JPH04247697A - Work mounting device - Google Patents

Abstract

PURPOSE:To eliminate loss time and enable working efficiency to be improved by securing a retention posture of a work from a work supply portion and then fitting it to a workinstallation portion while a rotary drum is rotated continuously by a work retaining member which draws a cycloid curve and moves up and down. CONSTITUTION:A suction nozzle 23 draws a long cycloid curve N where a period L from the lowest position to the lowest position is long and then moves up and down based on a command signal from a control portion SL. At this time, the suction nozzle 23 reaches a ground speed which is closest to zero at the lowest position so that a work P can be suctioned without any troubles from a supply table 9 and then draws the cycloid trace and moves to an XY table 11. Then, it repeats mounting motion for canceling retention of the work P on an upper surface of a printed-circuit board 19. The suction nozzle 23 rotates corresponding to traveling and then moves to the work installation position 11 while being corrected to a retention posture where the work P is sucked, thus enabling the work P to be placed at a proper position in a proper posture.

Description

[Detailed description of the invention]

[Object of the invention]

0002

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece mounting apparatus that allows electronic components such as chips to be correctly mounted on a printed circuit board.

0003

2. Description of the Related Art Conventionally, electronic component mounting apparatuses for mounting electronic components on printed circuit boards have been used, for example, in
The one described in Publication No. 114290 is known.

That is, a vertically movable suction head disposed around the periphery of a rotatable table is lowered after the table is stopped at a suction station position, and is raised again after adsorbing a workpiece such as a chip. Next, the table is rotated by a predetermined amount, the suction head holding the work is moved to the mounting station, stopped, and the suction head is lowered again to mount the work on the printed circuit board.The mounting movement is repeated.

[0005]

[Problems to be Solved by the Invention] As mentioned above, in the conventional workpiece mounting apparatus, the rotation of the table is repeatedly stopped when the suction head picks up the workpiece and when the workpiece is mounted, so the table stops. This was undesirable in terms of work efficiency, as it led to lost time.

Therefore, the present invention is capable of holding a workpiece and mounting a workpiece while continuously rotating, and furthermore,
It is an object of the present invention to provide a workpiece mounting device that can reliably mount a workpiece in the correct position.

[Configuration of the invention]

[0008]

[Means for Solving the Problems] In order to achieve the above object, the present invention includes a rotating drum that is continuously rotated by a driving means, and a rotating drum that is provided on the outer circumferential surface of the rotating drum and that rotates along the outer circumferential surface. a control unit that controls when the workpiece holding member holds the workpiece and when it releases the workpiece during the rotational movement; The workpiece mounting apparatus includes a posture control means for controlling the workpiece holding member so that the holding posture of the workpiece holding member is always the holding posture during suction.

[0009]

[Operation] According to such a workpiece mounting apparatus, the rotary head repeats a turning motion in response to the continuously rotating rotary drum. During this turning movement, the workpiece holding member moves from the workpiece supply section while holding the workpiece in response to a command signal from the control section, and releases the workpiece holding at the workpiece installation section.

[0010] In this case, as the workpiece holding member that has attracted the workpiece moves, rotational power is applied by the posture control means to correct the holding posture during suction, so that the workpiece holding member can respond to the movement. The workpiece rotates on its own axis, and the holding position during suction can be reliably obtained at the workpiece installation part, allowing for correct mounting.

On the other hand, since the series of operations from suction to attachment are performed while rotating continuously, there is no lost time, and work efficiency can be improved.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings of FIGS. 1 to 8.

In FIG. 1, reference numeral 1 indicates the body of the workpiece mounting apparatus 3. As shown in FIG. The machine body 1 includes a rotating drum 7 mounted and supported on a rotatable drum shaft 5, and a fixed work supply section (hereinafter referred to as a supply table 9) serving as a suction station along the outer periphery of the rotating drum 7. , a movable workpiece setting section (hereinafter referred to as an XY table 11) serving as a mounting station are arranged.

The supply table 9 has an arcuate shape along the outer periphery of the rotating drum 7, and has a plurality of workpieces P such as chips arranged in the radial direction. In addition,
The work P is sequentially fed from the feeder T to the suction position.

