WO2001026441A1

WO2001026441A1 - Parts assembling device

Info

Publication number: WO2001026441A1
Application number: PCT/JP1999/005499
Authority: WO
Inventors: Osamu Washimine; Akira Handa; Hitoshi Matsumoto
Original assignee: Citizen Watch Co., Ltd.
Priority date: 1999-10-05
Filing date: 1999-10-05
Publication date: 2001-04-12

Abstract

A parts assembling device (10) which comprises a storage/feed mechanism (12) for storing a number of parts and successively feeding desired parts to a parts withdrawing position (P0), a table (14) carrying an object and capable of two-dimensional movement, and an assembling head (16) for withdrawing parts fed to the parts withdrawing position and transferring them to the table to assemble them to the object. A first moving mechanism (46) moves the assembling head between a first position (P1) opposed to the table and a second position (P2) opposed to the parts withdrawing position. A second moving mechanism (48) moves the assembling head, which is in the first position, in a direction to approach the table. A third moving mechanism (50) moves the assembling head, which is in the second position, in a direction to approach the parts withdrawing position. The parts assembling device further comprises a pre-processing station (182) for processing parts withdrawn from the parts withdrawing position, prior to assembling them to the object.

Description

Description Parts assembly equipment Technical field

The present invention relates to a component assembling apparatus that automatically assembles a large number of components to an object. Background art

As a typical component assembling device that automatically assembles a large number of components onto an object, electric and electronic components such as ICs, transformers, capacitors, switches, and jumper wires are placed at predetermined positions on a substrate. A component assembling apparatus to be assembled is known. Conventionally, this type of component assembling apparatus includes a plurality of assembly units arranged side by side on a machine base and an assembly head which is installed at a lower end of each of the assembly units and can be independently moved vertically. And a table which is installed on the machine below the assembly head and can move horizontally in the orthogonal two-axis coordinate system set on the machine (for example, See 57-107475, USP 4,503,606.).

Each assembly unit is provided with a component storage unit for storing a large number of components and a feed mechanism for feeding components one by one from each component storage unit to the corresponding assembly head. The assembly head has a grip of a grip or suction type, and moves vertically on a table while holding the parts sent from the parts storage unit in the chuck. Assemble the parts on the board fixedly supported on the table. Here, the positioning of the component with respect to the predetermined assembly position on the board is sequentially performed by two-dimensional horizontal movement of the table with respect to the assembly head on the machine base. In the above-described conventional component assembling apparatus, the mounting head of each mounting unit usually holds a mounting portion (for example, a lead) extending from the main body of the component with a chuck, and a board. It operates to insert this mounting portion into the through hole formed at the predetermined position. According to such a configuration, even if the position of the mounting portion with respect to the main body portion of the component is deviated from the regular position due to a molding error of the main body portion or deformation of the mounting portion, etc. The mounting portion can be accurately inserted into the hole. Thereafter, if the mounting portion is a lead, the tip of the lead protruding from the back side of the board is bent by, for example, a clinch device installed below the table, so that the component can be bent. It is fixedly attached to the substrate.

Here, various electric and electronic components such as ICs, transformers, capacitors, switches, and jumper wires are used, for example, for carrier tape storage, tray storage, stick (bar-shaped magazine) storage, and lead. It is stored in a specific form (packing style) such as end tubing connection, hoop material, and bulk. Therefore, when attempting to assemble various components on a single board in any order, the conventional component assembling device assembles the components from the storage unit using a feeding mechanism that matches the packaging of the various components. In addition to feeding to the head, it is required that the mounting part be held by a chuck that matches the arrangement of the mounting part (for example, a lead) of various parts.

Therefore, the conventional component assembling device has multiple dedicated heads, each with different types of chucks, each of which can handle the packaging of various components to be mounted on the target board. In addition to mounting these units, different types of feed mechanisms were attached to the units. As a result, the overall dimensions of the component assembler tended to increase. When handling parts with different mounting parts (for example, leads) in one assembly head, replace them with dedicated assembly units or chucks each time they are used. Etc., many This required a lot of setup work, which hindered reductions in production time, labor and labor, and equipment costs. Disclosure of the invention

Therefore, an object of the present invention is to provide a component assembly capable of automatically assembling a large number of components stored in various packages in a continuous manner without increasing the overall dimensions of the component assembling apparatus. provide a biasing device child and (because ₀

Another object of the present invention is to use a single mounting head to accurately place a wide variety of components having different packing shapes and arrangements of mounting portions (for example, leads) in predetermined positions on a substrate in a desired order. It is an object of the present invention to provide a component assembling apparatus that can be assembled and thereby can significantly improve productivity. According to the present invention, a storage / feed mechanism for storing a large number of components and sequentially feeding the components to a component removal position, a two-dimensionally movable table for carrying an object, and component removal The parts delivered to the position are taken out and transferred to the table, and the movable assembly head for assembling the parts to the object and the assembly head are moved to the first position facing the table and the parts removal position. A first moving mechanism for moving between the opposing second position, a second moving mechanism for moving the assembly head at the first position in a direction approaching the table, and a group at the second position And a third moving mechanism for moving the attachment head in a direction approaching the component removal position.

The storage / feeding mechanism is composed of a plurality of feeders that can send out multiple types of parts with different storage forms independently of each other, and separates the parts sent from each of these feeders from the following parts. It is advantageous to provide a separating device which is arranged at the part removal position.

The separation device is configured to hold the number of component cradle corresponding to the number of feeding devices. It is preferable to provide a switching device that selects one of the component receiving tables and arranges it at the component extraction position, in addition to being provided side by side. The assembly head can be provided with a chuck that can hold the body of the component.

Advantageously, the chuck of the assembly head is rotatable about an axis perpendicular to the two-dimensional movement direction of the table, while holding the body of the component.

The chuck of the assembly head can be translated in a direction parallel to the two-dimensional movement direction of the table while holding the main body of the part, and the parallel movement is selectively locked.Z release It is advantageous to be able to.

The first moving mechanism may include a first driving device that linearly drives the mounting head between the first position and the second position.

The storage Z feed mechanism can be installed behind the machine of the component assembling device, and the second position can be set at substantially the same height behind the machine as the first position. A second driving device that linearly drives the assembly head in a direction orthogonal to the two-dimensional movement direction of the table can be provided.

The third moving mechanism can include a third driving device that linearly drives the mounting head in a direction orthogonal to the moving direction of the first moving mechanism.The component take-out position is directly below the second position. Can be set.

It is preferable to further include a sensor for detecting that the mounting head is located at the first position.

Further, it is preferable to further include a sensor for detecting that the assembly head is located at the second position.

It is advantageous to further provide a pre-processing stage for processing the parts taken out from the parts pick-up position before assembling them to the object. In this case, the first moving mechanism can be configured to move the mounting head from the second position to the first position via the third position facing the preprocessing station, and the first moving mechanism is located at the third position. It is possible to further provide a fourth moving mechanism for moving the mounting head in a direction approaching the preprocessing station.

The fourth moving mechanism may include a fourth driving device that linearly drives the assembly head in a direction orthogonal to the moving direction of the first moving mechanism.o

The preprocessing station includes a plurality of processing units provided side by side, selects one of the processing units, and arranges the processing unit at a processing position opposed to the third position. It is preferable to provide

The processing position can be set directly below the third position.

Advantageously, the pre-processing step comprises a measuring part for measuring the amount of displacement of the mounting part, which extends from the main part of the component and is attached to the object, relative to the main part.

Advantageously, the pretreatment station comprises a straightening part for correcting the attitude of the mounting part, which extends from the body part of the component and is attached to the object, relative to the body part.

Advantageously, the pre-processing station is provided with a judging section that extends from the main part of the component and determines whether or not the mounting part is attached to the object.o Brief description of the drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of preferred embodiments in conjunction with the accompanying drawings. In the accompanying drawings,

FIG. 1 is a schematic perspective view of a component assembling apparatus according to an embodiment of the present invention, FIG. 2 is a schematic front view of the component assembling apparatus of FIG. 1,

FIG. 3 is a schematic plan view of a main part of the component assembling apparatus of FIG. 1, taken along the line m-in of FIG. 2,

FIG. 4 is a partially enlarged view of FIG. 2, showing the second moving mechanism of the component assembling apparatus.

FIG. 5 is a partially enlarged view of FIG. 3, showing the second moving mechanism of the component assembling apparatus.

Figure 6 is a partially enlarged view from arrow VI in Figure 4,

FIGS. 7 and 8 are views corresponding to FIG. 4 and showing the second moving mechanism of the component assembling apparatus in different states.

FIG. 9 is a schematic cross-sectional view of FIG. 7 taken along line IX-K,

FIG. 10 is an enlarged plan view showing a third moving mechanism of the component assembling apparatus. FIG. 11 is an enlarged front sectional view of the third moving mechanism taken along line XI-XI in FIG.

Fig. 12 is a front view showing the separating device of the component assembling device.

Figure 13 is a side view of the separation device,

Figure 14 is a plan view of the separation device,

Figure 15 is a partial cross-sectional view of the separation device.

Fig. 16 is a front view showing the pre-processing station of the component assembling apparatus. Fig. 17 is a side view of the pre-processing station.

Figure 18 is a plan view of the pretreatment stage,

FIG. 19 is a diagram showing a measuring section of the pretreatment station, and is a cross-sectional front view taken along a line XIX-XIX in FIG. 21.

FIG. 20 is a cross-sectional side view of the measuring unit along the line XX-XX of FIG. 21. FIG. 21 is a plan view of the measuring unit.

FIG. 22 is a plan view of the measuring unit along the line XX Π — XX 図 of FIG. 19, and FIG. 23 is a diagram showing the straightening unit of the pretreatment station, and is a line of FIG. xxm — cross-sectional front view along xx in,

Figure 24 is a side view of the straightening section,

Figure 25 is a plan view of the straightening unit,

FIGS. 26 and 27 correspond to FIGS. 23 and are cross-sectional front views showing the straightening portion in different states.

FIG. 28 is a front view showing the determination unit of the preprocessing station.

Figure 29 is a plan view of the judgment unit,

FIG. 30 is a cross-sectional side view of the determination unit taken along line XXX-XXX of FIG. 29, and

FIG. 31 is a view corresponding to FIG. 30 and is a cross-sectional side view showing the determination unit in a different state. BEST MODE FOR CARRYING OUT THE INVENTION

Referring to the drawings, FIGS. 1 and 2 show a component assembling apparatus 10 according to an embodiment of the present invention. In each drawing, the same or similar components are denoted by common reference numerals. It should be noted that the component assembling apparatus 10 according to this embodiment is capable of mounting various electric and electronic components such as ICs, transformers, capacitors, switches, and jumper wires on a substrate such as a printed circuit board. Although it can be used for automatically assembling at a predetermined position, the present invention is not limited to this.

