WO2013099105A1

WO2013099105A1 - Component mounting device

Info

Publication number: WO2013099105A1
Application number: PCT/JP2012/007575
Authority: WO
Inventors: 智仁内海
Original assignee: ヤマハ発動機株式会社
Priority date: 2011-12-28
Filing date: 2012-11-26
Publication date: 2013-07-04
Also published as: JP2013138140A; KR101495234B1; CN103404250B; CN103404250A; JP5855452B2; KR20130122977A

Abstract

A component mounting device comprising a head unit provided with a plurality of heads for mounting a component, wherein the component mounting device is provided with a head rotation driving mechanism, which is for rotationally driving the heads and which is provided to the head unit. The head rotation driving mechanism comprises: a motor having an output shaft; a first transmission belt looped between the output shaft and heads in a first group comprising one or a plurality of heads from amongst the heads; and a second transmission belt having a shorter total length than that of the first transmission belt, the second transmission belt being looped between the output shaft and heads in a second group comprising one or a plurality of heads, other than those belonging to the first group, from amongst the heads.

Description

Component mounting equipment

The present invention relates to a component mounting apparatus that transports and mounts components on a substrate from a component supply unit.

Conventionally, it is equipped with a head unit having a plurality of heads for mounting components, and the components are picked up from the component supply unit by the head and transported onto the substrate, and the components are mounted at predetermined positions on the substrate. The device is known. Each head is supported so as to be rotatable with respect to the head unit, and when a component is sucked and mounted, the rotation angle of each head is controlled in accordance with the component and its mounting position. Each head is rotated by a belt transmission mechanism (belt rotation drive mechanism) using a motor as a drive source. In this case, the belt transmission mechanism is configured to rotate all the heads integrally with one motor, or to group a plurality of heads and rotate all the heads in the group with one motor for each group. It is common (for example, patent document 1). This is because the use of a common motor for a plurality of heads suppresses an increase in size and weight of the head unit.

In recent years, there is a tendency that more heads are mounted on the head unit from the viewpoint of improving mounting efficiency. For this reason, the belt transmission mechanism is required to rotate and drive more heads. As a result, the transmission belt is becoming longer. Such an increase in the length of the transmission belt tends to cause belt elongation, and causes a rotation error such as lost motion.

回転 The effect on the rotation error due to belt elongation is relatively small, and there is almost no direct impact on mounting accuracy. However, if the length of the transmission belt is increased as the number of heads increases, for example, a large package component or the like may have a rotational error due to belt elongation that cannot be ignored in terms of mounting accuracy.

JP 2010-93177 A

In a component mounting apparatus in which a plurality of heads are mounted on a head unit, the present invention can ensure mounting accuracy with a reasonable configuration while suppressing an increase in size and weight of the head unit due to a nozzle rotation drive mechanism. The purpose is to do.

A component mounting apparatus according to one aspect of the present invention is a mounting apparatus for mounting a component on a board, and includes a head unit on which a plurality of component mounting heads that are rotatable about a vertical axis are mounted, and the head A head rotation drive mechanism comprising a belt transmission mechanism mounted on the unit and configured to rotationally drive the plurality of heads, the head rotation drive mechanism comprising: a motor having an output shaft; and the plurality of heads. A first transmission belt spanned between a first group of heads composed of one or a plurality of heads and the output shaft, and an overall length shorter than the first transmission belt, and among the plurality of heads, the first group of heads A second group of heads composed of one or a plurality of heads different from the heads, and a second transmission belt stretched over the output shaft are provided.

It is a top view which shows the component mounting apparatus concerning this invention. It is a front view which shows a component mounting apparatus. It is a plane schematic diagram (partial sectional view) showing the configuration of the head unit. It is a front schematic diagram (partial sectional view) showing the configuration of the head unit (arrangement of the first and second R-axis servomotors, etc.). FIG. 5 is a schematic cross-sectional view of the head unit (cross-sectional schematic view taken along the line VV in FIG. 4) showing a transmission structure of the transmission belt (located on the lower side). FIG. 5 is a schematic plan view (cross-sectional view taken along the line VI-VI in FIG. 4) of the head unit showing a transmission structure of the transmission belt (positioned on the upper side).

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 show a component mounting apparatus according to the present invention, FIG. 1 is a plan view, and FIG. 2 is a front view schematically showing the component mounting apparatus. In FIG. 1, FIG. 2, and the drawings described later, XYZ rectangular coordinate axes are shown in order to clarify the directional relationship between the drawings.

The component mounting apparatus includes a base 1, a substrate transport mechanism 2 that is disposed on the base 1 and transports a substrate 3 such as a printed wiring board (PWB) in the X direction, a component supply unit 4, 5, a component mounting head unit 6, a head unit driving mechanism for driving the head unit 6, an imaging unit 7 for component recognition, and the like.

The substrate transport mechanism 2 includes a pair of

conveyors

2 a and 2 a that transport the substrate 3 on the base 1. These

conveyors

2a and 2a receive the board 3 from the right side of the figure, convey it to a predetermined mounting work position (position shown in the figure), and hold the board 3 by a holding device (not shown). Then, after the mounting operation, the holding of the board 3 is released, and the board 3 is carried out to the left side of the figure.