The XY table 11 is movable in the front and rear directions A by a first motor M1a, and in the left and right B directions by a motor M1b. A mounting conveyor 13 for transporting and moving is mounted. This mounting conveyor 13 includes a terminal end of an incoming conveyor 15 which is arranged on both left and right sides and can be transported in the direction of the arrow D by a third motor M3, and a starting end of an unloading conveyor 17 which can be transported in the direction of the arrow by a fourth motor M4. It functions to approach the board by moving the XY table 11 in the left and right directions, receive the printed circuit board 19 in a standby state on the carry-in conveyor 15, and send it out onto the carry-out conveyor 17 after mounting is completed.

On the other hand, the rotating drum 7 is continuously rotated in the direction of the arrow H by the rotational power being transmitted to the drum shaft 5 via the transmission belt 20 by the fifth motor M5 mounted on the body 1.

A plurality of rotating heads 21 are mounted on the outer peripheral surface of the rotating drum 7 and are perpendicular to the drum axis α passing through the center of the drum.

Note that since the rotary heads 21 are composed of members with the same function, only one rotary head 21 will be described.

As shown in FIG. 4, the rotary head 21 is provided with suction nozzles 23 of different sizes at four locations at 90 degree intervals in the radial direction, and rotates the rotary head 21 in the same posture. It has a head posture control mechanism 145.

The suction nozzle 23 communicates with a vacuum pump 26 via a pipe 29 as shown in FIG.
Adsorption and removal of adsorption are possible using the vacuum pressure of 3.

The pipe 29 rotates together with the on-off valve 31 and the rotary drum 7, and one end is connected to the rotary head 21.
It is connected to a communication hole 149 of a disc body 147 that is in contact with the back side of the disc body 147 . When the disk body 147 is biased by a biasing means such as a spring 150 and the rotary head 21 is rotated, for example, by 90 degrees, the communication hole 149 is formed in a passage 152 provided on the suction nozzle 23 side. It is placed in a position where it always faces and communicates with the two.

The other end of the pipe 29 is connected to an outlet 37 provided at the top of the drum shaft 5.
It communicates with the vacuum pump 26 via a communication passage 151. The base end of the communication passage 151 is connected to the vacuum pump 26.
It is a ring-shaped outlet 157 that opens in the circumferential direction and communicates with the passage 155 on the fixed sleeve 153 side that communicates with the passage 153, so that even if the drum shaft 5 rotates, the outlet 157 and the passage 1
The connection status of 55 is always ensured.

The head posture control mechanism 145 includes a link 169 fixed to the sleeve shaft 193 and a first shaft 159 that revolves around the sleeve shaft 193 by the link 169.
, a second axis 161, and a third axis 163. First axis 159
is rotatably arranged inside the second shaft 161,
A suction nozzle drive pulley 165 is attached to one end, and a side gear 63 is attached to the other end, and a pinion gear 65 attached to the base of the suction nozzle 23 meshes with the side gear 63.

The second shaft 161 is rotatably disposed inside the third shaft 163 and has one end connected to the rotary head 21.
The other end is attached to a rotary head drive pulley 167, respectively.

The third shaft 163 serves as an outer shaft, and a link 169 is fitted and fixed at one end.

The other side of the third shaft 163 has the disk body 14
7 is rotatably mounted, and a pulley 171 is provided on the body of the disc body 147. This pulley 1
71 is connected to a final pulley 173 fixed to a central fixed shaft 177 constituting a quadruple shaft via a belt 175.

The fixed shaft 177 constituting a quadruple shaft is supported on one side by a sleeve shaft 193, which will be described later, fitted into the link 169, and on the other hand supported by a support frame fixed to the rotating drum 7. It is fixedly supported by 7a.

The suction nozzle drive pulley 165 and the rotary head drive pulley 167 are connected to the second and third transmission paths 69 and 7.
1 final pulley 181, 179 and belt 183 respectively
A conductive state is ensured through the . Therefore, when the final pulleys 179 and 181 are stopped, the link 169 is rotated by the first conduction path 43, thereby forming a planetary mechanism in which the rotary head 21 revolves while rotating.

Furthermore, the rotary head driving pulley 167 and the pulley 171 of the disk body 147, the final pulley 173,
The ratio of each pulley 179 is set to 1:1, and the ratio of the suction nozzle drive pulley 165 and the final pulley 181 is 1:1.
:10 relationship. To further explain this 11:10 relationship, in this embodiment, the rotating head 21 is configured to revolve once by rotating 10 times, so as shown in FIG.
By applying power to rotate the suction nozzle 23 by 36 degrees in one rotation of 1, the workpiece P can be moved in the same holding position during suction, and can be correctly installed with respect to the installation reference line W. becomes.