The part assembling apparatus 10 stores a large number of parts (not shown), and sequentially picks up those parts at the part unloading position P. A feeding mechanism 12 for feeding to a storage, a two-dimensionally movable table 14 for fixedly supporting a substrate (not shown) as an object, and a component unloading position P. And a movable assembling head 16 for taking out the parts sent to the board, transferring them to the table 14 and assembling the parts to the board. Storage feeding mechanism

As shown in Figs. 1 to 3, the storage Z feed mechanism 12 is capable of sending multiple types of parts with different storage forms (packages) independently of each other (four in the example shown). Is provided. Each of these feeding devices has a configuration known per se, and as an example, a plurality of sticks (bar-shaped magazines) 18 containing a large number of parts stored in bulk are stacked in a multi-stage manner. Two feeding devices of a type in which the components in the lowermost stick 18 are sequentially fed from the front end of the stick by the extruder 20 are shown. In addition, a feeding device of a type in which components are intermittently sent out by a cylinder device 24 from a storage box 22 for storing a number of components connected by lead end taping is shown. In addition, a part feeder 26 that stores a large number of parts in bulk and sends them in a line by vibration, and a linear feeder 28 that similarly feeds bulk parts in a row by vibrating, sequentially sends out parts. Is shown. In this example, instead of the straight feeder 28, a belt conveyor or an alignment feeding mechanism using compressed air can be installed.

In the component assembling apparatus 10 according to the present invention, in addition to the feeding device shown in the drawing, a component that feeds components by gravity from a stick or a component that is picked up from a tray and sent by a conveyor or the like is used. It is possible to equip the storage Z feed mechanism 12 with an appropriate selection of a feeder, a feeder that intermittently sends out a carrier tape and picks up parts in order. In any case, the feeding device is required to be able to send out a large number of components in a predetermined posture to a separating device 30 described later.

The storage Z feed mechanism 12 further separates the parts delivered from each of the above-described feeders from the subsequent parts in the same feeder, and sets a component extraction position P. And a separation device 30 arranged at As shown in FIG. 3, the separation device 30 has a number (four) of components corresponding to the number of feeding devices. The pedestals 32 are provided side by side with each other, and one of the pedestals 32 is selected to set the component extraction position P. And a switching device 34 to be disposed at a position. The detailed configuration and operation of the separation device 30 will be described later. Table

As shown in FIGS. 1 and 2, the table 14 of the component assembling apparatus 10 can move horizontally in the orthogonal two-axis coordinate system set on the machine base 36. That is, the table 14 is provided on the upper surface of the slide base 38 that moves in the direction of the first axis (the X axis in the illustrated example) on the machine base 36, and the second axis (the illustrated example) is orthogonal to the first axis. Is mounted so that it can move in the Y-axis) direction. The slide base 38 is slidably mounted on a guide shaft 40 extending in the X-axis direction in the machine base 36, and is moved in parallel in the X-axis direction by a drive mechanism (not shown). The table 14 is slidably supported by a pair of guide rails 42 provided on a slide base 38, and is translated in the Y-axis direction by a drive mechanism (not shown).

The X-axis drive source of the slide base 38 and the Y-axis drive source of the table 14 can be controlled independently by a control device (not shown) such as an NC device. As a result, the table 14 is automatically moved and positioned at a desired position within a predetermined operation area in the orthogonal two-axis coordinate system set on the machine base 36. In the component assembling apparatus 10 according to the present invention, the table 14 is described, for example, in Japanese Patent Publication No. 63-39369 or US Pat. No. 4,423,686. A disclosed table or a known table of a ball screw drive type for both XY axes can be adopted. Assembly head

As a characteristic configuration of the component assembling apparatus 10, the assembling head 16 includes a chuck 44 capable of holding a main body of the component (see FIG. 4). Char The rack 44 is moved to the component extraction position P by the storage Z feed mechanism 12 described above under the operation of an assembly head 16 described later. It works to hold the main body part by approaching the main body part of the parts sent from above from above. Accordingly, the chuck 44 holds a mounting portion (for example, a lead) extending from the main body of the component, which is installed on the mounting head of the conventional component mounting device. Unlike this, as long as the dimensions of the main part of the component are within the range that can be held, it is possible to hold various types of components having various lead arrangements.

With such a configuration, in the component assembling apparatus 10, various kinds of parts stored in the storage Z feed mechanism 12 with different packing styles (that is, mounting parts are variously arranged with respect to the main body part) are used. However, it is possible to stably hold by one assembling head 16 and to assemble it to the substrate S (FIG. 4). Note that, in the component assembling apparatus 10 according to the present invention, as the chuck 44, a chuck having various simple configurations such as a known mechanical gripping chuck and a suction chuck is used. it can.

The parts assembling apparatus 10 further includes an assembling head 16 at a first position P facing the table 14, and a parts extracting position P as described above. The first moving mechanism 46 for moving between the second position P2 opposite to the first position P2, and the _second moving mechanism 16 for moving the assembly head 16 at the first position Pi in the direction approaching the table 14 a second moving mechanism 4 8, the head 1 6 to assemble in the second position P _2, part article removing position P. And a third moving mechanism 50 for moving in a direction approaching the vehicle (FIG. 2).

In the illustrated embodiment, the storage Z feed mechanism 12 is installed at the rear of the machine base 36, and at the part extraction position P. Is set between the storage Z feed mechanism 12 and the machine base 36. The first position is set to the lower end of the assembly Yuni' bets 5 4 installed in front of the Kola arm 5 2 standing on the machine base 3 6, the second position P ₂ is column 5 2 backward At the same height as the first position P, Is determined. The mounting unit 54 can be installed on the front of the column 52 in the same manner as the mounting unit in the conventional component mounting apparatus, and the table 14 is installed below the column 52. Therefore, in the component assembling apparatus 10, a machine base 36 having the same configuration as the machine base of the conventional component assembling apparatus can be employed. 1st moving mechanism

As shown in FIGS. 2 and 4, the first moving mechanism 46 is a first driving mechanism that linearly drives the assembly head 16 between the first position P i and the second position P _2. As a device, a screw shaft 56 penetrating the column 52 from the vicinity of the lower end of the assembly unit 54 and extending substantially horizontally to the rear thereof, and a screw shaft in front of the lower end of the assembly unit 54 And a rotary drive source 60 connected to the front end of the motor 56 through a coupling 58. The screw shaft 56 and the rotary drive source 60 are supported by a support boom 62 extending substantially horizontally in the front-rear direction from the column 52. The first moving mechanism 46 is further supported by the support boom 62, and penetrates the column 52 from the lower end region of the assembly unit 54, and extends in parallel with the screw shaft 56. Guide rails 64 are provided (Fig. 5). Screw shaft 5 6 and guide Doreru 6 4 is extended slightly beyond the first position P and the second position P ₂ in the front and rear, respectively. The assembly head 16 has a main operating part including a chuck 44 mounted on a first connecting plate 66 having an L-shaped cross section, and a nut installed on a side wall of the first connecting plate 66. 6 6 force <, screwed to the screw shaft 56. In addition, a pair of guide blocks 70 slidably engaged with the pair of guide rails 64 is provided on the upper wall of the first connecting plate 66. Therefore, the first moving mechanism 46 is composed of a pair of guide rails 64 and a guide blocker 0 driven by a feed screw mechanism including a screw shaft 56, a rotary drive source 60 and a nut 68. Under the guidance of the linear guide mechanism, move the assembly head 16 to the first position P i and the second position Horizontally moving between a position P _2. In this case, it is desirable that the feed screw mechanism is configured as a well-known ball screw mechanism, and that the rotary drive source 60 is preferably composed of a servomotor that is easily controlled. In the illustrated embodiment, the horizontal movement direction of the assembly head 16 is set parallel to the Y-axis direction in the movement coordinate system of the table 14 described above. 2nd moving mechanism

As shown in FIGS. 4 to 9, the second moving mechanism 48 moves the assembly head 16 at the first position P, in a direction substantially orthogonal to the two-dimensional moving direction of the table 14 (the example shown in the drawing). In the Z-axis direction), the second drive unit that drives linearly in the Z-axis direction is the swing lever 72 installed inside the column 52 and the Z-axis direction inside the assembly unit 54. And a pressing shaft 74 engaged with the free end 72 a of the swing lever 72. The swing lever 72 is engaged with a drive source (not shown) at the other end, and operates in a cam shape by the drive of the drive source to swing within a predetermined angle range. As shown in FIG. 6, the free end 72 a of the oscillating lever 72 branches into a forked shape, and through a working piece 76 rotatably connected to each of them, a pressing shaft 7 is formed. 4 is slidably engaged with the outer surface. The operating pieces 76 transmit the swinging motion of the swinging lever -72 within a predetermined angle range to the pressing shaft 74, whereby the pressing shaft 74 is transferred to the assembly unit 54. It moves linearly by a predetermined distance under the guide in the Z-axis direction by the installed bearing block 78 (Fig. 7).

A through-hole 80 is formed in the support boom 62 mounted on the column 52 at a position below the assembly unit 54 and corresponding to the pressing shaft 74. The lower portion of the pressing shaft 74 can pass through the through hole 80 in a non-contact manner, so that the lower end surface of the pressing shaft 74 is brought into contact with the mounting head 16 at the first position. You can get in touch. Therefore, When the assembly head 16 is at the first position P i, when the push shaft 74 moves by force and the swing lever 72 moves downward in the Z-axis direction, the linear motion is performed. Head 16 is communicated.

A through hole 82 is formed in the upper wall of the first connecting plate 66 on which the mounting head 16 is mounted so that the lower part of the pressing shaft 74 can be passed through in a non-contact manner (FIG. 7). And Figure 8). A guide rail 84 extending in the Z-axis direction is provided on the side wall of the first connection plate 66, and a second connection having a guide block 86 slidably engaged with the guide rail 84 is provided. A plate 88 is supported on the first connecting plate 66 so as to be movable in the Z-axis direction. The second connecting plate 88 integrally includes a cylindrical sleeve 90 substantially coaxially disposed in the through hole 82 of the first connecting plate 66. The cylindrical sleeve 90 has an outer diameter that allows the cylindrical sleeve 90 to pass through the through hole 82 in a non-contact manner. The mounting head 16 has a mounting shaft portion 92 of the chuck 44 supported rotatably in a cylindrical sleeve 90 of the second connecting plate 88 via a pair of bearings 94. Thus, the first connecting plate 66 is supported by the first connecting plate 66 so as to be able to move directly in the Z-axis direction and to be rotatable about the Z-axis.

The second connecting plate 88 further includes an extended portion 96 extending downward along the Z-axis along the side wall of the first connecting plate 66. 1st connecting plate 6

A tension spring (for example, a tension coil spring) 98 for urging the second connection plate 88 upward in the Z-axis direction is interposed between the second connection plate 88 and the second connection plate 88. The extension spring 98 is locked at one end to the upper end of the side wall of the first connecting plate 66 and at the other end to the lower end of the extension 96.