The component supply units 4 and 5 are arranged on both sides (both sides in the Y direction) of the substrate transport mechanism 2. A plurality of tape feeders 4 a arranged in the X direction along the substrate transport mechanism 2 are disposed in one of the component supply units 4 and 5. These tape feeders 4a are provided with reels around which small chip components such as ICs, transistors, capacitors, etc. are stored and wound. The tape feeders 4a are provided in the vicinity of the substrate transport mechanism 2 while intermittently delivering the tapes from the reels. A part is supplied to a predetermined part supply position. On the other hand,

trays

5a and 5b are set in the component supply unit 5 on the other side at a predetermined interval in the X direction. Package-type parts such as QFP (Quad Flat Package) and BGA (Ball Grid Array) are arranged and placed on each

tray

5a, 5b so that it can be taken out by the head unit 6 described later. .

The head unit 6 takes out components from the component supply units 4 and 5 and mounts them on the substrate 3, and is disposed above the substrate transport mechanism 2 and the component supply units 4 and 5.

The head unit 6 can be moved in the X and Y directions within a certain area by the head unit driving mechanism (corresponding to the moving means of the present invention). The head unit driving mechanism is fixed to a pair of

elevated frames

1a and 1a provided on the base 1, and extends in parallel with each other in the Y direction, and is supported by these fixed rails 9 in the X direction. And a ball screw shaft 10 that is screwed into the unit support member 12 and driven by the Y-axis servomotor 11. The head unit driving mechanism is fixed to the unit support member 11 and supports the head unit 6 so as to be movable in the X direction. The head unit driving mechanism is screwed into the head unit 6 to drive the X-axis servo motor 15. And a ball screw shaft 14 driven as a source. That is, the head unit driving mechanism moves the head unit 6 in the X direction via the ball screw shaft 14 by driving the X axis servo motor 15 and also moves the unit via the ball screw shaft 10 by driving the Y axis servo motor 11. The support member 12 is moved in the Y direction. As a result, the head unit 6 moves in the X direction and the Y direction within a certain area.

The head unit 6 includes a plurality of shaft-like mounting heads 16 supported by the frame of the head unit 6 so as to be movable up and down (moving in the Z direction) and rotating (rotating in the R direction in FIG. 2). A head raising / lowering driving mechanism for raising and lowering the head 16 relative to the head unit 6 and a head rotation driving mechanism for rotating the mounting head 16 are provided.

A total of ten mounting heads 16 are mounted on the head unit 6 as mounting heads 16. These ten mounting heads 16 are supported by the head unit 6 in a state in which a plurality of mounting heads 16 are distributed in front and rear two rows. Specifically, as shown in FIG. 3, it is distributed into six front rows and four rear rows, and is supported by the head unit 6 in a state of being arranged in a row in the X direction for each row. In this example, the X direction corresponds to the first direction of the present invention, and the Y direction corresponds to the second direction of the present invention.

In the following description, when it is particularly necessary to distinguish the mounting heads 16, the mounting heads 16 in the front row (corresponding to the second head row of the present invention) are placed in order from the right side (−X direction side). The mounting heads 16 in the rear row (corresponding to the first head row of the present invention) are called the first rear row head 18a to the fourth rear row head 18d in order from the right side. To do.

The heads 17a to 17f in the front row mounted on the head unit 6 are adjacent to each other at a constant pitch except that the pitch between the third front row head 17c and the fourth front row head 17d is set wider than the others. They are arranged in a line. In the X direction, first and second

rear row heads

18a and 18b are respectively disposed between adjacent ones of the first to third front row heads 17a to 17c, and the fourth to sixth front row heads are arranged. Third and fourth

rear heads

18c and 18d are arranged between adjacent ones of 17d to 17f, respectively. Thus, in this example, as shown in FIG. 3, as a whole, five mounting heads 16 (heads 17a to 17c and 18a, 18b) are arranged in a zigzag pattern, and the other five are arranged in the left region (+ X direction region) so as to be symmetrical with respect to the mounting head 16 (heads 17a to 17c and 18a, 18b). Mounting heads 16 (heads 17d to 17f and 18c, 18d) are arranged in a staggered manner.

Each mounting head 16 is provided with a nozzle at its tip (lower end) for sucking and holding components. The nozzles of the mounting heads 16 can communicate with any one of a negative pressure generator, a positive pressure generator, and the atmosphere via an electric switching valve. With this configuration, by supplying a negative pressure to the nozzle, the component can be sucked and held by the nozzle, and thereafter, when the positive pressure is supplied, the sucking and holding of the component is released.

The head raising / lowering drive mechanism includes an unillustrated air cylinder disposed at the upper end of each mounting head 16, an electric switching valve for switching supply / exhaust of air to / from each air cylinder, and the like. Each mounting head 16 is connected to a piston rod of a corresponding air cylinder, and moves up and down in response to switching of the electric switching valve.

This component mounting apparatus includes first and second head rotation driving mechanisms as the head rotation driving mechanism. Specifically, as shown in FIGS. 3 to 6, the first head for integrally rotating the first to third front row heads 17a to 17c and the first and third rear row heads 18a and 18c. A rotation driving mechanism and a second head rotation driving mechanism for integrally rotating the fourth to sixth front row heads 17d to 17f and the second and fourth rear row heads 18b and 18d are provided. In FIGS. 5 and 6, some of the mounting heads 16 are omitted for the sake of convenience.

These first and second head rotation drive mechanisms are each composed of an R-axis servo motor and a belt transmission mechanism. The first head rotation drive mechanism uses the first R-axis servomotor 20 as a drive source and has two transmission belts having different lengths (the right first transmission belt 26A and the right second transmission belt 26B; the first of the present invention). The first to third front row heads 17a to 17c and the first and third rear row heads 18a and 18c are integrally driven to rotate via a transmission belt and a second transmission belt).

