WO2017077633A1

WO2017077633A1 - Component mounting head

Info

Publication number: WO2017077633A1
Application number: PCT/JP2015/081284
Authority: WO
Inventors: 成田　純一; 浩二河口
Original assignee: 富士機械製造株式会社
Priority date: 2015-11-06
Filing date: 2015-11-06
Publication date: 2017-05-11
Also published as: JPWO2017077633A1; JP6714609B2

Abstract

A component mounting head (10) is provided with: a head main body (12); a raising/lowering shaft (14) held by the head main body (12) such that the raising/lowering shaft can be raised/lowered; a suction nozzle (22), which is held by the raising/lowering shaft (14) such that the suction nozzle can be raised/lowered, and which has a nozzle section (34) that sucks a component P at a lower end portion, and a flange section (32) extending outward in the diameter direction from the nozzle section (34); a first raising/lowering device (18, 82) that raises/lowers the raising/lowering shaft (14) with respect to the head main body (12); and a second raising/lowering device (58, 80, 85, 86, 106), which has a roller (86) that is disposed such that an end surface faces the center side of the flange section (32) of the suction nozzle (22), and which raises/lowers, with respect to the raising/lowering shaft (14), the suction nozzle (22) by pressing the upper surface of the flange section (32) downward by means of the roller (86). In the outer circumferential surface of the roller (86), only a center-side end portion of the flange section (32) is in contact with the upper surface of the flange section (32).

Description

Component mounting head

The present invention relates to a component mounting head.

For example, Patent Document 1 describes a component mounting head that sucks components and mounts them on a substrate. The component mounting head includes a lifting shaft that is held up and down on the head body, a suction nozzle that is held up and down at the lower end of the lifting shaft, a first lifting device that lifts and lowers the lifting shaft with respect to the head body, A second lifting device that presses the upper surface of the flange portion of the suction nozzle downward with the outer peripheral surface of the roller to raise and lower the suction nozzle with respect to the lifting shaft.

International Publication No. 2014/80472

In the component mounting head described above, the outer peripheral surface of the roller is arranged so as to be in line contact with the upper surface of the flange portion of the suction nozzle. For this reason, the outer peripheral surface of the roller may press the outer peripheral edge of the upper surface of the flange portion. In this case, a pressing force is applied not only downward but also in the horizontal direction, which becomes a sliding resistance when the suction nozzle moves up and down. This may adversely affect the lifting and lowering operation of the suction nozzle.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a component mounting head capable of satisfactorily raising and lowering a suction nozzle that can be raised and lowered.

In order to solve the above-described problems, a component mounting head according to the present invention includes a head body, a lifting shaft that can be lifted and lowered by the head body, and a lifting shaft that can be lifted and lowered, and sucks components at the lower end. A suction nozzle having a nozzle portion and a flange portion extending radially outward from the nozzle portion, a first lifting device that lifts and lowers the lifting shaft with respect to the head body, and an end surface facing the center side of the flange portion of the suction nozzle A second lifting device that presses the upper surface of the flange portion downward with the roller and lifts the suction nozzle with respect to the lifting shaft, and has a center of the flange portion of the outer peripheral surface of the roller. Only the edge on the side contacts the upper surface of the flange portion.

Thereby, only the edge portion on the center side of the flange portion of the roller contacts the upper surface of the flange portion of the suction nozzle, so that the contact position is point contact. Therefore, the roller does not press the outer peripheral edge of the upper surface of the flange portion, and it is difficult to apply a horizontal pressing force to the flange portion, so that the suction nozzle can be lifted and lowered well. In addition, when the roller presses against the upper surface of the flange portion by point contact, the moment applied to the sliding portion between the suction nozzle and the lifting shaft is larger than the moment when the roller presses the outer peripheral edge of the upper surface of the flange portion. Since it becomes small, generation | occurrence | production of sliding resistance when a suction nozzle descend | falls with respect to a raising / lowering axis | shaft can be suppressed.

In addition, the component mounting head of the present invention is such that the second lifting device has a rotation moment applied to the suction nozzle determined from the radial position of the upper surface of the flange portion pressed by the second lifting device and the pressing force, below a predetermined value. Provided with respect to the upper surface of the flange portion. Thereby, since generation | occurrence | production of sliding resistance when a suction nozzle descend | falls with respect to a raising / lowering axis | shaft can be suppressed, the raising / lowering operation | movement of a suction nozzle can be performed favorably.

