Component mounting device and component mounting method

Abstract

The invention provides a component mounting device and a component mounting method which can easily realize narrow adjacent mounting. A component mounting device is provided with a component conveyance unit for conveying a radial component, a transfer head having a first chuck, an insertion head having a second chuck, and a control unit, the insertion head being capable of rotating so as to change the orientation of the second chuck. The first chuck and the second chuck are respectively provided with a plurality of holding claws in a manner of coping with a first radial part of which the pitch of the leads is a first pitch and a second radial part of which the pitch of the leads is a second pitch which is longer than the first pitch, and the control part controls the holding claws when the second chuck holds the first radial part from the first chuck. The position of the first collet or the second collet is adjusted such that the first collet or the second collet is selectively gripped at either a first gripping position or a second gripping position different from the first gripping position.

Description

Technical Field

[0001] The invention relates to a component mounting device and a component mounting method. Background Art

[0002] Conventionally, a radial component with two leads is mounted on a substrate by a component mounting device (see, for example, Patent Document 1). The component mounting device of Patent Document 1 includes: a component feeder that supplies radial components; a tray system that holds the radial components supplied from the component feeder on a plurality of trays and rotates them in a ring shape; a transfer head that receives the radial components held on the trays and transfers them to an insertion head; and an insertion head that inserts the leads of the radial component received from the transfer head into the insertion holes of the substrate.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-158263 Summary of the invention

[0006] Problems to be solved by the invention

[0007] The component mounting device of Patent Document 1 has room for improvement in achieving narrow adjacent mounting.

[0008] An object of the present invention is to provide a component mounting device and a component mounting method that can easily realize narrow adjacent mounting.

[0009] Solutions to Solve Problems

[0010] A component mounting device according to one embodiment of the present invention comprises: a component transporting section that transports a radial component with two leads in a horizontal direction; a transfer head that has a first chuck that holds the leads of the radial component and is movable between a first position where the radial component is received from the component transporting section using the first chuck and a second position that is separated from the first position; an insertion head that has a second chuck that holds the leads of the radial component and receives the radial component from the transfer head located at the second position using the second chuck, and the insertion head inserts the received leads of the radial component into an insertion hole of a substrate; and a control section that controls the components The transport unit, the transfer head and the insertion head, the insertion head being rotatable in a manner that changes the orientation of the second chuck, the first chuck and the second chuck having a plurality of gripping claws in a manner that corresponds to a first radial component having a first pitch of leads and a second radial component having a second pitch of leads longer than the first pitch, respectively, the control unit adjusting the position of the first chuck or the second chuck in a manner that selectively grips the first radial component at a first gripping position and a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck located at the second position.

[0011] A component mounting method according to one embodiment of the present invention comprises the following steps: using a component transporting unit to transport a radial component with two leads in a horizontal direction; using a transfer head having a first chuck for holding the leads of the radial component to receive the radial component from the component transporting unit at a first position; moving the transfer head to a second position separated from the first position; using an insertion head having a second chuck for holding the leads of the radial component to receive the radial component from the transfer head located at the second position; and using the insertion head to insert the leads of the radial component into an insertion hole of a substrate, the insertion head being rotatable in a manner that changes the orientation of the second chuck, the first chuck and the second chuck respectively having a plurality of gripping claws in a manner that supports a first radial component having leads having a first pitch and a second radial component having leads having a second pitch longer than the first pitch, and when the second chuck holds the first radial component from the first chuck located at the second position, adjusting the position of the first chuck or the second chuck in a manner that selectively holds the first chuck at any one of a first gripping position and a second gripping position different from the first gripping position.

[0012] Effects of the Invention

[0013] According to the component mounting device and the component mounting method of the present invention, narrow adjacent mounting can be realized more easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic plan view of the component mounting device according to the embodiment.

[0015] Figure 2 It is a top view showing the transfer operation of the radial component by the transfer head and the insertion head.

[0016] Figure 3 1 is a top view showing the first chuck of the transfer head.

[0017] Figure 4 1 is a top view showing the first chuck of the transfer head.

[0018] Figure 5 It is a longitudinal sectional view showing the first chuck of the transfer head.

[0019] Figure 6 It is a longitudinal sectional view showing the first chuck of the transfer head.

[0020] Figure 7 It is a plan view showing a state where radial components (first radial components) with a pitch of D1 are gripped by the first chuck of the transfer head.

[0021] Figure 8 It is a plan view showing a state where radial components (second radial components) with a pitch of D2 are gripped by the first chuck of the transfer head.

[0022] Fig. 9 It is a top view showing the first chuck of the transfer head and the second chuck of the insertion head.

[0023] Fig.10 It is a top view showing the first chuck of the transfer head and the second chuck of the insertion head.

[0024] Fig.11 It is a top view showing the first chuck of the transfer head and the second chuck of the insertion head.

[0025] Fig.12 This is a plan view showing the positional relationship between a radial component (first radial component) having a lead pitch D1 and other components when the radial component is mounted on a substrate.

[0026] Fig.13 This is a plan view showing the positional relationship between a radial component (first radial component) having a lead pitch D1 and other components when the radial component is mounted on a substrate.

[0027] Fig.14 This is a plan view showing the positional relationship between a radial component (first radial component) having a lead pitch D1 and other components when the radial component is mounted on a substrate.

[0028] Fig.15 is a block diagram showing a control system of the component mounting device.

[0029] Fig.16 It is a graph (timing chart) showing the flow of the operation of the transfer head.

[0030] Fig.17 It is a plan view showing the operation of the transfer head when the component transfer position P1 is selected.

[0031] Fig.18 It is a plan view showing the operation of the transfer head when the component transfer position P2 is selected.

[0032] Fig.19 It is a top view showing a first chuck and a second chuck according to a modified example.

[0033] Fig. 20 It is a top view showing a first chuck and a second chuck according to a modified example.

[0034] Fig.21 It is a top view showing a first chuck and a second chuck according to a modified example.

