JPH0693559B2 - Electronic component transfer head - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer head for electronic components, and more specifically, to an up-and-down stroke of a nozzle for adsorbing an electronic component and an electronic component according to the dimensions of the electronic component. And means for controlling the opening / closing stroke of the chuck claw for correcting the positional deviation of the chuck.

(Prior Art) An electronic component mounting apparatus is configured to vacuum-adsorb electronic components provided in a parts feeder such as a deep feeder, a tube feeder, and a tray feeder to a nozzle of a transfer head to pick them up and transfer them to a substrate. Has become.

In this case, since the electronic component sucked by the nozzle has a positional shift in the XYθ directions, this positional shift must be corrected before mounting it on the substrate. It is known that, as the displacement correction means, the displacement is mechanically corrected by chucking an electronic component vacuum-sucked by a nozzle with a chuck claw. The conventional transfer head will be described below with reference to FIG.

FIG. 6 is a sectional view of the transfer head 53, in which 40 is a nozzle shaft, and a nozzle 3 for vacuum-sucking electronic parts is provided at the lower end portion thereof. A guide ring 39 is attached to the upper end of the nozzle shaft 40.
A roller 38 is fitted to the roller. 36 is a lever on which a roller 38 is supported, and 35 is a cylinder for driving the lever 36. When the rod 35a of the cylinder 35 projects in the direction of the arrow, the lever 3
6 swings up and down around the pin 37, and the nozzle shaft 4
0 goes up and down.

43 is a chuck claw that swings around the pin 42 to open and close, and 44 is a guide ring provided so as to surround the chuck claw 43. On the outer surface of the chuck claw 43, a taper-shaped convex portion 43a that abuts on the inner surface of the guide ring 44 is projected. 47 is a roller that fits in the guide groove 44a of the guide ring 44, 48 is a lever that axially supports the roller 47, 49 is a pin that axially supports the lever 48, 50 is a cylinder that drives the lever 48, and 45 is a chuck claw.
43 is a spring that biases outwardly.

When the rod 50a of the cylinder 50 is retracted, the lever 48 swings upward, the guide ring 44 rises, and is disengaged from the convex portion 43a. Then, the chuck claw 43 is opened outward by the spring force of the spring 45 (see the chain line in the figure). Also the rod of cylinder 50
When 50a projects, the lever 48 swings downward, the guide ring 44 descends and abuts the convex portion 43a (see the solid line in the figure). Then, the chuck claw 43 closes inward against the spring force of the spring 45, chucks the electronic component 34, and corrects the displacement in the XYθ directions.

Next, the overall operation of the above conventional device will be described.

With the chuck claw 43 open,
The nozzle shaft 40 moves up and down as the 35a projects, and the electronic component 34 of the parts feeder 55 is adsorbed to the lower end of the nozzle 3 and picked up. Next, in order to transfer and mount the electronic component 34 on the substrate 56, the electronic component 34 is moved above the substrate 56, and the rod 50a of the cylinder 50 projects in the middle of the movement to close the chuck claw 43 and chuck the electronic component 34. To correct the misalignment. Then rod 50a
The chuck claw 43 is opened by pulling in. In this way, after the displacement of the electronic component 34 is corrected, the transfer head 53 moves to a position directly above the substrate 56, and the rod of the cylinder 35 is again moved.
The nozzle shaft 40 moves up and down due to the projection and withdrawal of 35a, and the electronic component 34 is mounted on the substrate 56.

(Problems to be Solved by the Invention) By the way, the electronic component 34 has various sizes, and the lifting stroke S of the nozzle 3 and the opening / closing stroke L of the chuck claw 43 are the same as the thickness d and the width l of the electronic component 34. Must be adjusted accordingly. If the lifting stroke S is too large, the electronic component 34 is strongly pinched between the lower end of the nozzle 3 and the parts feeder 55 or between the lower end of the nozzle 3 and the substrate 56, and is damaged. When S is too small, when picking up the electronic component 34 of the parts feeder 55, an excessive gap is generated between the lower end portion of the nozzle 3 and the upper surface of the electronic component 34, and a pickup error occurs, or the substrate 56 is When mounted, the electronic component 34 will naturally fall onto the substrate 56.

If the opening / closing stroke L of the chuck claw 43 is too large,
The electronic component 34 is strongly sandwiched by the chuck claws 43 and is damaged, and if the amount is too small, the chuck claws 43 cannot chuck the electronic component 34, and the displacement of the electronic component 34 cannot be corrected.

For the above reasons, the lifting stroke S of the nozzle 3
Also, the opening / closing stroke L of the chuck claw 43 must be adjusted according to the dimensions d and l of the electronic component 34.

However, in the above-mentioned conventional transfer head 53, the lifting stroke S of the nozzle 3 and the opening / closing stroke L of the chuck claw 43 cannot be adjusted according to the dimensions d and l of the electronic component 34. However, there is a problem in that a mounting error and a positional deviation correction error occur, and the electronic component 34 is easily damaged as described above.

Therefore, it is an object of the present invention to provide means for adjusting the lifting stroke of a nozzle and the opening / closing stroke of a chuck claw according to the size of an electronic component to eliminate the above troubles.