More specifically, the first R-axis servomotor 20 is arranged in front of the first to third heads 17a to 17c (+ Y direction side) in the head unit 6 with the output shaft 20a facing upward. . That is, the first R-axis servomotor 20 includes the first R-axis servomotor 20 and the first and third rear-

row heads

18a and 18c (heads of the first head row). It is arranged so as to sandwich (head of the second head row) in the Y direction. As shown in FIGS. 4 and 6, two upper and lower drive pulleys 22 and 23 are fixed to the output shaft 20 a of the first R-axis servomotor 20, and the upper drive pulley 22 of these drive pulleys 22 and 23, The right first transmission belt 26A extends across the driven pulley 30 fixed to the second front row head 17b and the first and third rear row heads 18a and 18c, and the driven

pulleys

36 and 38 disposed at predetermined positions. It is being handed over. Specifically, in the clockwise direction, the driving pulley 22, the driven pulley 38, the third rear row head 18c (driven pulley 30), the first rear row head 18a (driven pulley 30), the second front row head 17b (driven pulley). 30) and the driven pulley 36, the right first transmission belt 26A is wound around the drive pulley 22 and the like. The tension pulley 40 is brought into pressure contact with the right first transmission belt 26A from the outer side (outer peripheral side) at a position between the second front row head 17b and the first rear row head 18a. The tension of the belt 26A is adjusted to a predetermined value.

4 and 5, the lower drive pulley 23, the driven pulley 30 fixed to the first front row head 17a and the third front row head 17c, respectively, and the driven pulley arranged at a predetermined position. 32, the right second transmission belt 26B having a shorter overall length than the right first transmission belt 26A is stretched over the belt. That is, the second right transmission belt 26B is stretched only on the front row heads 17a and 17c (corresponding to the heads of the second head row of the present invention). Specifically, the drive pulley 23, the third front row head 17c (driven pulley 30), the driven pulley 32, and the first front row head 17a (driven pulley 30) are arranged on the right side of the drive pulley 23 in the clockwise direction. The second transmission belt 26B is stretched over. Then, at the position between the drive pulley 23 and the third front row head 17c, the tension pulley 34 is brought into pressure contact with the right second transmission belt 26B from the outer side (outer peripheral side), whereby the right second transmission belt 26B. The tension is adjusted to a predetermined value.

The driven pulley 36 around which the right first transmission belt 26A is stretched and the driven pulley 32 around which the right second transmission belt 26B is spanned are rotatably supported in a state of being vertically aligned on a common shaft body. .

Similarly to the first head rotation drive mechanism, the second head rotation drive mechanism also has two transmission belts having different lengths (left first transmission belt 27A, left side first drive belt) using the second R-axis servomotor 21 as a drive source. The second transmission belt 27B; corresponding to the first transmission belt and the second transmission belt of the present invention), and the fourth to sixth heads 17d to 17f in the front row and the second and

fourth heads

18b and 18d in the rear row. Are integrally driven to rotate.

More specifically, the second R-axis servomotor 21 is arranged on the front side (+ Y direction side) of the fourth to sixth front row heads 17d to 17f in the head unit 6 with the output shaft 21a facing upward. . That is, the second R-axis servomotor 21 includes the second R-axis servomotor 21 and the second and fourth rear-row heads 18b and 18d (the heads of the first head row). 17c (the head of the second head row) is sandwiched in the Y direction, and is arranged in a row in the X direction with respect to the first R axis servo motor 20 at the same position as the first R axis servo motor 20 in the Y direction. Has been. As shown in FIGS. 4 and 5, two

output pulleys

24 and 25 are fixed to the output shaft 21a of the second R-axis servomotor 21 so as to be aligned in the axial direction. Side driven pulley 25, driven pulley 30 fixed to the fifth front row head 17e and second and fourth rear row heads 18b and 18d, and driven

pulleys

46 and 48 arranged at predetermined positions, respectively. The left first transmission belt 27A is stretched over. Specifically, the driving pulley 25, the driven pulley 46, the fifth front row head 17e (driven pulley 30), the fourth rear row head 18d (driven pulley 30), and the second rear row head 18b (driven pulley) are rotated clockwise. 30) and the driven pulley 48, the left first transmission belt 27A is wound around the drive pulley 25 and the like. Then, at the position between the fifth front row head 17e and the fourth rear row head 18d, the tension pulley 50 is pressed against the left side first transmission belt 27A from the outer side (outer peripheral side), whereby the left side first transmission. The tension of the belt 27A is adjusted to a predetermined value. The driven pulley 48 around which the left first transmission belt 27A is stretched and the driven pulley 38 around which the right first transmission belt 26A is stretched are rotatably supported in a state where they are lined up and down on a common shaft body. Yes.

Further, as shown in FIGS. 4 and 6, the upper drive pulley 24, the driven pulley 30 fixed to the fourth front row head 17d and the sixth front row head 17f, and the driven pulley 42 arranged at a predetermined position, respectively. The left second transmission belt 27B having a shorter overall length than the left first transmission belt 27A is stretched over. That is, the left second transmission belt 27B is stretched only around the front row heads 17a and 17c (corresponding to the heads of the second head row of the present invention). Specifically, the drive pulley 24, the sixth front row head 17f (driven pulley 30), the driven pulley 42, and the fourth front row head 17d (driven pulley 30) are sequentially placed on the drive pulley 24 and the like in the clockwise direction. The second transmission belt 27B is stretched over. Then, at the position between the drive pulley 24 and the fourth front row head 17d, the tension pulley 44 is brought into pressure contact with the left second transmission belt 27B from the outer side (outer peripheral side), whereby the left second transmission belt 27B. The tension is adjusted to a predetermined value.