[0035] Description of Reference Numerals

[0036] 1 Component mounting device

[0037] 2 Radial components

[0038] 2A First radial component

[0039] 2B Second radial component

[0040] 3 substrate

[0041] 4 Substrate holding table

[0042] 6 Mounting unit

[0043] 8. Parts handling department

[0044] 9 Trays

[0045] 10 Tray drive unit

[0046] 12 Parts Feeder

[0047] 14 Control Unit

[0048] 20 Transfer head

[0049] 22 Insertion head

[0050] 26 Lead

[0051] 27 First chuck

[0052] 28, 28A~28D First grip claw

[0053] 29 Second chuck

[0054] 30, 30A~30D Second grip claw

[0055] T1 First grip position

[0056] T2 Second holding position. DETAILED DESCRIPTION

[0057] According to a first aspect of the present invention, there is provided a component mounting device, wherein the component mounting device comprises: a component transporting portion, which transports a radial component with two leads in a horizontal direction; a transfer head, which has a first chuck that holds the leads of the radial component and is movable between a first position where the radial component is received from the component transporting portion using the first chuck and a second position that is separated from the first position; an insertion head, which has a second chuck that holds the leads of the radial component and receives the radial component from the transfer head located at the second position using the second chuck, and the insertion head inserts the received leads of the radial component into the insertion holes of the substrate; and a control The control unit controls the component transport unit, the transfer head and the insertion head, the insertion head being rotatable in a manner that changes the orientation of the second chuck, the first chuck and the second chuck having a plurality of gripping claws in a manner that corresponds to a first radial component whose lead pitch is a first pitch and a second radial component whose lead pitch is a second pitch longer than the first pitch, respectively, and the control unit adjusts the position of the first chuck or the second chuck in a manner that selectively grips the first radial component at a first gripping position and a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck located at the second position.

[0058] According to a second aspect of the present invention, there is provided a component mounting apparatus based on the component mounting apparatus according to the first aspect, wherein the control unit adjusts the position of the first chuck by changing the amount of movement of the first chuck between the first position and the second position.

[0059] According to a third embodiment of the present invention, a component mounting device is provided based on the component mounting device described in the second embodiment, wherein the component mounting device further comprises a substrate holding workbench that holds the substrate below the insertion head and can move in a horizontal direction, and the horizontal position of the insertion head is fixed.

[0060] According to a fourth aspect of the present invention, there is provided a component mounting device based on the component mounting device according to the second aspect or the third aspect, wherein the first position is a fixed position and the second position is a variable position.

[0061] According to the fifth scheme of the present invention, a component mounting device based on the component mounting device described in any one of the second schemes to the fourth scheme is provided, the transfer head has a first drive unit for linearly moving the first chuck and a second drive unit for rotating the first chuck, and the control unit uses the second drive unit to rotate the first chuck when moving the first chuck from the first position to the second position.

[0062] According to a sixth aspect of the present invention, there is provided a component mounting device according to the fifth aspect, wherein the second driving unit includes a motor with a variable driving amount.

[0063] According to the seventh embodiment of the present invention, a component mounting device based on the component mounting device described in the fifth embodiment or the sixth embodiment is provided, wherein the transfer head has a first cam mechanism connected to the first drive unit and causing the first chuck to open and close, and a second cam mechanism connected to the first drive unit and causing the first chuck to move linearly.

[0064] According to the eighth aspect of the present invention, a component installation device based on the component installation device described in any one of the first to seventh aspects is provided, wherein the first holding position and the second holding position correspond to the holding positions at both ends of a plurality of holding positions at which the second chuck can hold the first radial component.

[0065] According to a ninth aspect of the present invention, there is provided a component mounting device according to any one of the first to eighth aspects, wherein the component transporting section transports a plurality of trays each capable of holding the radial components in a ring shape.

[0066] According to a tenth aspect of the present invention, there is provided a component mounting method, wherein the component mounting method comprises the following steps: using a component transporting portion to transport a radial component with two leads in a horizontal direction; using a transfer head having a first chuck for holding the leads of the radial component to receive the radial component from the component transporting portion at a first position; moving the transfer head to a second position separated from the first position; using an insertion head having a second chuck for holding the leads of the radial component to receive the radial component from the transfer head located at the second position; and using the insertion head to insert the leads of the radial component into an insertion hole of a substrate, the insertion head being rotatable in such a manner that the orientation of the second chuck is changed, the first chuck and the second chuck respectively having a plurality of gripping claws in such a manner as to cope with a first radial component having leads having a first pitch and a second radial component having leads having a second pitch longer than the first pitch, and when the second chuck holds the first radial component from the first chuck located at the second position, the position of the first chuck or the second chuck is adjusted in such a manner that the first chuck or the second chuck is selectively held at any one of a first gripping position and a second gripping position different from the first gripping position.

[0067] (Implementation Method)

[0068] Hereinafter, embodiments will be described based on the drawings.

[0069] First, refer to Figure 1 A component mounting device and a component mounting method according to an embodiment of the present invention will be described.

[0070] Figure 1 It is a schematic plan view of the component mounting device 1 according to the embodiment.

[0071] Figure 1 The component mounting device 1 shown is a device for inserting and mounting electronic components such as radial components 2 on a substrate 3. The radial component 2 has, for example, a cylindrical component body and two leads extending in parallel from the bottom surface of the component body. The substrate 3 on which the radial component 2 and other components are mounted is called a "component mounting substrate". Figure 1 In the figure, the radial component 2 is shown only in the exemplary position. It is not limited to the radial component 2, and other types of components (such as axial components, chip components) can also be installed.

[0072] The component mounting apparatus 1 includes a substrate holding stage 4 , a mounting unit 6 , a component conveying section 8 , a tray driving section 10 , a component feeder 12 , and a control section 14 .

[0073] The substrate holding stage 4 is a stage for positioning and holding the substrate 3 on the upper surface. The substrate holding stage 4 of the present embodiment is movable in the horizontal direction (XY direction).

[0074] The mounting unit 6 is a unit that mounts the radial component 2 on the substrate 3 positioned by the substrate holding stage 4. The mounting unit 6 of the present embodiment includes a transfer head 20 and an insertion head 22.

[0075] The transfer head 20 and the insertion head 22 are components each having a chuck capable of holding the radial component 2. The transfer head 20 receives the radial component 2 conveyed by the component conveying unit 8 and transfers the radial component 2 to the insertion head 22. The insertion head 22 inserts and mounts the leads of the radial component 2 received from the transfer head 20 into the substrate 3.

