JPH0682956B2 - Parts mounting device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an apparatus for mounting a small component such as a chip capacitor or a chip resistor on a substrate.

(B) Conventional Technique In the above-mentioned device, it is general to perform pick-and-place work of parts by a vacuum suction device.
By the way, in recent years, the types of parts to be vacuum-adsorbed have become extremely large. Therefore, it is necessary to perform as many types of parts as possible with a single mounting device, but for that purpose, a single mounting device is equipped with various suction tools matching the shapes of the parts, These suction tools must be appropriately selected and used. As one of the methods of selectively using the suction tool, it is conceivable that the suction tool can be detached from the vacuum suction device, and the suction tool according to the shape of the part is attached and used. An example is JP-A-59.
-69992 and Japanese Utility Model Laid-Open No. 62-47167. However, conceptually, these devices are like a vacuum suction device equipped with a tool change function attached to a robot arm, and it is hard to say that these devices are suitable for use in mounting a large number of parts at high speed. .

(C) Problem to be Solved by the Invention An object of the present invention is to provide a high-speed component mounting apparatus having a function of automatically replacing a suction tool.

(D) Means for Solving Problems In the present invention, a plurality of vacuum suction means are supported by a supporting device, and these vacuum suction devices are intermittently moved from a work station to a work station along a closed loop orbit. Shall be moved. At some of the positions where the vacuum suction device stops, a drive device is arranged to move the vacuum suction device toward and away from the target object. The suction tool of the vacuum suction device is attachable / detachable, and correspondingly, it has a plurality of suction tool holders between the component mounting station and the component supply station. , A suction tool stocker that is movable so as to coincide with a specific stop position of the vacuum suction device.
When engaging a suction tool of a vacuum suction device at a specific stop position, separating it and storing it in the suction tool holding part in an empty state, and when mounting a desired suction tool on the vacuum suction device. Is provided with a separating device for releasing the engagement posture of the suction tool in the stop position. Separation and mounting of the suction tool shall be performed at the same specific stop position (suction tool replacement position) of the vacuum suction device, and movement of the suction tool stocker and change of posture of the separation device should be performed in accordance with the drive device being driven twice. A control device for performing the above is provided.

(E) Action The vacuum suction device picks up and places parts while moving intermittently along a closed loop orbit. The control device moves the suction tool stocker so that the suction tool holding portion in the empty state coincides with the suction tool replacement position, and the first device of the drive device is moved.
The suction device is separated from the vacuum suction device side and stored in the suction device holding portion by performing rotational driving and engaging with the suction device of the separation device. After the suction tool is removed, release the engagement of the separating device,
Move the suction tool stocker so that the suction tool holder that holds the desired suction tool matches the suction tool replacement position, and then drive the drive device a second time to attach the desired suction tool to the vacuum suction device. Let

(F) Example One example will be described below with reference to the drawings.

—Overall Configuration— FIG. 2 schematically shows the planar arrangement relationship of the units constituting the component mounting apparatus 10. The units are the mounting unit 11, the component supply unit 12, the substrate support unit 13, the substrate loading unit 14, and the substrate unloading unit 15. The mounting unit 11 has a plurality of vacuum suction devices arranged around the periphery of a rotary index table type supporting device. The component supply unit 12 has a plurality of component supply devices 21 arranged on a support 20 that moves linearly, and it is possible to select one of the component supply devices 21 in which the required components are stored. . A tape is used as the component storage means. This is the component supply tape 22 shown in FIG. 1, and in the configuration shown in the figure, the components 1 are put one by one into the recesses 23 formed at a constant pitch by embossing the plastic material, and the cover tape 24 is placed thereon. And feed the component supply tape 22 one pitch at a time while peeling off the cover tape 24, and the component mounting unit 11
Deliver part 1 to. The substrate supporting unit 13 is mainly composed of a two-dimensional moving table type substrate supporting device 30 for positioning and mounting the substrate 2. Substrate loading unit 14
Is a loader 40 that pushes out the substrates 2 one by one while raising and lowering the substrate magazine (not shown) like an elevator inside the substrate magazine, and a belt (not shown) to push the pushed substrates 2 out of the substrate supporting unit 13. It consists of a loading bridge 41 that carries to the place. Board unloading unit 15
Is an unloading bridge 51 that carries away the substrate 2 on which the components are mounted from the substrate supporting unit 13 by a belt (not shown) and a substrate magazine (not shown) that moves up and down like an elevator inside. It consists of an unloader 50 that takes in the substrate 2 from 51.

-Mounting Unit- The main component of the mounting unit 11 is a rotary index table type supporting device 60 shown in FIG. The support device 60 is fixed to the lower end of a rotary shaft 63 that is vertically supported by the bearing portion 62 of the device frame 61. The rotating shaft 63 is an index drive device supported on the device frame 61.
It is intermittently rotated in one direction (clockwise when viewed from above in the case of the present embodiment) by 64, whereby the supporting device is
60 performs intermittent rotation in the horizontal plane. The rotating shaft 63 is hollow, and the hollow portion at the center thereof serves as a vacuum suction passage 65 connected to a vacuum source (not shown). The lower end opening of the vacuum suction path 65 is a plug body provided with a plurality of connection fittings 66 for connecting a vacuum hose.
Block at 67. A vacuum hose extending from a vacuum suction device described later is connected to the connection fitting 66.

The intermittent rotation unit of the supporting device 60 is 1/16 of one rotation, that is, 22.5 °. One point on the periphery of the supporting device 60 is the supporting device.
There will be 16 stop points during one revolution of 60. In accordance with the customary practice of this type of device, such a stop is set at the work station. As shown schematically in FIG. 3,
The support device 60 (which is symbolized by a large circle in the figure)
A total of 16 work stations, which are numbered A to P according to the alphabetical order, will be arranged on the periphery. The large circle symbolizing the supporting device 60 and the two small circles intersecting at the work stations K and L and at the work stations M and N respectively symbolize the suction tool stocker described later. The support device 60 has 16 vacuum adsorption devices 70 on the periphery thereof, which is the same as the rotation division number.