The driven pulley 46, on which the left first transmission belt 27A is stretched, and the driven pulley 42, on which the left second transmission belt 27B is stretched, are rotatably supported in a state of being vertically aligned on a common shaft body. .

With this configuration, the first head rotation driving mechanism is driven by the first R-axis servomotor 20 to drive the second front row head 17b, the first and third rear row heads 18a, 18c (main) via the right first transmission belt 26A. The first and third front row heads 17a and 17c (corresponding to each head of the first group of the invention) are rotated via the right second transmission belt 26B having a shorter overall length than the right first transmission belt 26A. Each of the heads of the second group of the present invention is rotated. Further, the second head rotation drive mechanism is driven by the second R-axis servomotor 21 to drive the fifth front row head 17e, the second and fourth rear row heads 18b, 18d (the present invention through the left first transmission belt 27A). 4th and 6th front row heads 17d and 17f (the present invention) via the left second transmission belt 27B having a shorter overall length than the left first transmission belt 27A. Corresponding to each head of the second group). That is, the mounting head 16 on which the right first transmission belt 26A of the first head rotation driving mechanism is stretched is different from the mounting head 16 on which the left first transmission belt 27A of the second head rotation driving mechanism is stretched. Similarly, the mounting head 16 on which the right second transmission belt 26B of the first head rotation drive mechanism is stretched is different from the mounting head 16 on which the left second transmission belt 27B of the second head rotation drive mechanism is stretched. ing.

The mounting heads 16 are arranged symmetrically in the head unit 6 as described above. The first head rotation driving mechanism and the second head rotation driving mechanism are configured symmetrically as shown in FIGS. That is, the arrangement of the first R-axis servomotor 20 constituting the first head rotation drive mechanism and the spanning structure of the

transmission belts

26A and 26B, the arrangement of the second R-axis servomotor 21 constituting the second head rotation drive mechanism, and The

transmission belts

27A and 27B are symmetrical with each other. Accordingly, the right first transmission belt 26A and the left first transmission belt 27A have the same length, and similarly, the right first transmission belt 26A and the left second transmission belt 27B have the same length.

Further, the right first transmission belt 26A of the first head rotation drive mechanism is stretched over the second front row head 17b and the first and third rear row heads 18a and 18c. Accordingly, among these, the mounting head 16 located at the right end (−X direction end) is the first rear row head 18a, and the mounting head 16 located at the left end (+ X direction end) is the third rear row head 18c. On the other hand, the left first transmission belt 27A of the second head rotation drive mechanism is stretched over the fifth front row head 17e, the second and fourth rear row heads 18b, 18d. Therefore, among these, the mounting head 16 located at the right end is the second rear row head 18b, and the mounting head 16 located at the left end is the fourth rear row head 18d. As described above, the first R-axis servomotor 20 of the first head rotation drive mechanism and the second R-axis servomotor 21 of the second head rotation drive mechanism are arranged in order from the right side (−X direction side).

In other words, the

first transmission belts

26A and 27A of each head rotation driving mechanism are mounted on the mounting head 16 (the first head) positioned at the right end of the mounting head 16 around which the right first transmission belt 26A of the first head rotation driving mechanism is stretched. The rear-row head 18a) and the mounting head 16 (second rear-row head 18b) located at the right end among the mounting heads 16 on which the left first transmission belt 27A of the second head rotation driving mechanism is stretched are each rotation driving mechanism. These are mounted on the mounting heads 16 so as to correspond to the arrangement of the R-

axis servomotors

20 and 21. More specifically, the mounting head 16 (first rear row head 18a) at the right end on which the right first transmission belt 26A is stretched is positioned on the right side, and the mounting head on which the left first transmission belt 27A is stretched on the left side thereof. The first transmission belts 26 </ b> A and 27 </ b> A are stretched over the mounting head 16 so that 16 (second rear row head 18 b) is adjacent to each other.

Further, the

first transmission belts

26A and 27A of each head rotation drive mechanism are mounted heads 16 (third ones) located at the left end of the mounting head 16 around which the right first transmission belt 26A of the first head rotation drive mechanism is stretched. The rear head 18c) and the mounting head 16 (fourth rear head 18d) located at the left end among the mounting heads 16 around which the left first transmission belt 27A of the second head rotation drive mechanism is stretched are the same as described above. , The mounting head 16 is stretched so as to correspond to the arrangement of the R-

axis servomotors

20, 21. More specifically, the leftmost mounting head 16 (third rear row head 18c) on which the right first transmission belt 26A is stretched is positioned on the right side, and on the left side thereof, the mounting head on which the left first transmission belt 27A is stretched. The first transmission belts 26 </ b> A and 27 </ b> A are stretched over the mounting head 16 so that 16 (the fourth rear row head 18 b) is adjacent to each other.

The image pickup unit 7 picks up images of components taken out from the component supply units 4 and 5 prior to mounting in order to recognize an image of the holding state of the components by the mounting head 16. The imaging unit 7 is disposed on the base 1 and at a position between the

trays

5a and 5b. The imaging unit 7 is fixedly arranged on the base 1, and includes a camera that captures an image of a component held by the mounting head 16 from below and an illumination device that provides imaging illumination to the component. When the head unit 6 moves above the image pickup unit 7 after picking up the components from the component supply units 4 and 5, the holding components of each mounting head 16 are imaged, and the image data is transferred to the controller described later. 60 (image processing unit 63).

This component mounting apparatus further includes a controller 60 (shown in FIG. 2) that comprehensively controls its operation. The controller 60 includes a CPU that executes logical operations, a ROM that stores various programs for controlling the CPU, a RAM that temporarily stores various data, an HDD, and the like.