[0076] In this embodiment, the transfer head 20 has a function of moving in the horizontal direction, and reciprocates between the component conveying portion 8 and the insertion head 22. The insertion head 22 does not have a function of moving in the horizontal direction, but only has a rotation function. The transfer head 20 and the insertion head 22 are located above the substrate holding table 4, and the substrate holding table 4 located below moves in the horizontal direction, thereby moving to a position (installation position) where the insertion head 22 can insert the lead of the radial component 2 into the insertion hole of the substrate 3.

[0077] The component transporting unit 8 is a member for transporting the radial component 2 in the horizontal direction. The component transporting unit 8 of this embodiment has a plurality of trays 9, and each tray 9 can hold one radial component 2. The plurality of trays 9 are connected in a ring shape, and are driven by the tray driving unit 10 in a rotation direction X1, for example, which is a positive direction.

[0078] The tray driving unit 10 in this embodiment includes a plurality of pulleys provided inside the plurality of trays 9. The tray driving unit 10 is driven by a servo motor (not shown) and can be rotationally driven in either a forward direction or a reverse direction.

[0079] The component feeder 12 is a member for supplying radial components 2 to the tray 9 of the component conveying section 8. The component feeder 12 of the present embodiment is a tape feeder for supplying radial taping components that hold a plurality of radial components 2 on a single tape. The present invention is not limited to the tape feeder, and any component feeder that can supply radial components 2, such as a ball feeder that supplies bulk components as radial components 2, may be used.

[0080] The control unit 14 is a member that controls various components of the component mounting device 1. The control unit 14 is constituted by, for example, a microcomputer including a processor and a memory storing a computer program executed by the processor.

[0081] Figure 2 It is a plan view showing the transfer operation of the radial component 2 by the transfer head 20 and the insertion head 22 .

[0082] like Figure 2 As shown, the component conveying section 8 has a rail 24, and causes a plurality of trays 9 to travel in a loop along the rail 24. The tray 9 sandwiches two leads 26 of the radial component 2 with a pair of claws, and holds the radial component 2 in an upright posture.

[0083] The transfer head 20 having a horizontal movement function moves in the horizontal direction toward the tray 9 at the predetermined position. Specifically, the transfer head 20 shown by the solid line rotates (arrow R1) and moves linearly (arrow A1) toward the tray 9 at the predetermined position. The rotation and linear motion of the transfer head 20 may be performed at different times or partially simultaneously.

[0084] The placement head 20 has a first chuck 27 for holding the lead wire 26 of the radial component 2. The first chuck 27 is engaged with the lead wire 26 of the radial component 2, so that the placement head 20 holds the radial component 2.

[0085] Thereafter, the first chuck 27 of the transfer head 20 rotates to be separated from the tray 9 (arrow R2 ). At this time, the radial component 2 held by the tray 9 is released, and the radial component 2 is transferred from the tray 9 to the transfer head 20 .

[0086] The first chuck 27 holding the radial component 2 moves linearly toward the insertion head 22 (arrow A2). The insertion head 22 has a second chuck 29 capable of holding the lead wire 26 of the radial component 2, similarly to the placement head 20. The first chuck 27 holding the radial component 2 moves toward the second chuck 29, so that the lead wire 26 of the radial component 2 engages with the second chuck 29, and the second chuck 29 holds the radial component 2.

[0087] Thereafter, the first chuck 27 moves linearly to separate from the second chuck 29 (arrow A3 ). At this time, the radial component 2 held by the first chuck 27 is released, and the radial component 2 is transferred from the first chuck to the second chuck 29 .

[0088] The substrate holding stage 4 (not shown) located below the second chuck 29 moves the substrate 3 to a predetermined mounting position, and the second chuck 29 holding the radial component 2 is lowered in the Z direction, so that the leads 26 of the radial component 2 are inserted into the insertion holes of the substrate 3 .

[0089] The component conveying unit 8 advances the tray 9 by one pitch while the transfer head 20 transfers the radial component 2 to the insertion head 22 , and moves the next radial component 2 to a predetermined component transfer position.

[0090] By repeating the above operation, the following operation is continuously performed: the placement head 20 receives the radial component 2 from the component conveying unit 8 and transfers the radial component 2 to the insertion head 22 , and the insertion head 22 inserts the leads 26 of the radial component 2 into the insertion holes of the substrate 3 for installation.

[0091] like Figure 2 As shown, the second chuck 29 of the present embodiment is configured to be rotatable about the vertical direction as an axis (arrow R3), and the orientation of the second chuck 29 and the radial component 2 held by the second chuck 29 can be changed. Thus, when the second chuck 29 mounts the radial component 2 to the substrate 3, the radial component 2 can be mounted in various orientations.

[0092] Next, use Figure 3 The following drawings will describe the structure and operation of the first chuck 27 of the placement head 20 and the second chuck 29 of the insertion head 22 .

[0093] Figure 3 to Figure 6 The diagrams are a plan view and a longitudinal sectional view respectively showing the structure and operation of the first chuck 27 of the transfer head 20 .

[0094] like Figure 3 As shown, the first chuck 27 has a plurality of first gripping claws 28 as a part for gripping the lead wire 26 of the radial component 2. The plurality of first gripping claws 28 have a shape protruding in the same horizontal direction in a plan view. A lead wire 26 can be arranged and held in the gap between two adjacent first gripping claws 28.

[0095] The first gripping claw 28 of the present embodiment includes four first gripping claws 28A, 28B, 28C, and 28D. Figure 3 to Figure 6 In FIG. 1 , a radial member 2A in which the pitch between two lead wires 26A is D1 is exemplified as the radial member 2. In the first chuck 27, the gaps between adjacent first gripping claws 28 are also set to the same distance D1.

[0096] According to the above structure, Figure 4 As shown, three adjacent first gripping claws 28 can be used to grip two lead wires 26A of the radial component 2A. Figure 4 In the illustrated example, two lead wires 26A are gripped by three first gripping claws 28 on the front end side of the transfer head 20 among the four first gripping claws 28 .

[0097] The first gripping claw 28 of the present embodiment is configured to be openable and closable in a manner that switches between a gripping state of gripping the lead wire 26A and a release state of releasing the gripping of the lead wire 26A. Figure 5 , Figure 6As shown in the longitudinal cross-sectional view of FIG. 1 , the first grip claw 28 of the present embodiment is divided into three upper and lower stages of first grip claws 28 - 1 , 28 - 2 , and 28 - 3 .

