JP2016165020A - Component mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary head type component mounting machine which can improve productivity by shortening time required for operation to absorb and mount a component.SOLUTION: A rotary head type component mounting machine has Z-axis drive mechanisms 28 which are positioned at four locations corresponding to 0°, 90°, 180° and 270° on a circumference of a rotary head 11 and individually lower a nozzle holder 12. The Z-axis drive mechanisms 28 are adapted to individually lower the nozzle holder 12 at four stopping places along a rotational trajectory of the nozzle holder 12. The rotary head type component mounting machine rotates the nozzle holder 12 to be a lowering object to a position closest to a boundary of a movement area of the rotary head 11 when performing an absorption and a mounting operation of a component in a region close to the boundary of the movement area of the rotary head 11 and lowers the nozzle holder 12 to be the lowering object by activating a Z-axis motor 29 of the Z-axis drive mechanism 28 positioned closest to the boundary of the movement area of the rotary head 11 among the Z-axis drive mechanisms 28 at the four locations.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a component mounter in which a plurality of nozzle holders are provided on a rotary head (rotary head) so as to be lowered at predetermined intervals in the circumferential direction.

  As described in Patent Document 1 (Japanese Patent Laid-Open No. 2004-39818), for example, a rotary head (rotary head) type component mounting machine has a plurality of nozzle holders arranged at predetermined intervals on the rotary head. In addition to being provided so that it can be lowered, each nozzle holder holds the suction nozzle downward, and further, by rotating the rotating head around the R axis (vertical axis) by the R axis drive mechanism, a plurality of nozzle holders are attached to them. The rotating head is swung in the circumferential direction integrally with a plurality of held sucking nozzles, and at a predetermined position on the swiveling track, one nozzle holder is lowered by a Z-axis drive mechanism to suck and mount parts. The direction of each component sucked by each suction nozzle held in each nozzle holder by rotating each nozzle holder around its axis by the Q axis drive mechanism Is that so as to correct the angle).

JP 2004-39818 A

  However, in the above conventional configuration, the position (angle) at which the nozzle holder is lowered by the Z-axis drive mechanism is fixed at one place, and therefore it is necessary to rotate the rotary head nearly 360 ° at the time of component suction / mounting operations. This increases the time required for component adsorption / mounting operations and reduces productivity (cycle time).

  Therefore, the problem to be solved by the present invention is to reduce the time required for component adsorption / mounting operation and improve productivity (cycle time) in a rotary head type component mounting machine.

  In order to solve the above-described problems, the present invention provides a rotary head that is provided so as to be rotatable around an R axis that extends in the vertical direction, and a plurality of rotary heads that are provided on the rotary head so as to be lowered at predetermined intervals in the circumferential direction. The rotary head is rotated around the R-axis by the driving force of one R-axis motor and a plurality of suction nozzles that are respectively held downward by the plurality of nozzle holders and suck parts. The plurality of nozzle holders are swung integrally with the plurality of suction nozzles in the circumferential direction of the rotary head, and the swiveling of the nozzle holders is stopped at two or more stop positions on the swivel trajectory of the plurality of nozzle holders. The plurality of nozzle holders are rotated around the axis of each nozzle holder by the driving force of the R-axis drive mechanism and one Q-axis motor, respectively, so that each nozzle holder holds the nozzle holder. A Q-axis drive mechanism for correcting the orientation of each component sucked by each suction nozzle and a Z-axis drive mechanism for individually lowering the plurality of nozzle holders, wherein the Z-axis drive mechanism includes the plurality of nozzles The plurality of nozzle holders are individually lowered by the driving force of two or more Z-axis motors at two or more stop positions of the holder turning trajectory, and two or more places of the plurality of nozzle holder turning trajectories The stop positions include two stop positions located on both sides in the diameter direction of the turning trajectory.

  According to this configuration, since the nozzle holder can be individually lowered by the Z-axis drive mechanism at two or more stop positions on the orbit of the plurality of nozzle holders held by the rotary head, the components can be sucked and mounted. The maximum rotation angle of the rotary head during operation can be significantly shortened compared to the prior art, and the time required for component suction and mounting operations can be shortened to improve productivity (cycle time).