The controller 60 includes a drive control unit 61 (corresponding to the control means of the present invention), a storage unit 62, an image processing unit 63, and the like as its functional configuration. The drive control unit 61 stores the storage unit 62 in the storage unit 62. Each drive mechanism (

servo motors

11, 15, 20, 21, etc.) is comprehensively controlled according to the mounted program. Further, the controller 60 performs predetermined mounting work by performing image recognition of the components held in the mounting head 16 and various arithmetic processes based on the image data input from the imaging unit 7 to the image processing unit 63. It is configured to proceed.

In particular, when the component is taken out from the component supply units 4 and 5 by the mounting head 16, the component is attracted by the mounting head 16 predetermined for each component of the mounting head 16. The drive control unit 61 controls driving of the head unit 6 and the like based on the component data stored in the storage unit 62. That is, the storage unit 62 stores component / head correspondence data that defines the mounting head 16 suitable for attracting (holding) each component. The drive control unit 61 stores the component / head correspondence data. The driving of the head unit 6 and the like is controlled based on the head correspondence data. In this example, for the chip components supplied by the component supply unit 4 (tape feeder 4a), all the mounting heads 16 (front row heads 17a to 17f and rear row heads 18a to 18d) are used, while the component supply unit 5 (tray). 5a, 5b) for package type parts (corresponding to specific parts of the present invention), only the first, third, fourth and sixth front row heads 17a, 17c, 17d and 17f are used. The part / head correspondence data is defined in FIG. That is, a package-type component that is larger than the chip component is more easily affected by the rotation error of the mounting head 16 than the chip component (mounting deviation is likely to occur). Therefore, for the package parts, the first, third, fourth, and sixth front row heads 17a that are rotationally driven through the

second transmission belts

26B and 27B that are shorter than the

first transmission belts

26A and 27A, 17c, 17d, and 17f, that is, the component / head correspondence data is determined so that the component mounting is performed using only the mounting head 16 that is less likely to be accompanied by a rotation error due to the belt extension among the ten mounting heads 16. Yes.

Next, a series of mounting operations based on the control of the drive control unit 61 will be described.

In this component mounting apparatus, first, the head unit 6 moves onto the component supply units 4 and 5, and the components are picked up by the mounting heads 16, whereby the components are taken out from the component supply units 4 and 5. At this time, as described above, the head control unit 61 and the like are controlled by the drive control unit 61 based on the component / head correspondence data stored in the storage unit 62, so that all the mounting heads 16 (front row) The chip components are taken out using the heads 17a to 17f and the rear row heads 18a to 18d), while the first, third, fourth, and sixth front row heads 17a and 17c are used for the package type components. , 17d, and 17f are used to take out the package type part.

When the removal of the components from the component supply units 4 and 5 is completed, the head unit 6 passes over the imaging unit 7 along the X direction. As a result, the components held by the mounting heads 16 are imaged by the imaging unit 7, and the drive control unit 61 recognizes the suction state of the components held by the mounting heads 16 based on the images. If there is a defective part or an uncorrectable suction state among the parts held by each mounting head 16, the drive control unit 61 registers the part as a disposal target. The head unit 6 moves onto the substrate 3, and components other than the discard target are sequentially mounted on the substrate 3. At the time of component mounting, the position of the head unit 6 and the rotation angle of each mounting head 16 are controlled for each component by the drive control unit 51. At this time, the position of the head unit 6 and each mounting according to the component recognition result. By correcting the rotation angle of the head 16, components are accurately mounted at each mounting point on the substrate 3.

Thus, when components are mounted on the substrate 3, the head unit 6 moves onto a component disposal box (not shown) and discards the components to be discarded. As a result, one cycle of the mounting operation is completed, and the necessary components are mounted on the substrate 3 by repeating this operation as necessary.

As described above, this component mounting apparatus includes five mounting heads 16 (first to third front row heads 17a to 17c and first and third rear row heads 18a and 18c among ten mounting heads 16). ) By the first R-axis servomotor 20 and the remaining five mounting heads 16 (fourth to sixth front row heads 17d to 17f, and second and fourth rear rows). And a second nozzle rotation driving mechanism for rotating the

heads

18b and 18d) by the second R-axis servomotor 21. In this way, in the component mounting apparatus, since the R-axis servo motor is shared by the plurality of mounting heads, the increase in size and weight of the head unit 6 can be effectively suppressed.

In addition, with respect to the first nozzle rotation drive mechanism, the first to third front row heads 17a to 17c and the first and third rear row heads 18a and 18c are not rotationally driven through the same transmission belt. The heads 17a to 17c, 18a, and 18c are divided into two groups, and the heads are rotationally driven via two

transmission belts

26A and 26B having different lengths for each group. A first nozzle rotation drive mechanism is configured. Similarly, for the second nozzle rotation drive mechanism, the fourth to sixth front row heads 17d to 17f and the second and fourth rear row heads 18b and 18d are divided into two groups, and each group is divided. The second nozzle rotation drive mechanism is configured such that the head is rotationally driven via two

transmission belts

27A and 27B having different lengths. In addition, when mounting the package type component, only the first, third, fourth, and sixth front row heads 17a, 17c, 17d, and 17f among the front row heads 17a to 17f are used. The drive control unit 61 is configured to control the head unit 6 and the like based on the head correspondence data. Therefore, according to this component mounting apparatus, the mounting accuracy required for each of the chip component and the package component can be satisfactorily secured with a reasonable configuration. That is, a package type component that is larger than a chip component is more susceptible to a rotation error of the mounting head 16 than a chip component (a mounting deviation is likely to occur). The parts are first, third, fourth, and sixth front row heads 17a, 17c, 17d, which are rotationally driven via

second transmission belts

26B, 27B having a shorter overall length than the

first transmission belts

26A, 27A. 17f, that is, component mounting is performed using only the heads that are difficult to be accompanied by a rotation error due to belt elongation among the ten mounting heads 16. Therefore, according to this component mounting apparatus, it is particularly easy to ensure the mounting accuracy of the package component, and the required mounting accuracy can be ensured satisfactorily for each of the chip component and the package component.

