Component mounting apparatus and component mounting method

Abstract

To provide a component mounting apparatus and a component mounting method that can readily achieve narrow-pitch adjacent mounting.SOLUTION: A component mounting apparatus includes: a component conveyance unit that conveys radial components; a transfer head equipped with a first chuck; an insertion head equipped with a second chuck; and a control unit. The insertion head is rotatable so as to change the orientation of the second chuck. Each of the first chuck and the second chuck has multiple gripping claws configured to accommodate a first radial component having leads at a first pitch and a second radial component having leads at a second pitch longer than the first pitch. The control unit adjusts the position of the first chuck or the second chuck so that gripping is selectively performed at either a first gripping position or a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a component mounting device and a component mounting method.

Background Art

[0002] Conventionally, radial components with two leads have been 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 pallet system that holds the radial components supplied from the component feeder on a plurality of pallets and rotates them endlessly, a transfer head that receives the radial components held on the pallets and delivers them to an insertion head, and an insertion head that inserts the leads of the radial components received from the transfer head into the insertion holes of the substrate.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The component mounting device of Patent Document 1 has room for improvement in terms of realizing narrow adjacent mounting.

[0005] An object of the present disclosure is to provide a component mounting device and a component mounting method that are easy to realize narrow adjacent mounting.

Means for Solving the Problems

[0006] A component mounting apparatus according to an aspect of the present disclosure includes a component conveyance unit that horizontally conveys two-leaded radial components, a first chuck that grips the leads of the radial components, and a transfer head that is movable between a first position where the radial components are received from the component conveyance unit using the first chuck and a second position away from the first position. The apparatus further includes an insertion head that has a second chuck for gripping the leads of the radial components, receives the radial components from the transfer head at the second position using the second chuck, and inserts the received leads of the radial components into insertion holes of a substrate, and a control unit that controls the component conveyance unit, the transfer head, and the insertion head. The insertion head is rotatable to change the orientation of the second chuck, and the first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component having a lead pitch of a first pitch and a second radial component having a second pitch longer than the first pitch. The control unit adjusts the position of the first chuck or the second chuck so as to selectively grip at either a first gripping position or a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck at the second position.

[0007] A component mounting method according to one aspect of the present disclosure includes: using a component transfer unit to horizontally transfer two radial components with leads; using a transfer head having a first chuck for gripping the leads of the radial component to receive the radial component from the component transfer unit at a first position; moving the transfer head from the first position to a second position away from the first position; using an insertion head having a second chuck for gripping the leads of the radial component to receive the radial component from the transfer head at the second position; and using the insertion head to insert the leads of the radial component into insertion holes of a substrate. The insertion head is rotatable to change the orientation of the second chuck. The first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component with a lead pitch of a first pitch and a second radial component with a second pitch longer than the first pitch. When the second chuck grips the first radial component from the first chuck at the second position, the position of the first chuck or the second chuck is adjusted so as to selectively grip at either a first gripping position or a second gripping position different from the first gripping position.

Advantages of the Invention

[0008] According to the component mounting apparatus and the component mounting method of the present disclosure, it becomes easier to achieve narrow adjacent mounting.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Mode for Carrying Out the Invention

[0010] According to a first aspect of the present disclosure, there is provided a component transfer unit that horizontally transfers two-lead radial components, a transfer head having a first chuck that grips the leads of the radial components, the transfer head being movable between a first position where the radial components are received from the component transfer unit using the first chuck and a second position away from the first position, an insertion head having a second chuck that grips the leads of the radial components, the insertion head receiving the radial components from the transfer head at the second position using the second chuck and inserting the received leads of the radial components into insertion holes of a substrate, and a control unit that controls the component transfer unit, the transfer head, and the insertion head, wherein the insertion head is rotatable to change the orientation of the second chuck, the first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component having a lead pitch of a first pitch and a second radial component having a second pitch longer than the first pitch, and the control unit adjusts the position of the first chuck or the second chuck so as to selectively grip at either a first gripping position or a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck at the second position. A component mounting apparatus is provided.

[0011] According to a second aspect of the present disclosure, there is provided 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.

[0012] According to a third aspect of the present disclosure, there is further provided a substrate holding table that holds the substrate below the insertion head and is movable horizontally, and the insertion head has a fixed horizontal position. The component mounting apparatus according to the second aspect is provided.

[0013] According to a fourth aspect of the present disclosure, there is provided a component mounting apparatus 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.

[0014] According to a fifth aspect of the present disclosure, there is provided a component mounting apparatus according to any one of the second aspect to the fourth aspect, wherein the transfer head has a first driving unit that linearly moves the first chuck and a second driving unit that rotates the first chuck, and the control unit rotates the first chuck using the second driving unit when moving the first chuck from the first position to the second position.

[0015] According to a sixth aspect of the present disclosure, there is provided a component mounting apparatus according to the fifth aspect, wherein the second driving unit has a motor with a variable driving amount.

[0016] According to a seventh aspect of the present disclosure, there is provided a component mounting apparatus according to the fifth aspect or the sixth aspect, wherein the transfer head has a first cam mechanism connected to the first driving unit for opening and closing the first chuck and a second cam mechanism connected to the first driving unit for linearly moving the first chuck.