Therefore, in combination with the planetary mechanism, the rotary head 21 can rotate about the fixed shaft 177 in the same position with the suction nozzle 23 for suction operation always facing downward.

Furthermore, as shown in FIG. 8, each pulley 173,
179, 181 and 165, 167, 171 may be replaced with belts and may be gear-transmitted to form a planetary gear mechanism using gear transmission.

The first transmission path 43 connects the power from the sixth motor M6 supported by the rotating drum 7 via a bracket and the power from the rotating drum 7 via the differential gear 185, as shown in FIG. It is a conduction system that receives input at the same time.

That is, the differential device 185 is generally called a harmonic device, and is held by the rotating drum 7, and includes a motor transmission system that transmits the power of the sixth motor M6 to the output bevel gear 187, and a motor transmission system that transmits the power of the sixth motor M6 to the output bevel gear 187, and The ring gear 189 fixed to the sleeve 153 and the transmission gear 191 mesh with each other, and the transmission gear 191 rotates and revolves around the ring gear 189, thereby transmitting the power from the rotating drum 7 to the bevel gear 187. It has a structure with a transmission mechanism.

The output bevel gear 187 is passed through the fixed shaft 177 and meshes with a bevel gear 198 provided on a sleeve shaft 193 which is the second shaft of the quadruple shaft.

Therefore, when the sixth motor M6 is off, when the rotary drum 7 rotates in the direction of the arrow H, the transmission gear 191 meshes with the ring gear 189 and revolves around its axis on the outside, the rotational power of each The rotational power is transmitted to the sleeve shaft 193 via the bevel gears 187 and 198 in the counterclockwise direction. As a result, the suction nozzle 23 of the rotary head 21 repeatedly moves up and down, drawing a cycloid curve N shown in FIG. 3.

On the other hand, while the rotary drum 7 is rotating, by controlling the operation of the sixth motor M6 to rotate it in the same direction as the rotation direction of the rotary drum 7, the cycle of the pickup movement can be lengthened.

To explain this point more specifically, in this embodiment, while moving 180 degrees from the supply table 9 to the XY table 11, the downward suction nozzle 23 moves counterclockwise as shown in FIG. For example, from a place that is set to make about 5 rotations, for example, 4 rotations, 6th rotation
By controlling the operation of the motor M6, as shown in FIG. 3, the suction nozzle 23 can obtain a pick-up motion that draws a cycloid curve N in one cycle L in which the suction nozzle 23 descends twice at approximately 180 degrees. In this pickup movement, the rotation ratio is set so that the speed of the tip of the suction nozzle 23 due to the rotation of the rotating drum 7 in the direction of arrow H matches the speed of the tip of the suction nozzle 23 due to the counterclockwise rotation of the rotary head 25. Therefore, the suction nozzle 23 has a ground speed close to zero, and can perform suction operation without any trouble. therefore,
For example, by controlling the rotation by 3 rotations or 4.5 rotations by the sixth motor M6, it is possible to lengthen or shorten the cycle L of the cycloid curve N, and the entire area of the supply table 9 is The work P can now be picked up.

The second transmission path 69 connects the input pulley 195 with the power of the seventh motor M7 supported by the rotating drum 7.
This is a transmission system for controlling the posture of the workpiece P, which is input to the suction nozzle drive pulley 165 via the suction nozzle drive pulley 165.

The input pulley 195 is fixed to the sleeve shaft 196 of the final pulley 181, which is the fourth shaft of the quadruple shaft, and the transmission state is ensured through the motor pulley 197 of the seventh motor M7 and the transmission belt. There is.

The third transmission path 71 is such that the power of the eighth motor M8 supported by the rotating drum 7 is transmitted to the input pulley 20.
1 serves as a transmission system for selecting the suction nozzle 23 that is input to the rotary head drive pulley 167 via the rotary head drive pulley 167.

The input pulley 201 is fixed to the sleeve shaft 200 of the final pulley 179, which is the third shaft of the quadruple shaft, and is connected to the motor pulley 203 of the eighth motor M8 via a transmission belt 205. .

[0042] Therefore, by controlling the operation of the eighth motor M8, rotational power for rotating the rotary head 21 by about 90 degrees is applied, thereby making it possible to select the suction nozzle 23.