  In this case, the two stop positions located on both sides in the diameter direction of the turning track are, for example, two stop positions located in the X direction and the opposite direction or the Y direction and the opposite direction.

FIG. 1 is a perspective view showing the configuration of the rotary head driving apparatus according to the first embodiment of the present invention. FIG. 2 is a plan view illustrating the relationship between the arrangement of the nozzle holder and the descendable position according to the first embodiment. FIG. 3 is a diagram illustrating the positional relationship among the moving area, the component mounting area, and the component suction area of the rotary head according to the first embodiment. FIG. 4 is a diagram for explaining the positional relationship among a moving area, a component mounting area, and a component suction area of a conventional rotary head. FIG. 5 is a block diagram illustrating a configuration of a control system of the component mounter according to the first embodiment. FIG. 6 is a plan view illustrating the relationship between the arrangement of the nozzle holder and the descendable position according to the second embodiment. FIG. 7 is a diagram illustrating the positional relationship among the moving area, the component mounting area, and the component suction area of the rotary head according to the second embodiment. FIG. 8 is a perspective view illustrating a configuration of the rotary head driving device according to the third embodiment. FIG. 9 is a perspective view illustrating a configuration of the rotary head driving device according to the fourth embodiment. FIG. 10 is a perspective view showing a state of the rotary head driving device according to the fourth embodiment when the nozzle holder is lowered. FIG. 11 is a perspective view illustrating a configuration of a Q-axis drive mechanism of the rotary head drive device according to the fourth embodiment. FIG. 12 is a perspective view illustrating a configuration of the rotary head driving apparatus according to the fifth embodiment. FIG. 13 is a perspective view showing a state of the rotary head driving device of the fifth embodiment when the nozzle holder is lowered.

  Hereinafter, five examples 1 to 5 embodying a mode for carrying out the present invention will be described.

A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the rotary head driving device 10 of the component mounting machine will be described.

  A plurality of nozzle holders 12 are supported by the rotary head 11 so as to be able to descend at predetermined intervals in the circumferential direction, and suction nozzles 13 for sucking components are held downward and replaceable in each nozzle holder 12. Yes.

  The rotary head 11 is fitted to the lower end of the R-axis 14 extending in the vertical direction, and the R-axis gear 16 of the R-axis drive mechanism 15 is fitted to the upper end of the R-axis 14. A gear 19 fixed to the rotation shaft 18 of the R-axis motor 17 is engaged with the R-axis gear 16, and the R-axis gear 16 is rotated by the rotation of the gear 19 of the R-axis motor 17. By rotating around 14, the plurality of nozzle holders 12 are rotated together with the plurality of suction nozzles 13 in the circumferential direction of the rotary head 11.

  The R-axis 14 is rotatably inserted into two upper and lower Q-axis gears 21 and 22 of the Q-axis drive mechanism 20, and the lower Q-axis gear 22 is a gear fitted to the upper end of each nozzle holder 12. 23 is engaged. The upper Q-axis gear 21 meshes with a gear 26 fixed to the rotation shaft 25 of the Q-axis motor 24. The rotation of the gear 26 of the Q-axis motor 24 causes the Q-axis gears 21 and 22 to rotate integrally. As the gear 23 rotates and each nozzle holder 12 rotates about the axis of each nozzle holder 12, the direction (angle) of each component sucked by each suction nozzle 13 held by each nozzle holder 12 ) Has been corrected.

  Further, in the first embodiment, Z-axis drive mechanisms 28 for individually lowering the nozzle holders 12 are provided, for example, at four locations (four directions) around the rotary head 11. Each nozzle holder 12 is configured to be lowered individually at four stop positions on the twelve orbits. The positions of the four Z-axis drive mechanisms 28 are 0 °, 90 °, 180 °, and 270 °, which are the rotation angles of the rotary head 11. Here, 0 ° and 180 ° are the X direction (substrate transport direction) and the opposite direction, and 90 ° and 270 ° are the Y direction (direction perpendicular to the substrate transport direction) and the opposite direction. Although the number of nozzle holders 12 shown in FIGS. 2 and 3 is four, four or more (for example, eight or twelve) nozzle holders 12 may be arranged.

