close to the mounting angle when the component 10 is mounted. Thereby, when mounting the component 10 of the next nozzle 41 (No. 2 nozzle), it is only necessary to lower the nozzle raising / lowering member 44, and wasteful rotating operation can be reduced.

  In the present embodiment, as described above, the eight second rotation angles β1 to β8 are set to rotation angles (0 degrees, 45 corresponding to a plurality of mounting angles of the component 10 when the component 10 is mounted on the substrate 110. Degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, and 315 degrees). Thereby, after mounting the component 10 in the first state, when switching to the second state in order to lower the next nozzle 41 (for example, No. 2 nozzle), the previous nozzle 41 (for example, No. 1 nozzle) It is possible to switch to the second state without rotating the nozzle lifting member 44 with the mounting angle of the component 10. When the mounting angle of the component 10 at the next nozzle 41 (No. 2 nozzle) matches the mounting angle of the component 10 at the immediately preceding nozzle 41 (No. 1 nozzle), the second state is changed to the first state. After switching, the next component 10 can also be mounted at the same angle. For this reason, especially when the components 10 adsorbed to the nozzles 41 are mounted at the same mounting angle, it is possible to quickly mount the components while suppressing the nozzle rotation amount.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the above embodiment, an example of a component mounting apparatus including three component mounting heads has been described, but the present invention is not limited to this. In the present invention, one, two, or four or more component mounting heads may be provided in the component mounting apparatus.

  Moreover, although the example which provided 8 nozzles in one component mounting head was shown in the said embodiment, this invention is not limited to this. In the present invention, the number of nozzles may be plural (two or more).

  Moreover, in the said embodiment, although the example which comprised the nozzle raising / lowering member switching to a 1st state and a 2nd state according to the position of an up-down direction was shown, this invention is not limited to this. In the present invention, the nozzle lifting member may be configured to be switchable between the first state and the second state regardless of the vertical position of the nozzle lifting member.

  For example, instead of providing the rotation restricting member 46 that engages with the nozzle lifting member 44 at the fixed position P2, a brake mechanism that fixes the rotation of the nozzle lifting member 44 to the arm member 48 may be provided. In this case, if the nozzle elevating member 44 and the rotating shaft 42 are not engaged, it is possible to switch to the second state at any position in the vertical direction. Similarly, instead of providing the nozzle lifting member 44 and the rotating shaft 42 with the spline hole portion 44d and the spline shaft portion 42b, respectively, for example, the rotating shaft is provided with an engagement mechanism that operates in the radial direction by air pressure or the like. You may engage with a raising / lowering member.

  Moreover, although the example which provided the spline hole part 44d and the spline shaft part 42b in the nozzle raising / lowering member 44 and the rotating shaft 42 was shown in the said embodiment, this invention is not limited to this. For example, a plurality of engaging grooves may be provided on the nozzle lifting member, and an engaging pin that engages with the engaging grooves may be provided on the rotating shaft. In addition, an internal gear may be provided on the nozzle elevating member, and an external gear engaged with and engaged with the internal gear may be provided on the rotation shaft.

  Moreover, in the said embodiment, the example which comprised the nozzle raising / lowering member 44 (spline hole part 44d) and the rotating shaft 42 (spline shaft part 42b) so that engagement was possible by the same 1st rotation angle (alpha) 1-alpha8 as a nozzle. Although shown, the present invention is not limited to this. In the present invention, the nozzle elevating member and the rotation shaft need only be engageable at the rotation angle position where the individual nozzles are arranged, so long as they can be engaged at a relative rotation angle that is an integral multiple of the number of nozzles. . Further, the nozzle elevating member and the rotating shaft may be engageable at an arbitrary angle.

  In the above embodiment, the nozzle lifting member 44 and the rotation restricting member 46 are configured to be engageable at the second rotation angles β1 to β8 corresponding to the mounting angles of the components. The invention is not limited to this. In the present invention, the second rotation angle between the nozzle elevating member 44 and the rotation restricting member 46 may not correspond to the component mounting angle. However, when the second rotation angle is another angle that does not correspond to the mounting angle of the component (for example, 5 angles at intervals of 72 degrees), every time the nozzle to be lowered is selected (every time the second state is switched), Since it is necessary to perform rotation between the component mounting angle and the second rotation angle, the time loss is larger than that of the configuration of the above embodiment.

  In the above embodiment, the nozzle lifting member 44 and the rotation restricting member 46 are configured to be engageable at the eight second rotation angles β1 to β8. However, the present invention is not limited to this. I can't. In the present invention, the number of second rotation angles at which the nozzle elevating member 44 and the rotation restricting member 46 can be engaged is not limited to eight. That is, only one (one angle) may be the second rotation angle at which the nozzle lifting member 44 and the rotation restricting member 46 can be engaged. Further, the second rotation angle need not be equal angular intervals.

  In addition, the nozzle elevating member 44 and the rotation restricting member 46 may be configured to be engageable at an arbitrary second rotation angle. Specifically, instead of the rotation restricting member 46, the rotation restricting member may be constituted by an electromagnetic clutch, and the electromagnetic clutch may adsorb and fix the nozzle elevating member by electromagnetic force at the fixed position P2.