[0017] According to an eighth aspect of the present disclosure, there is provided a component mounting apparatus according to any one of the first aspect to the seventh aspect, wherein the first gripping position and the second gripping position correspond to the gripping positions at both ends among a plurality of gripping positions where the second chuck can grip the first radial component.

[0018] According to a ninth aspect of the present disclosure, there is provided a component mounting apparatus according to any one of the first aspect to the eighth aspect, wherein the component conveyance unit endlessly conveys a plurality of pallets each capable of holding the radial components.

[0019] According to a tenth aspect of the present disclosure, a method of component mounting includes: transporting two leaded radial components horizontally using a component transport unit; receiving the radial component from the component transport unit at a first position using a transfer head having a first chuck for gripping the leads of the radial component; moving the transfer head from the first position to a second position away from the first position; receiving the radial component from the transfer head at the second position using an insertion head having a second chuck for gripping the leads of the radial component; and inserting the leads of the radial component into insertion holes of a substrate using the insertion head. The insertion head is rotatable to change the orientation of the second chuck. The first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component having a lead pitch of a first pitch and a second radial component having a second pitch longer than the first pitch, respectively. When the second chuck grips the first radial component from the first chuck at the second position, the position of the first chuck or the second chuck is adjusted so as to selectively grip the component at either a first gripping position or a second gripping position different from the first gripping position.

[0020] (Embodiment) Hereinafter, embodiments will be described with reference to the drawings.

[0021] First, with reference to FIG. 1, a component mounting apparatus and a component mounting method according to an embodiment of the present invention will be described.

[0022] FIG. 1 is a schematic plan view of a component mounting apparatus 1 according to the embodiment.

[0023] The component mounting apparatus 1 shown in FIG. 1 is an apparatus for inserting and mounting electronic components such as radial components 2 onto a substrate 3. The radial component 2 has, for example, a cylindrical component body portion and two leads extending parallel from the bottom surface of the component body portion. The substrate 3 on which components such as the radial component 2 are mounted becomes a "component-mounted substrate". In FIG. 1, the radial component 2 is illustrated only at exemplary locations. Not limited to the radial component 2, other types of components (for example, axial components and chip components) may also be mountable.

[0024] The component mounting apparatus 1 includes a substrate holding table 4, a mounting unit 6, a component transfer unit 8, a pallet drive unit 10, a component feeder 12, and a control unit 14.

[0025] The substrate holding table 4 is a table that positions and holds the substrate 3 on its upper surface. The substrate holding table 4 of the present embodiment is movable in the horizontal direction (XY direction).

[0026] The mounting unit 6 is a unit that mounts the radial component 2 onto the substrate 3 positioned by the substrate holding table 4. The mounting unit 6 of the present embodiment includes a transfer head 20 and an insertion head 22.

[0027] The transfer head 20 and the insertion head 22 are each members having a chuck capable of holding the radial component 2. The transfer head 20 receives the radial component 2 conveyed by the component transfer unit 8 and delivers it 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.

[0028] In the present embodiment, the transfer head 20 has a function of moving in the horizontal direction and reciprocates between the component transfer unit 8 and the insertion head 22. The insertion head 22 does not have a function of moving in the horizontal direction and has only a rotation function. The transfer head 20 and the insertion head 22 are positioned above the substrate holding table 4, and by moving the substrate holding table 4 positioned below in the horizontal direction, the insertion head 22 moves to a position (mounting position) where it can insert the leads of the radial component 2 into the insertion holes of the substrate 3.

[0029] The component transfer unit 8 is a member that transfers the radial component 2 in the horizontal direction. The component transfer unit 8 of the present embodiment has a plurality of pallets 9, and one radial component 2 can be held on one pallet 9. The plurality of pallets 9 are connected in an endless manner and are driven by a pallet drive unit 10 in the rotational direction X1, which is, for example, the forward direction.

[0030] The pallet drive unit 10 in the present embodiment has a plurality of pulleys provided inside the plurality of pallets 9. The pallet drive unit 10 is driven by a servo motor (not shown) and can be rotationally driven in both the forward rotation direction and the reverse rotation direction.

[0031] The component feeder 12 is a member that supplies the radial component 2 to the pallet 9 of the component transfer unit 8. The component feeder 12 of the present embodiment is a tape feeder that supplies radial taped components in which a plurality of radial components 2 are held by one tape. Any component feeder may be used as long as it can supply the radial component 2, not limited to a tape feeder, such as a ball feeder that supplies discrete components as the radial component 2.

[0032] The control unit 14 is a member that controls various components of the component mounting apparatus 1. The control unit 14 is configured, for example, by a microcomputer including a processor and a memory that stores a computer program executed by the processor.

[0033] FIG. 2 is a plan view showing the delivery operation of the radial component 2 by the transfer head 20 and the insertion head 22.

[0034] As shown in FIG. 2, the component transfer unit 8 has a rail 24, and a plurality of pallets 9 travel along the rail 24 in an endless manner. The pallet 9 sandwiches the two leads 26 of the radial component 2 with a pair of claws and holds the radial component 2 in an upright posture.