[0098] Among the three upper and lower first grip claws 28 - 1 , 28 - 2 , and 28 - 3 , the upper first grip claw 28 - 1 and the lower first grip claw 28 - 2 are fixed in position, whereas the middle first grip claw 28 - 3 is movable in the horizontal direction.

[0099] exist Figure 5 In the embodiment, the lead wire 26A of the radial component 2A is arranged with room to spare in the gaps between the three-stage first gripping claws 28-1, 28-2, and 28-3, so that the grip of the lead wire 26A is released. Figure 5 The status shown is as follows Figure 6 As shown, when the intermediate first gripping claw 28 - 3 moves in the horizontal direction, the lead wire 26A of the radial member 2A is sandwiched between the lower first gripping claw 28 - 2 and the intermediate first gripping claw 28 - 3 , thereby achieving a gripping state in which the lead wire 26A is gripped.

[0100] Not limited to Figure 5 , Figure 6 The three-stage structure shown may be any structure as long as the lead wires 26 of the radial member 2 can be selectively grasped.

[0101] according to Figure 3 , Figure 4 The four first gripping claws 28 shown in the figure can grip the radial component 2A of the lead wire 26A at different gripping positions with a spacing D1. Figure 7 As shown, the two lead wires 26A of the radial member 2A can be gripped using the three first gripping claws 28B to 28D other than the first gripping claw 28A on the front end side.

[0102] The first gripping claw 28 of the present embodiment has two gripping positions as the radial component 2A gripping positions at which the lead wires 26A are gripped at a pitch D1. Figure 7 The holding position shown is only used Figure 4 That is, the radial component 2A may be held at only one position.

[0103] The first gripping claw 28 of this embodiment can also handle radial components 2 having different pitches of the lead wires 26. Specifically, Figure 8 As shown, the radial component 2B can hold the lead wires 26B at a pitch D2 that is approximately twice D1. One of the two lead wires 26B is held by two first holding claws 28A and 28B, and the other lead wire 26B is held by two first holding claws 28C and 28D.

[0104] The radial member 2B can be held at only one position.

[0105] Next, use Figures 9 to 11 The structure of the second chuck 29 of the insertion head 22 and the method of transferring the lead wire 26 between the first chuck 27 and the second chuck 29 will be described.

[0106] Figures 9 to 11 It is a plan view showing the first chuck 27 of the transfer head 20 and the second chuck 29 of the insertion head 22 .

[0107] like Fig. 9 As shown, the second chuck 29 of the insertion head 22 has a plurality of second gripping claws 30 similarly to the first chuck 27 of the transfer head 20. The second gripping claw 30 of this embodiment has four second gripping claws 30A, 30B, 30C, and 30D corresponding to the four first gripping claws 28A to 28D.

[0108] The intervals between the second gripping claws 30A to 30D and the distances between the gaps are set to the same lengths as the second gripping claws 30A to 30D of the first chuck 27. The second chuck 29 can handle both pitches D1 and D2 of the lead wires 26, and can selectively grip the radial component 2A with a pitch of D1 at two gripping positions, similarly to the first chuck 27.

[0109] The second gripping claws 30 of the present embodiment are provided with convex portions 31. The convex portions 31 protrude so as to locally narrow the gap between two adjacent second gripping claws 30. By providing the convex portions 31, when the lead wire 26 of the radial component 2 held by the first chuck 27 is pressed toward the second chuck 29, the lead wire 26 can be pushed into the radial component 2 held by the first chuck 27. Fig.10 As shown, lead wire 26A is arranged and held in a space on the deep side of projection 31 so as not to fall out.

[0110] Then, the first gripping claw 28 of the first chuck 27 is opened, thereby releasing the grip of the lead wire 26A by the first chuck 27, and transferring the radial component 2A from the first chuck 27 to the second chuck 29. The second chuck 29 is also configured to be openable and closable, similarly to the first chuck 27. Fig.11 As shown in FIG. 1 , when the placement head 20 is moved to be separated from the insertion head 22 , the insertion head 22 is in a state of holding the radial component 2A alone.

[0111] exist Figures 9 to 11 In the embodiment, the method of transferring the radial component 2A having the lead wires 26A with a pitch of D1 is exemplified, but the radial component 2B having the lead wires 26B with a pitch of D2 can also be transferred from the transfer head 20 to the insertion head 22 by the same method.

[0112] When the radial component 2 is installed on the substrate 3 using the insertion head 22 holding the radial component 2, the distance between the radial component 2 to be installed and other components needs to be ensured in order to prevent interference between components on the upper surface of the substrate 3. In a structure in which the orientation of the radial component 2 can be changed as in the present embodiment, sometimes the distance between the radial component 2 and other components needs to be ensured to be large due to the positional relationship between the radial component 2 and other components, making it difficult to achieve narrow adjacent installation.

[0113] Figure 12 to Figure 14 Each of them is a plan view showing the positional relationship with other components 5 when the radial component 2A having the lead wires 26A having a pitch D1 is mounted on the substrate 3 .

[0114] Fig.12 , Fig.13 The radial components 2A are shown in the state of being installed in directions different by 180 degrees.

[0115] In Fig.12 When the radial component 2A is mounted on the substrate 3 in the orientation shown, the second clamp 29 holding the radial component 2A does not interfere with other components 5, so the distance between the radial component 2A and other components 5 can be minimized. Fig.13 When the radial component 2A is mounted on the substrate 3 in the orientation shown, interference occurs between the second chuck 29 and other components 5 , so that a long distance D3 must be maintained between the radial component 2A and other components 5 , which becomes an obstacle to narrow adjacent mounting.

[0116] In the component mounting device 1 of this embodiment, Fig.13 The radial component 2A shown in the figure is mounted on the base plate 3 and is controlled to move in the same direction as the radial component 2A. Fig.12 The second chuck 29 holds the radial component 2A in different holding positions toward the radial component 2A mounted on the substrate 3. Thus, narrow adjacent mounting is easily achieved.

[0117] exist Fig.12 , Fig.13 In the embodiment, the position where the insertion head 22 holds the radial component 2A is the first holding position, and in contrast, Fig.14 In the embodiment, the radial member 2A is held by the insertion head 22 at a second holding position different from the first holding position.

[0118] according to Fig.14 In the holding position shown, the second clamp 29 does not interfere with other components 5, so the radial component 2A can be arranged close to other components 5, and narrow adjacent installation can be achieved.