  In the above embodiment, the example in which the nozzle lifting member 44 and the rotation restricting member 46 are provided with the tooth portions 44c and the tooth portions 46b, respectively, and engaged with each other is shown. Not limited. For example, the outer peripheral surface of the upper end portion of the nozzle elevating member is formed into a polygonal spline shape similar to the spline shaft portion of the rotation shaft, and the outer peripheral portion of the polygonal spline shape at the upper end portion of the nozzle elevating member is provided on the rotation restricting member. You may provide the spline hole which engages and engages. Further, an engagement portion having the same shape as the spline shaft portion may be formed on the rotation restricting member so as to extend downward. In this case, the nozzle elevating member is a common spline hole, and the engagement portion of the clutch member is fitted in the fixed position, and the spline shaft portion of the rotating shaft is fitted in the engagement position below the engagement start position.

4a Component mounting head 10 Component 41 Nozzle 42 Rotating shaft 42b Spline shaft portion (first engaging portion)
43 Motor for rotation (Rotation drive part)
44 Nozzle elevating member 44b Pressing piece 44c Tooth part (third engaging part, second tooth part)
44d Spline hole (second engaging portion)
45 Vertical motor (lifting drive)
46 Rotation restricting member 46b Tooth part (first tooth part, fourth engaging part)
DESCRIPTION OF SYMBOLS 100 Component mounting apparatus 110 Board | substrate (alpha) 1- (alpha) 8 1st rotation angle (beta) 1- (beta) 8 2nd rotation angle C Center axis P1 Engagement start position P2 Fixed position

Claims (10)

A component mounting head that can be mounted on a substrate by adsorbing components with multiple nozzles,
The component mounting head is
A rotation axis rotatable around the central axis;
The plurality of nozzles disposed around the rotation shaft and provided so as to be rotatable integrally with the rotation shaft;
A rotation drive unit that rotates the rotation shaft;
A nozzle elevating member that elevates and lowers the nozzle as it moves up and down;
An elevating drive unit that moves the nozzle elevating member up and down,
The nozzle elevating member is engaged with the rotation shaft and can rotate integrally with the rotation shaft, and is fixed in the rotation direction by being fixed in the rotation direction, so that the rotation shaft is fixed. And a component mounting apparatus configured to be switchable to a second state in which the plurality of nozzles can be rotated with respect to the nozzle lifting member.   The component mounting apparatus according to claim 1, wherein the nozzle elevating member is configured to be switchable between each of the first state and the second state according to a position in a vertical direction.   The nozzle elevating member has a pressing piece for lowering the nozzle, and is disposed above the plurality of nozzles, and is switched to the first state at an engagement position in the vertical direction, and the pressing piece is the nozzle. The component mounting apparatus according to claim 2, wherein the component mounting apparatus is configured to be lowered and switched to the second state at a fixed position higher than the engagement position. The rotating shaft has a first engaging portion provided at an engaging position in the vertical direction,
The said nozzle raising / lowering member has a 2nd engaging part which switches the said nozzle raising / lowering member to the said 1st state by engaging with the said 1st engaging part in the engaging position of an up-down direction. Component mounting equipment. The first engaging portion of the rotating shaft is a spline shaft portion provided on an outer peripheral portion of the rotating shaft;
5. The second engagement portion of the nozzle elevating member is a spline hole portion in which the rotation shaft is disposed on the inner side and is movable in the vertical direction relative to the spline shaft portion and engages in the rotation direction. The component mounting apparatus described in 1. The first engagement portion and the second engagement portion may be any one of a plurality of first rotation angles in which a relative rotation angle of the nozzle lifting member with respect to the rotation shaft is the same as the number of the nozzles. Is configured to be engageable with
The said nozzle raising / lowering member is comprised so that the said nozzle corresponding to the said 1st rotation angle when it switches to the said 1st state among these nozzles can be raised / lowered separately. Component mounting equipment. The component mounting head further includes a rotation regulating member that engages with the nozzle lifting member to regulate rotational movement,
The said nozzle raising / lowering member has a 3rd engaging part which switches the said nozzle raising / lowering member to the said 2nd state by engaging with the said rotation control member in the predetermined fixed position of an up-down direction. Component mounting equipment. The rotation restricting member has a first tooth portion as a fourth engaging portion,
The third engaging portion of the nozzle lifting member has a second tooth portion that meshes with the first tooth portion,
As the first tooth portion and the second tooth portion mesh with each other, the third engagement portion and the fourth engagement portion are engaged, and the nozzle lifting member is switched to the second state. The component mounting apparatus according to claim 7, which is configured. The rotation restricting member and the third engagement portion are configured to be engageable at a plurality of second rotation angles around the rotation axis with respect to the component mounting head,
The nozzle raising / lowering member is configured to be switchable to the second state at any one of the plurality of second rotation angles when the rotation restricting member and the third engagement portion are engaged with each other. Item 9. The component mounting apparatus according to Item 7.   The component mounting apparatus according to claim 9, wherein the plurality of second rotation angles are rotation angles corresponding to a plurality of mounting angles of the component when the component is mounted on the substrate.

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