—Support of Vacuum Adsorption Device— Each vacuum adsorption device 70 is supported by a bearing block 71 fixed to the outer periphery of the support device 60 so as to be able to move up and down. Support device
Two vertical rods arranged in a radial direction when viewed from the center of 60
72 and 73 slidably penetrate the bearing block 71, and connecting plates 74 and 75 are fixed to the upper and lower ends of the rods 72 and 73, respectively. Lower connecting plate 75
The portion of the vacuum suction device 70 that projects to the outside supports the vacuum suction device 70.
The upper connecting plate 74 is in the shape of an "L", on both sides of its vertically raised part, the rollers 76 towards the center of rotation of the support device 60, and in the opposite direction. Rollers 77 are attached respectively. Laura 76,
Each 77 is rotatable about a horizontal axis. Reference numeral 78 denotes an annular cam member fixed to the device frame 61, and the roller 76 engages with the cam groove 79 on the outer periphery thereof. That is, the connecting plate 74,
The structure 80 including the rods 72, 73, the connecting plate 75, and the vacuum suction device 70 is suspended from the cam member 78 by the roller 76, and the cam groove is formed as the supporting device 60 rotates.
It goes up and down following the ups and downs of 79. At certain work stations, rollers 76 are provided to provide a particularly large lift stroke to vacuum suction device 70 during suspension of support device 60.
The descending passage 81 is provided so as to branch from the cam groove 79. At this point, the roller 76 is no longer supported, but instead, the roller 77 engages a support member 82 having a "C" cross section,
It replaces the roller 76 and serves to suspend the structure. The support member 82 is fixed to the lower end of the vertical rod 83, and the driving device 84
Make up. The rod 83 is supported by a bearing portion 85 fixed to the device frame 61. A drive mechanism (for example, a cam mechanism) (not shown) gives the rod 83 a descending → ascending movement of the stroke length required at the work station at a predetermined timing. The roller 76 which has finished descending and has risen moves to the cam groove 79 again when the supporting device 60 starts moving next, while the roller 77 comes out of the supporting member 82. Such descending passage 81 and drive device
84 combinations are work stations A, D, I, K,
It is provided in M (see FIG. 4). Work station K,
In M, the work in the other work stations A, D and I is completed by one drive of the drive device 84, whereas
The driving device 84 is driven twice to finish. The movement is controlled by the control device 215 described later. Roller 76
In order to ensure that the cam groove 79 or 77 is brought into contact with the cam groove 79 or the upward supporting surface of the supporting member 82, a tension coil spring is provided between the bracket member 86 protruding horizontally from the upper end of the rod 72 and the stay 87 fixed to the supporting device 60. 88 is stretched, and the structure 80 is pulled downward by the force of this spring. The tension coil spring 88 is a support device 60.
It passes through a hole 89 that runs vertically through.

-Vacuum suction device- Now, the vacuum suction device 70 has a structure as shown in Fig. 6, and the main axis line as a whole is vertical. The supporting device 70 has a casing 90 fixed to the connecting plate 75. The casing 90 has a bearing 91 at the bottom, and this bearing 91
Supports the hollow suction shaft 92 so that it can rotate around the axis and slide in the axis direction. The lower part of the adsorption shaft 92 projects below the bearing 91, and the upper part of the shaft is the casing.
It goes into the cavity 112 at the top of 90. A lower part of the suction shaft 92 is a suction tool attachment portion 94 to which a removable suction tool 93 is attached. The suction tool attachment portion 94 includes a connecting pipe portion 95 that is fitted to the suction tool 93 in a male and female manner, and a pair of elastic locking tools 96 that sandwich the suction tool 93 from both sides. The elastic locking member 96 is composed of a strip-shaped leaf spring, the upper end of which is fixed to the suction shaft 92 with a screw 97, and a "V" -shaped bent portion 98 is formed at the lower free end. The apex of the bent portion 98 faces the connecting pipe portion 95. The suction tool 93 is manufactured in various specifications according to the type and shape of the component 1, but has a common shape for all the connection points on the upper part. That is, as best shown in FIG. 21, the upper portion of the suction tool 93 is a tapered portion 99 which is narrowed upward so as to push open the elastic locking tool 96 by a wedge action.
Below the tapered portion 99, a groove 100 having a V-shaped cross section is formed so that the bent portion 98 of the elastic locking member 96 engages. Of course, the upper portion of the center hole 101 of the suction tool 93 is dimensioned to fit snugly into the connecting pipe portion 95. A planar rectangular flange 102 is formed at a level below the groove 100. Notches are formed on both end surfaces of the flange 102 according to a certain rule, the meaning and action of which will be described later.

The suction shaft 92 has a circular flange 105, slightly above the suction tool mount 94, as best shown in FIG. The role of the flange 105 and the positioning flat portion 106 formed by cutting out a part thereof will also be described later.

An elbow type connection fitting 110 is attached to the side surface of the casing 90. A vacuum hose (not shown) is connected to the connection fitting 110, so that the suction shaft 92 can be pulled from the center hole 101 of the suction tool 93.
A vacuum passage is formed that passes through the central hole 111 of the casing 90 and exits from the hollow portion 112 of the casing 90 to the connection fitting 110. Adsorption axis 92
A cap-shaped strainer made of a sintered alloy is attached to the upper end of the
Attach 113 to stop foreign matter from entering the center of the vacuum passage. The suction shaft 92 has a brake flange 114 at a level slightly below the strainer mounting point, and a brake surface 115 is formed on the bottom surface of the hollow portion 112 of the casing 90 so as to face the brake flange 114. Bearings are installed on the ceiling surface of the cavity 112.
A rotary seat 117 rotatably supported by 116 is arranged, and a compression coil spring 118 inserted between the rotary seat 117 and the brake flange 114 urges the suction shaft 92 in the axial direction, and the brake flange 114. Is pressed against the braking surface 115.