[0035] The transfer head 20 having a horizontal movement function moves horizontally toward the pallet 9 at a predetermined position. Specifically, the transfer head 20 shown by the solid line rotates (arrow R1) and moves linearly (arrow A1) toward the pallet 9 at the predetermined position. The rotation and linear movement of the transfer head 20 may be executed with a time shift or may be executed partially simultaneously.

[0036] The transfer head 20 has a first chuck 27 for holding the lead 26 of the radial component 2. When the first chuck 27 engages with the lead 26 of the radial component 2, the transfer head 20 holds the radial component 2.

[0037] Thereafter, the first chuck 27 of the transfer head 20 rotates away from the pallet 9 (arrow R2). At this time, since the holding of the radial component 2 by the pallet 9 is released, the radial component 2 is transferred from the pallet 9 to the transfer head 20.

[0038] The first chuck 27 holding the radial component 2 moves linearly toward the insertion head 22 (arrow A2). The insertion head 22, like the transfer head 20, has a second chuck 29 capable of holding the lead 26 of the radial component 2. When the first chuck 27 holding the radial component 2 moves toward the second chuck 29, the lead 26 of the radial component 2 engages with the second chuck 29, and the second chuck 29 holds the radial component 2.

[0039] Thereafter, the first chuck 27 moves linearly away from the second chuck 29 (arrow A3). At this time, since the holding of the radial component 2 by the first chuck 27 is released, the radial component 2 is transferred from the first chuck to the second chuck 29.

[0040] A substrate holding table 4 (not shown) located below the second chuck 29 moves the substrate 3 to a predetermined mounting position. When the second chuck 29 holding the radial component 2 descends along the Z direction, the lead 26 of the radial component 2 is inserted into the insertion hole of the substrate 3.

[0041] While the transfer head 20 is delivering the radial component 2 to the insertion head 22, the component transfer unit 8 moves the pallet 9 by one pitch to move the next radial component 2 to a predetermined component delivery position.

[0042] By repeatedly executing the above operation, the transfer head 20 receives the radial component 2 from the component transfer unit 8 and delivers it to the insertion head 22, and the insertion head 22 continuously executes the operation of inserting the lead 26 of the radial component 2 into the insertion hole of the substrate 3 for mounting.

[0043] As shown in FIG. 2, the second chuck 29 of the present embodiment is configured to be rotatable about the vertical 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. Thereby, when the second chuck 29 mounts the radial component 2 on the substrate 3, the radial component 2 can be mounted in various orientations.

[0044] Next, the configurations and operations of the first chuck 27 of the transfer head 20 and the second chuck 29 of the insertion head 22 will be described with reference to the drawings from FIG. 3 onwards.

[0045] FIGS. 3 to 6 are a plan view and a longitudinal sectional view showing the configuration and operation of the first chuck 27 of the transfer head 20, respectively.

[0046] As shown in FIG. 3, the first chuck 27 has a plurality of first gripping claws 28 as portions for gripping the lead 26 of the radial component 2. Each of the plurality of first gripping claws 28 has a shape protruding in the same horizontal direction in plan view. One lead 26 can be arranged and held in the gap between two adjacent first gripping claws 28.

[0047] The first gripping claw 28 of the present embodiment has four first gripping claws 28A, 28B, 28C, and 28D. In FIGS. 3 to 6, a radial component 2A in which the pitch of two leads 26A is D1 is exemplified as the radial component 2. In the first chuck 27, the distance between the gaps between adjacent first gripping claws 28 is also set to the same D1.

[0048] According to the above configuration, as shown in FIG. 4, two leads 26A of the radial component 2A can be gripped using three adjacent first gripping claws 28. In the example shown in FIG. 4, out of the four first gripping claws 28, two leads 26A are gripped by the three first gripping claws 28 on the tip side of the transfer head 20.

[0049] The first gripping claw 28 of the present embodiment is configured to be openable and closable so that the gripping state for gripping the lead 26A and the releasing state for releasing the gripping of the lead 26A are switched. Specifically, as shown in the longitudinal sectional views of FIGS. 5 and 6, the first gripping claw 28 of the present embodiment is divided into upper, middle, and lower three-stage first gripping claws 28-1, 28-2, and 28-3.

[0050] Among the upper, middle, and lower three-stage first gripping claws 28-1, 28-2, and 28-3, the positions of the upper first gripping claw 28-1 and the lower first gripping claw 28-2 are fixed, while the middle first gripping claw 28-3 is movable in the horizontal direction.

[0051] In FIG. 5, since the leads 26A of the radial component 2A are arranged with a margin in the gaps between the three-stage first gripping claws 28-1, 28-2, and 28-3, it is in the releasing state where the gripping of the lead 26A is released. When the middle first gripping claw 28-3 moves in the horizontal direction as shown in FIG. 6 from the state shown in FIG. 5, the leads 26A of the radial component 2A are sandwiched by the lower first gripping claw 28-2 and the middle first gripping claw 28-3, and it becomes the gripping state where the lead 26A is gripped.

[0052] Not limited to the three-stage configuration shown in FIGS. 5 and 6, any configuration may be used as long as the leads 26 of the radial component 2 can be selectively gripped.