It is the figure which looked at schematic structure of the component mounting machine provided with the component mounting head of embodiment of this invention from upper direction. It is the figure which looked at the component mounting head in the horizontal direction. It is the partial cross section figure which looked at the suction nozzle periphery of the component mounting head in the horizontal direction. FIG. 4 is a partial cross-sectional view of the vicinity of the suction nozzle as seen from the direction of arrow A in FIG. 3. It is the figure which looked at the arrangement | positioning of the roller of a 2nd raising / lowering apparatus and the flange part of a suction nozzle from upper direction. It is the figure which looked at the arrangement | positioning of the roller of a 2nd raising / lowering apparatus and the flange part of a suction nozzle in the horizontal direction. It is a graph which shows a time-dependent change at the time of component mounting of the pressing force to a suction nozzle. It is the figure which looked at arrangement | positioning of the 1st modification of the flange of the roller of a 2nd raising / lowering apparatus and a suction nozzle from the upper direction. It is the figure which looked at arrangement | positioning of the 1st modification of the flange of the roller of a 2nd raising / lowering apparatus and a suction nozzle in the horizontal direction. It is the figure which looked at arrangement | positioning of the 2nd modification of the roller of a 2nd raising / lowering apparatus and the flange part of a suction nozzle from upper direction. It is the figure which looked at arrangement | positioning of the 2nd modification of the roller of a 2nd raising / lowering apparatus and the flange part of a suction nozzle in the horizontal direction. It is the figure which looked at arrangement | positioning of the 3rd modification of the flange part of the roller of a 2nd raising / lowering apparatus and a suction nozzle from upper direction. It is the figure which looked at the arrangement | positioning of the 3rd modification of the roller of a 2nd raising / lowering apparatus and the flange part of a suction nozzle in the horizontal direction.

(1. Configuration of component mounter equipped with component mounting head)
Hereinafter, a component mounter including a component mounting head according to an embodiment of the present invention will be described with reference to the drawings. In the figure, the substrate transport direction is referred to as the Y direction, the direction perpendicular to the Y direction and the horizontal direction as the X direction, and the direction perpendicular to the X and Y directions as the Z direction. This Z direction is an elevating direction (vertical direction) described below.
As shown in FIG. 1, the component mounter 1 includes a substrate transfer device 2, a component supply device 3, a component transfer device 4, and the like.
The substrate transport device 2 is a conveyor-type transport device, and transports the substrate PB to the component mounting position with the pair of

conveyor belts

6a and 6b while guiding the substrate PB with the pair of

guide rails

5a and 5b. , 6b is pushed up and clamped to fix the positioning.

The component supply device 3 includes a plurality of cassette-type feeders F on which a reel R around which a carrier tape containing a plurality of components is wound can be mounted. The carrier tape is pulled out from the reel R at a predetermined pitch, and the components are removed. Feed sequentially to the front of the feeder F.
The component transfer device 4 is a device that sucks and transfers the components, and moves the head while sucking and lifting the components sent to the front part of the feeder F by the suction nozzle 22 of the rotary component mounting head 10. Along the

rails

8a, 8b, and 8c, the substrate PB is positioned at the component mounting position, and the suction nozzle 22 is lowered to mount the component at the component mounting position on the substrate PB.

(2. Configuration of component mounting head)
As shown in FIG. 2, the component mounting head 10 is held by a head main body 12, an elevating shaft 14 that can be moved up and down by the head main body 12 and rotatable about the Z axis, and can be moved up and down by the elevating shaft 14. The suction nozzle 22, a first lifting device that lifts and lowers the lifting shaft 14 relative to the head body 12, a second lifting device that lifts and lowers the suction nozzle 22 relative to the lifting shaft 14, and the lifting shaft 14 rotates relative to the head body 12. A rotation device, and a control device 110 that controls operations of the first and second lifting and lowering devices, the rotation device, and the like.

The first lifting device includes the first linear motor 18 and the first lifting drive member 82, and the second lifting device includes the second linear motor 80, the second lifting drive member 85, the roller 86, the load cell 106, and the urging force. It is composed of a spring 58 and the like. The rotating device includes a rotating motor 102 and

gears

100 and 104. A first linear motor 18, a second linear motor 80, a load cell 106, a rotation motor 102, and an air control valve 67 are connected to the control device 110.