-Vacuum switching valve-The other end of the vacuum hose connected to the connecting fitting 110 of the vacuum suction device 70 is connected to the vacuum switching valve 120 arranged on the side surface of the bearing block 71. Next, the structure of the vacuum switching valve 120 will be described with reference to the drawings such as FIG. 5, FIG. 9, FIG. 10, FIG. 11 and FIG. The basic part of the vacuum switching valve 120 is an overhang block 121 that is integrally machined from the bearing block 71. The overhang block 121 is formed with a horizontal through hole 122 that is parallel to the arrangement direction of the rods 72 and 73. A front lid 124 and a rear lid 125 fixed to the front and rear surfaces of the overhang block 121 with bolts 123 seal the through hole 122. The overhang block 121 does not protrude from the bearing block 71 to cover the entire width given to the vacuum switching bubble 120, and in order to compensate for the shortage, the overhang block 121
Before and after the
6 and 127 are formed, and about half of each of the front lid 124 and the rear lid 125 when viewed from the front direction is inserted into the dug portions 126 and 127. The rear lid 125 has two connecting fittings 128 and 129.
Attach. One of the connecting fittings 128 is connected to the connecting fitting 110 of the vacuum suction device 70 by a vacuum hose (not shown).
Vacuum hose (not shown) connected to the other fitting 129
Passes through the horizontal through hole 300 formed in the supporting device 60, and once again, the vertical through hole 301 formed in the supporting device 60.
It passes through (shown in FIG. 1) and is connected to the connecting fitting 66 of the plug 67 of the rotary shaft 63. Of course, the fitting 12
Both 8 and 129 are in communication with the inside of the rear lid 125.

Reference numeral 130 is a valve body inserted in the vacuum switching valve 120. Disc 13
Reference numeral 0 denotes a piston-like member having a main body portion 131 having a large diameter and a shaft portion 132 having a smaller diameter, and the main body portion 131 is mainly located in a region belonging to the inside of the rear lid 125, The portion 132 penetrates the front lid 124 and extends to the outside. Two seal rings 133 and 134 for hermetic sealing are attached to the main body 131 of the valve body 130 at intervals in the axial direction. One seal ring 133 is for the valve seat 135 on the inner bottom surface of the rear lid 125, and the other seal ring 134.
Is for a ring-shaped movable valve seat 136 arranged between the valve body 130 and the inner peripheral surface of the rear lid 125. The movable valve seat 136 is
By the compression coil spring 137 inserted between the front lid 124,
It is configured to be pressed against the shoulder 138 on the inner surface of the rear lid 125. The valve body 130 is also configured such that the compression coil spring 139 inserted between the body portion 131 and the front lid 124 constantly seals the valve seat 135 with the seal ring 133. An air hole 140 is formed in the shaft portion 132 of the valve body 130 from the tip thereof. Air holes 140
Is branched into a “T” shape when it reaches the inside of the main body 131 and opens on the side surface of the main body 131. The valve body side opening of the air hole 140 is in the state where the seal ring 133 is seated on the valve seat 135 as shown in FIG.
(The air flow between the connection fitting 129 and the fitting 129 is cut off.)
Air for vacuum breaking is supplied to the connecting fitting 128 at a position protruding from 36. In the state where the valve body 130 is pulled out against the pressure of the compression coil spring 139 and the seal ring 134 is seated on the movable valve seat 136 as shown in FIG.
8 and 129 communicate with each other, and conversely, the air hole 140 closes the air inflow path by burying the valve body side opening in the movable valve seat 136.

-Valve switching device-The vacuum switching valve 120 switches the valve open / closed state,
Further, a valve switching device 150 for maintaining the state is attached. The valve switching device 150 is assembled on the basis of a shelf 151 that is integrally machined on the front surface of the bearing block 71. A bell crank 152 and a lever 153 are pivotally supported on the upper surface of the shelf 151 by mounting shafts 154 and 155 so that they can rotate in a horizontal plane. The bell crank 152 has rollers 156 and 157 at both ends. As is apparent from FIG. 10, the roller 156 is supported at a position higher than the tops of the mounting shafts 154 and 155, and the rollers 157 and the mounting shaft tops. Depending on the angle of the bell crank 152, the roller 157 engages with either one of the shallow recesses 158 and 159 formed on the side surface of the lever 153 and spaced from each other. Lever 15
The tip of 3 engages with the back side of a flange (made up of a so-called double nut) 160 formed at the tip of the shaft portion of the valve body 130 of the vacuum switching valve 120. As shown in FIG. 9, when the roller 157 of the bell crank 152 is engaged with the recess 158 of the lever 153, the valve body 130 is moved by the lever 153 to the vacuum switching valve 120.
And the vacuum suction passage is opened. When the roller 157 engages with the recess 159 as shown in FIG. 11, the valve body 130 is retracted into the vacuum switching valve 120 by the force of the compression coil spring 139, and the vacuum suction passage is blocked. In any of the valve states, due to the resistance generated when the roller 157 tries to come out of the concave portions 158 to 159, while the vacuum switching valve 120 moves in the space together with the supporting device 60, without any power supply,
It is maintained autonomously.

It is the switching actuator 161 that shifts the vacuum switching valve 120 and the valve switching device 150 from the state of FIG. 11 to the state of FIG. Briefly, the switching actuator 161 is like a foot kicking the roller 156, and linearly moves or swings from the solid line position to the alternate long and two short dashes line position in FIG. Push to rotate the bell crank 152 clockwise when viewed from above, and replace the roller 157 that was previously engaged with the recess 159 with the recess 158.
To change the angle of the lever 153. The switching actuator 161 is arranged at the work station A. The switching actuator 161 waits for the valve switching device 150 coming to the work station A in a stationary state, but as described above, the roller 156 is located at a higher position than the other parts of the valve switching device 150, and the lower end of the switching actuator 161 is also. Since it is lifted in accordance with this, interference does not occur between the switching actuator 161 and the moving object.