  Each Z-axis drive mechanism 28 uses a Z-axis motor 29 as an actuator, and the Z-axis motor 29 rotates the feed screw 30 to move the Z-axis slide 31 in the vertical direction. The nozzle holder 12 is moved up and down by engaging the Z-axis slide 31 with the provided engagement piece 32. A Z-axis slide 31 may be moved in the vertical direction using a linear motor as the Z-axis motor 29. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

  The rotary head driving device 10 configured as described above is supported by the XY direction moving device 33 (see FIG. 5) of the component mounting machine and moves in the X direction and the Y direction. The component mounting machine control device 34 (control means) controls the XY direction moving device 33, the R-axis motor 17, the Q-axis motor 24, and each Z-axis motor 29 of the rotary head driving device 10 according to the production program. The operation is to control the operation of sucking the component supplied from the feeder 35 to the component suction area and mounting it on the component mounting area on the board.

  In the conventional configuration, as shown in FIG. 4, the position (turning angle) at which the nozzle holder 12 is lowered by the Z-axis drive mechanism 28 is fixed at one place, so that the suction nozzle 13 of the nozzle holder 12 (A) When picking up components in the pick-up area and mounting them near the boundary of the component mounting area on the board (near the edge), they rotate from those boundaries in three directions (three sides) It is necessary to protrude the head 11 greatly. For this reason, it is necessary to ensure the moving area of the rotary head 11 to be considerably larger than the size of the component mounting area or the component suction area, which hinders the miniaturization of the rotary head type component mounting machine. Moreover, if the size of the moving area of the rotary head 11 is increased, the reciprocating distance in the XY direction of the rotary head 11 necessary for the component suction / mounting operation is increased accordingly, which is required for the component suction / mounting operation. This increases the time and decreases the productivity (cycle time).

  Therefore, in the first embodiment, when the control device 34 of the component mounting machine picks up or mounts a component in a region near the boundary of the moving area of the rotary head 11, the nozzle holder 12 to be lowered is set as the boundary. The nozzle holder 12 to be lowered is moved by rotating the Z-axis motor 29 of the Z-axis drive mechanism 28 closest to the boundary among the four Z-axis drive mechanisms 28 while turning to the nearest position. I try to lower it.

  For example, in the example of FIG. 3, the suction nozzle 13 of the nozzle holder 12 (A) sucks components near the boundary of the component suction area, and the nozzle holder 12 (A) is moved near the boundary of the component mounting area on the board. When the component is mounted while being lowered, the nozzle holder 12 (A) is turned to the position closest to the boundary of the component mounting area and the Z-axis drive mechanism 28 at the position closest to the boundary of the component mounting area. The Z-axis motor 29 is operated to lower the nozzle holder 12 (A).

  In this way, when picking up components near the boundary of the component pick-up area or mounting components near the boundary of the component mounting area, the amount of protrusion of the rotary head 11 protruding from those boundaries is greatly increased. Accordingly, it is possible to reduce the width of the moving area of the rotary head 11 in the XY direction, thereby reducing the size of the component mounting machine (or increasing the size of the mountable board). Moreover, since the width of the moving area of the rotary head 11 in the XY direction is reduced, the reciprocating distance in the horizontal direction (XY direction) of the rotary head 11 necessary for the component suction / mounting operation can be shortened. Therefore, productivity (cycle time) can be improved by shortening the time required for picking and mounting parts.

  In the first embodiment, each nozzle holder 12 can be individually lowered by each Z-axis drive mechanism 28 at the four stop positions of the turning trajectory of the plurality of nozzle holders 12 held by the rotary head 11. Therefore, the maximum rotation angle of the rotary head 11 at the time of component suction / mounting operation can be greatly shortened compared to the conventional case, and this has the effect of shortening the reciprocating distance of the rotary head 11 in the horizontal direction (XY direction). As a result, it is possible to increase the effect of improving productivity (cycle time) by shortening the time required for component adsorption and mounting operations.