When the assembly head 16 is at the first position P i, the pressing shaft 7

4 is arranged at the upper limit position in the Z-axis direction by the swing of the swing lever 1, and the lower end of the pressing shaft 74 is arranged in the through hole 80 of the support boom 62 (FIG. 7). . At this time, the second connecting plate 88 is placed at the upper limit position in the Z-axis direction on the first connecting plate 66 by the bias of the tension spring 98, and the cylindrical screw is moved. The upper part of the hub 90 protrudes upward through the through hole 82 of the first connecting plate 66. In this state, the mounting shaft portion 92 of the chuck 44 of the assembly head 16 is disposed substantially coaxially near the pressing shaft # 4.

From this state, when the pressing shaft 74 moves downward in the Z-axis direction due to the swing of the swinging lever 122, the lower end of the pressing shaft 74 moves to the chuck 4 of the assembly head 16. 4 abuts against the upper end surface of the mounting shaft 92, and presses the mounting shaft 92 downward in the Z-axis direction. As a result, the assembly head 16 is piled together with the second connecting plate 88 under the guidance of the guide rail 84 and the guide block 86 on the biasing force of the tension spring 98 to move in the Z-axis direction. Move downward (Fig. 8). Here, the downward moving distance of the assembly head 16 from the first position P, depends on the dimensions (lead length, etc.) of the part to be assembled on the board S to be worked. Is determined as appropriate. Thus, the second moving mechanism 48 vertically moves the assembly head 16 at the first position P i in a direction approaching the table 14.

Further, when the pressing shaft 74 moves upward in the Z-axis direction due to the reciprocating swing of the swing lever 72 from the state shown in FIG. 8, the pushing shaft 7 applied to the assembly head 16 is increased. The pressing force of 4 is released. As a result, the assembling head 16 moves upward in the Z-axis direction together with the second connecting plate 88 by the urging of the tension spring 98 with the upward movement of the pressing shaft 74. 1 'isw to position P i.

As shown in the figure, an adjusting bolt 100 for adjusting the contact state of the chuck 44 to the mounting shaft 92 is attached to the lower end of the pressing shaft 74. it can. An auxiliary tension spring (for example, a tension coil spring) 102 for urging the pressure shaft 74 upward in the Z-axis direction is interposed between the column 52 and the pressure shaft 74. be able to. The tension spring 102 is locked at one end to the upper end of the pressing shaft 74 and at the other end to the upper end of the upper extension 52 a of the column 52, and is pressed. Acts to stabilize the movement of the shaft 74 in the Z-axis direction.

The assembly head 16 is moved to the first position P! By the first moving mechanism 46 described above. While moving between the second position P ₂ and the second position P ₂ , the second connecting plate 88 is located on the first connecting plate 66 at the Z-axis upper limit position in order to avoid collision with obstacles. It is preferable to keep the condition of 7. Therefore, it is advantageous to install a sensor 104 at the lower end of the side wall of the first connecting plate 66 to detect that the second connecting plate 88 is at the upper limit position. In this case, the components are relatively positioned so that the second connecting plate 88 reaches the upper limit position when the lower end of the extension 96 of the second connecting plate 88 passes above the sensor 104. Position. Thereby, the extension portion 96 acts as a detection plate, and the sensor 104 can detect that the second connection plate 88 is at the upper limit position in the Z-axis direction. As the sensor 104, a known optical sensor / magnetic sensor can be used.

As described above, the mounting head 16 of the assembly head 16 has the mounting shaft portion 92 of the chuck 44 rotatably supported by the cylindrical sleeve 90 of the second connecting plate 88, whereby The first connection plate 66 is supported rotatably about the Z axis. In this configuration, when assembling the components held by the chucks 4 to the substrate S, the direction (polarity) of the component mounting portion (for example, a lead) can be freely selected and changed on the substrate S, or This is advantageous for fine-tuning the position of the mounting portion with respect to the through hole H of S (FIG. 4). Therefore, the rotation drive source 108 of the assembly head 16 can be further mounted on the second connecting plate 88 via the bracket 106. The rotary drive source 108 is, for example, a servomotor, and is connected to the mounting shaft 92 of the chuck 44 via a known power transmission device such as a pulley Z-belt device. In this case, a belt 1 is fixed between the pulley 110 fixed to the output shaft of the rotary drive source 108 and the pulley 111 fixed to the mounting shaft 92 of the chuck 44. 14 is erected. 3rd moving mechanism

As shown in FIG. 10 and FIG. 11, the third moving mechanism 50 moves the assembly head 16 at the second position P 2 in a direction substantially orthogonal to the moving direction of the first moving mechanism 46. As a third driving device that drives linearly in the Z-axis direction in the illustrated example), a fluid pressure cylinder device 1 16 installed near the rear end of the support boom 62 and a fluid pressure cylinder device And a push rod 1 18 that moves in the Z-axis direction by driving the 1 16. A support plate 120 having a substantially Z-shaped cross section is fixed to the upper surface of the support boom 62, and a fluid pressure cylinder device 1 16 is provided near the rear end of the upper wall 120a of the support plate 120. Is installed with the tip 1 2 2 a of the operating shaft 1 2 2 facing downward. A pair of guide shafts 124 are further provided on the upper surface of the support boom 62 so as to protrude upward in the Z-axis direction while being separated from each other in the Y-axis direction. The guide shafts 1 2 4

A pair of guide bushes 128 fixed to 126 are respectively slidably received in the axial direction. In this state, the operation plate 126 is disposed between the upper surface of the support boom 62 and the upper wall 120a of the support plate 120. The push rod 118 is fixed near the rear end of the operating plate 126 so as to protrude downward in the Z-axis direction. The support boom 62 has a through hole 130 at a position corresponding to the push rod 118, through which the push rod 118 can pass without contact. A compression spring (for example, a compression coil spring) that urges the operation plate 1 26 upward in the Z-axis direction between the support boom 6 2 and the operation plate 1 26.

1 3 2 intervenes. One end of the compression spring 13 2 is attached to a pin 13 4 projecting from the upper surface of the support boom 6 2, and the other end of the compression spring 13 2 is fixedly formed substantially at the center of the operation plate 12 6. Accepted by sleeve 1 36.

When the working shaft 1 1 2 of the fluid pressure cylinder 1 1 6 is drawn into the cylinder and is at the stroke limit position, the tip 1 2 2 a of the working shaft 1 2 2 6 and the working plate 1 2 6 is the compression spring 1 3 2 Is placed at the upper limit of the z-axis movement range under the bias of (Fig. 11). At this time, the lower end surface of the push rod 118 is disposed in the through hole 130 provided in the support boom 62. From this state, as the operating shaft 122 of the hydraulic cylinder device 116 protrudes from the cylinder, the leading end 122a of the operating shaft 122 contacts the operating plate 126, and The operating plate 1 26 is pressed downward in the Z-axis direction against the bias of the compression spring 1 32. As a result, the operation plate 1 26 moves downward in the Z-axis direction under the guidance of the pair of guide shafts 1 24 and the guide bush 128, and accordingly, the push rod 118 moves the support beam. It moves downward in the Z-axis direction through the through hole 13 of 6 2. As shown in the figure, the top end of the working plate 1 26 receives the tip 122 a at the position facing the tip 122 a of the working shaft 122 of the fluid pressure cylinder device 116. Seats 1 3 8 can be installed.

The push rod 118 inserted into the through hole 130 of the support boom 62 has its lower end surface so that it can contact the assembly head 16 located at the second position P2. . Therefore, when the head 1 6 to assembling is in the second position P _2, the push rod 1 1 8 is moved in the Z-axis downward by the driving of the fluid pressure Siri Sunda device 1 1 6, the linear operation Sent to assembly head 16

As described above, the assembly head 16 is mounted on the screw shaft 56 and the guide rail 6 in the state of FIG. 7 in which the second connection plate 88 is at the upper limit position in the Z-axis direction on the first connection plate 66. 4 at a second position P ₂ . At this time, the operation plate 126 is disposed at the upper limit position in the Z-axis direction, and the lower end surface of the push rod 118 is disposed in the through hole 130 of the support boom 62 (FIG. 11). In this state, the mounting shaft portion 92 of the chuck 44 of the assembly head 16 is arranged substantially coaxially close to the lower end surface of the push rod 118.

In this state, when the push rod 118 moves downward in the Z-axis direction by driving the hydraulic cylinder device 116, the lower end surface of the push rod 118 is assembled. The head 16 is brought into contact with the upper end surface of the mounting shaft portion 92 of the chuck 44 of the head 16, and presses the mounting shaft portion 92 downward in the Z-axis direction. As a result, the mounting head 16 is moved together with the second connecting plate 88 under the guidance of the guide rail 84 and the guide block 86 in the same manner as the operation described with reference to FIG. , And moves downward in the Z-axis direction against the bias of the tension spring 98. Here, the second downward movement distance from the position P ₂ of the assembly heads 1 6, corresponding to the dimensions of the feed to the component pickup position P 0 parts is appropriately decided for each component. Third moving mechanism 5 0 Te this good Unishi is, the head 1 6 to assembling in the second position P _2, the component pick-up position P. Vertically. From this state, the operating shaft 122 of the fluid pressure cylinder device 116 is drawn into the cylinder, and the push rod 118 is moved upward in the Z-axis direction by the bias of the compression spring 132. When it moves, the pressing force of the push rod 1 18 applied to the assembly head 16 is released. As a result, the assembling head 16 moves upward in the Z-axis direction together with the second connecting plate 88 by the urging of the tension spring 98 with the upward movement of the push rod 118. to return to the position P _2.

Head 1 6 is first position P to the assembled, and while it moves between the second position P _2, in order to avoid collision with the rod 1 1 8 press the head 1 6 to assembling, It is preferable that the push rod 1 18 and the operating plate 1 26 maintain the state shown in FIG. 11 at the upper limit position of the Z-axis movement range. Therefore, it is advantageous to install a sensor 140 on the upper wall 120a of the support plate 120 to detect that the operation plate 126 is at the upper limit position. In this case, actuation plate 1 2

Fix the dog 1 4 2 to the upper end of the spring receiving sleeve 1 3 6 protruding from the upper surface of the sensor 6, and set the sensor 1 4 6 when the operating plate 1 2 6 reaches the upper limit position.

Position and position each part relatively so that 0 senses dog 1 4 2. Thereby, the sensor 140 can detect that the push rod 118 and the operating plate 126 are at the upper limit position in the Z-axis direction. The sensor

As 140, a known optical sensor or magnetic sensor can be used. The first driving device of the first moving mechanism 46, the second driving device of the second moving mechanism 48, and the third driving device of the third moving mechanism 50 are the chuck 4 of the assembly head 16. Together with the drive device 4 and the rotary drive source 108, control can be performed by a control device (not shown) such as an NC device. When receiving a command of the part take-out (pick-Appu), the first moving mechanism 4 6 arranges the head 1 6 to assemble the second position P _2. Then third moving mechanism 5 0, component pickup position P. The head 1 6 from the second position P ₂ to the assembling And the chuck 44 is operated to move the parts to the unloading position P by the storage / feed mechanism 12. Hold the parts sent to. 0 third moving mechanism 5 in the state, the head 1 6 to the assembling by returning to the second position P ₂ taken out parts.

