TW212868B - - Google Patents

Description

A 6 B 6 V. Description of the invention (i) (Please read the notes on the back before filling in this page) Background of the invention The scope of the invention The invention relates to a method and device for mounting workpieces, for example: mounting electronic components during printing Those on the circuit board. As an example of a conventional work mounting device for mounting electronic component chips on a printed circuit board, it is shown in Japanese Patent Application No. 62-1 14290 (1987). The workpiece mounting device has a plurality of vertically movable suction heads arranged along the circumference of the rotary table, and a suction station and a mounting station are arranged around it. In this situation, the electronic component wafer is mounted as follows. Printed by the S Industry and Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. First, the rotation of the rotatable table is stopped, so that a suction head is located on the suction station, and then the suction head is vertically lowered to hold the electronic component placed on the suction station Wafer. Then, the suction head holding the electronic component wafer is vertically raised, and the rotatable table is rotated at a predetermined angle, so that the suction head holding the electronic component wafer is located on the workpiece station, and then, the suction head is vertically lowered The electronic component wafer is placed on the printed circuit board placed at the installation station. For other attraction heads, repeat this installation operation as many times as necessary. In such a traditional workpiece installation device, the rotatable table must repeat the intermittent rotation action, wherein during the holding and releasing of the workpiece, the rotation of the rotatable table must be stopped, so that the efficiency of the mounting operation is A 4 (210X297 public goods) 80. 5 · 20,000 sheets (H) -4-Α6 Β 6 V. Description of the invention) The rotation of the moving platform is limited by the loss of time. Furthermore, in the conventional workpiece installation device, the movement of the workpiece between the predicted position of the suction station and the installation station is pseudo-implemented by using mechanical keys to control the suction head and the rotatable stage. Therefore, one object of the present invention is to provide a method and device for mounting a workpiece, which can perform a workpiece mounting operation without stopping the rotation of the rotatable table member. It is also an object of the present invention to provide: a method and a device that can more accurately install a workpiece. It is also an object of the present invention to provide: a method and device capable of holding a workpiece more accurately. It is also an object of the present invention to provide: a method and device that can more accurately control the movement of a workpiece. According to one aspect of the present invention, a workpiece mounting device includes: a rotatable cylindrical tool for continuous rotation around a fixed shaft; a workpiece carrying tool arranged along the circumference of the rotatable cylindrical tool, It is used to carry the workpiece from the workpiece supply station to the workpiece installation station and can simultaneously carry the workpiece around the circumference; and the control tool is used to control the workpiece carrying tool, so that: Rotate so as to move along a designated track, and the workpiece is picked up by the workpiece carrying tool (on the designated pick-up device on the workpiece supply station) and released at the designated position on the workpiece mounting station. A4 (21ΠΧ297 public assemblage) 80. 5. 20,000 sheets (} 1〉 (please read the precautions on the back before filling in this page) • Installed. Line. A6 __B6 Five printed by the Staff Consumer Cooperative of the Central Bureau of Standards Description of the invention P) (Please read the precautions on the back before filling in this page) According to another aspect of the present invention, the method of providing workpiece installation includes the following steps: A continuous rotation of a cylindrical tool around a fixed axis: Along the circumference of the movable cylindrical tool, the workpiece carrying tool is arranged to carry the workpiece. From a workpiece supply station to the workpiece mounting station, it can be rotated around the circumference and broadcast the workpiece at the same time; controlling the workpiece carrying tool therefore: The carrier tool revolves, while the rotatable cylinder tool rotates to move along a designated track, and the workpiece is picked up at a designated pick-up location on the workpiece supply station by the workpiece carrier tool and the workpiece is released One of the values on the installation station specifies the installation location. Other features and advantages of the present invention will be apparent from the following description together with the accompanying drawings. A simple description of the formula is shown in Fig. 1 according to the present invention. Fig. 2 is a schematic cross-sectional view of the main part of the workpiece mounting device of Fig. 1. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. Figure 3 is the cycloid track of the workpiece holding member in the workpiece installation device of Figure 1.圔 4 is the detail of the rotatable head part of the workpiece mounting device of FIG. 1 • rr? Leif sectional view. Fig. 5 is a detailed top plan view of the rotatable head portion of the work mounting device of Fig. 1; Fig. 6 is a detailed detail of the movement of the rotatable head in the workpiece mounting device of Fig. 1 (2 丨 〇 < 297 mm) 80. 5. 20,000 sheets (11> -6-212803 A6 _____B6 V. Description of the invention (4) For example. (Please read the precautions on the back before writing this page.) Figure 7 is the alternate configuration of the pick-up drive section of the workpiece mounting device. Figure 8 is the first part of the workpiece mounting device of the present invention. Schematic cross-sectional view of the main parts of the two embodiments. Fig. 9 is a detailed cross-sectional view of the rotatable head part of the work mounting device of Fig. 8. Fig. 10 is the rotatable part of the work mounting device of Fig. 8. The detailed top plane of the head part. Figure 11 is a detailed example of the action of the rotatable head in the workpiece mounting device of Figure 8. Order · Figure 12 is the driving section of the picking action in the workpiece mounting device of Figure 8. Cross-sectional view of the alternate configuration. Figure 13 is an example of the action of the rotatable head portion of the third embodiment of the workpiece mounting device according to the present invention. • Line · Figure 14 is the workpiece mounting device according to the present invention Partial rail of the rotatable head part of the fourth embodiment For example: Figure 15 is a schematic cross-section of the main part of the fifth specific embodiment of the workpiece mounting device according to the present invention. Figure 16 is the workpiece mounting device of FIG. 15 Detailed cross-sectional view of the rotatable head part. Fig. 17 is an example of the action of the rotatable head part of the workpiece mounting device of Fig. 15. Fig. 18 is the suction nozzle of the workpiece mounting device of Fig. 15 Part of the first class 4 (2H) X297 mm) 80. 5. 20,000 sheets (H)-7-A 6 B 6 V. Description of invention (S) Examples of some tracks. Fig. 19 is an illustration of a part of the operation of the suction nozzle part of the work mounting device of Fig. 15; Fig. 20 is an illustration of a rotatable head part of the work mounting device of Fig. 15. Fig. 21 is an example of the operation of a part of the suction nozzle part on the rotatable head part of Fig. 20 in the workpiece mounting device of Fig. 15; Fig. 2 2 is an example of a part of a rotatable head part of the workpiece mounting device of Fig. 15 having a partial track of the suction nozzle part shown Ο Fig. 23 is a workpiece mounting device according to the present invention A schematic block diagram of a motor rotation control device of a sixth embodiment. Fig. 24 is a detailed block diagram of the main parts of the motor rotation control device of Fig. 23; Fig. 25 is a timing chart of a group of signals in the motor rotation control device of Fig. 23. φ Fig. 26 is another timing chart of another group of signals in the motor rotation control device of U23. Fig. 27 is another timing chart of another set of signals in the horse-rotation control device of Fig. 23; Fig. 28 is a flowchart for controlling the control operation performed by the microcomputer in the motor rotation control device of Fig. 23. Age pretending to be a good example of the continent chain (please read the precautions on the back before writing this page). Packing. Ordering. Line. Central Ministry of Economic Affairs Employee Consumers #Cooperatives printed. A 4 (210X297 Public toads) 80. 