[0119] use Fig.15 The following drawings will describe a specific structure and a control method for changing the gripping position of the radial member 2A described above.

[0120] Fig.15 2 is a block diagram showing a control system in the component mounting device 1 .

[0121] The control unit 14 is electrically connected to each component of the component mounting device 1, and Fig.15 As shown, the substrate holding table 4, the component conveying section 8, the component feeder 12, the transfer head 20, and the insertion head 22 are electrically connected.

[0122] The placement head 20 includes a first cam mechanism 32 , a second cam mechanism 34 , a coupling mechanism 36 , a first drive unit 38 , and a second drive unit 40 as a structure for operating the first chuck 27 .

[0123] The first cam mechanism 32 is a mechanism for opening and closing the first chuck 27. The first cam mechanism 32 operates as follows Figure 5 , Figure 6 The first chuck 27 is opened and closed as shown.

[0124] The second cam mechanism 34 is a mechanism for linearly moving the first chuck 27. Figure 2 The first chuck 27 is linearly moved as shown by arrows A1, A2, and A3 in a plan view.

[0125] The cam mechanisms 32 and 34 are each composed of one or more cams, cam followers, and the like, and description and illustration of the detailed structure are omitted.

[0126] The connecting mechanism 36 is a mechanism for rotating the first chuck 27. The connecting mechanism 36 is operated as follows: Figure 2 The first chuck 27 is rotated as shown by arrows R1 and R2.

[0127] The connection mechanism 36 is composed of a belt, a pulley, and the like connected to the motor, and description and illustration of the detailed structure are omitted.

[0128] The first drive unit 38 is a member for operating the first cam mechanism 32 and the second cam mechanism 34. The first drive unit 38 of the present embodiment includes a motor that performs a rotational operation, and causes the two types of cam mechanisms 32 and 34 to perform a reciprocating operation.

[0129] The second drive unit 40 is a member for operating the connection mechanism 36. The second drive unit 40 of this embodiment includes a motor that performs a rotational operation, and rotates the motor to reciprocate the connection mechanism 36. The drive amount of a motor such as a stepping motor is variable.

[0130] By using the second driving unit 40 with a variable driving amount, the movement amount (arrows R1, R2) when rotating the first chuck 27 can be changed. By changing the movement amount of the first chuck 27, the relative positions of the two chucks 27 and 29 when the radial component 2A is transferred from the first chuck 27 to the second chuck 29 can be adjusted, and the holding position of the radial component 2A can be selectively held by the second chuck 29.

[0131] Since the positions and orientations of the radial components 2A mounted on the substrate 3 are different depending on the situation, the radial components 2A can be mounted in different positions and orientations by selecting the holding position of the radial components 2A according to the respective positions and orientations. Fig.12 , Fig.14 The radially narrowed component 2A shown is installed adjacent to other components 5 at a narrow interval.

[0132] The insertion head 22 includes a third cam mechanism 41 , a fourth cam mechanism 43 , a coupling mechanism 44 , a first drive unit 38 , and a third drive unit 46 as a structure for operating the second chuck 29 .

[0133] The third cam mechanism 41 is a mechanism for opening and closing the second chuck 29. The fourth cam mechanism 43 is a mechanism for moving the second chuck 29 up and down. The cam mechanisms 41 and 43 are each composed of one or more cams, cam followers, and the like.

[0134] The connecting mechanism 44 is a mechanism for rotating the second chuck 29. The connecting mechanism 44 is operated as follows: Figure 2 The second chuck 29 is rotated as shown by the arrow R3. Although not shown in the figure, the insertion head 22 also has a connection mechanism and a drive unit for raising and lowering the second chuck 29, and has a function of raising and lowering the second chuck 29.

[0135] The first driving unit 38 is a member for operating the third cam mechanism 41 and the fourth cam mechanism 43 , and the first driving unit 38 of the placement head 20 is commonly used.

[0136] The third driving unit 46 is a member for operating the connection mechanism 44. The third driving unit 46 of the present embodiment includes a motor that performs a rotational operation, and the connection mechanism 44 performs a reciprocating operation by rotating the motor.

[0137] use Fig.16 A method of mounting the radial member 2 on the substrate 3 using the above-described structure will be described.

[0138] Fig.16 It is a graph (timing chart) showing the flow of the operation of the transfer head.

[0139] “Transfer chuck opening and closing” indicates the opening and closing action of the first chuck 27 of the transfer head 20, “Transfer chuck rotation” indicates the rotation action of the first chuck 27 of the transfer head 20 (arrows R1, R2), and “Transfer chuck linear motion” indicates the linear motion action of the first chuck 27 of the transfer head 20 (arrows A1 to A3).

[0140] The “action flow” shows the timing diagram of each of the three actions.

[0141] exist Fig.16 At the far left side, the first chuck 27 of the transfer head 20 is located at the component receiving position (first position) for receiving the radial component 2 from the tray 9 of the component conveying unit 8. From this state, the first driving unit 38 is operated to move the first chuck 27 in the closing direction, so that the first chuck 27 holds the lead 26 of the radial component 2. Next, the second driving unit 40 is operated to rotate the first chuck 27 in the direction of separation from the tray 9 (arrow R2). Thus, the radial component 2 is transferred from the tray 9 to the first chuck 27.

[0142] After the rotation along the arrow R2, the first driving part 38 is operated to move the first chuck 27 toward the second chuck 29 of the insertion head 22 (arrow A2). As a result, the lead 26 of the radial component 2 held by the first chuck 27 is engaged with the second chuck 29 of the insertion head 22, and the position of the first chuck 27 becomes the component transfer position (second position). As described above, the second chuck 29 of the insertion head 22 presses the lead 26 of the radial component 2 inwardly so as to hold the lead 26. Thereafter, the first driving part 38 is operated to operate the first chuck 27 in the direction of opening, thereby releasing the hold of the lead 26 by the first chuck 27 and handing over the lead 26 to the second chuck 29.

[0143] Thereafter, the first driving unit 38 is operated to cause the first chuck 27 to retreat in a manner separated from the second chuck 29 of the insertion head 22 (arrow A3), and the second driving unit 40 is operated to cause the first chuck 27 to rotate toward the tray 9 of the component conveying unit 8 (arrow R1). Furthermore, the first driving unit 38 is operated to cause the first chuck 27 to advance toward the tray 9 (arrow A1), so that the first chuck 27 moves to the component receiving position for receiving the radial component 2A from the tray 9.