Further, in this component mounting apparatus, since a plurality (10) of the mounting heads 16 are rotationally driven by two nozzle rotation driving mechanisms, the number of mounting heads 16 driven by one R-axis servo motor can be reduced. . Moreover, in this component mounting apparatus, a plurality (ten) of the heads 16 are mounted on the head unit 6 in a state of being distributed in two rows, and further, the outside of the arrangement direction of these head rows (in this example, the front side (+ Y direction)) )), The R-

axis servomotors

20, 21 of each nozzle rotation drive mechanism are arranged, and these R-

axis servomotors

20, 21 are arranged in a line in the X direction. Therefore, even though the configuration is such that a large number of mounting heads 16 are mounted on the head unit 6, there is an advantage that the head unit 6 itself can be prevented from being significantly increased in size in the arrangement direction (X direction) of the mounting heads 16. . That is, this type of component mounting apparatus is often connected in series in the X direction together with other apparatus such as a component mounting apparatus or a screen printing apparatus, and used as one apparatus of a component mounting system. Therefore, from the viewpoint of space saving of the system, it is required to secure a wide movable range of the head unit 6 while making the entire apparatus compact in the X direction. In this regard, according to the component mounting apparatus, the head unit 6 can be prevented from being enlarged in the X direction, which contributes to ensuring a wide movable range of the head unit 6 while making the entire apparatus compact in the X direction.

Of the transmission belts of the nozzle rotation drive mechanism, the shorter

second transmission belts

26B and 27B are arranged in the front row of heads adjacent to the R-axis servomotors 20 and 21 (the

second transmission belts

26B and 27B). 1st and 3rd front row heads 17a and 17c and 4th and 6th front row heads 17d and 17f), the belt lengths of these

second transmission belts

26B and 27B are very short. It becomes. That is, the first, third, fourth, and sixth front row heads 17a, 17c, 17d, and 17f that are driven via the

second transmission belts

26B and 27B are more unlikely to be accompanied by a rotation error due to belt extension. Become. Therefore, according to the component mounting apparatus, it is possible to secure a higher degree of mounting accuracy for components mounted by the front row heads 17a, 17c, 17d, and 17f, in this example, the package type components.

Further, in each belt rotation drive mechanism of this component mounting apparatus, the mounting head 16 located at one end in the X direction (−X direction side) of the mounting head 16 around which the

first transmission belts

26A and 27A are stretched. The first rear row head 18a and the second rear row head 18b are arranged according to the arrangement direction of the R-

axis servomotors

20 and 21, while the mounting heads 16 located at the other end (+ X direction side) The

first transmission belts

26A and 27A are stretched over the mounting head 16 so that the third rear row head 18c and the fourth rear row head 18d) are arranged according to the arrangement direction of the R-

axis servomotors

20 and 21. That is, the

first transmission belts

26A and 27A of the belt rotation driving mechanisms are arranged in a state where the R-

axis servomotors

20 and 21 that drive the belts are shifted from each other in the arrangement direction. For this reason, there is no great difference in the belt lengths of the

first transmission belts

26A and 27A, and neither of the

first transmission belts

26A and 27A jumps and becomes long. Accordingly, the rotation error of the mounting head 16 driven by the

first transmission belts

26A and 27A, that is, the second front row head 17b, the first and third rear row heads 18a and 18c, and the fifth front row head 17e and The rotation error with the second and fourth rear row heads 18b and 18d is prevented from increasing, and the mounting operation of the component (chip component in this example) mounted using the mounting head is advanced more accurately. There is an advantage that becomes possible.

Further, in this component mounting apparatus, each

second transmission belt

26B, 27B of each belt rotation drive mechanism is stretched over the mounting head 16 so as not to overlap each other in the X direction. There is no significant difference in belt length between the

transmission belts

26B and 27B, and neither of them is excessively long. Accordingly, rotation errors between the mounting heads 16 driven by the

second transmission belts

26B and 27B, that is, the first and third front row heads 17a and 17c and the fourth and sixth front row heads 17d and 17f, This is advantageous in that it is possible to prevent the rotation error from becoming large and to mount the component (package type component in this example) mounted using the mounting head more accurately.

The component mounting apparatus described above is an example of a preferred embodiment of the component mounting apparatus according to the present invention, and its specific configuration, in particular, the number and arrangement of the mounting heads 16 and the specifics of the nozzle rotation drive mechanism. Such a configuration can be appropriately changed without departing from the gist of the present invention.

For example, in the above-described embodiment, the ten mounting heads 16 are mounted on the head unit 6 in a state where the mounting heads 16 are distributed in two front and rear rows. However, the mounting heads 16 may be arranged in one row or in three rows. It may be the above. In the above embodiment, the nozzle rotation driving mechanism is configured to drive the ten mounting heads 16 by five using the two R-

axis servomotors

20 and 21, respectively. Of course, the configuration may be such that ten mounting heads 16 are driven by one R-axis servomotor. In short, if the nozzle rotation drive mechanism is configured to transmit the rotation drive force of one R-axis servo motor to one or more mounting heads 16 via two transmission belts having different lengths from each other. Good. According to this configuration, by using the mounting heads 16 according to the components, it is possible to receive the same operational effects as those of the component mounting apparatus of the above embodiment.