5_ 20,000 sheets < H) 1 8 _ Α6 Β 6 5. Description of the invention p) (please read the precautions on the back before filling in this page) Now refer to Figures 1 to 7, which will be described according to this The first embodiment of the invention's workpiece mounting device. In the first specific embodiment, the workpiece mounting device includes: a master sleeper 1; a rotatable national cylinder shaft 5 arranged in the center of the main body 1; one of which is attached to a rotatable circular simple shaft 5 The value of the rotatable national cylinder 7, which has a number of workpiece holding members 21 along its circumference, along with a part of the outer circumference of the rotatable cylinder 7 is formed by a supply table 9 whose function is as a suction A table for supplying the workpiece P to be installed to the workpiece holding member 21; and a movable XY table 1 1 which is located on the opposite side of the rotatable figure cylinder 7 from the supply table 9, Its function is to serve as a mounting station for mounting the workpiece P on the printed circuit board. The supply table 9 has a semicircular shape along the circumference of the rotating cylinder 7, and is provided with a number of feeders T, which feed the workpiece P in the radial direction of the rotating cylinder 7, for example: electronic component crystal Η To the suction position. • Line · The Ministry of Economic Affairs Central Standards Bureau Employee Consumer Cooperative printed 1X1, using their first horses Mla and Mlb, on arrow A (front-back) and arrow B (right-left), etc. The direction can be moved. On this XY table 11, a mounting conveyor 13 is arranged to broadcast the printed road board in the direction of arrow C by using the second horse M2. The printing guide board is supplied from a feeding conveyor 15 to the installation conveyor 13 so as to send the printing guide board in the direction of arrow D by using the third motor M3, when the XY table 11 moves to the right, The mounting conveyor 13 approaches it, and then, the printed circuit board with the mounted electronic component crystal H takes place from the mounting conveyor 13 to the sending conveyor 17 to be sent in the direction of arrow D by using the fourth horse M4 Printed armor 4 (210X297 male yak) 80. 5. 20,000 sheets (H) A6 B 6 Central standard of the Ministry of Economic Affairs_Employee Consumer Cooperative Printed 5 'Invention Instructions (7) Circuit board, when the XY table 11 moves to the left, The conveyor 13 is installed close to it. The rotatable cylinder 7 passes through the transmission belt 20 connecting the fifth motor M 5 and the rotatable cylinder shaft 5, and the transmission power supplied from the fifth motor M 5 is pre-rotated in the direction of arrow E. Each workpiece holding member 21 includes: a rotatable head 25, which has four suction nozzles 23 of different sizes, and their images are arranged on four sides of the rotatable head 25, with 90 between each adjacent mouth ° Separation; and a key joint mechanism 27 and one of the tilting planetary wheel trains to be described below to rotate the rotatable head 25 without changing its orientation. As shown in detail in FIG. 2, the suction (jet) nozzle 23 is connected to the straight air pump 26 through a pipe 29, and the suction (jet) nozzle 23 is connected to the vacuum pump 26 through a pipe 29, using suction The holding and release of the (spray) nozzle can be controlled by controlling the attractive force (due to the vacuum pressure of the opening and closing of the valve 31 placed on the pipe 29). The tube 29 and the valve 31 rotate together with the rotation of the rotatable cylinder 7, and tilt one of the tubes 29 to the terminal, pass through the outlet valve 37 which is arranged near one of the lower ends of the rotatable round shaft 5 and the valve One of the transportation paths 41 arranged in the fixed shaft 39 (and having a tilted annular opening) is connected to the vacuum pump 26, so the vacuum pump 26 and the pipe 29 can be connected even when the outlet steam valve 37 is rotated. The link mechanism 27 includes: a first joint 27a; a second joint 27b; and a third key joint 27c. Attach the first link 27a to the first link shaft 45 which forms a part of the first transmission path 43 so that (please read the precautions on the back before writing this page). Install .. Order · Rp 4 (210X297mm) 80. 5. 20,000 sheets (H) -10-A6 B 6 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy 5. Description of invention (β) It can be combined with the first male joint axis 45 Turn. The second link 27b is attached to the second joint shaft 49 connected to the first joint shaft 45 through the transmission and belt 47 so that it can rotate together with the second key shaft 49. The third link 27c has one end which is rotatably connected to the first link 27a via a pin 53, and is attached to the other terminal on the third link shaft 51, It rotates around the second male joint shaft 49 and is rotatably supported via the second silver carp joint 2 7 b. As shown in FIG. 4, the third link 27c is attached to the rotatable head 25 by pressing a spring 3 4 against the rotatable head 25, and has a connecting hole 33 is used to connect one end of the tube 29 to the path 35 arranged behind the suction nozzle 23, even when the rotatable head 25 is turned, in order to selectively activate the suction nozzles connected to the path 35 One of 2 3. The third link shaft 51 includes an outer shaft 55 and an inner shaft 57. Connect the outer shaft 55 at one end to the rotatable head 24, and at the other end to the toothed shaft 59 of the transmission rotatable head. Therefore: When transmitting the transmission power to the transmission rotatable head When the gear 59 is on, the rotatable head 25 can be turned by an angle of about 90 °. The inner shaft 57 (at one end) is connected to the gear 61 that drives the suction nozzle and at the other end, it is connected to a tilting gear 63, in which case the side gear 63 is attached to the suction nozzle than the base The upper pinion 65 meshes. Therefore, the gear 6 1 of the self-driving suction nozzle is transmitted through the side gear transmission 6 3 and the pinion gear 6 5 to rotate the suction nozzle 2 3 to adjust the orientation angle of each suction nozzle 23 (to the workpiece P and it The relative straight line W, as shown in Figure 5 (please read the precautions on the back before writing this page) • Install.-Order-• Line ... · A 4 (2 丨 0X297 public goods) 80.5_ 20,000 (H) Yu Yu / d? Stop angry, seek profit, order the case to stop

The Ministry of Economic Affairs, Central Bureau of Standards, Staff and Consumers Cooperative printed the gear 61 for the suction nozzle and the gear 5 9 for the rotatable head. By supporting a pair of intermediate gears 67 rotatably through the second link 2 7 b, and The final gears 7 3 and 7 5 of the second and third transmission paths 69 and 7 1 mesh to form a planetary gear train (including: gears 59, 61, 67, 7 that rotate around the second link shaft 49 3 and 75). Here, the final gears 73 and 75, the gears 6 1 of the fuction nozzle, and the gears 5 9 of the driving rotatable head can be replaced by a slipper or roller connected by a belt chain. The gear ratio of the transmission rotatable head gear 5 9 and the transmission suction nozzle gear 61 (about the final gears 73 and 75) is set equal to 1: 1. Further, the distance between the first key shaft 45 and the pin 53 and the distance between the second key shaft 49 and the third key shaft 51 are substantially equal to each other. By rotating the first and second key shafts 45 and 49 of the first, second and third links 27a, 27b and 27c and the action of the planetary gear row, the rotatable head 25 is held in a constant orientation Among them, the selected one of the suction nozzles 23 is pointing downwards, and when rotated, the connecting hole 33 and the path 35 are in direct communication. The first transmission path 43 is a transmission path for providing the power from the sixth motor M6 attached to the main body 1 via the bracket 7 7 and the rotatable cylinder 7 through a ring gear 79 And an input side gear 8 7 to the first and second key shafts 4 5 and 4 9. The ring gear 7 9 is equipped with an external gear 7 9 a on its outside and an internal gear 7 9 b on its inside, and is rotatably mounted (please read the precautions on the back before filling this page) Order. Line. This paper uses the CNS T4 specification (210X297 mm) _ 12 — 81. 5. 20,000 (H) A 6 B 6 21X. 5. Description of the invention (10) A fixed frame 7 8 on the inner flange portion 7 8 a. The external gear 7 9 a meshes with the horse gear 8 5 of the sixth motor M6 to be properly placed on the upper surface of the inner flange portion 78 a, like the cut-out member 8 3 (which is arranged with (The inner wall surface 78b of the fixed frame 78 on the lower surface side of the hun gear 7g is in contact). The internal gear 79b meshes with the input side gear 8 7 of the gear shaft 81 supported by the rotatable cylinder 7, and the output side gear 8 9 of the gear shaft 81 is attached to the first link shaft 45 The upper transmission gear 91 meshes. Therefore, when the sixth horse is turned off, and the rotatable shaft 7 rotates in the direction of arrow E, the input side gear 87 rotates, and at the same time revolves around itself to be in mesh with the Jing gear 79 In this state, when the transmission power of the rotation enters the counterclockwise direction, the transmission power of the rotation is transmitted from the input side gear 89 to the first and second joint shafts 45 and 49 through the output side gear 89 and the transmission gear 91. As a result, the suction nozzle 23 of the rotatable head 25 repeats the picking up and down movement along the trajectory of the cycloid curve N shown in FIG. Here, when the rotatable cylinder 7 is rotating, the ring gear 79 is rotated into the same direction as the rotatable cylinder 7 by controlling the operation of the sixth motor M6, and the period of the pickup operation of the suction nozzle 23 can be made Longer Ο Even more special, in this particular embodiment, the suction nozzle 23 of the lower finger will rotate counterclockwise five times, while moving from the supply table 9 via the 180 ° rotation of the rotatable cylinder 7 To ΧΥ 台 1 1, in order to pick up the track along the cycloid curve (where, as shown in 圔 3, in (please read the precautions on the back before writing this page) • Install ·-Order. . Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs ¾. A 4 (2 丨 0X297 male yak) 80. 5. 