  In the first embodiment, the Z-axis drive mechanism 28 for individually lowering the nozzle holder 12 is provided at four locations (four directions) around the rotary head 11, but the present invention shown in FIGS. In the second embodiment, a Z-axis drive mechanism 28 that individually lowers the nozzle holder 12 is provided at two locations (two directions) around the rotary head 11. The nozzle holder 12 is configured to be lowered individually at two stop positions. The positions of the two Z-axis drive mechanisms 28 are the rotation angles of the rotary head 11, for example, 90 ° and 270 ° positions (positions on both sides in the Y direction). As described above, the Y direction is a direction perpendicular to the substrate transport direction.

  In the second embodiment, two Z-axis drive mechanisms 28 on both sides in the Y direction are present on the boundaries on both sides in the Y direction (upper and lower boundaries in FIG. 6) in the vicinity of the boundary of the moving area of the rotary head 11. The Z-axis motor 29 of the Z-axis drive mechanism 28 closer to the boundary is operated from among the nozzle holders 12 to lower the nozzle holder 12 closest to the boundary.

  For example, as shown in FIG. 7, a component near the boundary of the component suction area is sucked by the suction nozzle 13 of the nozzle holder 12 (A), and the nozzle holder 12 is near the boundary in the Y direction of the component mounting area on the substrate. When mounting the component by lowering (A), the nozzle holder 12 (A) is turned to a position closest to the boundary in the Y direction of the component mounting area, and at the boundary in the Y direction of the component mounting area. The nozzle holder 12 (A) is lowered by operating the closer Z-axis motor 29.

  It should be noted that the suction nozzle 13 of the nozzle holder 12 (A) sucks the component near the boundary of the component suction area, and lowers the nozzle holder A near the boundary in the X direction of the component mounting area on the board to remove the component. In the case of mounting, since there is no Z-axis drive mechanism 28 on the X direction side of the rotary head 11, the nozzle holder 12 (A) is not rotated (or rotated 180 °). The Z-axis motor 29 of the Z-axis drive mechanism 28 corresponding to) is operated to lower the nozzle holder 12 (A).

  In the second embodiment described above, since the Z-axis drive mechanisms 28 are provided at two locations on both sides of the rotary head 11 in the Y direction, the components are attracted and mounted near the boundary on both sides in the Y direction of the moving area of the rotary head 11. In this case, the amount of protrusion of the rotary head 11 that protrudes from the boundary on both sides in the Y direction of the component suction area and the component mounting area can be greatly reduced, and the component mounting machine can be downsized (or The size of the board that can be mounted can be increased). In addition, since the size in the Y direction of the moving area of the rotary head 11 can be reduced, the reciprocating distance in the Y direction of the rotary head 11 necessary for the component suction / mounting operation can be shortened. Productivity (cycle time) can be improved by shortening the time required for suction and mounting operations.

  Next, Embodiment 3 of the present invention will be described with reference to FIG. However, substantially the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted or simplified, and different parts are mainly described.

  In the first and second embodiments, a plurality of Z-axis motors 29 of the Z-axis drive mechanism 28 for lowering the nozzle holder 12 are provided. However, in the third embodiment, the Z-axis of the Z-axis drive mechanism 40 for lowering the nozzle holder 12 is provided. Only one motor 41 (actuator) is used, and the Z-axis motor 41 is selectively stopped at two or more stop positions by turning the Z-axis motor 41 in the turning direction of the nozzle holder 12, so that the nozzle is driven by the Z-axis motor 41. The nozzle holder 12 is individually lowered at two or more stop positions on the orbit of the holder 12.