It is the switching actuator 162 that shifts the vacuum switching valve 120 and the valve switching device 150 from the state of FIG. 9 to the state of FIG. In the embodiment, the switching actuator 162
Is configured as follows. A pair of rods 163 are horizontally slid by a driving force source (not shown), and a connecting plate 164 is fixed to the tip thereof. Connecting plate 1
64 supports the pusher 165 and the air injection nozzle 166. The air injection nozzle 166 has a mouthpiece 167 made of an elastic material such as rubber at the front end and a connection fitting 168 for connecting a compressed air hose (not shown) at the rear end. The air injection nozzle 166 is slidable with respect to the connecting plate 164 within a certain stroke range, and is biased toward the front end by a compression coil spring 169. When the switching actuator 162 approaches the valve switching device 150, the pusher 165 pushes the roller 156 to rotate the bell crank 152 counterclockwise when viewed from above,
The roller 157 engaged with the recess 158 is moved to the recess 159, and the angle of the lever 153 is changed. At this time, the air injection nozzle 166 presses the mouthpiece 167 against the shaft portion 132 of the valve body 130 under the elastic action of the compression coil spring 169, and the air hole 1
Blow compressed air from 40. Compressed air is a vacuum switching valve
Although it enters the inside of the rear lid 125 of the 120, as described above, since the air passage to the connection fitting 129 is sealed by the seal ring 133 at this time, the compressed air goes only to the connection fitting 128. This compressed air positively breaks the vacuum inside the vacuum suction device 70, and plays a role of completely ending the suction of the suction shaft 92. Switching actuators 162 are located at work stations I and J.

—Work Station— The mounting unit 11 configured as described above intermittently moves the vacuum suction device 70 held therein from the work station to the work station while drawing a closed loop orbit. The work stations from A to P are
Various devices are arranged while interposing a play station that does not perform any special action with respect to the vacuum suction device 70. The devices arranged in each work station will be described below.
Note that, here, some work stations are given special names that represent the contents of work performed at the work stations. That is, the work station A is a parts supply station, the work station C is a suction axis angle adjustment station, the work station D is a parts direction adjustment station, the work station F is a parts recognition station, the work station I is a parts mounting station, and a work station. Station J is a parts disposal station, work stations K and M are suction tool separation / mounting stations, work station O is a suction tool recognition station,
Name each. The other work stations become play stations.

-Parts Supply Station-The parts supply station A is occupied by the parts supply unit 12 described in the section "Overall configuration".

-Adsorption axis angle adjustment station-The adsorption axis angle adjustment station C has a brake release device 17
0 and the suction axis angle adjusting device 175 are arranged (see FIG. 7).
The brake releasing device 170 is composed of an arm 171 which is moved in the space by a driving device (not shown), and a roller 172 which is supported at the tip of the arm 171 so as to be rotatable around a horizontal axis. The suction shaft angle adjusting device 175 is a slider 17 that is slid horizontally by a driving device (not shown).
6 and a friction wheel 177 supported by a slider 176 so as to rotate about a vertical axis and connected to an electric motor (not shown) via a transmission train composed of a gear train 178, a timing pulley 179, a timing belt 180 and the like. . When the angle of the suction shaft 92 is adjusted, the flange 105 is lifted by the roller 172 of the brake releasing device 170, and the brake flange 114 is floated above the braking surface 115. In this state, the suction shaft angle adjusting device 175 is brought close to the suction shaft 92, the friction wheel 177 is brought into contact with a portion slightly below the flange 105, and the suction shaft 92 is rotated at a desired angle. Adsorption axis
After the rotation of 92 is completed, the suction shaft angle adjusting device 175 is separated from the suction shaft 92, and the brake release device 170 is lowered to press the brake flange 114 against the braking surface 115 to prevent the suction shaft 92 from freely rotating. Brake release device 17
0 means that if the roller 172 is placed at a position where it does not violate the trajectory of the suction shaft 92, it only moves up and down without adding and removing movements to and from the suction shaft 92. It is possible to perform the release operation.

-Parts direction adjusting station-The parts direction adjusting device 190 is installed in the parts direction adjusting station D.
To place. An outline of the component direction adjusting device 190 is shown in FIG. Reference numeral 191 denotes a turntable which rotates about a vertical axis and is oriented by a motor (not shown) at a desired angle in units of a certain angle, for example, 1 °. The turntable 191 supports a pair of direction adjusting claws 192 on its upper surface. Direction adjusting claw 192
Is supported so as to be slidable in a point-symmetrical manner and linearly, and moves toward and away from the center of the turntable 191 by a driving device (not shown). The end face of the direction adjusting claw 192 that will sandwich the component 1 is the direction adjusting claw 192.
Finish so as to form a right angle to the moving direction of.