In the above-described embodiment, the R-

axis servomotors

20 and 21 are arranged at positions on the front side (+ Y direction side) of the mounting head 16 in the head unit 6, but of course, both outer sides of the mounting head 16 in the X direction. You may make it arrange | position in this position.

In the above embodiment, all mounting heads 16 (front row heads 17a to 17f and rear row heads 18a to 18d) are used for chip components, and the first, third, fourth, and sixth components are used for package type components. The example in which the component / head correspondence data is determined so as to use only the front row heads 17a, 17c, 17d, and 17f has been described. Of course, the specific contents of the component / head correspondence data are not limited to this. . In short, among the components supplied by the component supply units 4 and 5, mounting of components that require higher mounting accuracy is performed by the first, third, fourth, and sixth front row heads 17a, 17c, 17d, and 17f. The part / head correspondence data only needs to be determined so as to be performed.

The present invention described above is summarized as follows.

A component mounting apparatus according to one aspect of the present invention is a mounting apparatus for mounting a component on a board, and a head unit on which a plurality of component mounting heads that are rotatable about a vertical axis are mounted, and the head unit And a head rotation drive mechanism comprising a belt transmission mechanism for rotationally driving the plurality of heads. The head rotation drive mechanism includes a motor having an output shaft and one of the plurality of heads. A first transmission belt spanned between a first group of heads composed of a plurality of heads and the output shaft, a total length shorter than the first transmission belt, and the heads of the first group among the plurality of heads A second group of heads composed of one or a plurality of other heads and a second transmission belt stretched over the output shaft.

In this component mounting apparatus, not all the heads are rotationally driven via the same transmission belt, but the second group has a shorter overall length than the first transmission belt that rotationally drives each head of the first group. Each head is rotationally driven via the second transmission belt. According to this configuration, for each head of the second group that is rotationally driven via the second transmission belt, the length of the second transmission belt is shorter than that of the first transmission belt. Compared with rotation error due to belt elongation, it becomes difficult. Therefore, by properly using the heads according to the type of parts, etc., the mounting accuracy required for the parts can be rationalized while the multiple motors mounted on the head unit are rotationally driven by a common motor. It can be secured.

More specifically, a component supply unit that supplies a plurality of types of components, a moving unit that moves the head unit relative to the component supply unit and the substrate, and a component that the component supply unit supplies Control means for controlling the moving means to be held by each head of the head unit and mounted on the substrate, and this control means is for a predetermined specific part among the plurality of types of parts. The moving means is controlled so that the specific component is mounted on the substrate only by the second group of heads.

This configuration automates the proper use of heads according to the types of parts as described above. That is, for a specific component, the component is taken out from the component supply unit using only the heads of the second group and mounted on the substrate. Therefore, if a component that particularly requires mounting accuracy is set as the specific component, it is advantageous in securing the mounting accuracy of the specific component.

In this case, when the plurality of types of components include a chip component and a package-type component, the package component is set as the specific component, and the control unit can perform the package component only with the head of the second group. It is preferable that the package component is mounted on the substrate, and the moving means is controlled for the chip component so that the chip component is mounted on the substrate by the heads of the first group and the second group. is there.

That is, when a component is mounted on the substrate, the component is mounted on the substrate at a predetermined rotation angle, but the maximum dimension (maximum dimension in the direction along the substrate surface) is larger than that of the chip component. Mold parts are more susceptible to head rotation errors than chip parts (mounting deviations are likely to occur due to rotation errors). Therefore, according to the above configuration, component mounting is performed using only the heads of the second group for package-type components, and component mounting is performed using the heads of both groups for chip components. It is possible to proceed with the mounting operation of each component while ensuring the mounting accuracy required for each of the package component and the chip component.

In the component mounting apparatus as described above, the head unit includes a first row including a plurality of heads arranged in a row in a first direction, and a plurality of heads arranged in a row in a first direction, and the first unit A second head row arranged in a second direction perpendicular to the first direction with respect to the row, and the motor is configured such that the motor and the first head row in the second direction are the second head row. The first transmission belt is stretched between the head and the output shaft with one or more heads of the first head row as the heads of the first group, and the second transmission belt. It is preferable that one or more heads of the second head row are spanned between the head and the output shaft as the heads of the second group.

In this component mounting apparatus, a plurality of heads are mounted on a head unit in a state of being divided into two rows, and a motor is disposed outside the arrangement direction of these head rows. According to such a configuration, it is possible to prevent the head unit itself from being significantly increased in size in the head alignment direction (first direction) while a large number of heads are mounted on the head unit.

In this case, it is preferable that the second transmission belt is stretched only on the heads of the second head row.

As described above, according to the configuration in which the second transmission belt having the shorter belt length is passed only to the head of the second head row on the side closer to the motor, the belt length of the second transmission belt can be further shortened. 2 It becomes possible to further improve the mounting accuracy of components by the head driven by the transmission belt.

The head unit is provided with a plurality of the head rotation driving mechanisms, and the belt rotation driving mechanisms are arranged such that their motors are arranged in a line in the first direction, and are different from each other. The head may be rotationally driven.

According to this configuration, since the number of heads driven by one motor can be reduced, the motor can be miniaturized and the head unit can be made compact in the second direction. A plurality of motors are arranged in the first direction. Since this is the direction in which the heads are arranged, the influence of increasing the size of the head unit in the first direction due to the arrangement of the motors in the first direction. There is almost no.