When the component mounting head 10 mounts the component P sucked by the suction nozzle 22 on the substrate PB, the first linear motor 18 causes the first lifting drive member 82 to prevent the component P from being subjected to an impact due to an excessive mounting force. The lift shaft 14 and the second linear motor 80 are lowered by lowering, and the second linear motor 80 presses and lowers the suction nozzle 22 by lowering the second lift drive member 85 and the roller 86. As will be described in detail later, the component mounting head 10 is configured such that a horizontal pressing force that adversely affects the lifting and lowering operation of the suction nozzle 22 described in the subject is not applied to the suction nozzle 22. Before the mounting of the components, the rotary motor 102 rotates the suction nozzle 22 together with the lifting shaft 14 as necessary to correct or change the rotational posture of the component P sucked by the suction nozzle 22.

The head main body 12 guides the lifting and lowering of the shaft holding portion 16 that holds the lifting shaft 14 so that it can be raised and lowered, the motor holding portion 20 that holds the first linear motor 18 fixedly, and the first lifting drive member 82. A pair of guides 92 and a rotary motor 102 are provided.
The suction nozzle 22 has a nozzle part 34, a flange part 32, and a holder part 26. Although details will be described later, the suction nozzle 22 is configured such that the nozzle portion 34, the flange portion 32, and the holder portion 26 can be integrally attached to and detached (replaced) from the lifting shaft 14.

As shown in FIGS. 3 and 4, the nozzle portion 34 is formed in a tubular shape capable of adsorbing the component P at the lower end portion. The flange portion 32 is fixedly attached to the disc portion 30, a hollow shaft portion 28 formed through the center of the disc portion 30 integrally with the disc portion 30, and the upper surface of the disc portion 30. And a cylindrical spring holding cylinder 36. A nozzle portion 34 is fitted into the lower end portion of the shaft portion 28, and a bearing 37 having a spline function that is fitted into the lower inner periphery of the holder portion 26 is fitted to the outer periphery of the shaft portion 28 above the disc portion 30. Combined. Thereby, the flange part 32 is hold | maintained with respect to the holder part 26 so that raising / lowering is possible.

The holder portion 26 is formed in a cylindrical shape, and a lid 60 is attached to the upper end thereof. The upper outer periphery is detachably held in the mounting hole 23 in the lower end portion of the lifting shaft 14, and the lower outer periphery is a spring holding cylinder of the flange portion 32. 36. An outer flange 56 is provided at the lower end of the holder portion 26, an inner flange 54 is provided at the upper end of the spring holding cylinder 36, and an urging spring 58, which is a compression coil spring, is connected to the outer flange 56 and the inner flange. 54 is disposed between the holder portion 26 and the spring holding cylinder 36 in a state where both ends are supported by the spring 54.

In the upper part of the shaft portion 28 of the flange portion 32, a long hole 42 that is long in the vertical direction penetrating in the lateral direction is provided. On the other hand, the holder portion 26 is provided with a pair of holes 44 at positions facing the elongated holes 42. Then, the locking pin 46 is fixed to the holder portion 26 so as to pass through the long hole 42 and the pair of holes 44. The portions of both ends of the locking pin 46 extending from the holder portion 26 are engaged with a pair of J slots 48 provided at the lower portion of the elevating shaft 14 (see FIG. 2). The locking pin 46 that engages with the pair of J slots 48 is fixed by a locking mechanism including a compression coil spring 50 and a locking ring 52 that are inserted into the outer periphery of the lower part of the lifting shaft 14. As a result, the suction nozzle 22 can be attached to and detached from the lifting shaft 14 via the pair of J slots 48.

With the above configuration, the holder portion 26 is restricted from being lifted and lowered with respect to the lift shaft 14. On the other hand, the flange portion 32 has a movable portion restricted by the long hole 42 and the locking pin 46, that is, the holder portion 26 (elevating / lowering) by an amount corresponding to the difference between the length of the long hole 42 and the diameter of the locking pin 46. The shaft 14) can be moved up and down. 3 and 4, the urging spring 58 urges the flange portion 32 upward with respect to the lifting shaft 14, and the flange portion 32 is positioned at the rising end in the movable range.