20,000 sheets (H) -13-A6 B 6 V. Description of invention (11) During a period of L The mouth 23 is lowered twice) can be obtained by controlling the sixth motor M6 to rotate four times. In this pick-up operation, the rotation rate is set equal to this value, namely: the speed of the suction nozzle 23 ^ 1 top terminal (due to the rotation of the rotatable cylinder 7 in the direction of arrow E) and the top terminal of the suction nozzle 23 The velocities (because the rotatable head 25 rotates in a counterclockwise direction) will coincide with each other, so that the nozzle 23 has a net relative velocity (about ground equal to approximately zero). As a result, a stable suction operation can be obtained in this specific embodiment, and the operation of the sixth motor M6 is controlled in different ways, for example, 3 revolutions or 4.5 revolutions, and a period L of the cycloid curve N Increase or decrease so that the suction nozzle 23 can be picked up with respect to the entire area of the supply table 9. Here, the transmission power of the pickup action of the suction nozzle 23 can be provided in different ways. For example, as shown in FIG. 7, the configuration can be changed through the winding part shown by the dashed line, so that: the external gear 7 9 a of the Jing gear 79 meshes with the input side gear 8 7, and The internal gear 7 9 b meshes with the motor gear 85 of the sixth motor M6. Also, as shown by the double-dotted line in Fig. 7, the transmission system surrounded by the dashed line can be replaced by a configuration in which the input side gear 8 7 is directly connected with the horizontally rotating ring The pinion gear 80 meshes to form a connection with the first transmission path 43. The transmission path of the second transmission path 69 and the orientation angle of the suction nozzle 23, it closes the transmission power from the rotatable cylinder 7, and at the same time passes a differential gear 93, an elongated sleeve shaft 95, And an external sleeve shaft 97 located outside the second link shaft 49, and the self-supporting bracket (please read the precautions on the back before writing this page) • Install · _ • Line. Central Bureau of Standards, Ministry of Economic Affairs Printed by the employee consumer cooperative 4 (2 丨 () X2f) 7mm) 80. 5. 20,000 sheets (H > -14-2128ί »^ Α6 ___ Β_6 V. Description of the invention (12) 77 is attached to the main body 1 The t-th motor M7 provides the dynamic power to the final gear 73. The motor pulley 99 of the t-th motor M7 is connected to the pulley 10Γ of the differential gear 93 through a power transmission belt 103, and the differential gear 93 The first gear 105 is meshed with a ring-shaped fixed gear 109. The gear 109 is fixed to the fixed shaft 107 supported by the rotatable national cylinder 7, and the second gear 93 The gear 1 1 1 is meshed with a ring-shaped free tooth input 1 1 3 (the gear 1 13 passes freely through the fixed shaft 107), and the free gear 1 1 3 meshes with the transmission gear 115 provided on the upper edge of the sleeve shaft 95. In this configuration, the number of teeth of the differential gears 93 and 109, 105, 1 1 1 and 1 1 3 are Set equal to these values, so that: the ratio of the speed of the fixed tooth input 109 and the free gear 113 will be 1: 1 〇 As a result, the fixed tooth that rotates together with the rotatable cylinder 7 can be input 10 9 transmission The power is transmitted to the free gear 113 through the first and second gears 105 and 111 of the differential gear 93, but at the same time, the rotation of the fixed gear 109 and the free gear 113 are synchronized, so: Transmission power transmission to the sleeve shaft 95. On the other hand, the bevel gear 117 provided on the lower edge of the sleeve shaft 95 and the bevel gear 1 19 provided on the outer sleeve shaft 97 are phased. Meshing. Therefore, when the seventh motor M7 is operating, the transmission power of its rotation can be transmitted to the final gear 73 through the second gear 111, the free gear 113, the sleeve shaft 95 and the outer sleeve shaft 97 (please read first (Notes on the back will be written on this page) _Installed-Ordered ... Line. Central Standard of the Ministry of Economic Affairs Printed by the employee consumer cooperative ¾. A 4 (2 丨 0X297 public loan) 80. 5_ 20,000 sheets (H) -15-A6 B 6 V. Description of invention (13). (Please read the precautions on the back before writing this book Page) The third transmission path 71 is a transmission system for selecting one of the suction nozzles 23, which turns off the transmission power from the rotatable drying cylinder 7 and simultaneously transmits through the sleeve shaft 95 through the differential gear 121 The shaft 123, and an inner sleeve shaft 125 located outside the second link shaft 49, provide transmission power from the eighth motor M8 attached to the main body 1 via the bracket 77 to the final gear 75. Order · Line · Motor pulley 1 2 7 of the eighth motor M 8 is connected to the pulley 1 2 9 of the differential gear 1 2 1 through the transmission belt 1 3 0, and the first of the differential gear 1 2 1 The gear 1 3 1 meshes with the ring-to-fixed gear 1 33, the gear 133 is integrally fixed to the fixed shaft 107, and the second gear 135 of the differential gear 121 and the free-wheel gear that penetrates the fixed shaft 107 freely 137 meshes, and the free gear 137 meshes with the transmission gear 1 3 9 provided on the upper edge of the transmission shaft 1 2 3. In this configuration, the number of teeth of the differential gear 121 and each of the gears 133, 131, 135, and 137 is set equal to these values: that is, the speed ratio of the fixed gear 11 3 and the free gear 137 will be 1: 1 Printed by the Central Standards Bureau employee Xiao # Cooperative Society. As a result, the transmission power from the fixed gear 133 rotating together with the rotatable cylinder 7 can be given through the first and second gears 131 and 135 of the differential gear 121 Transmission to the free gear 137, but at the same time, the rotation of the fixed gear 133 and the free gear 137 are synchronized, so the transmission of transmission power to the transmission shaft 123 is turned off. On the other hand, the f 4 (210X297 male cane) placed on the lower edge of the transmission shaft 123 is 80. 5. 20,000 sheets (Η) 16-A 6 B6 21-BC3 5. Description of the invention (14) ( Please read the precautions on the back before writing this page). The bevel gear 141 meshes with the bevel gear 143 provided on the inner sleeve shaft 125. Therefore, when the eighth motor is operating, the transmission power of its rotation can be transmitted to the last gear 75 through the second gear 135, the free gear 137, the transmission shaft 123, and the inner sleeve shaft 125. In addition, as shown in FIG. 2, a value control device SL is provided to input information from each value sensor into it, for example: a workpiece monitoring sensor for checking: the state of the workpiece being fixed by the suction nozzle 23; and a rotation The angle sensor is used to detect the turning angle of the rotatable cylinder 7, and the device SL outputs a control signal to control the opening and closing of the sight 31 according to the input information, and appropriately start and stop the first to eighth Horses Ml to M8. Now, the operation of this work mounting device of the first fishy embodiment will be described. The Ministry of Economic Affairs, Central Bureau of Standards and Staff ’s Consumer Cooperative printed a rotatable cylinder 7 that is entwined in the direction of arrow E, and the downward pointing nozzle 23 rotates in a counterclockwise direction, as shown in Figure 6. . Here, each suction nozzle 23 repeats the pickup operation along the cycloid track N shown in FIG. 3 having a relatively long period L according to the control via the control device SL. In this pickup operation, the relative speed of each suction nozzle 23 with respect to the ground becomes substantially equal to zero at a lower position, so that it can be stably obtained, and the workpiece P is picked up from the supply station 9. Then, each suction nozzle 23 holding the work piece P is rotated to the XY table 11, while repeating the picking action along the cycloid track, and releasing the work piece P on the printed circuit board 19 on the XY table to install the work piece P. Here, in order to adjust the orientation angle of each suction nozzle 23, by controlling the t 4th (210X297 public loan) muscle 5. 20,000 sheets (H) -17-A 6 B 6 Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 3. Description of the invention (15) Ma Yi M7, in order to transmit the transmission power to the final gear 73 through the second transmission path 69, the precise installation of the workpiece P on the printed circuit board 19 can be achieved. In addition, in order to rotate the rotatable head 25 by about 90 °, by controlling the eighth motor M8 so as to transmit the transmission power to the final gear 75 through the third transmission path 71, it can be achieved: according to the size of the workpiece P, select one Appropriate suction nozzle 23. In this particular embodiment, the rotatable cylinder 7 maintains continuous rotation throughout the operation of the device, so that there is no loss of time caused by stopping the rotatable cylinder 7. Moreover, by controlling the cycle L of the winding track N of the pick-up action of each suction nozzle 23, the workpiece P can be picked up over the entire area of the supply table 9, and then the workpiece P can be mounted on the printed circuit board on the XY table 11. It is not necessary to stop the rotation of the rotatable cylinder 7 so that the efficiency during the installation of the workpiece can be improved. Referring now to FIGS. 8 to 12, a second specific embodiment of the workpiece mounting device according to the present invention will be described. Hereinafter, in the first specific embodiment described above, those elements corresponding to the elements will be shown with the same reference numerals in the formulas, and the description thereof will generally be omitted. In this second specific embodiment, each workpiece holding member 21 includes: a rotatable head 25 having four suction nozzles 23 having different sizes, and each suction nozzle 23 is pseudo-configured on the rotatable head On the four sides of 25, there is a 90 ° separation between adjacent suction nozzles 23; and a head orientation control mechanism 145 is used to rotate the rotatable head 25 without changing its orientation. (Please read the precautions on the back before filling in this page). Install ·-Order. • Line · A 4 (2 丨 0X297mm) 80. 