[0053] According to the four first gripping claws 28 shown in FIGS. 3 and 4, the radial component 2A with the pitch of the lead 26A being D1 can be gripped at different gripping positions. Specifically, as shown in FIG. 7, two leads 26A of the radial component 2A can be gripped using three first gripping claws 28B to 28D excluding the first gripping claw 28A on the tip side.

[0054] The first gripping claw 28 of the present embodiment has two gripping positions as the gripping positions for gripping the radial component 2A with the pitch of the lead 26A being D1. Note that, instead of using the gripping position shown in FIG. 7, only the gripping position shown in FIG. 4 may be used. That is, there may be only one gripping position for the radial component 2A.

[0055] The first gripping claw 28 of the present embodiment can also be compatible with the radial components 2 having different pitches of the leads 26. Specifically, as shown in FIG. 8, it can grip the radial component 2B with the pitch of the lead 26B being D2 which is about twice that of D1. Of the two leads 26B, one lead 26B is gripped by the two first gripping claws 28A and 28B, and the other lead 26B is gripped by the two first gripping claws 28C and 28D.

[0056] There is only one gripping position for the radial component 2B.

[0057] Next, the configuration of the second chuck 29 of the insertion head 22 and the method of transferring the lead 26 between the first chuck 27 and the second chuck 29 will be described with reference to FIGS. 9 to 11.

[0058] FIGS. 9 to 11 are plan views showing the first chuck 27 of the transfer head 20 and the second chuck 29 of the insertion head 22.

[0059] As shown in FIG. 9, the second chuck 29 of the insertion head 22 has a plurality of second gripping claws 30, similar to the first chuck 27 of the transfer head 20. The second gripping claws 30 of the present embodiment have four second gripping claws 30A, 30B, 30C, and 30D corresponding to the four first gripping claws 28A to 28b.

[0060] The distance between the second holding claws 30A to 30D and the distance between the gaps are set to the same length as the second holding claws 30A to 30D of the first chuck 27. Similar to the first chuck 27, the second chuck 29 has a pitch of the lead 26 corresponding to both D1 and D2, and can selectively hold the radial component 2A with a pitch of D1 at two holding positions.

[0061] Each of the second holding claws 30 of the present embodiment is provided with a convex portion 31. The convex portion 31 protrudes so as to locally narrow the gap between two adjacent second holding claws 30. By providing the convex portion 31, if the lead 26 of the radial component 2 held by the first chuck 27 is pushed toward the second chuck 29, as shown in FIG. 10, the lead 26A can be arranged and held in the space on the back side of the convex portion 31 so as not to escape.

[0062] Thereafter, when the first holding claw 28 of the first chuck 27 opens, the holding of the lead 26A by the first chuck 27 is released, and the radial component 2A is transferred from the first chuck 27 to the second chuck 29. Similar to the first chuck 27, the second chuck 29 is also configured to be openable and closable. As shown in FIG. 11, when the transfer head 20 is moved away from the insertion head 22, the insertion head 22 holds the radial component 2A alone.

[0063] In FIGS. 9 to 11, the method of transferring the radial component 2A with a pitch of D1 of the lead 26A is illustrated, but the radial component 2B with a pitch of D2 of the lead 26B can also be transferred from the transfer head 20 to the insertion head 22 by the same method.

[0064] When mounting the radial component 2 on the substrate 3 using the insertion head 22 holding the radial component 2, it is necessary to ensure the distance between the radial component 2 to be mounted and other components in order to prevent interference between the components on the upper surface of the substrate 3. In a configuration where the orientation of the radial component 2 can be changed as in the present embodiment, it is necessary to ensure a large distance between the radial component 2 and other components depending on the positional relationship between the radial component 2 and other components, and it may be difficult to realize narrow adjacent mounting.

[0065] Figures 12 to 14 are each a plan view showing the positional relationship with other component 5 when mounting the radial component 2A with the pitch of lead 26A being D1 on the substrate 3.

[0066] Figures 12 and 13 each show a state where the radial component 2A is mounted in different orientations by 180 degrees.

[0067] When mounting the radial component 2A on the substrate 3 in the orientation shown in Figure 12, since the second chuck 29 holding the radial component 2A does not interfere with other component 5, the distance between the radial component 2A and other component 5 can be made as short as possible. On the contrary, when mounting the radial component 2A on the substrate 3 in the orientation shown in Figure 13, since interference occurs between the second chuck 29 and other component 5, it is necessary to ensure a long distance D3 between the radial component 2A and other component 5, which hinders narrow adjacent mounting.

[0068] In the component mounting apparatus 1 of this embodiment, for the radial component 2A mounted on the substrate 3 in the orientation shown in Figure 13, control is performed such that the radial component 2A is gripped by the second chuck 29 at a gripping position different from that of the radial component 2A mounted on the substrate 3 in the orientation shown in Figure 12. Thereby, it becomes easier to realize narrow adjacent mounting.

[0069] In Figures 12 and 13, the position where the insertion head 22 grips the radial component 2A is the first gripping position, whereas in Figure 14, the radial component 2A is gripped by the insertion head 22 at a second gripping position different from the first gripping position.