Referring back to FIG. 2, the first elevating drive member 82 is attached to the first linear motor 18. The first elevating drive member 82 extends in the Z direction along the axis of the elevating shaft 14 on the outer side of the shaft holding portion 16 of the head body 12, an engaging portion 84 is provided in the middle portion, and a second end is provided at the lower end portion. The linear motor 80 is held. The first linear motor 18 moves the lifting shaft 14 and the second linear motor 80 together with the first lifting drive member 82.

A second elevating drive member 85 is attached to the second linear motor 80. The second lifting / lowering drive member 85 extends in the Z direction along the axis of the suction nozzle 22, has a load cell 106 at the intermediate portion, and a roller that contacts the upper surface 30 a of the disk portion 30 of the flange portion 32 at the lower end portion. 86 is held rotatably. The second linear motor 80 raises and lowers both the load cell 106 and the roller 86 by the second raising / lowering drive member 85.

The second linear motor 80 lowers the flange portion 32 relative to the holder portion 26 by pressing the upper surface 30 a of the disc portion 30 of the flange portion 32 downward against the urging force of the urging spring 58 with the roller 86. Then, the flange portion 32 is raised relative to the holder portion 26 by the biasing force of the biasing spring 58 by loosening the pressing force of the roller 86. That is, the second linear motor 80 moves the suction nozzle 22 up and down with respect to the lifting shaft 14. The load cell 106 detects the pressing force in the Z direction when the disk portion 30 is pressed by the roller 86. That is, the detected pressing force of the load cell 106 is such that the upward force that the urging spring 58 acts on the suction nozzle 22 and the substrate PB acts on the suction nozzle 22 via the component P when the component P is mounted on the substrate PB. It is the sum of upward force.

As shown in detail in FIGS. 5A and 5B, the roller 86 is formed in a cylindrical shape, and one end face 86 a faces the center C side of the disc portion 30 of the flange portion 32, and the center of the disc portion 30 in the roller 86. The central axis L of the roller 86 is inclined so that the position on the C side is positioned below the position on the roller 86 opposite to the center C side of the disc portion 30. Since the roller 86 has a cylindrical outer peripheral surface and the upper surface 30a of the disk portion 30 is a horizontal surface, only the edge 86b on the center C side of the disk portion 30 of the outer peripheral surface of the roller 86 is It contacts the upper surface 30a.

Thus, only the edge portion 86b on the center C side of the disk portion 30 in the roller 86 contacts the upper surface 30a of the disk portion 30, so that the contact position PP is a point contact. As a result, the roller 86 does not press the outer peripheral edge 30b of the upper surface 30a of the disk part 30, and it is difficult for the disk part 30 to be pressed in the horizontal direction. It can be carried out.

From another viewpoint, when the shaft portion 28 of the flange portion 32 descends with respect to the holder portion 26, the radial position of the upper surface 30a of the disk portion 30 of the flange portion 32 pressed by the roller 86, that is, the above-described contact position PP. If the rotational moment applied to the suction nozzle 22 determined from the pressure of the roller 86 exceeds a predetermined value, an excessive sliding resistance is generated in the bearing 37, which may hinder the lifting and lowering operation of the suction nozzle 22. Therefore, in order to suppress the occurrence of such sliding resistance, the roller 86 is provided on the upper surface of the disk portion 30 of the flange portion 32 so that the above-mentioned rotational moment is a predetermined value or less. Thereby, the raising / lowering operation | movement of the suction nozzle 22 can be performed favorably.

2, the gear 104 fixed to the rotating shaft of the rotary motor 102 is engaged with the gear 100 fixed above the flange 88 of the lifting shaft 14. The

gears

100 and 104 transmit the rotation of the rotary motor 102 to the lifting shaft 14 while allowing the lifting shaft 14 to move up and down. The rotation of the lifting shaft 14 is transmitted to the suction nozzle 22 by the engaged J slot 48, the locking pin 46, and the bearing 37 having a spline function.

(3. Control of component mounting head during component mounting)
In the component mounting head 10, when the component P sucked by the suction nozzle 22 is mounted on the substrate PB, the disk portion 30 of the flange portion 32 is pressed by the roller 86 to lower the suction nozzle 22 with respect to the lifting shaft 14. At this time, when the outer peripheral surface of the roller 86 presses the outer peripheral edge 30b of the upper surface 30a of the disk portion 30, a pressing force is applied not only in the lower direction but also in the horizontal direction, which becomes a sliding resistance when the suction nozzle 22 moves up and down. This may adversely affect the lifting / lowering operation of the suction nozzle 22.