On the other hand, in FIG. 2, SL indicates a control section. The control unit SL receives various information from a visual sensor such as an image recognition device that confirms the holding state of the workpiece or a rotation angle sensor that detects the rotation angle of the rotating drum 7 on the input side, and from the output side. outputs a command signal based on information input from the input side, and has a function of controlling the opening/closing time of the on-off valve 31 and the on/off time of the first to eighth motors M1...M8. .

Next, the operation will be explained.

The suction nozzle 23 facing downward continues to rotate counterclockwise as shown in FIG. 6 while maintaining the same posture as the rotating drum 7 continuously rotates in the direction of arrow H. At this time, the suction nozzle 23 moves up and down based on a command signal from the control unit SL, drawing a cycloid curve N with a long cycle L from the lowest position to the lowest position. At this time, since the suction nozzle 23 has a ground speed close to zero at the lowest point, it suctions the workpiece P from the supply table 9 without any problem, moves to the XY table 11 in a cycloid trajectory, and then picks up the workpiece P on the upper surface of the printed circuit board 19. The mounting movement for releasing the holding of the workpiece P is repeated. At this time, the operation of the seventh motor M7 is controlled, and the final pulley 181 is
When rotational power is transmitted to the suction nozzle 23, the suction nozzle 23 rotates in response to the movement, and moves to the workpiece setting section 11 while being corrected to the holding posture in which the workpiece P is suctioned.As a result, the workpiece P can be placed at the correct position and in the correct posture. It becomes like this.

[0046] Furthermore, the operation of the eighth motor M8 is controlled;
When power is transmitted to the final pulley 179 via the third transmission path 71, the rotary head 21 rotates 90 degrees, and the suction nozzle 23 corresponding to the size of the workpiece P can be selected. In these series of operations, since the rotary drum 7 is ensured to be in a continuous rotation state, no loss time occurs.

Furthermore, by controlling the length of the period L of the cycloid curve N, the workpiece P supplied over the entire area of the supply table 9 can be attracted, and the attracted workpiece P can be attached to the printed circuit board 19 on the XY table 11. Thus, the mounting work can be performed without stopping the rotating drum 7. As a result, takt time is shortened and operation rate is improved.

In this embodiment, vacuum suction means is used to hold the workpiece, but the present invention is not limited to this means, and other means such as electromagnets may also be used. Moreover, it may be applied to workpieces other than electronic components. Furthermore, in this embodiment, the motor M7 may be constantly controlled to change its attitude by revolution.

[0049]

As explained above, according to the workpiece mounting apparatus of the present invention, the workpieces can be loaded from the workpiece supply section while the rotary drum is continuously rotated by the workpiece holding member that moves up and down in a cycloidal curve. Since the workpiece can be attached to the workpiece installation part while maintaining the holding posture, the workpiece can be correctly placed in the correct position. Additionally, lost time is eliminated and work efficiency can be improved.

[Brief explanation of the drawing]

[Fig. 1] A schematic plan view of a workpiece mounting apparatus of the present invention.

[Figure 2
] Outline cut-away diagram of main parts

[Figure 3] Explanatory diagram depicting a cycloid curve

[Figure 4] Cutaway view showing the mounting state of the rotating head

[Figure 5] Plan view of Figure 4

[Figure 6] Diagram explaining the operation of the rotating head

[Figure 7] Explanatory diagram showing the movement of work P

FIG. 8 is a cross-sectional view similar to FIG. 4 showing another embodiment.

[Explanation of symbols]

7 Rotating drum 21 Rotating head 23 Suction nozzle (work holding member) 69 Second conduction path (posture control means) P Work SL Control unit M5 Motor (driving means)

Claims (1)

[Claims] 1. A rotating drum that is continuously rotated by a driving means, a work holding member that is provided on the outer peripheral surface of the rotating drum and can pivot along the outer peripheral surface, and a work holding member that is rotated in accordance with the rotation of the rotating drum. A workpiece mounting apparatus, comprising a control unit that performs a predetermined turning movement and controls when a workpiece holding member holds the workpiece and when releasing the workpiece during the turning movement, wherein the holding posture of the workpiece holding member is A workpiece mounting apparatus comprising a posture control means for controlling the workpiece holding member so that the workpiece holding member is always in a holding posture during suction.