Then first moving mechanism 4 6, the second moving mechanism 4 8 head 1 6 to assemble the second move from the position P ₂ the first position P, to, be et al., Head 1 6 to assembling From the first position P i to the table 14. Therefore, a component mounting portion (for example, a lead) is inserted into the through hole H (FIG. 4) of the substrate S fixedly supported on the table 14 and, for example, a clinch device (not shown) is used. Assemble the parts to the board S by bending the lead. When the assembly is completed, the chuck 44 operates to release the parts, and the second moving mechanism 48 returns the assembly head 16 to the first position P i. Separation device

Referring again to FIG. 2, the separation device 30 provided in the storage / delivery mechanism 12 is installed behind the machine base 36 and below the rear end area of the support boom 62. As described above, the separating device 30 separates the component sent from each feeding device of the storage Z feeding mechanism 12 from a subsequent component in the same feeding device, and sets the component picking position P. To place. This separation operation will be described later.

The separation device 30 is mounted on the gantry 144 as shown in Figs. 12 to 15. Select the four component receivers 3 2 to be mounted and one of the component receivers 3 2, and select the component removal position P. And a switching device 3 4 to be arranged at the same time. The switching device 34 is coupled to one end of a screw shaft 144 via a screw shaft 144 supported substantially horizontally on the upper surface of the mount 144 and a coupling 144, and 4 supported by a rotary drive source 150. On the upper surface of the gantry 144, a guide rail 152 extending parallel to the screw shaft 144 is further installed.

The four component receiving bases 32 are fixed to the upper surface of one mounting plate 154 in parallel with each other. At the lower part of the mounting plate 154, a nut 156 screwed to the screw shaft 146 and a guide block 158 slidingly engaging with the guide rail 152 are fixed. The mobile platform installed on the vehicle is connected via a separating direction sliding mechanism described later. Therefore, the switching device 34 is composed of a guide rail 152 and a guide block 158 by driving a feed screw mechanism composed of a screw shaft 1446, a rotary drive source 150 and a nut 156. Under the guidance of the linear guide mechanism, the four component receivers 32 are moved horizontally together with the movable base 160 and the mounting plate 154 in the direction in which they are arranged. In this case, it is desirable that the feed screw mechanism is configured as a well-known ball screw mechanism, and it is preferable that the rotary drive source 150 be a controllable servomotor. In the illustrated embodiment, the horizontal movement direction of the component receiver 32 is set parallel to the X-axis direction in the movement coordinate system of the table 14 described above.

Parts removal position P. Is a predetermined position location of a horizontal movement range of the component cradle 3 2 is set to a position directly below the Z-axis direction of the head 1 6 to assembly in the second position P _2. When the storage / feeding mechanism 12 sends out parts from the above-described various feeding devices, the switching device 34 arranges each component receiving base 32 at an initial position facing the corresponding feeding device. After that, when removing the desired parts from the parts receiving table 32 with the assembly head 16, cut off. The replacement device 34 selects the parts receiving table 32 on which the parts to be held by the chuck 44 of the mounting head 16 are placed, and moves the mounting plate 15 4 to the moving table 1 6 Move horizontally with 0 to move the selected parts receiving table 3 2 to the parts removal position P. To place.

The separating device 30 further causes each of the component receiving tables 32 to perform an operation of separating components sent from various feeding devices from subsequent components in the same feeding device. For this reason, a pair of guide rails 162 extending parallel to the Y-axis direction are installed on the upper surface of the movable base 160, and the guide rails 162 are mounted on the lower surface of the mounting plate 154. A pair of guide blocks 164 that slide and engage are provided. Therefore, the mounting plate 154 can move horizontally in the Y-axis direction with respect to the movable base 160. In addition, on the upper surface of the gantry 144, on the opposite side of the various feeding devices of the storage Z feeding mechanism 12 with respect to the moving base 160, a hydraulic cylinder device 168 is mounted via a bracket 166. Is installed. The tip of the working shaft 170 of the fluid pressure cylinder device 168 is arranged so as to be able to contact the side edge of the mounting plate 154.

A tension spring (for example, a tension coil spring) that urges the mounting plate 154 forward in the Y-axis direction (in a direction away from various feeding devices) between the mounting plate 154 and the moving base 160. 1 7 2 intervenes. One end of the tension spring 17 2 is engaged with the rear end of the mounting plate 15 4 in the Y-axis direction, and the other end is engaged with the front end of the movable base 16 0 in the Y-axis direction.

When the working shaft 170 of the fluid pressure cylinder device 168 is retracted into the cylinder and is at the stroke limit position, the tip of the working shaft 170 comes off the mounting plate 154. The mounting plate 154 is placed at the front end of the Y-axis movement range under the bias of the tension spring 1Ί2 (Fig. 12). At this time, the parts receiving base 32 on the mounting plate 154 is moved to the parts extraction position P by the movement in the X-axis direction described above. Can be selectively placed in

Parts sent from various feeders are received by the corresponding parts When removing, from the state shown in Fig. 12, the operating shaft 170 of the fluid pressure cylinder device 168 protrudes from the cylinder, and its tip comes into contact with the mounting plate 154. 4 is pushed by the tension spring 1 ばね and pushed backward in the Y-axis direction. As a result, the mounting plate 154 moves rearward in the Y-axis direction under the guidance of the pair of guide rails 162 and the guide block 164, and the four parts receiving bases 32 correspond to the corresponding feeding devices. Located close to the front end of the. In this state, parts are sent out from each feeder and placed on the corresponding parts receiving table 32.

Subsequently, by pulling the operating shaft 170 of the fluid pressure cylinder device 168 into the cylinder, each component receiving base 32 was moved forward in the Y-axis direction and was sent out from various feeding devices. Separate parts from subsequent parts in the same feeder. As shown in the figure, on the upper surface of the plate-like part 16 1 at the upper end of the movable base 16 0, the front end of the mounting plate 15 4 in the Y-axis direction is located at a position facing the side edge of the mounting plate 15 4. A stopper 174 that can define the position can be erected.

When the parts are separated, for example, if the parts sent from the feeder are interconnected by lead end taping, a cut (not shown) for cutting the connection tape is applied. However, it will be installed in the corresponding parts receiving table 32. Unnecessary accessories such as connection tapes are taken out from the parts receiving tray 32 and then picked up by the residual material disposal chuck 1776 installed on the gantry 144 to dispose of them. It can be discarded from 178 to collection box 180. Pre-processing station

As described above, the component assembling apparatus 10 according to the present invention has a configuration in which the assembling head 16 holds the main part B (FIG. 19) of the component E with its chuck 44. Different storage styles are stored in storage / delivery mechanism 1 2 Many kinds of parts can be stably held by one assembly head 16 and can be assembled to the substrate S (FIG. 4). Here, the part □ E is at the part removal position P by the assembly head 16. The part removal position P is set so that the posture of the main body part B when taken out from the board matches the posture of the main body part B when assembled to the board S. It is preferable to be sent to and wait. In this case, if each mounting part (lead L in the example shown) is located at the proper position with respect to the main part B of the part E, the part E is attached to the mounting head 16 and P. Can be mounted on the board S while maintaining the posture when it was taken out from

Also, depending on the position of the through-hole H to be mounted on the substrate S, the mounting head 16 is used to remove the component P. The directionality of the plurality of leads L (FIG. 19) of the part E when taken out from the board is the same as the directionality of the leads L (that is, through holes H to be assembled) when assembled on the board S May be different. In such a case, if the difference in directionality can be specified in advance as the rotation angle of the assembly head 16 centering on the Z axis, the part E is moved to the part unloading position P. After taking it out, the chuck 44 of the assembly head 16 is rotated by the required angle about the Z-axis to change the direction of the lead L to the direction of the through hole H to be assembled. However, the position of each lead L with respect to the main part B of the part E is deviated from the regular position due to molding error of the main part B, deformation of the lead L, etc. In such a case, it becomes difficult to accurately insert the lead L into the through hole H (FIG. 4) of the substrate S. Therefore, the component assembling apparatus 10 sets the component extraction position P. Before assembling the part E taken out from the target onto the board S as the target object, the part E is subjected to necessary preprocessing such as position detection, positioning, posture correction, and propriety judgment of a mounting portion (for example, a lead). Was A further pretreatment step 182 is provided. 4th moving mechanism

Referring again to FIG. 2, the pre-treatment station 18 2 is located behind the machine base 36 and below the rear end area of the support boom 62 and adjacent to the front of the separation device 30. Is done. In its This, the first moving mechanism 4 6 described above, while the head 1 6 to assembling Before moving from the second position P ₂ to the first position P 1, pretreated stay on the support boom 6 2 configured to allow through the third position P ₃ opposite to tio down 1 8 2. The component assembling apparatus 10 has a fourth moving mechanism 184 that moves the assembling head 16 at the third position Pa in a direction approaching the preprocessing station 182. It will be further equipped.

Fourth moving mechanism 1 8 4, the third to the assembly at the location P ₃ head 1 6 (in the illustrated example Z-axis direction) direction perpendicular to the moving direction by the first moving mechanism 4 6 linearly to A fluid pressure cylinder device installed near the rear end of the support boom 62 adjacent to the third drive device of the above-described third movement mechanism 50 in the Y-axis direction as a fourth drive device to be driven. 186 and push rod 188 that move in the Z-axis direction by driving the hydraulic cylinder device 186 and ¾:

As shown in FIGS. 10 and 11, the hydraulic cylinder device 186 is provided near the center of the upper wall 120 a of the support plate 120 fixed to the upper surface of the support boom 62. 3 Installed adjacent to the hydraulic cylinder device 1 16 of the drive unit. The operating shaft 190 of the hydraulic cylinder device 186 is disposed substantially parallel to the operating shaft 122 of the hydraulic cylinder device 116 with its tip 190 a facing downward. . The push rod 188 is fixed in the vicinity of the front end of the operating plate 1 26 guided and driven in the Z-axis direction so as to protrude downward in the Z-axis direction substantially parallel to the push rod 118 of the third drive. You. Support boom 6 2, a through hole 192 through which the push rod 188 can pass in a non-contact manner is formed at a position corresponding to the push rod 188.

When the working shaft 190 of the fluid pressure cylinder device 186 is retracted into the cylinder and is at the stroke limit position, the tip 190 a of the working shaft 190 becomes the working plate 1 2 After disengaging from 6, the operating plate 1 26 is placed at the upper limit position of the Z-axis movement range under the bias of the compression spring 13 2 (Fig. 11). At this time, the lower end surface of the push rod 188 is disposed in the through hole 192 provided in the support boom 62. From this state, as the working shaft 190 of the fluid pressure cylinder device 186 protrudes from the cylinder, the leading end 190a of the working shaft 190 comes into contact with the working plate 126, The operating plate 1 26 is piled on the bias of the compression spring 1 32 and pressed downward in the Z-axis direction. As a result, the operating plate 1 26 moves downward in the Z-axis direction under the guidance of the pair of guide shafts 1 14 and the guide bush 1 28, and accordingly, the push rod 1 88 is moved by the support bump. It moves downward in the Z-axis direction through the through hole 1 92 of 6 2. As shown in the figure, the top surface of the working plate 126 receives the tip 190a at a position facing the tip 190a of the working shaft 190 of the fluid pressure cylinder device 186. A seat 194 can be installed.