In the component mounting head 10, only the edge portion 86 b on the roller 86 on the center C side of the disk portion 30 is in contact with the upper surface 30 a of the disk portion 30, so that the contact position PP is point contact. As a result, the roller 86 does not press the outer peripheral edge 30b of the upper surface 30a of the disc portion 30, and the disc portion 30 is difficult to be pressed in the horizontal direction. Can be done.

Further, in the component mounting head 10, when mounting the component P sucked by the suction nozzle 22 on the substrate PB, there is a risk of giving an impact to the component P with an excessive mounting force. Further, if the component P is not pressed against the substrate PB with the set mounting force, the component P may not be reliably mounted on the cream solder printed on the substrate PB. In order to mitigate the impact received by the component P with an excessive mounting force and to press the component P against the substrate PB with an appropriate mounting force, the control device 110 is based on the detected pressing force by the load cell 106 shown in FIG. The pressing force of the roller 86 on the disk portion 30 by the second linear motor 80 is controlled.

The control device 110 operates the first linear motor 18 to lower the suction nozzle 22 when mounting the component. However, during the period A until the component P shown in FIG. The second linear motor 80 is operated so that the flange portion 32 of the suction nozzle 22 is lowered by a predetermined amount with respect to the holder portion 26 while being compressed. That is, the control device 110 continues to detect the time when the component P is in contact with the substrate PB based on the change in the detected pressing force by the load cell 106, and when detecting the time when the component P is in contact with the substrate PB, In order to reduce the mounting force to be applied and to set the mounting force, feedback control is performed to reduce the current supplied to the second linear motor 80, and the pressing force of the roller 86 against the disc portion 30 is reduced.

The control device 110 can execute at least two control cycles until the mounting force applied to the component P exceeds the set mounting force when the component P abuts on the substrate PB. The response of feedback control is good. If the feedback control is poor in responsiveness, the mounting force applied to the component P at the time of contact increases as shown by the two-dot chain line in FIG. 6, but the feedback control of the control device 110 has good responsiveness. Therefore, as shown by the solid line in FIG. 6, the mounting force applied to the component P at the time of contact is suppressed to a small level.

The control device 110 releases the negative pressure supplied to the nozzle side passage 68 of the suction nozzle 22 via the first air passage after the set time has elapsed after contacting the part P with the substrate PB, and the suction nozzle of the part P The adsorption to 22 is released. The negative pressure may be released by opening the nozzle side passage 68 to atmospheric pressure. However, in order to release the adsorption of the component P more effectively, the negative side pressure is released to the nozzle side passage 68 via the first air passage. This is done by supplying positive pressure. After the positive pressure is supplied and a set time has elapsed, the first linear motor 18 is operated to raise the suction nozzle 22. As a result, the component P remains in a state of being placed on the substrate PB, and the mounting of the component P on the substrate PB is completed.

(4. Modifications)
In the above-described embodiment, the roller 86 is formed in a cylindrical shape and the central axis L of the roller 86 is inclined and arranged. However, as shown in FIGS. 7A and 7B, the roller 87 is an end face on the large diameter side. 87a may be formed in the shape of a truncated cone located on the center C side of the disk portion 30 of the flange portion 32, and the central axis LL of the roller 87 may be arranged horizontally. Thereby, the edge 87b of the end surface 87a on the large diameter side of the roller 87 can press the upper surface 30a (contact position PP) on the inner side of the outer peripheral edge 30b of the disk portion 30 by point contact, so that the roller 87 is circular. Since the outer peripheral edge 30b of the upper surface 30a of the plate part 30 is not pressed and the horizontal pressing force is not easily applied to the disk part 30, the lifting / lowering operation of the suction nozzle 22 can be performed satisfactorily.

In the above-described embodiment, the upper surface 30a of the disk part 30 of the flange part 32 is configured to be a horizontal plane. However, as shown in FIGS. 8A and 8B, the upper surface 31a of the disk part 31 of the flange part 32 is formed. An effect similar to the above effect can be obtained even when the conical surface is inclined downward from the center CC of the disc part 31 outward. In this case, FIGS. 8A and 8B show a case where a cylindrical roller 86 with the central axis L arranged horizontally is applied, but a truncated cone roller 87 with the central axis LL arranged horizontally can also be applied.