-Parts Recognition Station-The parts recognition device 200 is arranged in the parts recognition station F. The component recognition apparatus 200 is configured as shown in FIG. 23, which will be described below. 201 is an elevator, the height of which can be adjusted by a driving device (not shown).
Two visual sensors 202, 203 and two irradiation units 204, 205 are fixed on the upper surface of the elevator 201. Vision sensor 20
2 and irradiation unit 204, visual sensor 203 and irradiation unit 205
Each make a pair. The visual sensors 202 and 203 are placed so that their arrangement directions are orthogonal to each other, and the irradiation unit 20
4, 205 are placed so as to face the pair of visual sensors. In the visual sensors 202 and 203, a large number of light receiving elements are arranged inside light receiving windows 206 and 207 (which are placed at the same height) that are long in the horizontal direction. Irradiation unit 204, 2
Reference numeral 05 irradiates the light receiving windows 206 and 207 with wide parallel light. As shown in the concept of FIG. 24, the parallel light is obtained by converting the laser light emitted by the semiconductor laser 208 into a reflecting mirror 209 and a lens 210.
It is obtained by parallelizing. Irradiation unit
The parallel light emitted by 204 and the parallel light emitted by the irradiation unit 205 intersect at a right angle. The vacuum suction device 70 (only the tip portion of the suction shaft 92 is shown in FIG. 23) that has emitted from the work station E and has passed through the gap between the visual sensor 203 and the irradiation unit 204 and has entered the enclosure formed by the visual sensor and the irradiation unit. , Stop by exposing the component 1 to crossed parallel light. The visual sensors 202 and 203 measure the silhouette width of the component 1 in that direction and the position thereof by projecting the shadow of the component 1 from two orthogonal directions. The measurement data is transmitted to the control device 215 schematically shown in FIG. The control device 215 calculates from this measurement data, the shape data and the direction data of the component 1 which are known in advance, in which direction and how much the component 1 deviates from the center of the vacuum suction device 70, and according to the result. , A substrate support device in which a movement / positioning program is set up assuming that the component 1 is in an ideal position with zero displacement
A proper position correction command is given to 30 so that the component 1 is placed in the correct set position. It should be understood that the control device 215 is not merely a component for recognizing the component 1 and the movement of the substrate supporting device 30, but is a symbol of the control function of the entire component mounting device. When the recognition of the component 1 is completed, the vacuum suction device 70 goes through the gap between the visual sensor 202 and the irradiation unit 205 toward the work station G.

The component 1 that has been sucked by the vacuum suction device 70 and has arrived at the component recognition station F should be sucked in the correct posture so that it can be placed on the substrate 2 as it is. When sucking the component 1 from the component supply device 21, the wrong side surface of the component 1 may be sucked. This occurs because the component 1 is flipped up due to the feeding movement of the component supply tape 22. The component 1 thus sucked in the abnormal posture must be removed without reaching the mounting. Whether the posture of the component 1 is normal or abnormal is determined from the measurement data of the visual sensors 202 and 203. That is, when the silhouette of the component 1 is projected on the visual sensors 202 and 203, the position and length of the silhouette are obtained as measurement data, and the length of the component 1 in the circumferential direction (horizontal direction) is obtained based on this data. be able to. Normally, a significant difference is made in the results obtained between the normal posture and the abnormal posture, and thus it is possible to easily determine whether the posture is normal or abnormal. This determination method is effective because there is almost no case where there is a small difference between the circumferential length in the normal posture and the circumferential length in the abnormal posture, that is, a component having a shape close to a cube is rare. When the determination result that the component posture is abnormal is obtained, the control device 215 excludes the component 1 from the mounting target. That is, even if a command is issued to the drive device 84 and the switching actuator 162 arranged in the component mounting station I, and the vacuum suction device 70 arrives at the component mounting station I, it is not lowered and the suction of the component 1 is completed. I won't let you.

-Component Mounting Station-In the component mounting station I, the substrate supporting unit 13 described in the section "Overall configuration" is arranged. The substrate 2 supported by the substrate supporting device 30 is coated with an adhesive at predetermined locations.

-Parts dumping station-Parts dumping station J includes a switching actuator 162.
Although not shown, the component 1 dropped from the vacuum suction device 70
Arrange a parts collection box to receive it. Further, similarly to the suction axis angle adjusting station C, a brake releasing device 170 and a suction axis angle adjusting device 175 are arranged. Further, an angle regulating device 220 is arranged at this station. Angle control device 220
The main part of this is shown in FIG. 18, which is a slider 221 which can be reciprocated horizontally by an actuator (not shown).
A roller row 223 composed of two horizontally arranged rollers 222 is attached to the tip of the roller. The roller row 223 is pressed against the outer periphery of the flange 105 of the suction shaft 92 while receiving the elastic force of the spring 224 symbolized in FIGS. 19 to 20. The operation of the angle regulating device 220 is related to the structure of the suction tool stocker described below, and will be described in the next section.

—Suction Tool Separation Station, Suction Tool Installation Station— In this embodiment, one suction tool stocker 230 is arranged in the suction tool separation installation station K, and another suction tool stocker is provided in the suction tool separation installation station M. Place 231. The suction tool stockers 230 and 231 have the same structure. Here, the suction tool stocker 230 is taken up as a representative of the two.
The structure will be described with reference to FIGS. 13 to 17. 232 is a lower deck fixed to the mounting frame 61, and 233 is an upper deck fixed on the lower deck 232 with four corners supported by four columns 234. Posts 234 are not shown in FIG. 14 to avoid obscuring the figure. The lower deck 232 and the upper deck 233 hold bearings 235 and 236, respectively, and the upper and lower bearings 235 and 236 support a hollow turntable 237 so as to be rotatable about a vertical axis. Turntable 23
7 itself is a timing pulley,
It is connected to an electric motor (not shown) by a timing belt 238 showing its existence by an imaginary line, and rotation of an arbitrary angle is given by this electric motor.