Pushrods 1 8 8 being揷入the through hole 1 9 2 supporting booms 6 2, the lower end face of that, taken head 1 6 to assembled in a third position P ₃ to be contact I have. Therefore, the can and head 1 6 to assembling is in the second position P _3, the push rod 1 8 8 moves the Z-axis direction downward by the driving of the fluid pressure Siri Sunda apparatus 1 8 6, the linear operation Is communicated to assembly head 16 o

As described above, the assembly head 16 is mounted on the screw shaft 56 and the guide rail 6 with the second connection plate 88 at the upper limit position in the Z-axis direction on the first connection plate 66 as shown in FIG. 4 along a third position P ₃ . At this time, the operation plate 1 26 is located at the upper limit position in the Z-axis direction, and the lower end surface of the push rod 18 8 Is disposed in the through hole 192 of the support boom 62 (FIG. 11). In this state, the mounting shaft portion 92 of the chuck 44 of the assembly head 16 is disposed substantially coaxially near the lower end surface of the push rod 188.

In this state, when the push rod 188 is moved downward in the Z-axis direction by driving the hydraulic cylinder device 186, the lower end surface of the push rod 188 is chucked by the mounting head 16. 4 4 It comes into contact with the upper end surface of the mounting shaft portion 92, and presses the mounting shaft portion 92 downward in the Z-axis direction. As a result, the mounting head 16 is moved together with the second connecting plate 88 under the guidance of the guide rail 84 and the guide block 86 in the same manner as the operation described with reference to FIG. , And moves downward in the Z-axis direction against the bias of the tension spring 98. Here, the downward moving distance of the assembly head 16 from the third position P 3 is appropriately determined according to the requirements of the various processing units described later provided in the pre-processing step 18 2. You. The good Unishi fourth moving mechanism 1 8 4 Te is the head 1 6 to the third position P ₃ near Ru assembled, it is vertically moved to the pretreatment Stacy tio down 1 8 2 direction approaching the.

From this state, the operating shaft 190 of the fluid pressure cylinder device 186 is drawn into the cylinder, and the push rod 188 is pushed upward in the Z-axis direction by the bias of the compression spring 1332. When it moves, the pressing force of the push rod 18 8 applied to the assembly head 16 is released. As a result, the assembling head 16 is moved upward in the Z-axis direction together with the second connecting plate 88 by the urging of the tension spring 98 with the upward movement of the push rod 18 88. to return to the position P _3. Processing unit

The preprocessing step 182 includes a plurality of processing units 196 that individually execute various preprocessing described later, and includes a plurality of processing units 196 that are arranged in parallel with each other. select one of the provided switching device 1 9 8 arranged in the processing position opposite to the third position P ₃ as described above. Fig. 16 As shown in Fig. 18, a plurality of (four in the figure) processing units 1996 and switching devices 198 are mounted on a gantry 144 on which the above-described separation device 30 is mounted. Mounted side by side with 0. The switching device 198 is connected to one end of the screw shaft 200 via a screw shaft 200 supported substantially horizontally on the upper surface of the gantry 144 and a coupling 202, and And a rotary drive source 204 supported by the rotary drive 4. A guide rail 206 extending in parallel with the screw axis 200 is installed on the upper surface of the gantry 144.

The four processing units 196 are fixed side by side to the front end region of the upper surface of one mounting plate 208. At the rear end of the mounting plate 208, a movable base 212 fixedly installed with a nut 210 screwed to the screw shaft 200 is connected, and is attached to the lower surface of the mounting plate 208. A pair of guide blocks 214 slidingly engaged with the guide rails 206 are fixedly installed. Therefore, the switching device 198 is driven by the feed screw mechanism composed of the screw shaft 200, the rotary drive source 204 and the nut 210, and the guide rail 206 and the guide block 2 are driven. Under the guidance of the linear guide mechanism 14, the four processing units 196 are horizontally moved together with the moving base 2 12 and the mounting plate 208 in the direction in which they are arranged. In this case, it is desirable that the feed screw mechanism be configured as a well-known ball screw mechanism, and that the rotary drive source 204 be formed of a servo motor that is easily controlled. In the illustrated embodiment, the horizontal movement direction of the processing unit 196 is set parallel to the X-axis direction in the movement coordinate system of the table 14 described above.

Processing position P _4, the predetermined position der connexion in the horizontal movement range of the processing unit 1 9 6, it is set at a position immediately below the Z-axis direction of the head 1 6 to assembly in a third position P 3. Although the initial positions of the plurality of processing units 196 are not particularly set, when performing desired pre-processing on the part E held in the chuck 44 of the assembly head 16, the switching device 198 is provided with the switching unit 198. Processing that can perform desired pre-processing Part 1 9 6 select, the mounting plate 2 0 8 together with the movable table 2 1 2 moved horizontally to position the processing unit 1 9 6 selected the processing position P _4. Measuring unit

Hereinafter, an example of the processing unit 196 installed in the preprocessing station 182 will be described. As an example of the processing unit 196, a measuring unit 2 16 that measures the amount of displacement of the mounting portion (lead L) extending from the main body portion B of the component E and attached to the board S with respect to the main body portion B Can be prepared. As shown in FIGS. 19 to 22, the measuring section 2 16 is composed of a rotation detecting plate 2 20 rotatably supported on a connecting plate 2 18 fixed to the mounting plate 208, and a rotation detecting plate. A sliding detection plate 222 mounted on the upper surface of the plate 220 so as to be movable two-dimensionally, and a sensor 2 supported by the connecting plate 218 to detect the rotation angle of the rotation detecting plate 222 24, and a pair of sensors 222, 228 supported by the rotation detecting plate 220 to detect the moving distance of the sliding detecting plate 222.

A cylindrical sleeve 230 is fixedly installed on the connecting plate 218, and a sensor 224 is attached to a lower end of the cylindrical sleeve 230 via a mounting pipe 232. The sensor 224 is composed of, for example, a rotary encoder, and the rotation shaft 224 a of which is fixed to the lower surface of the rotation detection plate 224 via the coupling 234 via the rotation 234. It is coaxially connected to. The rotation support shaft 236 is rotatably supported in the cylindrical sleeve 230 through a pair of bearings 238.

A guide rail 240 extending in a direction perpendicular to the rotation axis 220 a of the rotation detecting plate 220 (the X1 axis direction in the figure) is provided on the upper surface of the rotation detecting plate 120. A guide block 244 installed on the lower surface of the movable base 242 is slidably engaged with the guide rail 244, whereby the movable base 242 is rotated by the rotation detecting plate 224. Can move up in X1 axis direction Mounted on The moving table 2 4 2 is the rotation axis 2 2 of the rotation detection plate 2 2 0

0 a and a direction perpendicular to the extension direction of guide rail 2 40 (Y in the figure)

Acts as a second guide rail that extends in

When the guide block 2 46 installed on the lower surface of 2 2 2 is slidably engaged with the moving table 2 4 2, the slide detection plate 2 2

Mounted on 20 so that it can move horizontally in the Y1 axis direction. In this way, the sliding detection plate 2 2 2 is placed on the rotation detection plate 2

It can be freely translated in a two-axis coordinate system.

The sliding detection plate 222 is an outer edge portion that extends perpendicularly to the direction of the movement axis on the rotation detection plate 220, that is, the X1 axis direction and the Y1 axis direction.

248, 250. One sensor 226 supported by the rotation detecting plate 222 is disposed directly opposite the outer edge portion 248 of the sliding detecting plate 222, and the sensor 226 and the outer edge portion 248 are disposed opposite to each other. The change in the distance in the XI-axis direction between is detected. The other sensor 2 supported by the rotation detection plate 220

Reference numeral 28 denotes a sliding detection plate 222 that is disposed directly opposite the outer edge 250 of the sliding detection plate 222, and detects a change in the distance in the Y1 axis direction between the sensor 222 and the outer edge 250. . These sensors 226 and 228 can be constituted by known non-contact sensors such as magnetic sensors.

A lead insertion plate 25 2 is fixed to the upper surface of the slide detection plate 22 2. A plurality of (eight in the figure) holes 2554 that can individually receive a plurality of leads L extending from the main part B of the component E are provided on the lead input plate 25 52. They are arranged in a box shape. The holes 254 are formed at positions corresponding to the regular arrangement of the leads L of the part E to be measured. In the example shown in the figure, a guide piece 256 having a fine hole capable of uniformly contacting the outer surface of the lead L is provided in each of the holes 255 located at the four corners of the eight holes 254. Purchased.

Measuring unit 2 16 sets the rotation axis 2 20 a of rotation detection plate 2 The connecting plate 2 18 is attached to the mounting plate 2 08 so that it is arranged parallel to the axis (Z axis) orthogonal to the moving axis (X axis and Y axis) of the table 14 of the assembling device 10 described above. Fixed. As a result, the rotation detecting plate 222 moves the movement axis of the sliding detecting plate 222 on the rotation detecting plate 220 at the predetermined rotation position, that is, the X1 axis and the Y1 axis. It can be placed parallel to the axis and the Y axis. Therefore, the measuring section 2 16 locks the rotation detecting plate 220 in a rotation position where the X1 axis and the Y1 axis are respectively arranged in parallel with the X axis and the Y axis, and A positioning means is further provided to lock the sliding detection plate 222 at a specific position (ie, the origin position). .

The positioning means of the sliding detection plate 222 is composed of a hydraulic cylinder device 258 suspended from the connecting plate 218, and an operating shaft 26 extending vertically upward of the hydraulic cylinder device 258. 0 and a positioning pin 2 62 which is coaxially connected. The positioning pin 262 has a proximal region 2622a adjacent to the operating shaft 260 slightly thicker than the distal region 2662b. The rotation detecting plate 220 has a slit 264 that can smoothly receive the proximal end region 262a of the positioning pin 262 while contacting the outer surface thereof. The sliding detection plate 222 has a through hole 266 that can smoothly receive the terminal area 262b of the positioning pin 262 while contacting the outer surface thereof.

4 do

When the operation shaft 260 of the fluid pressure cylinder device 258 protrudes from the cylinder and reaches the limit position of the operation stroke when the slide detection plate 222 is at the home position, the positioning pin 2 The base region 26 2 a of 62 is received by the slit 26 4 of the rotation detection plate 220, and the end region 26 2 b of the positioning pin 26 62 slides. It is received in the through hole 2 66 of the detection plate 222. As a result, the rotation of the rotation detecting plate 220 is prevented, and the sliding detecting plate 222 is locked at the origin position. From this state, the fluid pressure When the operation shaft 260 of the cylinder device 258 is drawn into the cylinder and reaches the limit position of the operation stroke, the base end area 262a of the positioning pin 262 becomes the rotation detection plate 224. At the same time as detaching from the slit 2664, the end region 2662b of the positioning pin 262 detaches from the through hole 2666 of the slide detecting plate 22. Thereby, the rotation of the rotation detecting plate 222 and the two-dimensional parallel movement of the sliding detecting plate 222 are allowed.