[0070] According to the gripping position shown in Figure 14, since the second chuck 29 does not interfere with other component 5, the radial component 2A can be arranged close to other component 5, and narrow adjacent mounting can be realized.

[0071] A specific configuration and control method for changing the gripping position of the radial component 2A described above will be described with reference to the drawings after Figure 15.

[0072] FIG. 15 is a block diagram showing a control system in the component mounting apparatus 1.

[0073] The control unit 14 is electrically connected to each component of the component mounting apparatus 1, and as shown in FIG. 15, it is electrically connected to the substrate holding table 4, the component transfer unit 8, the component feeder 12, the transfer head 20, and the insertion head 22.

[0074] The transfer head 20 includes a first cam mechanism 32, a second cam mechanism 34, a connecting mechanism 36, a first drive unit 38, and a second drive unit 40 as a configuration for operating the first chuck 27.

[0075] The first cam mechanism 32 is a mechanism for opening and closing the first chuck 27. The first cam mechanism 32 operates to open and close the first chuck 27 as shown in FIGS. 5 and 6.

[0076] The second cam mechanism 34 is a mechanism for linearly moving the first chuck 27. The second cam mechanism 34 operates to linearly move the first chuck 27 in a plan view as indicated by the arrows A1, A2, and A3 in FIG. 2.

[0077] The cam mechanisms 32 and 34 are each composed of one or more cams, cam followers, etc., and detailed configurations thereof are omitted from the description and illustration.

[0078] The connecting mechanism 36 is a mechanism for rotating the first chuck 27. The connecting mechanism 36 operates to rotate the first chuck 27 as indicated by the arrows R1 and R2 in FIG. 2.

[0079] The connecting mechanism 36 is composed of a belt, a pulley, etc. connected to a motor, and detailed configurations thereof are omitted from the description and illustration.

[0080] 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 has a motor that rotates and reciprocates two types of cam mechanisms 32 and 34.

[0081] The second driving part 40 is a member for operating the connecting mechanism 36. The second driving part 40 of the present embodiment has a motor that rotates, and the connecting mechanism 36 is reciprocated by rotating the motor. The driving amount of the motor such as a stepping motor is variable.

[0082] By using the second driving part 40 with a variable driving amount, the moving amounts (arrows R1, R2) when rotating the first chuck 27 can be changed. By changing the moving amount of the first chuck 27, the relative positions of the two chucks 27 and 29 when transferring the radial component 2A from the first chuck 27 to the second chuck 29 can be adjusted, and the gripping position where the second chuck 29 grips the radial component 2A can be selectively used.

[0083] Since the positions and orientations at which the radial components 2A are mounted on the substrate 3 are different for each of them, by selecting the gripping position of the radial component 2A according to each position and orientation, it is possible to realize a narrow adjacent mounting in which the distance between the radial component 2A and other components 5 is narrowed, as shown in FIGS. 12 and 14.

[0084] The insertion head 22 includes a third cam mechanism 41, a fourth cam mechanism 43, a connecting mechanism 44, a first driving part 38, and a third driving part 46 as a configuration for operating the second chuck 29.

[0085] 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. Each of the cam mechanisms 41 and 43 is composed of one or more cams, cam followers, etc.

[0086] The connecting mechanism 44 is a mechanism for rotating the second chuck 29. The connecting mechanism 44 operates to rotate the second chuck 29 as shown by the arrow R3 in FIG. 2. Although not shown, the insertion head 22 also has a connecting mechanism and a driving part for raising and lowering the second chuck 29, and has a function of raising and lowering the second chuck 29.

[0087] The first drive unit 38 is a member for operating the third cam mechanism 41 and the fourth cam mechanism 43, and the first drive unit 38 of the transfer head 20 is commonly used.

[0088] The third drive unit 46 is a member for operating the connection mechanism 44. The third drive unit 46 of the present embodiment has a motor that rotates, and by rotating the motor, the connection mechanism 44 is reciprocally operated.

[0089] Using the above configuration, a method for mounting the radial component 2 on the substrate 3 will be described with reference to FIG. 16.

[0090] FIG. 16 is a graph (timing chart) showing the flow of the operation of the transfer head.

[0091] "Transfer chuck opening / closing" represents the opening / closing operation of the first chuck 27 of the transfer head 20, "transfer chuck rotation" represents the rotation operation (arrows R1, R2) of the first chuck 27 of the transfer head 20, and "transfer chuck linear movement" represents the linear movement (arrows A1 to A3) of the first chuck 27 of the transfer head 20.

[0092] "Flow of operation" represents the timing chart of each of the three operations.

[0093] On the leftmost side of FIG. 16, the first chuck 27 of the transfer head 20 is at the component receiving position (the first position) for receiving the radial component 2 from the pallet 9 of the component transfer unit 8. From this state, by operating the first drive unit 38 to move the first chuck 27 in the closing direction, the lead 26 of the radial component 2 is gripped by the first chuck 27. Next, the second drive unit 40 is operated to rotate the first chuck 27 away from the pallet 9 (arrow R2). As a result, the radial component 2 is transferred from the pallet 9 to the first chuck 27.