(Means for Solving the Problems) To this end, the present invention provides a motor, a cam that is driven by the motor to rotate, and a first lever and a second lever that swing together with the rotation of the cam. A nozzle shaft that moves up and down in conjunction with the swing of the first lever, and an electronic component sucked by the nozzle at the lower end of the nozzle shaft by opening and closing in conjunction with the swing of the second lever. A transfer head is composed of a chuck claw that chucks and corrects the positional deviation. Then, by controlling the rotation angle of the cam by driving the motor based on the dimension data of the electronic parts stored in the storage unit, the lifting stroke of the nozzle and the opening / closing stroke of the chuck claw are controlled. Is.

(Operation) According to the above configuration, the motor is controlled based on the dimension data of the electronic component stored in the storage unit and the rotation angle of the cam is changed, so that the lifting stroke and the stroke of the nozzle are changed according to the dimension of the electronic component. The opening / closing stroke of the chuck claw can be adjusted.

(Example) Next, the Example of this invention is described, referring drawings.

FIG. 1 is an overall view of the transfer head 1 provided in the electronic component mounting apparatus. Reference numeral 16 is a nozzle shaft, and the nozzle 3 is attached to the lower end portion thereof. A chuck claw 2 is provided on the side of the nozzle 3. This chuck claw 2
Opens and closes by rotating around the pin 2a.

Reference numeral 17 is a first cam and 18 is a second cam. First cam 17
The cam follower 20 is in contact with. 51 is a cam follower
A first lever 20 is pivotally mounted, and swings vertically about a pin 19. A roller 21 is attached to the tip of the lever 51, and the roller 21 is fitted to a guide ring 22 provided at the upper end of the nozzle shaft 16. 52
Is a coil spring that presses the cam follower 20 against the cam surface of the cam 17. Therefore, when the cam 17 is driven by the motor to rotate, the lever 51 swings up and down about the pin 19, and the nozzle shaft 16 moves up and down in conjunction with this.

Reference numeral 15 is a cam follower that comes into contact with the second cam 18. 14 is a second lever on which a cam follower 15 is attached, and a pin
Swing vertically around 13. Reference numeral 7 denotes a third lever provided below the second lever 14 and swings up and down around the pin 10. Both levers 14 and 7 are connected by a rod 9. 9a and 9b are connecting pins. Again 11
Is a bracket for supporting the lever 7 and the like, 12 is a bracket 11
It is a main body block to assemble.

FIG. 2 shows driving means for the cams 17, 18. 28 is a motor for rotating the cams 17, 18, and 27 is a position detecting device for the cams 17, 18.

In FIG. 1, the roller 6 is attached to the tip of the third lever 7.
Is pivoted. The roller 6 is fitted to a guide ring 5 provided on the upper end of the rod-shaped hook 4. In FIG. 5, a hook portion 4a protruding inward is provided at the lower portion of the hook 4. Further, the chuck claw 2 has a sliding surface 2b that comes into contact with the key portion 4a. Chuck claw 2
Although not shown, the spring is urged to open outward by a spring similar to the spring 45 of the conventional means shown in FIG. Therefore, when the cam 18 rotates and the hook 4 rises, the sliding surface 2b is pushed upward by the key portion 4a, the chuck claw 2 is closed inward, and the electronic component sucked by the lower end of the nozzle 3 is chucked. Then, the positional deviation is corrected. Figure 4 (a)
(B) shows that the chuck claw 2 is closed in the E direction and chucks the electronic component 34.

In FIG. 1, 23 is a pulley mounted on the nozzle shaft 16, 24 is a timing belt, 25 is a pulley, and 26 is a motor. When the motor 26 is driven, the pulley 23 rotates, and the nozzle shaft 16 also rotates about its axis, thereby correcting the positional deviation of the electronic component attracted to the nozzle 3 in the rotational direction.

53a and 53b are an emitting element and a light receiving element provided on the side of the lower end of the nozzle 3. By detecting whether or not the light emitted from the issuing element 53a is received by the light receiving element 53b, the presence or absence of the electronic component (whether or not the electronic component is adsorbed on the lower end portion of the nozzle 3) is detected. It In addition, the thickness of the electronic component is detected by detecting the timing at which the electronic component blocks the light from the issuing element 53a. Here, for example, when the actually detected thickness is larger than the thickness of the electronic component stored in advance, it is found that the component is adsorbed in a standing state.

In addition to the above-described elements, a storage unit that stores dimension data such as thickness and width of electronic components mounted on a board, and the motor 28 based on the storage unit data and the output of the position detection device 27. A control circuit for controlling is required, but it is omitted in the figure.

The present apparatus has the above-mentioned configuration, and the operation will be described next.

When the transfer head 1 moves directly above the parts feeder 55,
The motor 28 is driven to rotate the cams 17 and 18, the nozzle shaft 16 moves up and down, and the electronic component 34 is adsorbed and picked up by the lower end portion of the nozzle 3. Next, the transfer head 1 moves toward the substrate 56 so as to mount the electronic component 34 on the substrate 56, and in the middle of that, the chuck claw 2 closes and chucks the electronic component 34, and the positional deviation is corrected. To do.