5. 20,000 sheets (H) -18 A6 B 6 Central Standard of the Ministry of Economic Affairs Printed by the Bureau ’s Consumer Cooperatives V. Description of the invention (16) As shown in detail in FIG. 8, each suction nozzle 23 is connected to the vacuum pump 26 through the tube 29, and the holding and release of the suction nozzle 23 can be controlled by The attractive force (due to the vacuum pressure of the opening and closing of the valve 31 placed on the pipe 29) is controlled. ^ The tube 29 and the valve 31 rotate together with the rotation of the rotatable picture tube 7, and connect one end of the tube 29 to a connecting hole 149 on the ring member 147 that contacts the back of the rotatable head 25 . The Chen-shaped member 147 is attached to the rotatable head 25 by pressing against the rotatable head 25 by a spring 150, so that the connecting hole 149 and the path 152 provided behind each suction nozzle 23 Connection, even when the rotatable head 25 is rotated, in order to selectively activate the other end of the tube 23 of the suction nozzle 23, it passes through one of the terminals provided on the cylindrical shaft 5 close to the rotatable outlet valve 37 and a communication path 151 provided in the rotatable cylindrical shaft 5 are connected to the vacuum pump 26. The lower terminal of the traffic route 1 5 1 has an annular outlet steam valve 1 57, which communicates with the route 1 5 5 of the fixed sleeve 15 3 connected to the vacuum pump 26, so that: When the cylindrical shaft 5 rotates, the outlet steam valve 157 and the path 155 can be connected. The head orientation control mechanism 145 includes: a key joint 169 fixed to the sleeve shaft 193, a first shaft 159, a second shaft 161, and a third shaft 163, which are like the chain link 169 around the sleeve shaft 193 Turn. The first axis 159 is set in the second axis in a freely rotatable state (please read the precautions on the back before filling in this page) • Install ... Order. • Line. F 4 (21 () χ297 公 蝥> 80 . 5. 20,000 sheets (H > -19-A6 B 6

Du Yin M, Employee Consumption Cooperation of the Central Bureau of Standards of the Ministry of Economic Affairs V. Description of the invention (17) 1 6 1 Internally, with a terminal attached to the pulley 1 65 of the Fudong suction nozzle and attached to the side gear 63 At the other end, in this case, the side teeth 63 meshes with the small teeth 65 provided on the base of the suction nozzle 23. Therefore, the transmission power is transmitted through the side gear 63 and the small tooth transmission 65 to drive the pulley 165 of the suction nozzle, so as to rotate the suction nozzle 23 to adjust the orientation angle of each suction nozzle 23 (open on a straight line W, the workpiece P is aligned with this line), as shown in 圔 中 10. The second shaft 161 is provided inside the third shaft 163 in a freely rotatable state, and has one terminal attached to the rotatable head 25 and another terminal attached to the pulley 167 of the rotatable head . Therefore, by applying the transmission power to the pulley 167 for driving the rotatable head, the rotatable head 25 can be rotated, and the suction nozzle 23 can be appropriately selected. The third shaft 163 is the outermost shaft, and has one terminal fixed to the link 169 and the other terminal embedded in the extended opening portion of the ring member 147 in a freely rotatable state, In this case, the extended opening portion of the ring-shaped member 147 has a pulley 171 attached thereto. This pulley 171 is connected to the last pulley 173 fixed to the fixed shaft 177 through a belt 175. The fixed shaft 177 has one end supported by the sleeve shaft 193, which is embedded in the key 169; and the other end is fixed to the support frame 7a fixed on the rotatable cylinder 7. The pulley 165 of the fuction nozzle and the pulley 167 of the rotatable head are connected to the second and third transmission channels 69 through the belt 183 (please read the precautions on the back before filling out this page) • Install-order. .Line. F 4 (2 丨 0X297 public loan) 80. 5. 20,000¾ (H) -20 A 6 B 6 Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description (18) 7 The last pulley 18 of 1 1 and 179 are connected, so that: planetary Shitou (where the rotatable head 2 5 rotates, while Chen orbits around itself as the knot 169) is rotated through the first transmission path 43, which is the final The pulleys 181 and 179 are stopping = state. Here, the planetary bar formed by the pulleys 173, 179, 181, 165, 167, and 171 can be realized by using gears instead of belts, as shown in FIG. 12. The slip ratio (about the last pulleys 179, 181 and 173) of the pulley 1 6 7 that drives the rotatable head, the pulley 165 that drives the suction nozzle, and the pulley 17 1 of the ring member 147 is set equal to 1: 1. With this planetary bar configuration, the rotatable head 25 maintains a constant orientation, wherein one of the selected nozzles 23 is directed downwards while rotating around the fixed axis 177. The first transmission path 43 is a transmission system for the sixth motor M6 attached to the rotatable cylinder 7 and the self-rotatable cylinder 7 through the differential gear 185 and at the same time Provide drive power. This differential gear 1 8 5 is generally referred to as a harmonic gear (it is supported by a rotatable round crown 7) and has two transmission systems including: a motor transmission system for transmitting the sixth motor M6 Transmission power to the bevel gear 187, and the rotatable cylinder transmission system, used to transmit the transmission power from the rotatable cylinder 7 to the bevel gear 187 (when the transmission gear 19 1 ring ring gear 189 and At the same time, it rotates around itself by meshing the ring gear 189 and the Fu gear 191 attached to the fixed sleeve 153. (Please read the precautions on the back before filling out this page) • Pack · Order. • Line · A 4 (210X297mm) 80. 5. 20,000 sheets (H) -21-A6 B 6 V. Description of the invention (19) The output bevel gear 187 is penetrated through the fixed shaft 177 and set in the sleeve with the warp The bevel gear 198 on the barrel shaft 193 is meshed. Therefore, when the rotatable cylinder 7 that turns off the sixth motor M6 rotates in the direction of arrow E, the transmission gear 191 rotates, and at the same time rotates around itself It is in a state of meshing with Chen gear 189, when the transmission power of rotation becomes inverse In the needle direction, the rotatable conventional power is transmitted from the transmission gear 191 to the sleeve shaft 193. As a result, the suction nozzle 23 of the rotatable head 25 follows the vibration line shown in FIG. The orbit of curve N is used for picking up and down. Here, by controlling the operation of the sixth motor M6, the rotatable cylinder 7 is rotating at the same time, and enters into the rotatable cylinder 7 through the rotating ring gear 189 In the same direction, the period of the pickup action of the suction nozzle 23 can be made longer. In this specific embodiment, more particularly, the suction nozzle 23 pointing downward will rotate counterclockwise about 5 times, and at the same time, it can rotate The 180 ° rotation of the cylinder 7 moves from the supply table 9 to the XY table 11 for picking action along the trajectory of the cycloid curve (in which, during a period L as shown in FIG. 3, the nozzle 23 lowers twice), which can be obtained by controlling the sixth motor to rotate 4 times. In this pick-up action, the rotation rate is set equal to such a value that: the speed of the top end of the nozzle 23 (due to the rotation of the Cylinder 7 rotates in the direction of arrow E) and The velocity of the top end of the mouth 2 3 (because the rotatable head 25 rotates in a counterclockwise direction) will coincide with each other so that the suction nozzle 23 has a net relative velocity (about the ground) equal to approximately zero at a lower position . The results of A 4 (210X297 mm) 80. 5. 20,000 sheets (H> ..................................... ................ installed ........................ ordered ... ..........] ...... Line-(please read the precautions on the back before filling in this page) A 6 B 6 2128G3 printed by the Consumer Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Description of the invention (20) Yes, in this particular embodiment, a stable suction operation can be obtained, and by controlling the operation of the sixth motor M6 in different ways, for example, 3 rotations or 4.5 rotations, the cycloid N However, the period L increases or decreases so that the pick-up action of the suction nozzle 23 can be performed: on the entire plaque field of the supply station 9. Moreover, by controlling in this way, in order to produce a more rotatable figure tube 7 to a rotatable head 25, the rotation angle is 7 times larger, so that the rotatable head 25 can make a rotatable action, not around It turns around itself in order to: turn the transferable head 25, and at the same time, only when the workpiece is to be picked up and released, the suction nozzle 23 is lowered. As a result, it can be avoided that each nozzle 23 and other workpieces may be dried. The second transmission path 69 is a transmission system for controlling the orientation of the work piece P. It supplies the transmission power from the seventh motor M7 attached to the rotatable cylinder 7 to the transmission through the input pulley 195. Mouth pulley 1 65. The input pulley 1 95 is fixed to the sleeve shaft 196 of the last pulley 18 1, and is connected to the horse pulley 1 9 7 of the seventh motor M7 through a transmission belt. The third transmission path 71 is a transmission system for selecting one of the suction nozzles 23, which provides the transmission power from the eighth horse M8 attached to the rotatable cylinder 7 through the input pulley 201 to the transmission Rotating head pulley 1 67. The input pulley 20 1 is fixed to the sleeve shaft 200 of the last pulley 1 79, and is connected to the motor pulley 203 of the eighth motor M 8 through the transmission belt 205. Therefore, instead of the 90 ° rotation through the rotatable head 25, choose .................................. ί ............ ^ ......................... TΓ ......... ...... ^ ....... Practice. (Please read the precautions on the back before filling the nest page) Printed Split Armor 4 (2 丨 0X297mm) of the Beigong Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 80. 5. 20,000 sheets (Η) -23-2128 (-3 a6 __B_6 V. Description of Invention 1) Select the suction nozzle 23 and control the eighth motor M8, for example, after completing the installation of the workpiece, you can change The rotatable head 25 rotates 45 ° so that each suction nozzle 23 assumes a non-operational orientation different from the operation orientation directed downward. As a result, it is possible to avoid possible interference between each suction nozzle 23 and other components. Moreover, the configuration of this specific embodiment is simpler than that of the above-mentioned first specific embodiment, because: the entire link mechanism 2 7 and the first joint shaft 45 in the first specific embodiment, via the fixed shaft 177, The quadruple shaft configuration formed by the sleeve shaft 193, the sleeve shaft 200 and the sleeve shaft 196 is replaced. In addition, as shown in Fig. 8, a value control device SL is provided to input information from various sensors into it, for example: a workpiece monitoring sensor is used to check: the state of the workpiece being fixed through the suction nozzle 23; and A rotation angle sensor is used to detect the rotation angle of the rotatable cylinder 7, and the device SL outputs a control signal to control the opening and closing of the valve 31 according to the input information, and appropriately start and stop the first to the first Eight motors M1 to M8. Now, the operation of such a work mounting device of the second specific embodiment will be described. Regarding the rotatable cylinder 7 which is rotating continuously in the direction of arrow E, the suction nozzle 23 which is pointing downward rotates in a counterclockwise direction, as shown in FIG. 11. Here, each suction nozzle 23 repeats the pickup operation along the vibration line track N shown in FIG. 3 having a relatively long period L according to the control by the control device SL. In this pick-up operation, each nozzle 23 is on the ground (please read the precautions on the back before filling out this page) • Installed • • Ordered.. Line: Printed by the Ministry of Economy t Central Standards Bureau®: Industrial and Consumer Cooperatives $ 4 (21〇 > < 297 public goods> 80.5.20,000 sheets < 1 ·!) -24-A 6 Β 6 Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description only 2) Relative speed, in comparison In the lower position, it becomes equal to zero on the big skull, so that it can be obtained stably, and picks up the workpiece p from the supply station 9. Then, each suction nozzle 23 holding the work piece P is rotated to the XY stage 11 while repeating the picking action along the track of the helix, and releasing the work piece P on the printed circuit board 19 on the XY stage 11 and Install workpiece P. Here, in order to adjust the orientation angle of each suction nozzle 23, by controlling the seventh motor M7 to transmit the transmission power to the final gear 181 through the second transmission path 69, the precise installation of the workpiece p on the printed circuit board can be achieved 1 9 on. In addition, in order to rotate the rotatable head 25 by about 90 °, by controlling the eighth horse M8, in order to transfer the transmission power to the final gear 179 through the third transmission path 71, it can be achieved: according to the size of the workpiece P, Choose a proper nozzle 23. In this embodiment, the rotatable cylinder 7 maintains tandem rotation to traverse the operation of the device, so that there is no loss of time caused by stopping the rotatable figure cylinder 7. Furthermore, by controlling the period L of the cycloid track N of the pick-up action of each suction nozzle 23, the workpiece P can be picked up over the entire area of the supply table 9, and then the workpiece P can be mounted on the printed circuit board on the XY table 11. It is not necessary to stop the rotation of the rotatable figure barrel 7 so that the efficiency during the installation of the workpiece can be improved. Referring now to Fig. 13, a third embodiment of the workpiece mounting device according to the present invention will be described. In this third embodiment, the second embodiment above (please read the precautions on the back before filling out this page). Install · Order · Line · A 4 (210X297mm) 80 . 5. 20,000 »(H) -25-212ΒΓ3 A6 ____B6 V. Description of the pregnancy 3) Modified because: the pulley 1 6 7 of the rotatable head and the pulley 1 7 1 of the hoop-shaped member 1 7 1 are driven The pulley ratio (about the last, pulleys 173 and 179) is set equal to 1: 1, and the pulley fcb ratio of the pulley 1 65 of the fuction nozzle and the final pulley 1 8 1 is set equal to 1 1: 10. The latter ratio was chosen to be 1 1: 10 for the following reasons. In this particular embodiment, the device is designed so that the rotatable head 25 rotates once, while it orbits itself ten times, so as to orbit itself as shown in FIG. 13 During one time, rotate the rotatable head 25 by about 36 °, the workpiece P can be oriented in exactly the same direction as it was when the supply table 9 was picked up, and it can be carried from the supply table 9 to the XY table 11 and the work piece P can be obtained (Regarding the W line) precise installation. Therefore, in this specific embodiment, the selected one of the suction nozzles 23 can be maintained to be directed downwards, during the rotation of the rotatable head 25 around the fixed axis 177, together with Planetary gears of the above device. Here, by controlling the seventh horse M7 so as to transmit the transmission power to the last pulley 18 1 through the second transmission path 69, during its rotation, each suction nozzle 23 revolves around itself and thus maintains the workpiece P at the same Orientation so that it can be obtained that the work piece P is accurately mounted on the printed circuit board 19. Referring now to Fig. 14, a fourth embodiment of the workpiece mounting device according to the present invention will be described. In this fourth specific embodiment, the above-mentioned second film embodiment is modified, therefore, the device is designed so that: the rotatable head 25 rotates one (please read the precautions on the back before filling this page) • Install · • Line · Inno-T 4 (210X297 Gongyang), the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 80. 5. 20,000 sheets (H) -26-A 6 B 6 V. Description of invention (24) (please read the back page first (Notes are written on this page again). At the same time, it turns around itself ten times, and at the same time designs the first transmission path to be suitable for the transmission system of the wire-lifting action; it passes through the differential gear 185. At the same time, the transmission power from the sixth motor M6 attached to the rotatable cylinder 7 via the bracket and from the rotatable cylinder 7 is provided. That is, in contrast to the second embodiment described above, (in the In the two specific embodiments, the ratio of the turning radius r from the fixed shaft 177 to the first shaft 159 and the turning radius R from the rotatable cylindrical shaft 5 to the suction nozzle 23 is set equal to 1:10 The cycloid ratio makes the head turning radius r slightly extend, so that: self-fixing axis From 177 to the turning radius of the head of the first shaft 159, the ratio of the turning radius R of the cylinder from the rotatable cylindrical shaft 5 to the suction nozzle 23 is set to be similar to the cycloid ratio, for example, 1.01: 10. Another way is, for example, in order to obtain a ratio of 1: 9. 9 similar to the line can reduce the radius of rotation of the cylinder R is slightly shortened. Moreover, the similar-cycloid track can also be adjusted by appropriate The rotating angular velocity of the rotating head 25 and the rotating angular velocity of the rotatable tube are obtained. The staff consumption cooperative of the Central Standards Bureau of the Ministry of Economic Affairs printed on this configuration, close to the lower position of the cycloid of the suction nozzle 23 The orbit is deviated from that in the second specific embodiment, as shown in FIG. 14 via the dashed line: shown in FIG. 14 through the solid line, where the vertical stroke D can be greater than the vertical stroke in the second specific embodiment d. Here, the orbit of the suction nozzle 23 (in the circumferential direction of the barrel) was measured within the limit of the allowable picking position error range. Therefore, when the transmission power is passed through the side gear 6 3 and the pinion gear 6 5 No. 4 (210X297mm) 80. 5. 