When the sliding detection plate 2 2 2 is at the home position, the rotation axis 2 2 of the rotation detection plate 2 2 0 is located at the center of the array of eight holes 2 5 4 formed in the lead input plate 2 5 2. 0a is located. Also, in this state, when the measuring section 2 16 is selected and arranged at the processing position P ₄ , the slide detecting plate 2 2 2 is mounted on the supporting arm 6 2 at the third position P ₃ . Immediately below the head 16 in the Z-axis direction, the rotation axis 222 a of the rotation detecting plate 220 is arranged so as to be coaxial with the center line of the mounting shaft 92 of the chuck 44. At this time, the eight holes 254 formed in the lead-in insert plate 252 correspond to the positions corresponding to the regular positions of the plurality of leads L with respect to the main body part B of the part E to be assembled. O

Assembly head 16 is the part removal position P. If it is required to measure the displacement of the lead L with respect to the main part B of the component E before assembling the component E taken out from the board S onto the board S, move the slide detection plate 222 to the home position. engaged in, place the measuring unit 2 1 6 to the processing position P _4. Next Ide, the head 1 6 to assembled holding the body portion B of the component E Cha click 4 4, is moved toward the processing position P ₄ from the third position P _3, the plurality of rie component E The lead L is inserted into the plurality of holes 2 54 of the lead insertion plate 2 52 of the measuring section 2 16 (preferably at substantially the same time), and the rotation detection plate 220 and sliding Release the lock of the detection plate 2 2 2 to the home position. During this time, the assembly head 16 moves the main part B of the part E to the part removal position P

Keep holding the camera in the same position as when it was taken out from 0. Therefore, if the plurality of leads L are displaced from the proper position with respect to the main part B of the part E, the guides installed in the plurality of holes 25 4 of the lead insertion plate 25 2 As the lead L is received in the hole of the piece 25 4, at least one of the rotation detection plate 220 and the slide detection plate 222 is displaced in response to the displacement of the lead L. I do. The displacement of the rotation detection plate 222 is detected as a rotation angle by the sensor 222, and the displacement of the slide detection plate 222 is determined by the linear motion distance ΔX by the sensors 222 and 228. And ΔY. In this way, the displacement of the lead L is measured.

Among the displacements of the lead L measured by the measuring unit 2 16, the linear movement distances ΔX and ΔY of the sliding detection plate 222 are determined by the control unit (parts) of the component assembling unit 10. When the assembling head 16 assembles the component E to the board S, it is added to the position coordinates of the table 14 as a correction amount. Thereby, the through hole H at the mounting position of the substrate S carried on the table 14 is arranged at a position corrected by ΔX and ΔY. In addition, the rotation angle 0 of the rotation detecting plate 220 among the positional deviation amounts of the lead L is stored in the control device (assembly control unit) of the component assembling device 10 and the assembling head 1 When the component 6 assembles the component E to the substrate S, it acts as a correction amount, and the chuck 44 is rotated by the rotation drive source 108. Thereby, the plurality of leads L of the component E are arranged in alignment with the through holes H at the mounting location of the board S.

In the measuring section 2 16, since the slide detecting plate 222 is mounted on the rotation detecting plate 220, the linear motion distance Δ Χ of the actually measured sliding detecting plate 222 is measured. And ΔΥ include the rotation angle 0 of the rotation detection plate 220. Therefore, the following correction operation is performed before storing the numbers X and ΔY in the table control unit.

Δ X c Δ Χ _Μ (cos 0) Ten Δ Υ _Μ Χ (si η Θ) Δ Y c = Δ Υ Μ X (cos-Δ X Μ X (si η θ)

Here, Δ Χ Υ and Δ Υ _Μ are displacement amounts actually detected by the sensors ₂₂₆ and 228, AX _C and Δ Υ. Is the corrected displacement. The storage child in the table control unit The thus computed the厶X c and delta Y _c, the position coordinates of the table 1 4 Ru is accurately corrected. As a result, even when the plurality of leads L of the component E are misaligned with respect to the main body portion B, the assembly head 16 can securely insert the leads L into the through holes H. Insertion allows the part E to be accurately assembled to the board S.

Note that the measuring unit 216 performs the displacement measurement processing not only on the component E having the eight leads L described above but also on a component having various numbers of leads (or mounting parts). Can be implemented. In this case, the lead insertion plate 252 may be replaced with a hole having the number and arrangement of holes 254 corresponding to the lead of the component to be processed. Alternatively, a large number of mosquitoes 25 4 are arranged in a matrix at a predetermined pitch corresponding to the minimum pitch of the through holes H in the substrate S, for example, 2.5 mm. No, it is also possible to prepare a lead insert plate 2 52 that can handle a wide variety of products.

Head with compliance function

As another means for correcting the displacement of the lead L with respect to the main part B of the component E, for example, a port box with a compliance function as described in Japanese Patent Application Laid-Open No. HEI 5-192922. The hand can be used for the chuck 44 of the assembly head 16. In this case, the chuck 44 holds the main part B of the part E in the two-dimensional movement direction of the table 14 with respect to the main body of the assembly head 16 (the mounting shaft 92). In addition to being able to freely translate in a substantially parallel direction, (Compliance function) can be selectively locked and released.

When assembling parts using this chuck 44, first, with the compliance function locked, use the assembling head 16 to remove the part P. The part E is taken out from the container, and then the part E is transported to the pretreatment station 182. The pretreatment Stacy tio down 1 8 2, are disposed a plurality of processing units 1-9 to 6 for example measuring section 2 1 6 is selected and the processing position P _4. In this case, the detection plate 222 is positioned and fixed at the origin position. Therefore, the compliance function of the chuck 44 is released, and the lead L of the part E held on the chuck 44 is inserted into the lead 2 of the measuring section 2 16 and the hole 2 of the insertion plate 2 5 2. 5 Insert into 4. As a result, the chuck 44 moves the table 14 two-dimensionally with respect to the mounting shaft 92 of the assembly head 16 in response to the positional deviation of the lead L with respect to the main body B. In a direction substantially parallel to the direction. As a result, the main part B of the part E is displaced laterally with respect to the mounting shaft 92 of the mounting head 16, and accordingly, a plurality of leads L are rotated by the rotation of the mounting shaft 92. It is arranged at a regular position with respect to the axis (that is, the axis when assembling parts).

Then, the compliance function of the chuck 44 is locked again, and the part E is transported to the table 14 while maintaining the plurality of leads L at the proper positions. At this time, the plurality of leads L of the component E are arranged in alignment with the through holes H at the mounting location of the board S. In this way, even when a plurality of leads L of the component E are misaligned with respect to the main body B, the assembly head 16 moves the leads L to the through holes H. The part E can be securely inserted and the part E can be accurately assembled to the board S.

In the pre-processing station 182, one of the plurality of processing units 196 has the same configuration as the detection plate 222 and the lead insertion plate 252 of the measuring unit 216 described above. It is also possible to arrange a perforated plate (not shown) having a hole. In this case, use the assembly head 16 with the compliance function. In the that rie de position correction may be arranged in a processing position P ₄ to select the processor 1 9 6 installed the perforated plate. Further, a processing unit 1996 having only the rotation detecting structure in the measuring unit 216 can be provided on the perforated plate. In this case, in addition to the effect of absorbing the displacement in the X-axis and Y-axis directions by the compliance function, it is possible to obtain the effect of correcting the rotation direction. Straightening department

As another example of the processing unit 196, the posture (for example, bending) of the mounting portion (lead L in the figure) extending from the main portion B of the component E and attached to the substrate S is shown with respect to the main portion B. A straightening unit 268 for straightening can be prepared. As shown in FIG. 23 to FIG. 25, the straightening portion 268 includes a drive shaft 272 slidably supported on a connecting plate 270 fixed to the mounting plate 208, and a metal fitting 2 A pair of fluid pressure cylinder devices 2 7 4 and 2 7 6 suspended from the connecting plate 2 7 0 via 7 3 and a pair of sliding members 2 7 8 supported above the connecting plate 2 7 0 And

A cylindrical sleeve 280 is fixedly provided on the connecting plate 270, and a drive shaft 172 is supported in the cylindrical sleeve 280 so as to be slidable in the axial direction. A drive cam 282 is fixedly installed at the upper end of the drive shaft 272 projecting upward from the connecting plate 270. The drive cam 282 expands from the small-diameter tapered portion 282a at the tip, the cylindrical portion 282b connected to the base end of the small-diameter tapered portion 282a, and the cylindrical portion 282b. And a large-diameter taper portion 2 8 2 c that extends. An operating piece 284 is fixedly installed at the lower end of the driving shaft 272 projecting below the connecting plate 270. Between the lower end surface of the cylindrical sleeve 280 and the upper surface of the operation piece 284, a compression spring (eg, a compression coil spring) for urging the operation piece 284, that is, the drive shaft 72 downward. 286 intervenes. A pair of hydraulic cylinder devices 2 7 installed below the connecting plate 2 70

4, 276 are arranged with their operating shafts 288, 290 facing upward, and the tip of each operating shaft 288, 290 is connected to the operating piece 2 of the drive shaft 272. 8 4 can be contacted. These fluid pressure cylinder devices 274 and 276 operate independently of each other, and push the operation piece 284 upward against the bias of the compression spring 286. The connecting plate 270 is further screwed with a bolt 292 capable of adjusting the protruding length from the lower surface thereof. The bolt 2292 is located in the upward movement path of the head 2292a of the head 2922a, and is operated by each of the hydraulic cylinder devices 274 and 2776.

Acts to lock the upward movement of 2 8 2 in the desired adjustable position

A frame body 294 is erected above the connecting plate 270, and a pair extending at the upper end of the frame body 294 in a direction orthogonal to the axis line 272a of the drive shaft 272. Guide shaft 2966 is installed. The guide shafts 2996 are fixedly supported by a holder 298 connected to the frame body 2974. Each of the pair of sliding members 278 is slidably supported by the guide shafts 296 via a bearing 300. Each of the pair of sliding members 2 7 8 is provided with a roller at a position facing each other at their lower ends.

302 is rotatably supported. Each roller 302 has a rotation axis that is substantially orthogonal to both the axis line 272 a of the drive shaft 272 and the sliding direction of each sliding member 278.

A tension spring (for example, a tension coil spring) 304 that urges the sliding members 278 toward each other is interposed between the pair of sliding members 278. In addition, an adjustment bolt 306 for positioning an axis in the sliding direction of each sliding member 278 is screwed to the side surface of each sliding member 278. The adjusting bolts 300 have their shaft ends opposed to each other, and the distance between the shaft ends varies as the sliding member 278 slides. On the other hand, The frame body 294 is fixedly provided with a stopper 308 located between the adjusting bolts 306. The stopper 308 is arranged in the movement path of the two adjustment bolts 306 accompanying the mutual approaching movement of the two sliding members 278, and the two sliders are biased by the tension spring 304. It acts to lock the mutually approaching movement of the moving members 278 in a desired adjustable position. Roller 300 supported by both sliding members 278 when double-adjustment bolt 306 is in contact with stopper 308 under the bias of tension spring 304 Between them, a gap is formed in which a small-diameter taper portion 282a at the tip of the drive cam 282 of the drive shaft 272 can be introduced.