A crown-shaped holder 239 is fixed to the turntable 237. Holder 23
9 has a flange 240 at the upper end, and a shallow groove 242 into which the flange 102 of the suction tool 93 fits, and a suction tool.
Suction tool holders 241 formed of through holes 243 through which the portion of the 93 below the flange 102 is passed are formed at regular intervals (see FIG. 18). 244 is a bridge fixed to the lower deck 232. The bridge 244 has a bearing at the center of the turntable 237.
Holds 290. A rotary actuator 291 is attached by an L-shaped stay 292 fixed to the side surface of the bridge 244 so that the center of the rotary shaft 293 of the rotary actuator 291 coincides with the center of the bearing 290.
A restricting device 294 that restricts the turning angle of the turning shaft 293 is provided below the rotary actuator 291. this is,
A contact 295 provided near the lower end of the rotary shaft 293 is provided with a C-shaped ring 296 provided on the lower end surface of the rotary actuator 291.
It is made to pass through the opening of the above and can be rotated by the width of the opening. Reference numeral 245 is a rotating block, the lower part of which is fitted into the bearing 290, and the rotating shaft 293 of the rotary actuator 291 is fitted into a blind hole 297 provided at the lower end of the rotating block 293.
It is designed to rotate with it. A separating device 248 is attached to the upper end of the rotating block 245. Separator 248
Is equipped with two brackets 246 and 247.
Is located on the upper end of the rotating block 245, and the bracket 247 is held on the upper deck 233 so as to face the tip of the bracket 246 by a connecting member 298 extending from the side surface of the bracket 246. The separating device 248 aligns its center with the suction tool separating / attaching station K during suction tool separation (13th
(Fig.) When retracting the suction tool, retract from it (Fig. 15).
The separating device 248 has one bracket 246 and one bracket 247.
Claws attached facing each other so that they can be individually rotated in a vertical plane
249, and a compression coil spring that applies an urging force to the upper end portions of the claws 249 so that the upper end portions of the claws 249 approach each other at a constant interval. The distance between the tips of the claws 249 is slightly smaller than the longitudinal dimension of the flange 102 of the suction tool 93. A bracket 252 is fixed to the upper surface of the bridge 244. The light emitting portion 254 and the light receiving portion 255 of the transmissive optical sensor 253 are attached to these brackets 251 and 252. The optical sensor 253 checks the presence / absence of the suction tool 93 in the suction tool holder 241 located in the suction tool separation / attachment station K, and as a result, the suction holder 241 already closed.
Prevent an accident such as pushing the suction tool 93 into the. Separation device reinforcement block 299 provided on the upper surface of the upper deck 233
Completely locks the wobbling of the cantilevered separating device 248 by engaging the end of the bracket 247 with the groove when the separating device 248 is in the suction tool separating position (Fig. 13) (Fig. 16). Is. An identification device 260 is arranged at the position of the work station L. The identification device 260 is composed of three reflective sensors. In the figure, of the constituent parts of the optical sensor, only the optical fiber part (the one in which the optical fiber bundle is housed in a metal tube) that also serves as the light emitting part and the light receiving part is shown, and these are denoted by 261, 262, 263. The tips of the optical fiber parts 261, 262, 263 are held in a holder 264 in a state of being horizontally aligned at a predetermined interval. The holder 264 is fixed to the upper deck 233. The identification device 260 is a holder 239.
Which is on the same level as the flange 102 of the suction tool 93 supported by the
(See Fig. 21). Type identification code 265
As mentioned in the section "Vacuum suction device", the flange 102
Is formed by a notch 266 carved at the end of the. Notch 266
There are three points to be marked, and the interval between these points is equal to the arrangement interval of the optical fiber parts 261, 262, 263.

Another type of reflective optical sensor 270 is fixed to the upper surface of the bridge 243. The optical sensor 270 faces the ring portion 271 formed on the inner surface of the turntable 237, and recognizes the presence of the notch 272 carved at an appropriate position on the ring portion 271. Thereby, the rotation position of the turntable 237 can be known.

The suction tool stocker 230 has a plurality of suction tool holders 241 arranged along a circle, which is a kind of closed loop, and the arrangement loop of the suction tool holders 241 is movable along the loop and is vacuum suctioned. The orbital loop of the device 70 intersects with a height difference, that is, three-dimensionally. As described above, the drive device 84 is arranged at the suction tool separation / attachment station K, which is the intersection, and the vacuum suction device 70 is moved down by the drive device 84 from the track loop.
Comes into contact with the suction tool stocker 230. Controller 215
Stores the information of the type of the suction tool 93 held in the suction tool stocker 230 from the identification device 260 and the information of the rotational position of the turntable 237 from the optical sensor 270.
The operation of the driving device 84 and the suction tool stocker 230 in FIG.

In the suction tool separation / attachment station K, the vacant suction tool holding portion 241 is positioned directly below the vacuum suction device 70, and the suction tool holding portion 241 is sucked from the vacuum suction device 70 to the suction tool 9
The groove 242 of the suction tool holder 241 is arranged so that its longitudinal direction coincides with the direction of radiation from the center of the holder 239, and as shown in FIG. 13 at the station. In addition, the longitudinal direction of the groove 242 is the vacuum suction device 70.
Since it coincides with the tangential direction of the orbit loop of, the suction tool 93 must also change its direction accordingly. For this purpose, the angle control device 22 is installed at the parts disposal station J.
It is the one where 0 is placed. That is, as shown in FIG.
While pressing the roller row 223 against the flange 105 of the suction shaft 92,
When the suction shaft 92 is rotated by the suction shaft angle adjusting device 175 toward the angle origin (the angle at which the flange 102 of the suction device 93 is aligned with the groove 242 of the suction device holding portion 241 is referred to as such), Finally, the roller shaft 223 is engaged with the positioning flat portion 106 of the flange 105, and the suction shaft 92 is stopped in a state where it is exactly aligned with the angle origin. Then the suction axis angle adjustment device
175 and the angle regulation device 220 are separated from the suction shaft 92 in this order, and further, the brake release device 170 that has lifted the suction shaft 92 during the rotation period of the suction shaft 92 is lowered to bring the suction shaft 92 into the braking state again. Put. The suction shaft angle adjusting device 175 may be controlled by rotating the suction shaft 92 by a preliminarily estimated angle, and thereafter, the angle may be naturally regulated by the pressure contact force of the roller row 223. After the suction shaft 92 has settled to the angle origin, a slip may be generated between the suction shaft 92 and the suction shaft 92 to absorb excess rotation, or the current value of the electric motor that drives the friction wheel 177. The axis of attachment 92
The drive of the friction wheel 177 may be stopped when the stop of the friction wheel 177 is known.