20,000 sheets H) -27-2, VZ6 \ ^ A 6 B 6 Printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economy V. Invention description name 5) It is transmitted to the gear 61 of the driving nozzle and the nozzles 23 are rotated. That is, adjustment Since the orientation angle of each suction nozzle 23 is obtained, it is possible to obtain the workpiece P and the precise installation of the W line. In this specific embodiment, each suction nozzle 23 moves along a line-taking track similar to that having a long vertical stroke D, so that it can be prevented from picking up the workpiece P on the supply table 9 through each suction nozzle 23 Failure. Moreover, it is also possible to accurately mount the workpiece P on the XY table 11. Therefore, according to this specific embodiment, the improvement of efficiency during the installation of the workpiece can be improved by achieving the continuous rotation of the rotatable cylinder 7, and at the same time, the accuracy of the installation of the workpiece can also be achieved by The nozzle 23 is similar to the cycloid track. Referring now to FIGS. 15 to 22, a fifth specific embodiment of the workpiece mounting device according to the present invention will be described. In this fifth embodiment, the second embodiment described above is modified, as shown in FIGS. 15 and 16, so that the rotatable head 25 is additionally configured with a unit 22 with a sliding rotatable head In order to slide the rotatable head 25 in the direction of the diameter of the rotatable cylinder 7. The rotatable head sliding unit 22 includes a cam member 1 1 3 attached to the sleeve shaft 1 93, which has a cam groove to be engaged with the cam protrusion 1 1 5 fixed to the support frame 7a 1 1 1. Therefore, by rotating the cam member 113, the sleeve 193 and therefore, the rotatable head 25 can be slid in the direction of the diameter of the rotatable cylinder 7 indicated by the arrow in FIG. The cam groove 1 1 1 of the cam member 113 is such a groove: the tip of the suction nozzle 23 does not protrude and can be turned (please read the precautions on the back before filling this page) • Install.. Order • • Line. A 4 (2 丨 0X297mm) 80. 5_ 20,000 sheets (H) -28-A6 B 6 V. Invention description name 6) The rotatable track / 3 of the moving cylinder 7. (Please read the precautions on the back before filling in this page) That is, in the above-mentioned second specific embodiment, the nozzle 23 rotates like a downward-pointing orientation, so as to surround α- at the rotatable head 25 During the rotation of the shaft, each suction nozzle 23 inevitably protrudes from the rotatable orbit / 3 of the rotatable cylinder 7 by a length e, as shown in FIGS. 17 and 18, and therefore, each The orbit of the suction nozzle 23 is irregular in the vicinity of the positions of pickup and release, as indicated by the dotted line in FIG. 19. In contrast, in this fifth hip embodiment, this irregularity of the orbit of each suction nozzle 23 is caused by the use of the rotatable head sliding unit Ί2: the sliding movement of the rotary head 25 The pieces are absorbed, so that: each suction nozzle 23 moves along a track shown by a dotted line in FIG. 19, and it has regularity in the vicinity of positions such as pickup and release. Also, the bevel gear 198 attached to the sleeve shaft 193 has its movement in the diameter direction of the rotatable picture tube 7 and is prohibited by each stopper member 117, while being slidably supported by the key 119, Therefore: the meshing between the differential gear 185 and the bevel gear 187 is ensured. Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy. Therefore, in this specific embodiment, each suction nozzle 23 slides in the direction of the diameter of the rotatable cylinder 7 in the vicinity of the positions of pickup and release, so that it can be obtained : Each suction nozzle 23 moves regularly along the rotatable orbit / 5 of the rotatable cylinder 7 and may accurately hold the workpiece P on the supply table 9 and accurately install the workpiece P to the place on the XY table 11 Specify the location. In addition, as shown in FIG. 20, the rotatable head 25 can be tilted upward by about an angle ® (about the axis α). Therefore, the tip of the suction nozzle 23 is along the nail 4 (210X297 mm) 80. 5. 20,000 sheets (Η ) -29-A6 B 6 V. Name of invention description 7) Move along the following orbit: This orbit moves within the rotatable orbit point of the rotatable cylinder 7 and adjacent to the position of picking and releasing, etc. The orbit / 3 merges together, as shown by the dotted line in Figure 21. That is, the fixed axis 177 is tilted upward at an angle of about ®, and one of the selected suction nozzles 23 is vertically oriented, so that: the top of each suction nozzle 23, along the ellipse, at positions such as pickup and release The circle F moves as shown in Figure 21. Regarding the direction of the arrow E, the rotatable tube 7 that is rotating continuously, the nozzle that points downwards 2 3 The performance is counterclockwise-transfer to review here, each nozzle 23, 傜 according to the controlled equipment The control of SL repeats the picking movement along the track of the long line L of the citrus. In this pick-up operation, the relative speed of each suction nozzle 23 with respect to the ground becomes substantially equal to zero at the lowered position, so that it can be determined: from the supply station 9, pick up the workpiece P. Then, each suction nozzle 23 holding the workpiece P is rotated around the XY table 1 while repeating the picking action along the track of the cycloid, and releasing the workpiece P on the printed circuit board 19 on the XY table 11 Install workpiece P. Therefore, in this specific embodiment, it can be obtained that the regular movement of each suction nozzle 23 along the rotation track / 3 of the rotatable cylinder 7 is as shown in FIG. 22 and may be accurately held on the supply table 9 on the workpiece P and accurately install the workpiece P to the specified position on the XY table 11. Referring now to FIGS. 23 to 28, a sixth specific embodiment of the workpiece mounting device according to the present invention will be described. In this sixth specific embodiment, the second specific embodiment described above is modified because: the pulley 173 is fixed to the fixed shaft 177, and the shape (please read the precautions on the back before filling this page) • Install Line. Printing 4 (210X297 mm) 80. 5. 20,000 sheets (H) -30-A 6 __; _B_6 V. Invention description () 28 into a planetary gear bar, Therefore, the rotatable head 25 rotates, and the orbit around itself (as the joint 169) is rotated through the first transmission path 43 (stop the last pulleys 179 and 181). Moreover, as in the above-mentioned third specific implementation handle, the second specific embodiment of the above-mentioned second embodiment is further modified, because: the sliding transmission 171 of the pulley 167 and the ring member 147 of the rotatable head is transmitted The ratio (regarding the last pulleys 173 and 179) is set equal to 1: 1, and at the same time the pulley ratio of the pulley 165 driving the suction nozzle and the last pulley 181 is set equal to 1 1: 1 10. The latter ratio was chosen to be 1 1: 1 0 for the following reasons. In this particular embodiment, the device is designed so that: the rotatable head 25 rotates once, and at the same time it rotates around its own environment + times, so as to make it possible for it to revolve around itself once The rotating head 25 rotates about 36 °, and the workpiece P can be oriented in exactly the same direction as it was when the supply table 9 was picked up. It can be carried from the supply table 9 to the XY table 11, and the workpiece P (about the W line) can be obtained Precise installation. Therefore, in this specific embodiment, the selected one of the suction nozzles 23 can be maintained to be directed downwards, during the rotation of the rotatable head 25 around the fixed shaft 177, together with the planetary gear train of the above device. Here, the sixth motor M6 is controlled so that the rotatable head 25 rotates once, while it revolves around itself ten times, so as to rotate the rotatable head 25 about once during its revolving around itself 36 °, the workpiece P can be carried from the supply table 9 to the XY table 11 in exactly the same orientation as it was when the supply table 9 was picked up. By controlling the speed of the sixth motor Μ 6, you can also control the speed of the picking action so that: the picking action can be 4 (210X297 mm) 80. 5. 20,000 sheets (Η) (please read the precautions on the back before writing This page) • 袈. 线 · 212BC3 A 6 B 6 printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 5. Description of the invention () 29 It is carried out in the entire range of the supply station 9. (Please read the precautions on the back before filling in this page) Also, by controlling the t-th motor M7, in order to transfer the transmission power to the last pulley 18 1 through the second transmission path 6 9, during its vibration, each suction nozzle 23 revolves around itself, so the workpiece P is held in the same orientation, so that a precise mounting of the workpiece P on the printed circuit board 19 can be obtained. Furthermore, in this specific embodiment, the control unit SL is such that the function of collecting information is removed from various sensors, for example, a workpiece monitoring sensor is used to check the state of the workpiece being fixed through each nozzle 23, and A rotation angle sensor for detecting the rotation angle of the rotatable picture tube 7, and outputting various control signals according to the input information to control the opening and opening of the valve 31 and appropriately starting and stopping the first to the first Eight motors M1 to M8, which have a motor control unit for controlling the operation of the sixth motor M6 (about the operation of the fifth motor M5) to control the movement of each suction nozzle 23, as described above. The control unit SL printed and installed by the Ministry of Economy Central Standards Bureau ’s Employee Consumer Cooperative will now be described in detail. This motor control unit controls the sixth horse 6 to drive the bevel gear 187, which controls the first transmission path 43 (about the fifth motor Μ5) to drive the rotatable cylinder 7, so that: each suction nozzle 2 3. Carry out a proper pick-up action along the trajectory Ν, where the workpiece Ρ is picked up (carried) on the supply table 9 to the ΧΥ 台 11, and is released on the ΧΥ 台 1 1 to install the workpiece Ρ. As shown in Fig. 23, this motor control unit has a configuration in which it will be used to rotate under the transmission through the first servo actuator 207,