Further, as shown in FIGS. 9A and 9B, the upper surface 31a of the disk part 31 of the flange part 32 is configured to be a conical surface inclined downward from the center CC of the disk part 31 outward. In some cases, a cylindrical roller 86 in which the central axis L is inclined as in the above-described embodiment can also be applied. Although not shown, a truncated cone-shaped roller 87 in which the central axis LL is inclined as in the above-described embodiment can also be applied.

Further, as long as only the edge portion 86b on the center C side of the disk portion 30 in the outer peripheral surface of the roller 86 is in contact with the upper surface 30a of the disk portion 30 of the flange portion 32, an aspect other than the above modification may be used. For example, in the aspect in which the cylindrical roller 86 is inclined and disposed, even if the upper surface 30a of the disc portion 30 is inclined downward toward the center C side, the central axis L of the roller 86 is more than the inclination angle. It is sufficient if the tilt angle is large.

(5. Effect)
The component mounting head 10 according to the present embodiment includes a head body 12, a lifting shaft 14 that is held up and down by the head body 12, and a nozzle that is held up and down by the lifting shaft 14 and sucks the component P at its lower end. A suction nozzle 22 having a flange portion 32 extending radially outward from the portion 34 and the nozzle portion 34,

first lifting devices

18 and 82 for moving the lifting shaft 14 up and down relative to the head body 12, and an end surface of the suction nozzle 22. The

rollers

86, 87 are arranged so as to face the center side of the flange portion 32, and the suction nozzle 22 is moved up and down with respect to the lifting shaft 14 by pressing the upper surface of the flange portion 32 downward with the

rollers

86, 87. Two

lifting devices

58, 80, 85, 86, and 106, and only the edge portion on the center side of the flange portion 32 among the outer peripheral surfaces of the

rollers

86 and 87 is in contact with the upper surface of the flange portion 32.

Thereby, only the center C of the

disk parts

30 and 31 of the flange part 32 in the

rollers

86 and 87, and the

edge parts

86a and 87a on the CC side are the upper surfaces 30a of the

disk parts

30 and 31 of the flange part 32 of the suction nozzle 22. Since it contacts 31a, the contact position PP is point contact. Therefore, the

rollers

86 and 87 do not press the outer

peripheral edges

30b and 31b of the

upper surfaces

30a and 31a of the

disk portions

30 and 31 of the flange portion 32, and it is difficult to apply a horizontal pressing force to the flange portion 32. The lifting and lowering operation of the suction nozzle 22 can be performed satisfactorily. Further, when the

rollers

86, 87 press the

upper surfaces

30a, 31a of the

disk portions

30, 31 of the flange portion 32 by point contact, the moment applied to the sliding portion between the suction nozzle 22 and the elevating shaft 14 is the

roller

86, 87 is smaller than the moment when the outer

peripheral edges

30b and 31b of the

upper surfaces

30a and 31a of the

disk portions

30 and 31 of the flange portion 32 are pressed, so that when the suction nozzle 22 descends with respect to the lifting shaft 14 Generation of sliding resistance can be suppressed.

The roller 86 has a cylindrical outer peripheral surface, and the central axis L of the roller 86 is positioned at the center C side of the disc portion 30 of the flange portion 32 of the roller 86 so that the disc portion 30 of the flange portion 32 of the roller 86 is positioned. You may make it incline so that it may be located below from the position on the opposite side to the center C side. The roller 87 may have a frustoconical outer peripheral surface whose large diameter side is located on the center C, CC side of the

disk portions

30 and 31 of the flange portion 32. The portion of the upper surface of the disc portion 31 of the flange portion 32 that contacts the

rollers

86 and 87 is a conical surface that is inclined downward from the center CC of the disc portion 31 of the flange portion 32 toward the outside. There may be. By these, the

rollers

86 and 87 can press the upper surface inside the outer

peripheral edges

30b and 31b of the

disk parts

30 and 31 of the flange part 32 by point contact.