[0144] By repeatedly executing Fig.16 The action shown enables the radial components 2 to be transferred from the transfer head 20 to the insertion head 22 in sequence.

[0145] As described above, regarding the rotational movement of the first chuck 27 of the present embodiment, the movement amount of the first chuck 27 can be adjusted by using the second drive unit 40 with a variable drive amount. Fig.16 As shown, by changing the movement amount of the first chuck 27 , two component transfer positions P1 and P2 are selectively used as the component transfer positions.

[0146] Fig.17 2 is a plan view showing a state in which the component transfer position P1 is selected. Fig.18 It is a plan view showing a state in which the component transfer position P2 is selected.

[0147] like Fig.17 As shown, when the component transfer position P1 is selected, the movement amount of the first chuck 27 when rotating along the arrows R2 and R1 is relatively small. When the first chuck 27 is moved to the component transfer position P1 and the radial component 2A is transferred from the first chuck 27 to the second chuck 29, the second chuck 29 holds the lead 26 of the radial component 2A at the first holding position T1.

[0148] like Fig.18 As shown in FIG. 1 , when the component transfer position P2 is selected, the amount of movement of the first chuck 27 when rotating along arrows R2 and R1 is relatively large. When the first chuck 27 is moved to the component transfer position P2 and the radial component 2A is transferred from the first chuck 27 to the second chuck 29, the second chuck 29 holds the lead 26 of the radial component 2A at the second holding position T2 different from the first holding position T1.

[0149] Fig.17 The parts transfer position P1 shown is Fig.18 The orientations of the first chucks 27 at the component transfer positions P2 shown are slightly different, but the difference in orientation is very small and therefore has no substantial effect on the operation of transferring the radial component 2 from the first chuck 27 to the second chuck 29 .

[0150] According to this control, Fig.12 When the radial component 2A is mounted on the substrate 3 in the direction shown, the radial component 2A is selected Fig.17 The first component transfer position P1 and the first holding position T1 shown in the figure are used to set the movement amount of the first chuck 27 to be relatively small. Fig.13 When the radial component 2A is mounted on the substrate 3 in the direction shown, the radial component 2A is selected Fig.18The second component transfer position P2 and the second gripping position T2 shown in the figure set the movement amount of the first chuck 27 to be relatively large. The movement amount of the first chuck 27 is set for each radial component 2A to be installed, so that each radial component 2A can be installed on the substrate 3 close to other components 5, and narrow adjacent installation is easily achieved.

[0151] The storage unit of the control unit 14 contains installation data of positions and orientations related to the installation of each radial component 2A to be installed. The installation data contains data of the movement amount (i.e., the driving amount of the second driving unit 40) when the radial component 2A is rotated along the arrows R1 and R2, so that appropriate component transfer positions P1 and P2 are selectively used for each radial component 2A, and narrow adjacent installation can be achieved.

[0152] Regarding the radial component 2B in which the pitch of the lead wires 26B is D2, since the gripping position by the chucks 27 and 29 is only one position, the movement amount of the first chuck 27 can be constant.

[0153] According to the control method of this embodiment, in a structure where the first chuck 27 already has a moving function, two holding positions T1 and T2 can be selectively used by simply changing the movement amount of the first chuck 27, and narrow adjacent installation can be achieved with a simple design change. If the movement amount of the first chuck 27 is changed, it is also possible to cope with a situation where the second chuck 29 does not have a horizontal movement function.

[0154] Furthermore, by using a motor with a variable driving amount in the second driving unit 40 for rotating the first chuck 27 , the moving amount of the first chuck 27 can be easily changed.

[0155] In addition, in the present embodiment, the position (component receiving position) at which the first chuck 27 receives the radial component 2A from the component conveying portion 8 is fixed, and the position (component handover position) at which the first chuck 27 hands over the radial component 2A to the second chuck 29 is variable. By making the component receiving position fixed, the first chuck 27 can stably receive the radial component 2A from the component conveying portion 8. By making the component handover position variable, it is also possible to cope with a case where the second chuck 29 does not have a horizontal movement function.

[0156] (Function, effect)

[0157] As described above, the component mounting device 1 of the embodiment includes: a component conveying section 8, which conveys the radial component 2 with two leads 26 in the horizontal direction; a transfer head 20, which has a first chuck 27 that holds the leads 26 of the radial component 2 and is capable of moving between a component receiving position (first position) that receives the radial component 2 from the component conveying section 8 using the first chuck 27 and a component transfer position (second position) that is separated from the component receiving position; an insertion head 22, which has a second chuck 29 that holds the leads 26 of the radial component 2 and receives the radial component 2 from the transfer head 20 located at the component transfer position using the second chuck 29, and the insertion head 22 inserts the received leads 26 of the radial component 2 into the insertion hole of the substrate 3; and a control section 14, which controls The component transporting portion 8, the transfer head 20 and the insertion head 22, the insertion head 22 can rotate in a manner that changes the orientation of the second chuck 29, the first chuck 27 and the second chuck 29 have a plurality of gripping claws 28 and 30 in a manner corresponding to the radial component 2A (first radial component) whose lead 26 has a pitch D1 (first pitch) and the radial component 2B (second radial component) whose lead 26 has a pitch D2 (second pitch) longer than D1, respectively, and the control unit 14 adjusts the position of the first chuck 27 in a manner that selectively grips the radial component 2A at any one of the first gripping position T1 and the second gripping position T2 different from the first gripping position T1 when the second chuck 29 grips the radial component 2A from the first chuck 27 located at the component transfer position (second position).

[0158] According to this structure, the insertion head 22 rotates to change the orientation of the second chuck 29, thereby changing the orientation when the radial component 2 is inserted into the substrate 3. In addition, the holding position of the second chuck 29 when receiving and holding the radial component 2 from the first chuck 27 can be selected, so the holding position of the second chuck 29 is selected according to the orientation of the radial component 2 when inserted and the arrangement of other components 5 on the substrate 3, thereby facilitating narrow adjacent installation.