In this case, the plurality of head rotation drive mechanisms include a first head rotation drive mechanism and a second head rotation drive mechanism in which the first transmission belt is stretched over the plurality of heads, respectively. The first transmission belt includes a head positioned at one end in the first direction among the plurality of heads around which the first transmission belt of the first head rotation driving mechanism is stretched, and a second head rotation driving mechanism. Among the plurality of heads around which the first transmission belt is stretched, the head located at the one end is arranged in an order corresponding to the arrangement of the motors of each rotation drive mechanism, and the first head rotation Of the plurality of heads around which the first transmission belt of the drive mechanism is stretched, the head located at the other end in the first direction and the first transmission belt of the second head rotation drive mechanism are spanned. Among the plurality of heads, a head located at the end of the other side, so as to be arranged in the order corresponding to the arrangement of the motor, it is preferable that is stretched to the head.

According to this configuration, the first transmission belts of the respective belt rotation driving mechanisms are arranged while being shifted from each other in the arrangement direction of the motors that drive the respective belt rotation driving mechanisms. Therefore, there is a large difference between the lengths of the first transmission belts. In addition, none of them will be too long. As a result, it is possible to prevent the difference in rotation error of the heads from increasing, and it is possible to proceed with the component mounting work by the heads of each first group while ensuring the required mounting accuracy.

In addition, it is preferable that the second transmission belts of the plurality of head rotation driving mechanisms are stretched over the heads so as to be aligned in the specific direction without overlapping each other in the specific direction.

According to this configuration, the second transmission belts of the belt rotation driving mechanisms are arranged while being completely displaced from each other in the direction in which the motors that drive the belts are arranged. There is no significant difference between the two, and none of them is excessively long. As a result, it is possible to prevent the difference in rotational error between the heads from increasing, and it is possible to proceed with the mounting work of each component by the heads of the second group while ensuring the required mounting accuracy.

As described above, the component mounting apparatus according to the present invention can ensure mounting accuracy with a rational configuration while suppressing the increase in size and weight of the head unit. It is useful in the manufacturing field.

Claims

A mounting device for mounting components on a board,
A head unit on which a plurality of heads for mounting components that can rotate around a vertical axis are mounted;
A head rotation drive mechanism that is mounted on the head unit and includes a belt transmission mechanism for rotationally driving the plurality of heads;
The head rotation driving mechanism includes: a motor having an output shaft; a first group of heads including one or more heads of the plurality of heads; a first transmission belt that spans the output shaft; A second transmission that is shorter than one transmission belt and is spanned between a second group of heads that are different from the first group of the plurality of heads and the output shaft. A component mounting apparatus comprising: a belt;
The component mounting apparatus according to claim 1,
A component supply unit for supplying multiple types of components;
Moving means for moving the head unit relative to the component supply unit and the substrate;
Control means for controlling the moving means to hold the component supplied by the component supply unit by each head of the head unit and to mount the component on the substrate;
The control means controls the moving means to mount the specific part on the substrate only with the second group head for a predetermined specific part among the plurality of types of parts. Component mounting device.
In the component mounting apparatus according to claim 2,
The plural types of parts include chip parts and package type parts, and the package parts are the specific parts,
The control means mounts the package component on the substrate only with the second group head for the package component, and the chip component with each head of the first group and the second group for the chip component. A component mounting apparatus, wherein the moving means is controlled so as to be mounted on a substrate.
In the component mounting apparatus according to any one of claims 1 to 3,
The head unit includes a first row including a plurality of heads arranged in a row in a first direction and a plurality of heads arranged in a row in a first direction, and is orthogonal to the first direction with respect to the first row. A second head row arranged in the second direction,
The motor is arranged in the second direction so as to sandwich the second head row between the motor and the first head row,
The first transmission belt spans the head and the output shaft with one or more heads of the first head row as the heads of the first group,
The component mounting apparatus, wherein the second transmission belt is wound around the head and the output shaft by using one or more heads of the second head row as heads of the second group.
In the component mounting apparatus according to claim 4,
The component mounting apparatus, wherein the second transmission belt is stretched only on a head of the second head row.
In the component mounting apparatus according to claim 4 or 5,
The head unit includes a plurality of the head rotation drive mechanisms,
Each of the belt rotation driving mechanisms is arranged such that the motors are arranged in a line in the first direction, and different heads are driven to rotate.
In the component mounting apparatus according to claim 6,
The plurality of head rotation drive mechanisms include a first head rotation drive mechanism and a second head rotation drive mechanism in which the first transmission belt is stretched over the plurality of heads, respectively.
The first transmission belt of each head rotation drive mechanism is a head located at one end in the first direction among the plurality of heads around which the first transmission belt of the first head rotation drive mechanism is stretched, Among the plurality of heads around which the first transmission belt of the second head rotation drive mechanism is stretched, the heads located at the one end are arranged in an order corresponding to the arrangement of the motors of each rotation drive mechanism. Among the plurality of heads around which the first transmission belt of the first head rotation drive mechanism is stretched, the head located at the other end in the first direction and the first of the second head rotation drive mechanism Among the plurality of heads around which the transmission belt is stretched, the head located at the other end is stretched over the heads so that they are arranged in an order corresponding to the arrangement of the motors. Parts Apparatus.
In the component mounting apparatus according to claim 6 or 7,
Each of the second transmission belts of the plurality of head rotation driving mechanisms is stretched over the head so as to be aligned in the first direction without overlapping in the first direction.