Further, the component mounting head 10 is applied to the suction nozzle 22 obtained from the radial position and the pressing force of the upper surface of the

disk portions

30 and 31 of the flange portion 32 pressed by the second lifting and lowering

devices

58, 80, 85, 86 and 106. The

rollers

86 and 87 of the second lifting and lowering

devices

58, 80, 85, 86, and 106 are provided on the upper surfaces of the

disk portions

30 and 31 of the flange portion 32 so that the rotational moment becomes a predetermined value or less. Thereby, since generation | occurrence | production of sliding resistance when the adsorption nozzle 22 descends with respect to the raising / lowering axis | shaft 14 can be suppressed, the raising / lowering operation | movement of the adsorption nozzle 22 can be performed favorably.

Further, the

rollers

86 and 87 of the second lifting and lowering

devices

58, 80, 85, 86, and 106 press the upper surfaces inside the outer

peripheral edges

30b and 31b of the

disk portions

30 and 31 of the flange portion 32 by point contact. Accordingly, the

rollers

86 and 87 do not press the outer

peripheral edges

30b and 31b of the

upper surfaces

31a and 31a of the

disk parts

30 and 31 of the flange part 32, and it is difficult to apply a horizontal pressing force to the flange part 32. Therefore, the raising / lowering operation | movement of the suction nozzle 22 can be performed favorably.

(6. Others)
In the above-described embodiment, the second lifting device includes the second linear motor 80 that presses the flange portion 32 of the suction nozzle 22 in the downward direction and the biasing spring 58 that biases the flange portion 32 in the upward direction. Although it was set as the structure provided, it is good also as a structure provided with the urging | biasing spring which urges | biases the motor which presses the flange part 32 in the direction which raises the flange part 32, and the flange part 32 descend | falls.

In the above-described embodiment, the pressing force of the roller 86 by the second linear motor 80 is detected using the load cell 106, but the actual supply current to the second linear motor 80 is detected to detect the roller 86. You may comprise so that a pressing force may be detected.

10: component mounting head, 12: head body, 14: lifting shaft, 18: first linear motor (first lifting device), 22: suction nozzle, 26: holder portion, 28: shaft portion, 30, 31: disc Part, 32: flange part, 34: nozzle part, 36: spring holding cylinder, 37: bearing, 46: locking pin, 58: biasing spring (second lifting device), 80: second linear motor (second lifting part) Device), 82: first lifting drive member (first lifting device), 85: second lifting drive member (second lifting device), 86, 87: rollers (second lifting device), 106: load cell (second lifting device) Device), 110: control device

Claims

A component mounting head that picks up components and mounts them on a board,
The head body,
A lifting shaft held by the head main body so as to be movable up and down;
A suction nozzle that is held so as to be movable up and down on the lifting shaft and has a nozzle portion that sucks the component at a lower end portion and a flange portion that extends radially outward from the nozzle portion;
A first lifting device that lifts and lowers the lifting shaft with respect to the head body;
And a roller disposed so that an end surface faces the center side of the flange portion of the suction nozzle, and the upper surface of the flange portion is pressed downward by the roller to raise and lower the suction nozzle with respect to the lifting shaft. Two lifting devices;
With
The component mounting head in which only the edge portion on the center side of the flange portion of the outer peripheral surface of the roller is in contact with the upper surface of the flange portion.
The roller has a cylindrical outer peripheral surface;
The center axis of the roller is inclined so that a position of a center side of the flange portion of the roller is positioned below a position opposite to a center side of the flange portion of the roller. Component mounting head.
3. The component mounting head according to claim 1, wherein the roller has a frustoconical outer peripheral surface whose large diameter side is located on the center side of the flange portion.
The portion of the upper surface of the flange portion that contacts the roller is a conical surface that is inclined downwardly outward from the center of the flange portion. Component mounting head.
A component mounting head that picks up components and mounts them on a board,
The head body,
A lifting shaft held by the head main body so as to be movable up and down;
A suction nozzle that is held so as to be movable up and down on the lifting shaft and has a nozzle portion that sucks the component at a lower end portion and a flange portion that extends radially outward from the nozzle portion;
A first lifting device that lifts and lowers the lifting shaft with respect to the head body;
A second lifting device for pressing the upper surface of the flange portion downward to lift the suction nozzle with respect to the lifting shaft;
With
The second elevating device is placed on the upper surface of the flange portion so that the rotational moment applied to the suction nozzle obtained from the radial position and the pressing force of the upper surface of the flange portion pressed by the second elevating device is less than a predetermined value. A component mounting head is provided.
The component mounting head according to claim 5, wherein the second lifting device presses the upper surface inside the outer peripheral edge of the flange portion by point contact.