[0094] After rotating along the arrow R2 and then operating the first drive unit 38, the first chuck 27 is advanced 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 engages with the second chuck 29 of the insertion head 22, and the position of the first chuck 27 becomes the component delivery position (the second position). As described above, the second chuck 29 of the insertion head 22 can grip the lead 26 by pushing the lead 26 of the radial component 2 toward the back. Then, by operating the first drive unit 38 to move the first chuck 27 in the opening direction, the gripping of the lead 26 by the first chuck 27 is released, and the lead 26 is delivered to the second chuck 29.

[0095] Thereafter, by operating the first drive unit 38, the first chuck 27 is retracted away from the second chuck 29 of the insertion head 22 (arrow A3), and by operating the second drive unit 40, the first chuck 27 is rotated toward the pallet 9 of the component transfer unit 8 (arrow R1). Further, by operating the first drive unit 38 to advance the first chuck 27 toward the pallet 9 (arrow A1), the first chuck 27 moves to the component receiving position where it receives the radial component 2A from the pallet 9.

[0096] By repeatedly executing the operation shown in FIG. 16, the radial component 2 can be sequentially delivered from the transfer head 20 to the insertion head 22.

[0097] As described above, regarding the rotation operation of the first chuck 27 of the present embodiment, by using the second drive unit 40 with a variable drive amount, the movement amount of the first chuck 27 can be adjusted. For the radial component 2A having two gripping positions, as shown in FIG. 16, by changing the movement amount of the first chuck 27, two component delivery positions P1 and P2 are selectively used as the component delivery positions.

[0098] FIG. 17 is a plan view showing the state when the component delivery position P1 is selected, and FIG. 18 is a plan view showing the state when the component delivery position P2 is selected.

[0099] As shown in FIG. 17, when selecting the component delivery position P1, the movement amount when the first chuck 27 rotates along the arrows R2 and R1 is made relatively small. When the first chuck 27 is moved to the component delivery position P1 and the radial component 2A is delivered from the first chuck 27 to the second chuck 29, the second chuck 29 grips the lead 26 of the radial component 2A at the first gripping position T1.

[0100] As shown in FIG. 18, when selecting the component delivery position P2, the movement amount when the first chuck 27 rotates along the arrows R2 and R1 is made relatively large. When the first chuck 27 is moved to the component delivery position P2 and the radial component 2A is delivered from the first chuck 27 to the second chuck 29, the second chuck 29 grips the lead 26 of the radial component 2A at a second gripping position T2 different from the first gripping position T1.

[0101] The orientations of the first chuck 27 at the component delivery position P1 shown in FIG. 17 and the component delivery position P2 shown in FIG. 18 are slightly different, but since the difference in orientation is very small, it has no substantial influence on the operation of delivering the radial component 2 from the first chuck 27 to the second chuck 29.

[0102] According to such control, when mounting the radial component 2A on the substrate 3 in the orientation shown in FIG. 12, the movement amount of the first chuck 27 is set to be relatively small so as to select the first component delivery position P1 and the first gripping position T1 shown in FIG. 17. When mounting the radial component 2A on the substrate 3 in the orientation shown in FIG. 13, the movement amount of the first chuck 27 is set to be relatively large so as to select the second component delivery position P2 and the second gripping position T2 shown in FIG. 18. By setting the movement amount of the first chuck 27 for each radial component 2A to be mounted, each radial component 2A can be brought close to other components 5 and mounted on the substrate 3, facilitating the realization of narrow adjacent mounting.

[0103] The storage unit of the control unit 14 contains mounting data on the position and orientation of each of the radial components 2A to be mounted. By including data on the amount of movement (i.e., the driving amount of the second driving unit 40) when rotating the radial component 2A along the arrows R1 and R2 in the mounting data, appropriate component delivery positions P1 and P2 can be selectively used for each radial component 2A to achieve narrow adjacent mounting.

[0104] Regarding the radial component 2B with the pitch of the lead 26B being D2, since there is only one gripping position by the chucks 27 and 29, the movement amount of the first chuck 27 may be constant.

[0105] According to the control method of the present embodiment, in a configuration where the first chuck 27 already has a moving function, two gripping positions T1 and T2 can be selectively used only by changing the movement amount of the first chuck 27, and narrow adjacent mounting can be achieved with a simple design change. Even when the second chuck 29 does not have a horizontal movement function, it is possible to cope with changing the movement amount of the first chuck 27.

[0106] Also, by using a motor with a variable driving amount for the second driving unit 40 for rotating the first chuck 27, the movement amount of the first chuck 27 can be easily changed.

[0107] Also, in the present embodiment, the position (component receiving position) where the first chuck 27 receives the radial component 2A from the component transfer unit 8 is fixed, and the position (component delivery position) where the first chuck 27 delivers the radial component 2A to the second chuck 29 is variable. By fixing the component receiving position, the first chuck 27 can stably receive the radial component 2A from the component transfer unit 8. By making the component delivery position variable, it is possible to cope even when the second chuck 29 does not have a horizontal movement function.