At the upper end of each sliding member 278, a correction claw 312 provided with one through hole 310 is fixedly installed. The correction claws 3 12 move together with the sliding member 2 78 in a state where the respective through holes 3 10 are arranged in parallel with the axis 2 72 a of the drive shaft 27 2. Above the corrective claws 3 1 2, there is a guide plate 3 16 provided with an inlet hole 3 14 at a position that can be aligned with each through hole 3 110. Substantially on the upper surface of both corrective claws 3 1 2 It is arranged so that it may contact. The introduction plate 3 16 is fixedly installed on the upper end of the frame body 2 94. When each correction claw 3 1 2 moves together with the sliding member 2 7 8 below the introduction plate 3 16, the through hole 3 10 of the correction claw 3 1 2 becomes the introduction hole 3 1 of the introduction plate 3 1 6. It is positioned on the sliding member 278 so as to pass through the position aligned with 4. The number of the introduction holes 3 14 in the introduction plate 3 16 and the number of the through holes 3 10 in the correction nail 3 12 depend on the number of leads L of the part E to be pre-processed in the correction section 268. (Two in the figure), the arrangement of the introduction holes 314 in the introduction plate 316 matches the regular arrangement of the lead L.

The straightening unit 268 sets the axis 27 2 a of the drive shaft 27 2 a to the axis (Z axis) orthogonal to the moving axis (X axis and Y axis) of the table 14 of the component assembling device 10. So that the connecting plate 270 is attached to the mounting plate Fixed to 208. Assembly head 16 is the part removal position P. If it is required to correct the posture of the lead L with respect to the main part B of the part E before assembling the part E taken out from the board S onto the board S, select the straightening unit 268 placed in the processing position P _4.

In processing position P _4, first, one of the work shaft 2 9 0 of the fluid pressure Siri Sunda apparatus 2 7 6 to protrude from the silicon Sunda, the actuating piece 2 8 4 the lower end of the drive shaft 2 7 2 the tip It comes into contact and is piled with the bias of the compression spring 286 to push up the operating piece 284 and the drive shaft 272 upward. As a result, the driving force 282 at the upper end of the driving shaft 272 is introduced from the small-diameter tapered portion 282a at the tip thereof to between the rollers 302 supported by the pair of sliding members 278. As a result, both sliding members 278 move in a direction away from each other with the bias of the tension spring 304. When the operating shaft 290 of the cylinder device 276 reaches the stroke limit, the intermediate cylindrical portion 282 b of the drive cam 282 is moved to both ends under the bias of the tension spring 304. It is sandwiched between two lanes. At this time, the penetrating mosquito 3 10 of the correction nail 3 1 2 supported by each sliding member 2 7 8 is aligned with the corresponding introduction hole 3 1 4 of the introduction plate 3 16 above it, and straightening is performed. Part 268 is set to the initial position.

In this state, the head 1 6 to tea click 4 4 assembly holding the body portion B of the component E, by moving toward the processing position P ₄ from the third position P _3, the rie components E The insert L is inserted into the corresponding introduction hole 3 14 of the introduction plate 3 16 and the through hole 3 10 of each correction nail 3 12. During this time, the assembly head 16 moves the main part B of the part E to the part extraction position P. Continue to hold it as it was when it was taken out.

Next, as shown in FIG. 26, the operating shaft 288 of the other fluid pressure cylinder device 274 is protruded from the cylinder, and the tip of the operating shaft 288 contacts the operation piece 284, and the compression spring 2 With the urging of 86, the operating piece 2 84 and the drive shaft 27 2 are pushed further upward. As a result, the driving force The large-diameter taper portion 282c is inserted between the rollers 302, and the sliding members 278 are piled by the bias of the tension spring 304 and move further away from each other. . When the operation shaft 2888 of the cylinder device 274 reaches the stroke limit, or when the operation piece 2884 is in contact with the head 2992a of the bolt 2922, the two slides are performed. Member 2 7 8 stops. At this time, each of the through holes 3 10 of the correction nail 3 12 supported by each sliding member 2 7 8 is outside the corresponding introduction hole 3 14 of the introduction plate 3 16 above. Placed away. Therefore, at the initial position shown in FIG. 23, each lead L of the component E inserted into each introduction hole 3 14 of the introduction plate 3 16 and the through hole 3 10 of each correction nail 3 12 is The movement of the two sliding members 2778 and the two correction claws 312 in the direction away from each other causes the body portion B to move outward (that is, in a direction in which the two leads L move away from each other). Be bent o

Subsequently, as shown in FIG. 27, when the operating shafts 2888 and 290 of both of the fluid pressure cylinder devices 274 and 276 are pulled into the cylinder, the compression spring 286 is attached. Due to the force, the operation piece 284 and the drive shaft 272 move downward. As a result, the driving force 282 moves downward between the rollers 302, and when the lower end of the driving cam 282 contacts the upper end of the cylindrical sleeve 280, the driving shaft 2 7 2 stops, and the drive cam 28 2 separates from both rollers 30 2. When the working shafts 288 and 290 of both the hydraulic cylinder devices 274 and 276 are retracted to the stroke limit, the tips of the working shafts 288 and 290 are Leave from 2 8 4. The roller 302 supported by each sliding member 278 is moved from the large-diameter tapered portion 282c of the driving force 282 to the small-diameter tapered portion 282a via the cylindrical portion 282b. The two sliding members 278 move in the mutually approaching direction by the bias of the tension spring 304 accordingly. The shaft end of the adjustment bolt 30 attached to both sliding members 27 8 is the stopper 30 At the time of contact with 8, both sliding members 2 78 stop. At this time, each of the through holes 3 10 of the correction nail 3 12 supported by each sliding member 2 7 8 is in correspondence with the corresponding introduction hole 3 14 of the introduction plate 3 16 above it. It is located inside and separated. Therefore, each lead L of the part E bent outward at the position in FIG. 26 is bent inward with respect to the main body portion B (that is, in a direction in which the two leads L approach each other). You.

Parts removal position P. If the two leads L of the part E taken out from the main body B are bent inward or outward with respect to the body part B, that is, in a direction approaching or moving away from each other, the introduction plate 3 in the initial position By inserting the lead L into the introduction hole 3 14 of the 16 and the through hole 3 110 of the correction nail 3 12, the bending of the lead L is temporarily corrected within the elastic range. Subsequently, the bending of the lead L is plastically reduced by continuously moving the two correction claws 3 12 in the separating direction and the approaching direction below the introduction plate 3 16 as described above. Be corrected. Here, the order of the reciprocating motion and the reciprocal motion of the correction nails 3 1 and 2 is arbitrary, but the two motions are continuously performed unless the initial bending direction of the lead L can be specified in advance. It is important to do so.

Note that the correction unit 268 is not limited to the component E having the two leads L described above, but may be, for example, the component E having the eight leads L described in relation to the measurement unit 216. A straightening process can be performed on parts having various numbers of leads L (attachment portions). In this case, the correction nails 3 12 and the introduction plate 3 16 may be replaced with those having the corresponding number of through holes 31 Q and the introduction holes 3 14. Judgment unit

As another example of the processing section 1996, the suitability of a mounting part (lead L in the figure) that extends from the main part B of the part E and is mounted on the substrate S A judgment unit 318 for judging the condition can be prepared. As shown in FIGS. 28 to 31, the judging section 3 18 is composed of a guide plate 3 2 2 fixedly supported on a connecting plate 3 20 fixed to the mounting plate 2 08, and a guide plate. A plurality (four in the figure) of sensors 3 2 4 installed below the 3 2 2 are provided.

A plurality of columns 3 26 are erected on the upper surface of the connecting plate 3 220, and a guide plate 3 2 2 is attached to the upper end of the column 3 2 6 substantially parallel to the connecting plate 3 2 0. . The guide plate 322 is provided with a plurality of through holes 328 arranged in a matrix. The number and arrangement of the through holes 328 coincide with the number of leads L (eight in the figure) and the regular arrangement of the part E to be preprocessed by the judging unit 318. In each of the through holes 3 28, a guide piece 330 having a fine hole capable of uniformly contacting the outer surface of the lead L is inserted. A mounting member 3 32 is provided on the lower surface of the guide plate 3 222. A plurality of (eight in the figure) detection plates 334 are pivotally supported by the mounting member 332 in a fixed manner. The four detection plates 3 3 4 are arranged in two rows corresponding to the arrangement of the through holes 3 2 8 of the guide plate 3 2 2. The rotation axis of each detection plate 334 is substantially parallel to the guide plate 322 and substantially orthogonal to the axis of the pore of the guide piece 330 in each through hole 328. Each detection plate 3 3 4 has, at one end thereof, a side edge 3 3 4 a that can face each through hole 3 2 8 of the guide plate 3 2 2, and a guide plate 3 2 at the other end region 3 3 4 b. Extend to the side of 2. Also, between each detection plate 3 3 4 and the connection plate 3 20, a portion having a side edge 3 3 4 a of each detection plate 3 3 4 is urged in a direction approaching the guide plate 3 2 2. A compression spring (for example, a compression coil spring) is interposed. One end of each compression spring 336 is in contact with the lower surface of the detection plate 3334, and the other end is attached to a pin 338 protruding from the upper surface of the connection plate 320.

The four sensors 324 are mounted on each of a pair of brackets 340, and two sensors 324 are provided above the connecting plate 322 via the respective brackets 340. And it is supported by the side of the guide plate 3 2 2. In the illustrated example, one sensor 324 is allocated to two adjacent detection plates 334 in the same row. The detection element section 324a of each sensor 324 is arranged at a position where the other end areas 334b of the corresponding two detection plates 334 can approach. The side edge 3 3 4a of each detection plate 3 3 4 is attached to the lower end surface of the guide piece 3 30 inserted into each through hole 3 28 of the guide plate 3 2 2 by the bias of the compression spring 3 3 6. Be abutted. At this time, the other end region 3334b of each detection plate 3334 is closest to the detection element portion 324a of the corresponding sensor 324. In addition, each sensor 324 can be configured from a known optical sensor or magnetic sensor.

The judging section 318 sets the axis of the hole of the guide piece 330 in each through hole 328 to the moving axis (X axis and Y axis) of the table 14 of the component assembling apparatus 10 described above. The connecting plate 320 is fixed to the mounting plate 208 so as to be arranged parallel to the orthogonal axis (Z axis). Assembly head 16 is the part removal position P. If it is required to judge the suitability of the lead L of the component E before assembling the component E taken out from the board B onto the board B, select the judging unit 3 18 and place it at the processing position P ₄ . At this time, the judging section 318 presses the side edge 334a of each detecting plate 334 into contact with the lower end face of the guide piece 330 inserted into each through hole 328 of the guide plate 3222. It is set to the initial position where it touches. In this state, the head 1 6 to assembled holding the body portion B of the component E Cha click 4 4, is moved toward the processing position P ₄ from the third position P _3, each of the component E Li The slot L is inserted into the guide piece 3 30 in the corresponding through hole 3 28 of the guide plate 3 2 2. During this time, the assembly head 16 continues to hold the body part B of the part E in the posture at the time of being taken out from the part take-out position P.