Hereinafter, the configuration of the Z-axis drive mechanism 40 of the third embodiment will be described.
A gear 42 for turning the Z-axis motor 41 is rotatably inserted into and supported by the R-axis 14, and the Z-axis motor 41 is attached downward to the gear 42 via an attachment member 43. And the Z-axis slide 45 is moved in the vertical direction so that the Z-axis slide 45 is engaged with the engagement piece 32 at the upper end of the nozzle holder 12 to move the nozzle holder 12 up and down. Yes. Note that a linear motor may be used as the Z-axis motor 41 to move the Z-axis slide 45 in the vertical direction. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

  The gear 42 that rotates the Z-axis motor 41 is engaged with a gear 48 fixed to the rotation shaft 47 of the motor 46, and the gear 42 is rotated by the rotation of the gear 48 of the motor 46 to rotate the Z-axis motor 41.

  In the third embodiment configured as described above, when the component is sucked or mounted in the region near the boundary of the moving area of the rotary head 11, the gear 42 is rotated by the motor 46 so that the Z-axis motor 41 is rotated. The nozzle holder 12 to be lowered is turned to the position closest to the boundary of the moving area of the rotary head 11, and then the Z-axis motor 41 is operated. Then, the nozzle holder 12 to be lowered is lowered. In this way, the same effect as in the first embodiment can be obtained.

  Next, Embodiment 4 of the present invention will be described with reference to FIGS. However, substantially the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted or simplified, and different parts are mainly described.

  In the fourth embodiment, similarly to the third embodiment, only one Z-axis motor 51 (actuator) of the Z-axis drive mechanism 50 is provided, and the Z-axis motor 51 and a feed rotated by the Z-axis motor 51 are used. The screw 54 and the Z-axis slide 55 that moves in the vertical direction by the rotation of the feed screw 54 turn in the turning direction of the nozzle holder 12 and selectively stop at two or more stop positions. Note that a linear motor may be used as the Z-axis motor 51 to move the Z-axis slide 55 in the vertical direction. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

  The gear 52 that rotates the Z-axis motor 51 is engaged with a gear 58 fixed to the rotation shaft 57 of the motor 56, and the gear 52 is rotated by the rotation of the gear 58 of the motor 56 to rotate the Z-axis motor 51. I have to.

  The Z-axis drive mechanism 50 is disposed above the R-axis gear 16, and a pusher 59 is provided downward on the Z-axis slide 55, and the nozzle holder 12 is pushed down at the lower end of the pusher 59. Each nozzle holder 12 is biased upward by a biasing means (not shown) such as a spring.

  In the fourth embodiment, the rotating shaft 25 of the Q-axis motor 24 of the Q-axis driving mechanism 20 is arranged in a direction orthogonal to the R-axis 14, and the bevel gear 26 a fixed to the rotating shaft 25 of the Q-axis motor 24. Is engaged with a bevel gear 21 a formed on the upper surface of the Q-axis gear 22, so that the rotation of the Q-axis motor 24 is transmitted to the Q-axis gear 22. The Q-axis drive mechanism 20 may have the same configuration as that of the first embodiment (FIG. 1).

  In the fourth embodiment configured as described above, when the component is sucked or mounted in the area near the boundary of the moving area of the rotary head 11, the gear 52 is rotated by the motor 56 and the pusher 59 is moved to the rotary head 11. While turning to the position closest to the boundary of the moving area and turning the nozzle holder 12 to be lowered to the position closest to the boundary of the moving area of the rotary head 11, the Z-axis motor 51 is operated, As shown in FIG. 10, the pusher 59 is lowered to push down the nozzle holder 12 to be lowered. In this way, the same effect as in the first embodiment can be obtained.

  Next, Embodiment 5 of the present invention will be described with reference to FIGS. However, substantially the same parts as those in the first and fourth embodiments are denoted by the same reference numerals, the description thereof is omitted or simplified, and different parts are mainly described.