[0159] In addition, in the component mounting device 1 of the embodiment, the control unit 14 adjusts the position of the first chuck 27 by changing the movement amount of the first chuck 27 between the component receiving position (first position) and the component handover position (second position). According to this structure, the movement amount of the first chuck 27, which already has a moving function, can be changed, and narrow adjacent mounting can be achieved with a simple design change.

[0160] In addition, the component mounting device 1 of the embodiment further includes a substrate holding table 4 that holds the substrate 3 and is movable in the horizontal direction below the insertion head 22, and the horizontal position of the insertion head 22 is fixed. According to this structure, even if the insertion head 22 does not have a horizontal movement function, the position of the first chuck 27 can be adjusted by changing the movement amount of the first chuck 27.

[0161] In addition, in the component mounting device 1 of the embodiment, the component receiving position (first position) is a fixed position, and the component handover position (second position) is a variable position. According to this structure, the component receiving position (first position) is set as a fixed position, so that the first chuck 27 can stably receive the radial component 2 from the component conveying portion 8. The component handover position (second position) is set as a variable position, so that it can also cope with the case where the insertion head 22 does not have a movable function.

[0162] In addition, in the component mounting device 1 of the embodiment, the transfer head 20 includes a first drive unit 38 that linearly moves the first chuck 27 and a second drive unit 40 that rotates the first chuck 27. When the control unit 14 moves the first chuck 27 from the component receiving position (first position) to the component transfer position (second position), the control unit 14 uses the second drive unit 40 to rotate the first chuck 27. According to this structure, the movement amount of the first chuck 27 can be easily changed.

[0163] In the component mounting device 1 of the embodiment, the second drive unit 40 includes a motor with a variable drive amount. According to this configuration, the movement amount of the first chuck 27 can be changed with a simple configuration.

[0164] In the component mounting device 1 of the embodiment, the transfer head 20 includes the first cam mechanism 32 connected to the first drive unit 38 to open and close the first chuck 27, and the second cam mechanism 34 connected to the first drive unit 38 to linearly move the first chuck 27. According to this structure, the opening and closing action and the linear motion action of the first chuck 27 can be performed using the same first drive unit 38.

[0165] In addition, in the component mounting device 1 of the embodiment, the first holding position T1 and the second holding position T2 correspond to the holding positions at both ends of the plurality of holding positions at which the second chuck 29 can hold the radial component 2A (first radial component). According to this structure, when the insertion head 22 inserts the radial component 2A into the insertion hole of the substrate 3, the radial component 2A can be arranged closer to other components 5 on the substrate 3, and narrow adjacent mounting can be achieved more easily.

[0166] In the component mounting device 1 of the embodiment, the component conveying section 8 conveys the plurality of trays 9 each capable of holding the radial components 2 in a ring shape. According to such a configuration, the radial components 2 can be conveyed with a simple configuration.

[0167] In addition, the component mounting method of the embodiment includes the following steps: using the component conveying portion 8 to convey the radial component 2 with two leads 26 in the horizontal direction; using the transfer head 20 having the first chuck 27 holding the leads 26 of the radial component 2 to receive the radial component 2 from the component conveying portion 8 at the component receiving position (first position); moving the transfer head 20 to the component transfer position (second position) separated from the component receiving position; using the insertion head 22 having the second chuck 29 holding the leads 26 of the radial component 2 to receive the radial component 2 from the transfer head 20 located at the component transfer position (second position); and inserting the leads 26 of the radial component 2 into the insertion holes of the substrate 3 using the insertion head 22, The insertion head 22 can rotate in such a manner that the orientation of the second chuck 29 is changed. The first chuck 27 and the second chuck 29 have a plurality of gripping claws 28 and 30 in such a manner as to correspond to the radial component 2A (first radial component) whose lead wire 26 has a pitch D1 (first pitch) and the radial component 2B (second radial component) whose lead wire 26 has a pitch D2 (second pitch) longer than D1, respectively. When the second chuck 29 grips the radial component 2A from the first chuck 27 located at the component transfer position (second position), the position of the first chuck 27 is adjusted in such a manner that the chuck 29 selectively grips the radial component 2A at either the first gripping position T1 or the second gripping position T2 different from the first gripping position T1.

[0168] According to this method, narrow adjacent installation is easily achieved.

[0169] The present invention has been described above by taking the above-mentioned embodiments as examples, but the present invention is not limited to the above-mentioned embodiments. Fig.17 , Fig.18 In the control shown, the case where the holding position of the radial component 2A held by the first chuck 27 is not changed but the holding position of the radial component 2A held by the second chuck 29 is changed is described, but it is not limited to this case. For example, in the case where there are two holding positions for the first chuck 27 to hold the radial component 2A, the holding position of the radial component 2A by the first chuck 27 can also be changed. In this case, the movement amount of the first chuck 27 can be changed in such a way that the component receiving position at which the first chuck 27 receives the radial component 2A from the component conveying section 8 is changed. According to this control, even if the first chuck 27 moves to the same component transfer position relative to the second chuck 29, the holding position of the radial component 2A held by the second chuck 29 can be changed.

[0170] It should be noted that, by controlling the component receiving position at which the first chuck 27 receives the radial component 2A from the tray 9 to be constant as in the present embodiment, the problem of interference between the first chuck 27 and the tray 9 is unlikely to occur.

[0171] In the present embodiment, the case where the position of the first chuck 27 is adjusted in order to selectively use the two holding positions T1 and T2 is described, but the present invention is not limited to this case. For example, the second chuck 29 of the insertion head 22 may be provided with a function of moving in the horizontal direction and the position of the second chuck 29 may be adjusted, so that the two holding positions T1 and T2 can be selectively used. That is, the component mounting device 1 may adjust the position of the first chuck 27 or the second chuck 29 in such a manner that the second chuck 29 of the insertion head 22 selectively holds the radial component 2A at any one of the first holding position T1 and the second holding position T2.

[0172] In addition, in the present embodiment, the configuration in which four gripping claws 28 and 30 are provided for each of the chucks 27 and 29 and which can handle two types of radial components 2, namely, the radial component 2A with a lead wire 26A pitch of D1 and the radial component 2B with a lead wire 26B pitch of D2 is described, but the present invention is not limited to this case. The configuration may be such that the number of gripping claws 28 and 30 is increased so as to handle three or more types of radial components 2 with lead wire 26 pitches.