FIG. 3 is a characteristic diagram of the cams 17 and 18, and a more detailed operation will be described with reference to this figure. The horizontal axis represents the rotation angles of the cams 17 and 18, and the vertical axis represents the displacement amount (height of the cam followers 20 and 15). First, the relationship between the rotation angle of the cam 17 and the vertical position of the nozzle 3 will be described. The rotation angle of the cam 17 is 0 ° to 18
During 0 ° (between points and), the nozzle 3 is in the raised position. When the cam 17 rotates 180 °, the nozzle 3 starts to descend (point), and when it rotates 360 °, the nozzle 3
Reaches the bottom dead center and sucks the electronic component 34 (point). At the same time, the motor 28 starts reverse rotation and the nozzle 3
Starts ascending (point), completes ascending at 180 ° (point), and thereafter maintains the ascending position up to 0 ° (point ~). The elevating stroke of the nozzle 3 in this case is S1.

On the other hand, the other cam 18 is between 0 ° and 90 ° (point'-
(Between 1 and'-2), the chuck claw 2 is in a closed state, but when the cam 18 rotates 90 °, the chuck claw 2 starts to open (point ′ -2), and when the cam 18 rotates 180 °, the opening operation is not performed. Completed (point '). Next, during 180 ° to 360 ° (points 'to'), the chuck claw 2 is held in the open state, and in this state, the nozzle 3 moves up and down to pick up the electronic component 34 as described above.

Next, the motor 28 starts reverse rotation (point '), and 360
Between ° and 180 ° (point 'to point'), the chuck claw 2 remains open, but the closing operation starts at 180 ° (point ') and the closing operation at 90 ° is completed and the electronic operation is completed. Chuck the part 34 (point'-2),
It returns to the original state at point'-1. In this case, the opening / closing stroke of the chuck claw 2 is L1.

By the above-described operation, the pickup of the electronic component 34 by the nozzle 3 and the positional deviation of the electronic component 34 by the chuck of the chuck claw 2 are corrected. And transfer head 1
If the board moves above the board 56, the motor 28 is driven again and the same operation as described above is repeated, so that the electronic component 34 is mounted on the board 56.

Therefore, when the thickness and width of the electronic component 34 are large, the lifting stroke S of the nozzle 3 and the opening / closing stroke L of the chuck claw 2 must be made small as described above. In this case, as shown in the drawing, if the rotation of the cam 17 is stopped at the point A and the rotation of the cam 18 is stopped at the point B, the lifting stroke of the nozzle 3 is shortened to S2,
The opening / closing stroke of the chuck claw 2 is shortened to L2.
In this way, by controlling the rotation angles of the cams 17 and 18, the lifting stroke S of the nozzle 3 and the opening / closing stroke L of the chuck claw 2 can be controlled.

The electronic components 34 are mounted on the board 56 in program order,
Dimension data such as thickness and width of each electronic component 34, and rotation angle data of the cams 17 and 18 according to the dimensions are stored in a storage unit, and the motor 28 is operated based on the data stored in the storage unit. If controlled, as described above, it is possible to move the nozzle 3 up and down and open and close the chuck claw 2 with the strokes S and L according to the dimensions of the electronic component 34.

Of course, the two cams 17 and 18 are used in this embodiment,
It can be realized with one cam. Further, in this embodiment, the cam 1
Although only the rotation angle of 7,18 is controlled, it is also possible to easily control the rotation speed and acceleration of the cams 17,18, in which case the electronic components can be more reliably mounted on the pickup or the board. It can be carried out.

(Effects of the Invention) As described above, according to the present invention, the lifting stroke of the nozzle and the opening / closing stroke of the chuck can be controlled in accordance with the dimensions of the electronic component, so that a mistake in picking up and a mistake in mounting the electronic component can be eliminated. The positional deviation can be corrected and transferred to the substrate without damaging the component.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a sectional view of a transfer head, FIG. 2 is a side view of driving means, FIG. 3 is a characteristic diagram of a cam, and FIG. FIG. 5 is a front view of the chuck during chucking, FIG. 5 is a perspective view of the periphery of the nozzle, and FIG. 6 is a sectional view of a conventional transfer head. 1 …… Transfer head 2 …… Chuck claw 3 …… Nozzle 14 …… Second lever 16 …… Nozzle shaft 17 …… Cam 18 …… Cam 28 …… Motor 34 …… Electronic parts 51 …… First lever

Claims (1)

[Claims] 1. A motor, a cam which is driven by the motor to rotate, a first lever and a second lever which swing together with the rotation of the cam, and an interlock with the swing of the first lever. And a nozzle claw that moves up and down, and a chuck claw that opens and closes in conjunction with the swing of the second lever to chuck the electronic component adsorbed by the nozzle at the lower end of the nozzle shaft and correct the positional deviation. And controlling the rotation angle of the cam by driving the motor based on the dimension data of the electronic component stored in the storage unit, thereby controlling the up-and-down stroke of the nozzle and the opening and closing stroke of the chuck claw. A transfer head for electronic parts, characterized in that