[0108] (Operation and Effect) As described above, the component mounting apparatus 1 of the embodiment includes a component transfer unit 8 that horizontally transfers the radial component 2 with two leads 26, and a first chuck 27 that grips the leads 26 of the radial component 2. The component receiving position (the first position) that receives the radial component 2 from the component transfer unit 8 using the first chuck 27, and a transfer head 20 that is movable between the component receiving position and a component delivery position (the second position) away from the component receiving position. The transfer head 20 has a second chuck 29 that grips the leads 26 of the radial component 2, receives the radial component 2 from the transfer head 20 at the component delivery position using the second chuck 29, and inserts the leads 26 of the received radial component 2 into the insertion holes of the substrate 3. The insertion head 22 and a control unit 14 that controls the component transfer unit 8, the transfer head 20, and the insertion head 22. The insertion head 22 is rotatable so as to change the orientation of the second chuck 29. The first chuck 27 and the second chuck 29 each have a plurality of gripping claws 28 and 30 so as to correspond to the radial component 2A (the first radial component) with a lead pitch of D1 (the first pitch) and the radial component 2B (the second radial component) with a D2 (the second pitch) longer than D1. The control unit 14 adjusts the position of the first chuck 27 so that when the second chuck 29 grips the radial component 2A from the first chuck 27 at the component delivery position (the second position), it selectively grips at either the first gripping position T1 or the second gripping position T2 different from the first gripping position T1.

[0109] According to such a configuration, by rotating the insertion head 22 to change the orientation of the second chuck 29, the orientation when inserting the radial component 2 into the substrate 3 can be changed. Furthermore, since the gripping position when the second chuck 29 receives and grips the radial component 2 from the first chuck 27 is selectable, by selecting the gripping position of the second chuck 29 according to the orientation at the time of inserting the radial component 2 and the arrangement of other components 5 on the substrate 3, etc., it becomes easier to realize narrow adjacent mounting.

[0110] In the component mounting apparatus 1 according to the embodiment, the control unit 14 adjusts the position of the first chuck 27 by changing the moving amount of the first chuck 27 between the component receiving position (the first position) and the component delivery position (the second position). According to such a configuration, it is only necessary to change the moving amount of the first chuck 27 that already has a moving function, and narrow adjacent mounting can be realized with a simple design change.

[0111] Further, the component mounting apparatus 1 according to the embodiment further includes a substrate holding table 4 that holds the substrate 3 below the insertion head 22 and is movable in the horizontal direction, and the insertion head 22 has a fixed position in the horizontal direction. According to such a configuration, even when the insertion head 22 does not have a horizontal movement function, the position of the first chuck 27 can be adjusted by changing the moving amount of the first chuck 27.

[0112] In the component mounting apparatus 1 according to the embodiment, the component receiving position (the first position) is a fixed position, and the component delivery position (the second position) is a variable position. According to such a configuration, by setting the component receiving position (the first position) as a fixed position, the first chuck 27 can stably receive the radial component 2 from the component transfer unit 8. By setting the component delivery position (the second position) as a variable position, it is possible to cope even when the insertion head 22 does not have a movement function.

[0113] In the component mounting apparatus 1 according to the embodiment, the transfer head 20 has a first drive unit 38 that linearly moves the first chuck 27 and a second drive unit 40 that rotates the first chuck 27, and the control unit 14 rotates the first chuck 27 using the second drive unit 40 when moving the first chuck 27 from the component receiving position (the first position) to the component delivery position (the second position). According to such a configuration, the moving amount of the first chuck 27 can be easily changed.

[0114] In the component mounting apparatus 1 according to the embodiment, the second drive unit 40 has a motor with a variable drive amount. According to such a configuration, the moving amount of the first chuck 27 can be changed with a simple configuration.

[0115] In addition, in the component mounting apparatus 1 of the embodiment, the transfer head 20 includes a first cam mechanism 32 connected to the first drive unit 38 for opening and closing the first chuck 27, and a second cam mechanism 34 connected to the first drive unit 38 for linearly moving the first chuck 27. According to such a configuration, the opening / closing operation and the linear movement of the first chuck 27 can be executed using the same first drive unit 38.

[0116] In addition, in the component mounting apparatus 1 of the embodiment, the first gripping position T1 and the second gripping position T2 correspond to the gripping positions at both ends among a plurality of gripping positions where the second chuck 29 can grip the radial component 2A (first radial component). According to such a configuration, when the insertion head 22 inserts the radial component 2A into the insertion hole of the substrate 3, it can be arranged closer to other components 5 on the substrate 3, making it easier to achieve narrow adjacent mounting.

[0117] In addition, in the component mounting apparatus 1 of the embodiment, the component transfer unit 8 endlessly conveys a plurality of pallets 9 each capable of holding the radial component 2. According to such a configuration, the radial component 2 can be conveyed with a simple configuration.