  In the fifth embodiment, similarly to the fourth embodiment, only one Z-axis motor 61 (actuator) of the Z-axis drive mechanism 60 is provided, and the Z-axis motor 61 is disposed above the R-axis gear 16. . The push screw unit 63 is moved in the vertical direction by rotating the feed screw 62 by the Z-axis motor 61. In addition, you may make it move the pusher unit 63 to an up-down direction using a linear motor as the Z-axis motor 61. FIG. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

  The pusher unit 63 holds a plurality of pushers 64 that selectively push down the plurality of nozzle holders 12 held by the rotary head 11. One pusher 64 is disposed above each nozzle holder 12, and each pusher 64 is individually lowered by an actuator (not shown) such as an air cylinder provided on each pusher 64. . Note that the number of pushers 64 that can be lowered simultaneously is not limited to one, and two or more pushers 64 may be lowered simultaneously. Each nozzle holder 12 is biased upward by a biasing means (not shown) such as a spring.

  In the fifth embodiment configured as described above, when the component is sucked or mounted in the region near the boundary of the moving area of the rotary head 11, the nozzle holder 12 to be lowered is placed in the moving area of the rotary head 11. While rotating to the position closest to the boundary, the pusher 64 closest to the boundary of the moving area of the rotary head 11 is selected from the plurality of pushers 64 of the pusher unit 63, and the selected pusher 64 protrudes downward. Let the state be In this state, by operating the Z-axis motor 61 and lowering the pusher unit 63, the nozzle holder 12 to be lowered is pushed down by the selected pusher 64. In this way, the same effect as in the first embodiment can be obtained.

  Note that the present invention is not limited to the first to fifth embodiments described above, and the configuration of the R-axis drive mechanism, the Q-axis drive mechanism, the Z-axis drive mechanism, and the like may be appropriately changed. Needless to say, various modifications can be made.

  DESCRIPTION OF SYMBOLS 10 ... Rotary head drive device, 11 ... Rotary head, 12 ... Nozzle holder, 13 ... Suction nozzle, 14 ... R axis, 15 ... R axis drive mechanism, 16 ... R axis gear, 17 ... R axis motor, 20 ... Q axis Drive mechanism, 21, 22 ... Q axis gear, 24 ... Q axis motor, 28 ... Z axis drive mechanism, 29 ... Z axis motor (actuator), 31 ... Z axis slide, 32 ... engagement piece, 33 ... XY direction movement Device, 34 ... Control device (control means), 35 ... Feeder, 40 ... Z-axis drive mechanism, 41 ... Z-axis motor (actuator), 45 ... Z-axis slide, 46 ... Motor, 50 ... Z-axis drive mechanism, 51 ... Z axis motor (actuator), 55 ... Z axis slide, 56 ... motor, 59 ... pusher, 60 ... Z axis drive mechanism, 61 ... Z axis motor (actuator), 63 ... pusher unit, 64 ... pusher

Claims (2)

A rotary head provided to be rotatable around an R axis extending in the vertical direction;
A plurality of nozzle holders provided on the rotating head so as to be lowered at predetermined intervals in the circumferential direction;
A plurality of suction nozzles which are respectively held downward by the plurality of nozzle holders and suck parts;
By rotating the rotary head around the R axis by the driving force of one R-axis motor, the plurality of nozzle holders are rotated together with the plurality of suction nozzles in the circumferential direction of the rotary head and An R-axis drive mechanism for stopping the rotation of the nozzle holder at two or more stop positions on the orbit of the plurality of nozzle holders;
The direction of each component adsorbed to each adsorption nozzle held by each nozzle holder is corrected by rotating the plurality of nozzle holders around the axis of each nozzle holder by the driving force of one Q-axis motor. A Q-axis drive mechanism;
A Z-axis drive mechanism that individually lowers the plurality of nozzle holders,
The Z-axis drive mechanism is configured to individually lower the plurality of nozzle holders by the driving force of two or more Z-axis motors at two or more stop positions on the orbit of the plurality of nozzle holders,
The component mounting machine, wherein the two or more stop positions on the orbit of the plurality of nozzle holders include two stop positions located on both sides in the diameter direction of the orbit.   The two stop positions located on both sides in the diameter direction of the turning trajectory are two stop positions located in the X direction and its opposite direction or in the Y direction and its opposite direction. Component mounting machine.

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