[0173] Figure 19 to Figure 21 This is a plan view showing a structure in which six first gripping claws 128 of the first chuck 127 and six second gripping claws 130 of the second chuck 129 are provided as an example.

[0174] like Fig.19 As shown, the first gripping claw 128 includes six first gripping claws 128A to 128F, and the second gripping claw 130 includes six second gripping claws 130A to 130F.

[0175] The intervals between the six first gripping claws 128A to 128F are set to D1, and the intervals between the six second gripping claws 130A to 130F are also set to D1.

[0176] According to the setting of such intervals, in addition to the radial component 2A with the lead wires 26A having a pitch of D1 and the radial component 2B with the lead wires 26B having a pitch of D2 (= D1×2), it is also possible to grip the radial component 2 with the lead wires 26 having a pitch of D3 (= D1×3) and the radial component 2 with the lead wires 26 having a pitch of D4 (= D1×4). There are multiple gripping positions for each of the radial components 2 with the lead wires 26 having pitches D1, D2, and D3, but there is only one gripping position for the radial component 2 with the lead wires 26 having a pitch of D4.

[0177] Fig. 20 , Fig.21 The first chuck 127 and the second chuck 129 are shown to respectively hold the radial component 2A with the lead wires 26A spaced at a distance D1.

[0178] exist Fig. 20 , an example is shown in which the radial component 2A is gripped at a gripping position (first gripping position) at one end of a plurality of gripping positions at which the radial component 2A can be gripped by the chucks 127 and 129. Fig.21 , an example is shown in which the radial component 2A is gripped at the gripping position (second gripping position) at the other end portion of the chucks 127 and 129 .

[0179] like Fig. 20 , Fig.21 As shown, the position of the first chuck 127 or the second chuck 129 can be adjusted by selectively using the holding positions (the first holding position and the second holding position) at both ends of the plurality of holding positions that can hold the radial component 2A. Thus, when the radial component 2A is mounted on the substrate 3 in various orientations, the radial component 2A can be arranged closer to other components 5, making it easier to achieve narrow adjacent mounting.

[0180] The radial component 2A is not limited to the radial component 2A. For radial components 2 having multiple positions to be held by the chucks 127 and 129 (when the pitch of the lead wires 26 is D2 or D3), the radial component 2A can be held by the chucks 127 and 129. Fig. 20 , Fig.21 The same method as shown selectively uses the gripping positions at both ends to easily achieve narrow adjacent installations.

[0181] It should be noted that, as in the present embodiment, only one holding position of the first chuck 127 may be used, and a plurality of holding positions of the second chuck 129 may be used. In this case, the component receiving position at which the first chuck 127 receives the radial component 2 from the tray 9 can be fixed.

[0182] The present invention is fully described in association with the preferred embodiments with reference to the accompanying drawings, but it is obvious to those skilled in the art that various deformations and modifications can be made. Such deformations and modifications should be understood to be included therein as long as they do not depart from the scope of the present invention based on the attached technical solutions. In addition, the combination of elements in each embodiment and the change of order can be realized without departing from the scope and concept of the present invention.

[0183] Industrial Applicability

[0184] The present invention is applicable as long as it is a component mounting device and a component mounting method.

Claims

1. A component mounting device, wherein: The component mounting device comprises: a component transporting portion, which transports a radial component with two leads in a horizontal direction; a transfer head having a first chuck for holding the lead of the radial component and capable of moving between a first position for receiving the radial component from the component transporting portion using the first chuck and a second position separated from the first position; an insertion head having a second chuck for holding the leads of the radial component, receiving the radial component from the transfer head located at the second position using the second chuck, and inserting the received leads of the radial component into the insertion hole of the substrate; as well as a control unit that controls the component conveying unit, the transfer head, and the insertion head, The insertion head is rotatable in such a way that the orientation of the second chuck changes, The first chuck and the second chuck each have a plurality of gripping claws in a manner to cope with a first radial component having a first pitch of leads and a second radial component having a second pitch of leads longer than the first pitch. The control unit adjusts the position of the first chuck or the second chuck so that the second chuck selectively holds the first radial component at either a first holding position or a second holding position different from the first holding position when the second chuck holds the first radial component from the first chuck located at the second position.

2. The component mounting device according to claim 1, wherein: The control unit adjusts the position of the first chuck by changing the amount of movement of the first chuck between the first position and the second position.

3. The component mounting device according to claim 2, wherein: The component mounting device further includes a substrate holding table that holds the substrate below the insertion head and is movable in a horizontal direction. The horizontal position of the insertion head is fixed.

4. The component mounting device according to claim 2, wherein: The first position is a fixed position, and the second position is a variable position.

5. The component mounting device according to claim 2, wherein: The transfer head includes a first drive unit that drives the first chuck to move linearly and a second drive unit that drives the first chuck to rotate. The control unit rotates the first chuck using the second drive unit when moving the first chuck from the first position to the second position.

6. The component mounting device according to claim 5, wherein: The second driving unit includes a motor with a variable driving amount.

7. The component mounting device according to claim 5, wherein: The transfer head includes a first cam mechanism connected to the first drive unit and causing the first chuck to open and close, and a second cam mechanism connected to the first drive unit and causing the first chuck to translate.

8. The component mounting device according to claim 1, wherein The first holding position and the second holding position correspond to holding positions at both ends of a plurality of holding positions at which the second chuck can hold the first radial member.

9. The component mounting device according to claim 1, wherein The component transporting section transports a plurality of trays each capable of holding the radial components in a ring shape.

10. A component installation method, wherein: The component installation method comprises the following steps: Using a component handling unit, a radial component with two leads is carried in a horizontal direction; receiving the radial component from the component transport portion at a first position using a transfer head having a first chuck that holds leads of the radial component; moving the transfer head to a second position separated from the first position; receiving the radial component from the transfer head at the second position using an insertion head having a second chuck that holds leads of the radial component; as well as inserting the leads of the radial component into the insertion holes of the substrate using the insertion head, The insertion head is rotatable in such a way that the orientation of the second chuck changes, The first chuck and the second chuck each have a plurality of gripping claws in a manner to cope with a first radial component having a first pitch of leads and a second radial component having a second pitch of leads longer than the first pitch. When the second chuck grips the first radial component from the first chuck located at the second position, the position of the first chuck or the second chuck is adjusted so as to selectively grip the first radial component at either a first gripping position or a second gripping position different from the first gripping position.

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