If all eight Li one de L of component E taken out from the component pickup position P _u is present in normal form, the guide plate 3 2 2 in the through holes 3 2 8 If each lead L is inserted into the guide piece 330, each lead L pushes the side edge 334a of the detection plate 33 4 below the guide piece 330, and the detection plate 3 3 4 is piled with the bias of the compression spring 3 3 6 and rocked. As a result, the other end regions 3 3 4 b of all the detection plates 3 3 4 are displaced away from the corresponding detection elements 3 2 4 a of the sensors 3 2 4, and the sensors 3 2 4 Sense. In contrast, the part removal position P. If any of the eight leads L of the part E taken out from the unit has a defect such as dropout, partial loss, bending, etc., the guide plate 3 2 2 If each lead L is inserted into the guide piece 330, the defective lead L properly presses the side edge 3 3 4a of the detection plate 3 34 below the guide piece 330. Would be difficult to do. Therefore, the other end area 334 b of the detection plate 3 3 4 corresponding to the defective lead L is placed as being closest to the detection element 3 2 4 a of the corresponding sensor 3 2 4.

In this way, when all the sensors 3 2 4 are strong and the displacement of the other end area 3 3 4 b of the detection plate 3 3 4 is detected, the target component E is determined to be a normal product and assembled. Head 16 transports it to the next stage. On the other hand, if at least one sensor 3 2 4 is strong and the displacement of the other end 3 3 4 b of the detection plate 3 3 4 is not detected, the target part E is determined to be defective. However, the assembly head 16 discards the defective product in a reject box 342 (FIG. 2) installed near (below) the pretreatment station 182, for example.

The determination unit 318 not only detects the defective product described above, but also functions to determine the polarity of the component E, for example, when a plurality of leads L have different lengths depending on the polarity. it can. In this case, when the long lead L presses the side edge 334 a of the detection plate 3 3 4 and swings the detection plate 3 3 4, the short lead L becomes Lower the assembly head 16 to a position where the side edge 3 3 4a of the detection plate 3 3 4 cannot be pressed yet. I do. Accordingly, each sensor 3 2 4 detects the displacement of the other end area 3 3 4 b of the detection plate 3 3 4 according to the length of the lead L, so that the polarity of the read L can be determined. it can.

The determined polarity of the lead L is compared with the polarity of the through hole H of the board S to be mounted, and the rotation angle required for the chuck 44 when the part E is mounted on the board S. (Eg, 90 °, 180 °, etc.). Thereby, the lead L of the component E can be inserted into the through hole H under the polarity exactly matching the polarity of the through hole H of the substrate S.

In the example shown in the figure, one of the two adjacent detection plates 3 3 4 is made to have a different shape, and one sensor 3 2 4 is assigned to the two detection plates 3 3 4. However, the present invention is not limited to this. For example, one sensor 3 2 4 may be assigned to four detection boards 3 3 4 in one row, or one sensor 3 2 4 may be assigned to each detection board 3 3 4. it can. In addition, the determination unit 318 is not limited to the component E having the eight leads L described above, and for example, the component E having the two leads L described in relation to the correction unit 268. For example, the judgment processing can be performed on parts having various numbers of leads L (attachment portions). Parts assembly

The component assembling apparatus 10 is configured to handle an object (for example, a substrate S) conveyed by a conveyor device (not shown) at, for example, a loading section 344 (FIG. 1) set on the side of the machine base 36. Receive it and carry it into table 14 at the carry-in position. The carried object is positioned at a predetermined position on the table 14 and fixedly carried.

Head 1 6 to assembling is Ru is disposed in the second position P ₂ on the support boom 6 2. The storage Z feed mechanism 12 sends out the required parts from the various feeders to the separation device 30 according to the command of the control device of the component assembling device 10. , Parts removal position P. To place. Head 1 6 then to assembling the parts take-out position P. from the second largest location P ₂ Descends towards, after holding the component by tea click 4 4 extracts the component and returns to the second position P _2.

After that, the assembling head 16 is moved to the part unloading position P by the command of the control device (transport control unit) of the parts assembling device 10. The parts extracted from the parts are transported to the processing position P4 of the preprocessing stage 182, and are processed by at least one processing unit 1996 according to the type of preprocessing required for the parts. Perform preprocessing. Here, for example, before or after the part is processed by the above-described measurement unit 216 and correction unit 268, and further by the determination unit 318, the accuracy and effectiveness of the pre-processing are increased. This is advantageous in improving the performance. For components that do not require any pre-treatment, such as stable-shaped components that can be assembled properly to the target object, the assembly head 16 uses the pre-treatment step 18 2. 1st position P without going through! And transport the parts above the table 14.

In response to a command from the control device (assembly control unit) of the component assembling device 10, the table 14 moves in parallel within its operation area to move the component assembling position of the object to the first position P i. Position it downward in the Z-axis direction. Therefore, when the mounting head 16 corrects the position of the mounting portion according to the processing result of the preprocessing step 182, the table is moved from the first position Pi to the table after the correction. Descend to Nore 14 and assemble parts to the object.

The above-described component assembling process is automatically and continuously performed on various types of components in various feeding devices in a desired assembling order in accordance with a request of an object. In this way, the object on which all necessary parts have been assembled is transferred to the unloading section (not shown) of the machine base 36 by the table 14 and is unloaded from the unloading section.

As described above, the present invention has been described with reference to some preferred embodiments. However, the present invention is not limited thereto, and various changes and modifications may be made within the disclosure of the claims. It can be modified. For example, the second driving device, the third driving device, and the fourth driving device of the second moving mechanism 48, the third moving mechanism 50, and the fourth moving mechanism 184 described above have the configuration of the illustrated embodiment. Instead, for example, a drive device combining a ball screw and a servomotor can be adopted. In this case, the operation control of each moving mechanism can be optimized.

In addition, the drive mechanism in the various processing units 196 described above can use another drive source such as an electromagnetic solenoid instead of the fluid pressure cylinder device.

In addition, the part assembling device 10 is juxtaposed with the assembling unit 54 mounted on the column 52, and the previously used dedicated assembling unit 3464 (FIG. 1) is simultaneously used. By adopting a configuration that can be mounted, it is possible to improve existing equipment and use it as equipment that can handle various types

Industrial applicability

The present invention provides a component assembling apparatus capable of continuously and automatically assembling a large number of parts stored in various packages onto an object without increasing the overall dimensions of the apparatus. It is. The component assembling apparatus according to the present invention can accurately, by using a single assembling head, place a variety of electric and electronic components having different packing styles and lead arrangements at predetermined positions on a substrate in a desired order. Can be used to assemble. Thereby, the productivity of the substrate can be significantly improved.

Claims

The scope of the claims

1. A storage and feeding mechanism for storing a large number of parts and sequentially feeding the parts to a part removal position;

A two-dimensionally movable table for carrying the object,

A movable assembling head for taking out the part delivered to the part taking-out position, transferring the part to the table, and assembling the part to the object;

A first moving mechanism for moving the assembly head between a first position facing the table and a second position facing the component take-out position; and the assembly head at the first position. A second moving mechanism for moving the table in a direction approaching the table;

A third moving mechanism for moving the assembly head at the second position in a direction approaching the component extraction position;

A component assembling apparatus comprising:

2. The storage Z feeding mechanism includes a plurality of feeding devices capable of feeding a plurality of types of components having different storage forms independently of each other, and a component fed from each of the feeding devices from a subsequent component. The component assembling apparatus according to claim 1, further comprising: a separating device that is separated and arranged at the component extracting position.

3. The separating device includes a number of component receiving bases corresponding to the number of the feeding devices, which are arranged side by side, and selects one of the component receiving bases and arranges the selected one in the component unloading position. The component assembling device according to claim 2, comprising a switching device.

4. The component mounting apparatus according to claim 1, wherein the mounting head includes a chuck capable of holding a main body of the component.

5. The chuck of the assembling head holds the main body of the part around the axis perpendicular to the two-dimensional movement direction of the table. The component assembling device according to claim 4, wherein the component assembling device is rotatable.

6. The chuck of the assembling head can translate in a direction parallel to the two-dimensional movement direction of the table while holding the main body of the component, and perform the translation operation. The component assembling apparatus according to claim 4, wherein the locking Z can be selectively released.

7. The component assembling apparatus according to claim 1, wherein the first moving mechanism includes a first driving device that linearly drives the assembling head between the first position and the second position. .

8. The storage Z feed mechanism is installed behind the machine of the component assembling apparatus, and the second position is set at substantially the same height as the first position behind the machine. The component assembling apparatus according to claim 7, wherein:

9. The component assembly according to claim 1, wherein the second movement mechanism includes a second drive device that linearly drives the assembly head in a direction orthogonal to the two-dimensional movement direction of the table. apparatus.

10. The component assembly according to claim 1, wherein the third movement mechanism includes a third drive device that linearly drives the assembly head in a direction orthogonal to a direction of movement by the first movement mechanism. apparatus.

11. The component assembling apparatus according to claim 10, wherein the component removal position is set immediately below the second position.

12. The component assembling apparatus according to claim 1, further comprising a sensor that senses that the assembling head is located at the first position.

13. The component assembling apparatus according to claim 1, further comprising a sensor that senses that the assembling head is located at the second position.

14. The component assembling apparatus according to claim 1, further comprising a preprocessing station for processing the component taken out from the component takeout position before assembling the component to an object.

15. The first moving mechanism moves the assembly head from the second position. It is configured to be moved to the first position via a third position facing the pre-processing station, and the assembly head at the third position is attached to the pre-processing station. 15. The component assembling apparatus according to claim 14, further comprising a fourth moving mechanism for moving in a direction of approach.

16. The component set according to claim 15, wherein the fourth moving mechanism includes a fourth driving device that linearly drives the assembly head in a direction orthogonal to a moving direction of the first moving mechanism. Attachment device.

17. The pre-processing station includes a plurality of processing units arranged side by side, and selects one of the processing units and arranges the processing unit at a processing position opposed to the third position. The component assembling apparatus according to claim 15, further comprising:

18. The component assembling apparatus according to claim 17, wherein the processing position is set immediately below the third position.

19. The preprocessing step according to claim 14, wherein the pretreatment step includes a measuring unit for measuring a displacement amount of a mounting portion extending from the main body of the component and mounted on the object with respect to the main body. Parts assembling device.

20. The component set according to claim 14, wherein the pre-processing station includes a correction unit configured to correct a posture of an attachment portion extending from a main body portion of the component and attached to an object with respect to the main body portion. Attachment device.

21. The component assembling apparatus according to claim 14, wherein the pretreatment step includes a determination unit that extends from a main body of the component and determines whether or not a mounting portion to be mounted on an object is appropriate.