After returning the suction shaft 92 whose angle has been adjusted in the suction axis angle adjusting station C to the angle origin as described above, when the vacuum suction device 70 is lowered for the first time in the suction tool separation mounting station K, the suction tool The flange 102 of 93 pushes open the claw 249 of the separating device 248 as shown in FIG. 16, and the tip of the claw 249 engages with the upper surface of the flange 102. In the next operation, the vacuum suction device 70 goes up for the first time and the suction tool stocker
When the suction tool 93 is detached from the suction tool 93, the suction tool 93 is retained by the claws 249, so that the suction tool 93 is separated from the vacuum suction device 70 and the suction tool holding portion 241.
Remain (Fig. 17). Separator 248 is a suction tool stocker 230.
After storing the suction tool 93, the rotary actuator 29
It rotates to the standby position (Fig. 15) by 1 and waits until the next suction tool separation. Vacuum suction device without suction tool 93
The 70 waits until the desired suction tool arrives at the suction tool separation / attachment station K. Here, the holder 264 rotates and carries the suction tool 93 required for the next electronic component mounting operation to the suction tool separation / mounting station K. The vacuum suction device 70 then descends for the second time and picks up the suction tool 93. For picking up, it suffices to bring the vacuum suction device 70 close to the suction tool stocker 230, and then remove it. Suction tool stocker
By approaching 230, the connecting pipe portion 95 of the vacuum suction device 70 is fitted into the suction tool 93, and the elastic locking tool 96 is engaged with the groove 100 of the suction tool 93. When the vacuum suction device 70 starts to be detached from the suction tool stocker 230, the suction tool 93 is pulled out from the suction tool holding portion 241 as it is.

The identification device 260 includes a suction tool 93 held by the suction tool stocker 230.
The type identification code 265 is read and the information is read by the control device 215.
Tell. The control device 215 stores this information in the memory and reads it out as needed when the operation of the device is advanced according to the program. Now, regarding the structure of the type identification symbol 265, the identification device 260 uses the fact that the notch 266 is recognized as a dark part, and the presence or absence of the notch 266 is represented by a binary symbol (1,0).
Corresponding to, a total of 7 types are defined with 3 bits as shown in FIG. Engraving the notch 266 at all three locations is the identification device 260.
Since the information received by is only dark area information, it cannot be distinguished from the case where the suction tool 93 itself does not exist,
Not adopted. The type identification code 265 is read for all the suction tools 93 held by the suction tool stocker 230 before the operation of the component mounting apparatus 10 is started, and an operation sequence is formed based on the result. The identification device 260 can also be used to identify the type of the suction tool 93 attached to the vacuum suction device 70 if the installation location is appropriately selected.

—Suction Tool Recognition Station— A suction tool recognition device 280 is arranged in the suction tool recognition station O. The suction tool recognition device 280 is configured as shown in FIG. 25, which will be described below. 281 is a fixed deck, and two irradiation units 284 and 285 with two visual sensors 282 and 283 are fixed on the upper surface thereof. Vision sensor 28
2 and irradiation unit 284, vision unit 283 and irradiation unit 2
85 pairs each. The visual sensors 282, 283 are placed so that their arrangement directions are orthogonal to each other, and the irradiation unit 282
The reference numerals 4 and 285 are placed so as to directly face the visual sensors 282 and 283 that are paired with each other. Vision sensors 282, 283 and irradiation unit
The configurations of 284 and 285 are the same as the configurations of the visual sensors 202 and 203 and the irradiation units 204 and 205 arranged in the component recognition station F, except that the light receiving window of the visual sensor 282 is vertically long and the irradiation of the irradiation unit 284 is performed. It is different from the component recognition device 200 in that the slit is also opened in the vertical direction. The parallel light emitted from the irradiation unit 284 and the parallel light emitted from the irradiation unit 285 intersect at a right angle, and the visual sensor 282 and the irradiation unit 285 are crossed.
The vacuum suction device 70 (in Fig. 23, the suction shaft 92
(Only shown at the tip end) is stopped by exposing the suction tool 93 to the intersection of light. The suction tool 93 is just about to go to the component mounting work,
The visual sensor 282 measures the height of the tip of the suction tool 93.
Based on the measurement result, the elevator 201 of the component recognition station F moves up and down, and the measurement height of the component 1 is adjusted. The operation of the elevator 201 naturally occurs when the suction tool 93 whose tip height has been measured arrives at the component recognition station F. The visual sensor 283 is a suction tool 9
The thickness of 3 is measured, and the type of the suction tool 93 is identified based on the measured value.

-Overall Operation-The vacuum suction device 70 sucking the component 1 at the component supply station A adjusts the angle of the suction shaft 92 at the suction shaft angle adjusting station C to the component angle required at the component mounting station I. , Adjusted. Since the angle of the component 1 is not precisely set only by adjusting the angle of the suction shaft 92, the angle adjustment in this case may be rough to some extent.
That is, slippage of the friction wheel 177 can be sufficiently tolerated. The vacuum suction device 70 is then moved to the component direction adjustment station D
Arrive at. Here, the component direction adjusting device 190 is in a standby state with the direction adjusting claw 192 open with the direction oriented in a predetermined direction. If you insert the falling part 1 with the direction adjusting claw 192,
The roughly angled part 1 is now precisely oriented in a predetermined direction. In the component recognition station F, the component 1 whose angle is fixed in this way is measured for the amount of positional deviation with respect to the vacuum suction device 70. In addition, it is also performed here to discriminate whether or not it is adsorbed in the correct posture. The vacuum suction device 70 exiting the component recognition station F headed to the component mounting station I, and pressed the component 1 onto the substrate 2 whose position had been corrected based on the positional deviation data of the component 1 and applied it to the substrate 2. After the part 1 is attached to the adhesive, the part 1 is left and the part is raised. If the posture of the sucked component 1 is abnormal, the vacuum suction device 70 moves to the component dumping station J without lowering at the component mounting station I, and discards the component 1 here. Also at this station the suction axis
92 is returned to the angle origin. If the suction tool 93 currently attached to the vacuum suction device 70 is of a type that can also be used for the next component mounting work, the vacuum suction device 70 passes directly above the suction tool stockers 230, 231. Otherwise,
The vacuum suction device 70 uses the suction tool stocker 230 or 231 and the suction tool 93.
To replace. The suction tool stockers 230 and 231 are appropriately used according to the type of suction tool 93 held by the suction tool stockers 230 and 231. In this way, the vacuum suction device 70 equipped with the suction tool 93 necessary for the next component mounting operation receives the inspection of the suction tool 93 at the suction tool recognition station O, and then the component supply station A.
Then, the new component mounting work is started.