If 4 (210X297mm) 80. 5. 20,000 sheets (Η) -32-212bf, 3 A 6 B 6 V. Description of the invention (3〇> The rotation signal of the fifth horse M5 of the rotating cylinder 7 is passed A pulse generator 20 1 is supplied to a phase-locked loop (PLL) circuit 203, and at the same time, a rotation signal / pass for rotating the sixth motor M6 of the bevel gear 1 87 driven by the second servo sensor 2: 0 9 The second pulse generator 205 is supplied to the PLL circuit 203, and in order to control the second servo actuator 209 in such a manner as to lock the phase of the second pulse generator 206 (about the first pulse generator 201), in order to realize each The appropriate cycloidal part of the suction nozzle 23, as described above, when on the adder 211, the positive rate correction sign is added to the rate naming signal of the sixth motor M6 generated from the rate naming unit 2 Γ 3 At this time, the PLL circuit 203 obtains the difference between the phase rotated by the fifth motor M5 and the phase rotated by the sixth motor M6. Here, the output rates of the first and second pulse generators 201 and 205 are equalized Therefore, the phases can be compared accurately. In addition, in order to make the PLL circuit 203 recognize the wire Action, while keeping the fifth motor M5 and the sixth motor M6 synchronized, the ratio of the cylinder turning radius R and the head turning radius r must be inversely proportional to the decelerations G1 and G2 of the fifth motor M5 and the sixth motor M6 As follows: (Please read the precautions on the back before filling in this page) Printed by the Ministry of Economic Affairs

R 1 / G 1 Γ / G 2 For example: when G 1/100 and G2 = l / 10, medium 4 (210X297 mm) 80. 5. 20,000 sheets (H) -33-A 6 B 6 21-BC3 5. Description of the invention (31) R = 1000mm and r = 10mm are possible. The PLL circuit 203 and the adder 211 can be integrally formed as follows. That is, as shown in detail in FIG. 24, the circuit includes: a first two-phase / pulse converter 211, which is used to convert the first pulse generator 20 1 through (I) and (I) shown in FIG. 25 The pulse signals PG1-A and PG1-B each become the pulse signal CP-A shown in (I) in FIG. 25, which indicates the edges of the two-phase pulse signals PG1-A and PG1-B; the second two-phase / pulse The converter 223 is used to convert the second pulse generator 205, and the two-phase pulse signals PG1-A and PG2-B shown in (IV) and (V) in FIG. (VI) shows the pulse signal CP-B, which indicates the edges of the two-phase pulse signals PG1-A and PG2-B; and the single-shot resonator 2 2 5 is used to receive the pulse from the first pulse generator 20 1 Through one of the two-phase pulse signals PG1-A shown in (I) in FIG. 26 and the timing pulse shown in (IV) in FIG. 26, and immediately after the rise of the two-phase pulse signal PG1-A In 26, the data lock pulse signal S 1 and the counter reset pulse signal S 2 shown by (I) and (M) are used. The output pulse signal CP_A of the first two-phase / pulse converter 2 2 1 is supplied to the fixed input terminal S of the flip-flop 227, and the output pulse signal CP of the second two-phase / pulse converter 22 1— B is supplied to the reset input terminal R of the flip-flop 2 2 7. Supply the output signal from the output terminal Q of the flip-flop 2 2 7 to the gate terminal G of the first up counter 2 29; for example, this counter is 229 counts (please read the precautions on the back before filling in this Page) • Installed. • Ordered • Printed by the Ministry of Economic Affairs Central Standards Bureau Staff Consumer Cooperative $ 4 (21 () \ 297 Gongjue) 80_5_ 20,000 copies) -34-212BC3 A 6 B6 V. Description of invention) Number of 1 ΟΜΗζ Frequency The timing pulse also supplies the output signal of the flip-flop 227 to the gate terminal G. The inverted output signal from the inverted output terminal Q ** of the flip-flop 2 2 7 is supplied to the gate terminal of the second up counter 231 that counts the timing pulse, and the flip-flop is also connected. The inverted output signal is given to the gate terminal G. The flip-flop 2 2 7 is set by the pulse signal CP-A and reset by the pulse signal CP-B, so that the first up counter 229 counts the timing pulses as shown in FIG. 27, the pulse signals CP-A and CP- The time a between B and a, and the second inquiry up counter 2 3 1 counts the time b between time pulses CP_B and CP-A, as shown in FIG. 27. Then, in the first and The second up counters 229 and 231 count the timing pulses during the time a and b, and then, by causing the two-phase pulse signal P G1-A to rise second, supply the data latch pulse S1 from the single-shot resonator 2 2 5 to On the timing terminal CK of the first data latch 2 3 3 and the second data latch 2 3 5, the timing pulses counted via the first and second up counters 229 and 231 pass through the first and second data latch 233 And 235 are locked. At the same time, immediately after the data latch pulse signal S1 and during the next a and b time, after counting the timing pulse again, the first and second up counters 229 and 231 are reset by the counter reset pulse signal S 2 . The output pulse signals CP-A and CP-B are also supplied to the up-counting terminal U and the down-counting terminal D of the up / down counter 237, so that the up / down counter 237 has counted the pulse multiples CP-A and down (please Read the precautions on the back and then fill out this page) • Installed • • Line. Ministry of Economic Affairs Central Standards Bureau Shell Industry Consumer Cooperation Du Yinzi 4 (210X297 mm> 80. 5. 20,000 sheets (H) -35-Ministry of Economic Affairs Printed by Central Standards Bureau Beigong Consumer Cooperative 212BC3 a6 _______B6 V. Description of the invention (33) Digital pulse signal CP-B. Usually, pulse signals CP-A and CP-B are alternately generated at the same rate, as shown in FIG. 27 Display, so that the positive count of the up / down counter 237 indicates zero. However, when the rotation deviation of the transmission gear 191 exceeds approximately one cycle (regarding the rotation of the rotatable picture 7), the up / down counter 2 3 7 count indication Values other than zero, such as: ± 1, ± 2, etc., so that this deviation can be detected by the count of up / down counter 237. At the timing of pulse signal CP — A: Two data lockers 233 and 235 are given The stored counts and the deviations detected by the up / down counter 237 are periodically given to the microcomputer 239 so that the emblem computer 239 can calculate: the difference between the two rotation phases of the rotatable graph barrel 7 and the bevel gear 187 ( When the rate correction signal is added to the rate command signal of the sixth motor M 6), in order to obtain the control quantity, via this control number setting, according to the detailed flowchart of FIG. Two servo actuators 2 09. The control quantity obtained by removing the computer 239 is supplied to the second servo actuator 209 through the D / A converter 241, and according to it, the second collateral servo actuator 209 is in such a way, The sixth motor Μ6 is controlled so as to lock the phase of the second pulse generator 205 (about the first pulse generator 201), so as to realize the proper cycloidal action of each suction nozzle 23 as described above. The operation of 9 is carried out according to the following flowchart of Figure 28. _ 1? 4 (2 丨 (at 297 mm) 80.5.20,000 sheets (11)-36-......... ......................... (........... pretend ............ ............... Order ................ ί ... line. (Please read the precautions on the back before filling this page) 21 ^ & BC3 A 6 B 6 Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs V. Invention Instructions (34) Withdraw Computer 2 3 9 The operation image is triggered by the pulse signal CP-A. First, at step 3 10, the computer 23 9. Read the counts of the periods a and b saved via the first and second data lockers 2 3 3 and 2 3 5 to become the data A and B. Then at step 320, the withdrawal computer 2 3 9 reads the data from the up / down counter 2 3 7 into data C. Secondly, at step 330, the computer 239 calculates a value X = 1〇24XA / (A + B), which is about the conversion range of the D / A converter 241, 1024 (— 512 to + 512)) One of the standardized ratios. When the two rotations of the fifth and sixth motors M 5 and M 6 are synchronized so that the data A and B are equal, this data X is equal to 5 1 2 0. Then, at step 340, the computer 239, according to the following formula: y = x — 5 1 2 + 1 024XC to calculate a phase correction quantity y. Then, at step 350, the microcomputer 239 calculates the sum of the control quantity z image phase correction quantity y and the speed command value of the bevel gear 187, then At step 360, it is output to the second servo actuator 209 through the D / A converter 241. Therefore, the motor control unit can control the operation of the sixth horse M6 (the operation of the fifth motor M5) according to the difference between the rotation of the rotatable barrel 7 and the bevel gear 187, so that: The movement of the mouth 23 can be controlled along the orbit of the desired vibration line as described above. Special mention should be made: the suction nozzles 23 in the above specific embodiments can be replaced by other holding tools, for example, those using electromagnets. f 4 (210X297mm) 80. 5. 20,000 sheets (H)-37-(Please read the precautions on the back before writing this page) • Binding · Order · • Line · A 6 Β 6 2l28i > 3 V. The description of the invention (35) should also be mentioned separately: the workpiece mounting device of the present invention can be applied to the workpiece mounting process except for the above-mentioned electronic component wafers and printed circuit boards as examples. In addition to this, as long as it is not far from the novel and advantageous features of the present invention, many variations and modifications of the above specific embodiments can be made. Therefore, all such variations and modifications are intended to be included within the scope of the accompanying patent application. (Please read the precautions on the back before filling in this page) _Installation · Line · Economy Department + Central Sample Bureau Staff and Consumers Cooperation Du Yin f4 (21 () x297 & ^) 80_5.20,000 »(H> -38-