(G) Effect of the Invention According to the present invention, the vacuum suction device that picks up and places a component while moving intermittently along a closed loop orbit reaches a component supply station after passing a component mounting station. A suction tool stocker having a plurality of suction tool holders is arranged at a position up to this time. The suction tool stocker is moved so that the empty suction tool holder and the suction tool holder that holds the desired suction tool are sequentially aligned with the stop position of the vacuum suction device, and the suction tool from the vacuum suction device is moved at this position. And the suction tool is supplied to the vacuum suction device. While the pick-and-place work of the parts is performed on the one hand, the suction tool exchange work can be simultaneously carried out on the other hand. It is possible to achieve the purpose of the automatic suction tool replacement without interrupting the component mounting work due to the replacement and without impairing the high speed of the device. Further, at a specific stop position, the suction tool is picked up from the vacuum suction device and the suction tool is handed to the vacuum suction device. Therefore, the exchange of the suction tool is divided into two steps, that is, the pick-up and the hand-over, and a different stop position is used. Compared with the above, the arrangement of the drive device that brings the vacuum suction device closer to the suction tool stocker can be halved, and the weight of the support device can be reduced. Since the suction tool can be exchanged at one place in this way, it is not necessary to consider the intermittent movement pitch of the supporting device in the structural design of the suction tool stocker, and the degree of freedom in designing the stocker arrangement surface is increased. Further, since the suction tool stocker is provided separately from the support device of the vacuum suction device, it is possible to hold various kinds of suction tools and to increase the size of the stocker to match it.
The mass of the supporting device itself does not increase and does not affect the high speed motion.
Moreover, since the suction device is delivered using the movement of the vacuum suction device that is brought closer to the target by the drive device,
It is not necessary to provide an intermediate mechanism for transferring the suction tool between the vacuum suction device and the suction tool stocker, and the configuration can be simplified.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a cross-sectional view of a mounting unit, FIG. 2 is a layout explanatory view of a plurality of units constituting a component mounting apparatus, and FIG. 4, FIG. 4 is an exploded view of the work contents at each work station, FIG. 5 is a front view of the main part of the vacuum suction device, FIG. 6 is a cross-sectional view of the main parts in FIG. 5, and FIG. The drawing is a cross-sectional view of the same part as in Fig. 6, in which the brake release device and the suction shaft angle adjusting device are drawn in association with each other. Fig. 8 is a plan view of the component direction adjusting device. Fig. 9 is a vacuum switching valve and valve switching. 10 is a plan view of the part of the apparatus, FIG. 10 is a sectional view of the vacuum switching valve, and is cut along the line XX in FIG. 9, and FIGS. 11 and 12 are the same as FIGS. 9 and 10. FIG. 13 is a plan view and a cross-sectional view showing different operation states, FIG. 13 is a plan view of the suction tool stocker, and FIG. Which is in the cross-sectional view of the suction tool stocker, taken along the line XIV-XIV in Figure 13, the first
Fig. 5 is a plan view of the suction tool stocker in an operation state different from Fig. 13, Fig. 16 is a sectional view taken along line XVI-XVI in Fig. 13, and Fig. 17 is a sectional view similar to Fig. 16. FIG. 18 is a perspective view showing a part of each of the vacuum suction device, the suction tool stocker, and the angle regulating device.
19 and 20 are explanatory views of the operation of the angle regulating device, FIG. 21 is a perspective view of the suction tool, FIG. 22 is an explanatory view of the type identification symbol attached to the suction tool, and FIG. 23 is a perspective view of the component recognition device. FIG. 24 is an explanatory view of the irradiation mechanism of the irradiation unit with respect to the visual sensor, and FIG. 25 is a perspective view of the suction tool recognition device. 1 ... Component, 2 ... Substrate, 10 ... Component mounting device, A ... Component supplying station, 21 ... Component supplying device, I ... Component mounting station, 30 ... Substrate supporting device, 70 ... Vacuum suction device, 93 ... Suction tool, 60 ... Supporting device, 84 ... Driving device, 230, 231 ... Suction tool stocker, 241 ... Suction tool holding part, 215 ... Control device.

Claims (1)

[Claims] 1. A component mounting apparatus having the following components. (A) A component supply device arranged in a component supply station (b) A substrate support device arranged in a component mounting station (c) A component is sucked by a removable suction tool, and the component supply device is mounted on the substrate support device. A vacuum suction device arranged to pick and place parts on the board. (D) A plurality of the vacuum suction devices are supported, and these vacuum suction devices are moved from the work station to the work station along a closed loop orbit. Support device for intermittently moving (e) Drive device for moving the vacuum suction device supported by the support device toward and away from the target at a predetermined stop position (f) Passing the component mounting station After that, it has a plurality of suction tool holders, and one selected suction tool holder is installed until the component supply station. Movable suckers stocker to match a particular stop position of the suction device. (G) Engage the suction tool of the vacuum suction device at a specific stop position, separate it and store it in the empty suction tool holding part, and attach the desired suction tool to the vacuum suction device. In doing so, the separating device that releases the engagement posture with the suction tool in the stop position. (H) At a specific stop position of the vacuum suction device, the suction tool stocker is moved so that the suction tool holding section in the empty state coincides with this stop position, and then the first time of the drive device arranged at this position. After driving, the suction device on the side of the vacuum suction device is moved to the suction device holding portion by the separation device and the suction device is removed, and then the engagement state of the separation device is released to hold the desired suction device. A control device in which the suction tool stocker is moved so that the holding portion coincides with the stop position, and the driving device is driven a second time to mount the suction tool on the vacuum suction device.