Claims (1)

J Republic of China Monthly Amendment? Gang / Central Bureau of Standards of the Ministry of Economic Affairs 0 Industrial and Consumer Cooperation System 6. Shen Jing Patent Scope 1. A workpiece installation device, including: a rotatable cylindrical tool, which is used to wrap around a fixed shaft. Continuous rotation of the horizontal plane; the workpiece carrying tool, mounted on the circumference of the rotatable cylindrical tool, used to carry the workpiece, from the workpiece supply station to the workpiece installation station, can rotate around the circumference of the plane substantially perpendicular to the horizontal plane, while Bring the workpiece; and the control tool is used to control the workpiece-carrying tool, so the workpiece-carrying tool rotates around and the rotatable cylinder tool rotates so as to move along a prescribed track, and the workpiece is on the workpiece supply station At one of the specified pick-up positions, it is picked up by the workpiece-workpiece carrying tool and released at one of the work-piece mounting stations at the specified installation position. 2. For example, the workpiece mounting device of item 1 of the patent application scope also includes tools for sliding the workpiece carrying tool along the diameter of the rotatable cylindrical tool, so that: the workpiece carrying tool is in the rotatable cylinder The tool moves within the rotating track. 3. The workpiece mounting device as claimed in item 1 of the patent application, in which the workpiece carrying tool is mounted on the circumference, so the rotation axis of the workpiece carrying tool is inclined at a predetermined angle from the horizontal plane so that the workpiece carrying tool follows a track While moving, this track is located within the rotating track of the rotatable cylindrical tool, and it is heavy with the rotating track near the pickup position and installation position. 4. For example, the work piece mounting device of item 1 of the patent application scope includes: tools to control the revolving motion of the work piece carrying tool, so that: the orientation of the work piece carried by the work piece carrying tool and the work piece carrying the paper size via the work piece Shichuan tw κSong Biao 哗 (CNS wide ΡΊ specifications (210 father 297 mm) _ 1 81. 2. 2.500 (H) {-Read the precautions on the back and then fill in this page. Xiang · • Subscribe · J 2l28i > 3 Β7 C? DT Ministry of Economy, Central Standards Bureau, RX consumer joint system 6. The orientation of Shenqi's patented garden tools when they are picked up on the workpiece supply table remains unchanged. 5. If the application of the patent application item 1 is installed The device, wherein, the radius of rotation of the radius of rotation of the rotatable round chrysanthemum tool (regarding the radius of the workpiece carrier tool that rotates), and the rotation angle \ velocity of the rotatable cylinder tool and the rotation angular velocity of the workpiece carrier tool The angular velocity ratio is different from one of the following states: Among them, the radius ratio of the rotation and the angular velocity ratio of the rotation are equal, so that: the workpiece is carried at the position of picking and installation The vertical stroke of the tool becomes larger. 6. The workpiece mounting device as claimed in item 1 of the scope of patent application additionally includes: a rotating phase detection tool for detecting the rotating phase of the rotating cylindrical tool; and the rotating phase The detection tool is used to detect the rotation phase of the workpiece carrying tool; and among them, the control tool controls the workpiece carrying tool according to the difference between the detected rotation phase and the rotation phase. The workpiece mounting device of item 1, wherein the specified track of the workpiece carrying tool is a cycloidal track. 8. The workpiece mounting device of item 7 of the patent application scope, in which the workpiece carrying tool is controlled so as to approach the cycloid Pick up and release the workpiece on the vertical horizontal surface at the lowest position in the rail. 9. For the workpiece mounting device as claimed in item 1 of the patent application, the rail specified by the workpiece carrying tool is a cycloid-like rail. 10 . As stated in item 9 of the patent application scope: ^ Variable equipment, in which the workpiece carrying tool is controlled so that $ is connected to the most approximate cycloid track (-first please note the back of the note before writing Page) The size of the wood paper is suitable; 丨] 田田 田 戃 准 (CMS) < P 4 specifications (210 X 297 g) 81. 2. 2.500 (H) 21 ^ BΓ, 3 λ 'Β: C: D: The Ministry of Economy, China, Bureau of Standards, R, Industrial and Consumer Systems, 6. Pick up and release the workpieces on the vertical horizontal plane at the low position of Shenchai Patent Park. 1 1. A method for installing workpieces, including the following steps: A shaft, which continuously rotates a rotatable cylinder tool in a horizontal plane; along the circumference of the rotatable cylinder tool, a workpiece carrying tool is installed to carry the workpiece from the workpiece supply station to the workpiece installation station, which can be substantially perpendicular to the horizontal The plane rotates on the circumference of the plane while carrying the workpiece; the workpiece carrying tool is controlled so that the workpiece carrying tool revolves and the rotatable cylinder tool rotates so as to move along a specified track, and the workpiece is carried by the workpiece The tool is picked up at the designated picking position on the workpiece supply station and released at the designated mounting position on the workpiece mounting station. 12. The work piece installation method as claimed in item 11 of the patent application scope further includes the following steps: sliding the workpiece carrying tool along the diameter of the rotatable cylindrical tool so that: the workpiece carrying tool rotates during rotation of the rotatable cylindrical tool Move within the track. 1 3. The workpiece mounting method as claimed in item 11 of the patent scope, in which the workpiece carrying tool is mounted on the circumference, so the rotation axis of the workpiece carrying tool is inclined at a predetermined angle from the horizontal plane so that the workpiece carrying tool, along A track moves, and this track is located within the rotating track of the rotatable cylinder tool and overlaps with the rotating track in the vicinity of the pickup position and the installation position. 14. For example, the work piece installation method of item 11 of the scope of patent application includes the following steps: controlling the revolving motion of the work piece carrying tool so that {Qi first read the precautions on the back side and then fill out this page) This paper size is suitable for WW home Standard (CNS) Τ 4 specifications (210 X 2 (J7 mm) -3-81. 2. 2.500 (H) Centralized Bureau of the Ministry of Economic Affairs employee consumption cooperation du printing. AT B721 fine 3 VI. Shenyuan a: The orientation of the workpiece carried by the workpiece carrying tool and the orientation of the workpiece when it is picked up at the workpiece supply station via the workpiece carrying tool remain unchanged 〇1 5. For example, the method of installing workpieces in item 11 of the patent application scope, where One of the ratios of the radius of rotation of the radius of rotation of the rotating cylinder tool (about the radius of the workpiece-carrying tool that rotates), and the ratio of the angular speed of rotation of the cylinder tool that can rotate to the angular speed of rotation of the workpiece-carrying tool One of the following state deviations: Among them, the ratio of the turning radius bb and the turning angular velocity are equal, so that: the vertical stroke of the workpiece carrying tool at the position of picking up and installation becomes Larger. 16. For example, the work piece mounting method of item 11 of the scope of patent application includes the following steps: detecting the rotating phase of the rotating cylindrical tool; and detecting the rotating phase of the workpiece carrying tool; During the control step, the workpiece carrier tool is controlled according to the measured difference between the rotation phase and the orbital phase. 17. For example, in the patent application scope item 11 installation method, where the specified track of the workpiece carrier tool is a Cycloid track 18. The work piece installation method as claimed in item 17 of the patent scope, in which the workpiece carrying tool is controlled to pick up and release the workpiece on the vertical horizontal plane close to the lowest position in the cycloid track. —, 19 · Workpiece_method as claimed in item 11 of the patent scope, in which the prescribed track of the workpiece carrying tool is a similar, (:. Cycloidal track: · ^ ___ ______ suitable for wood paper; W standard (CNS) T4 specification (210x297 male 81. 2. 2.500 (H) -4 ~ (Read the precautions on the back first and then fill in this copy. AT B7 C7 DT 6. Applying for a patent park ® wide '' '.r, '20. Item 19 The jade right installation method, its /, middle, controls the workpiece carrying tool, so as to pick up and place 4.3: pieces on the vertical horizontal plane at the lowest position of the approximate / cycloid track. (Please read the precautions on the back before filling in this Page) Central Bureau of Standards, Ministry of Economic Affairs, R, Industry and Consumer Cooperation, Du-printed wood paper size, suitable for Sichuan WW Family Standard (CNS) specifications (210 father, 297 g) 81. 2. 2.500 (H) 5