[0118] Also, the component mounting method of the embodiment includes steps of: horizontally conveying the radial component 2 with two leads 26 using the component conveying unit 8; receiving the radial component 2 from the component conveying unit 8 at the component receiving position (the first position) using the transfer head 20 having the first chuck 27 for gripping the leads 26 of the radial component 2; moving the transfer head 20 from the component receiving position to the component delivery position (the second position) away from the component receiving position; receiving the radial component 2 from the transfer head 20 at the component delivery position (the second position) using the insertion head 22 having the second chuck 29 for gripping the leads 26 of the radial component 2; 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 is rotatable to change the orientation of the second chuck 29. The first chuck 27 and the second chuck 29 each have a plurality of gripping claws 28, 30 corresponding to the radial component 2A (the first radial component) with a lead pitch of D1 (the first pitch) and the radial component 2B (the second radial component) with a lead pitch of D2 (the second pitch) longer than D1. When the second chuck 29 grips the radial component 2A from the first chuck 27 at the component delivery position (the second position), the position of the first chuck 27 is adjusted so as to selectively grip at either the first gripping position T1 or the second gripping position T2 different from the first gripping position T1.

[0119] According to such a method, it becomes easier to achieve narrow adjacent mounting.

[0120] The present invention has been described above with reference to the above-described embodiments, but the present invention is not limited to the above-described embodiments. For example, in the present embodiment, in the control shown in FIGS. 17 and 18, the case where the gripping position of the second chuck 29 for gripping the radial component 2A is changed without changing the gripping position of the first chuck 27 for gripping the radial component 2A has been described, but the present invention is not limited to such a case. For example, when there are two gripping positions for the first chuck 27 to grip the radial component 2A, the gripping position of the radial component 2A by the first chuck 27 may be changed. In this case, the amount of movement of the first chuck 27 may be changed so as to change the component receiving position where the first chuck 27 receives the radial component 2A from the component transfer unit 8. According to such control, even when the first chuck 27 moves to the same component transfer position with respect to the second chuck 29, the gripping position of the second chuck 29 for gripping the radial component 2A can be changed.

[0121] Note that, according to the control in which the component receiving position where the first chuck 27 receives the radial component 2A from the pallet 9 is fixed as in the present embodiment, the problem of interference between the first chuck 27 and the pallet 9 is less likely to occur.

[0122] In the present embodiment, the case where the position of the first chuck 27 is adjusted to selectively use the two gripping positions T1 and T2 has been described, but the present invention is not limited to such a case. For example, a horizontal movement function may be provided to the second chuck 29 of the insertion head 22, and the positions of the two gripping positions T1 and T2 may be selectively used by adjusting the position of the second chuck 29. That is, the component mounting apparatus 1 may adjust the position of the first chuck 27 or the second chuck 29 so that the second chuck 29 of the insertion head 22 selectively grips the radial component 2A at either the first gripping position T1 or the second gripping position T2.

[0123] In this embodiment, four gripping claws 28 and 30 are provided for each of the chucks 27 and 29, and a configuration capable of accommodating two types of radial components 2, i.e., a radial component 2A with a lead 26A pitch of D1 and a radial component 2B with a lead 26B pitch of D2, has been described. However, the present invention is not limited to such a case. By increasing the number of the gripping claws 28 and 30, a configuration capable of accommodating three or more types of radial components 2 with different pitches of the lead 26 may be adopted.

[0124] Figs. 19 to 21 are plan views showing a configuration 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.

[0125] As shown in Fig. 19, the first gripping claws 128 include six first gripping claws 128A to 128F, and the second gripping claws 130 include six second gripping claws 130A to 130F.

[0126] The intervals between the gaps of the six first gripping claws 128A to 128F are each set to D1, and the intervals between the gaps of the six second gripping claws 130A to 130F are also each set to D1.

[0127] According to such a setting of the intervals, in addition to the radial component 2A with a lead 26A pitch of D1 and the radial component 2B with a lead 26B pitch of D2 (= D1 × 2), the radial component 2 with a lead 26 pitch of D3 (= D1 × 3) and the radial component 2 with a lead 26 pitch of D4 (= D1 × 4) can also be gripped. There are a plurality of gripping positions for each of the radial components 2 with leads 26 having pitches of D1, D2, and D3, and there is only one gripping position for the radial component 2 with a lead 26 pitch of D4.

[0128] Figs. 20 and 21 show a state in which the first chuck 127 and the second chuck 129 each grip a radial component 2A with a lead 26A pitch of D1.

[0129] In FIG. 20, an example is shown in which the radial component 2A is gripped at the gripping position (first gripping position) at one end among a plurality of gripping positions capable of gripping the radial component 2A in the chucks 127 and 129. In 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 in the chucks 127 and 129.

[0130] As shown in FIGS. 20 and 21, the position of the first chuck 127 or the second chuck 129 may be adjusted so as to selectively use the gripping positions at both ends (the first gripping position and the second gripping position) among a plurality of gripping positions capable of gripping the radial component 2A. Thereby, when mounting the radial component 2A on the substrate 3 in various orientations, the radial component 2A can be arranged closer to the other component 5, making it easier to achieve narrow adjacent mounting.

[0131] Not limited to the radial component 2A, for a radial component 2 having a plurality of gripping positions by the chucks 127 and 129 (when the pitches of the leads 26 are D2 and D3), by selectively using the gripping positions at both ends in the same manner as the method shown in FIGS. 20 and 21, it becomes easier to achieve narrow adjacent mounting.

[0132] Note that, as in the present embodiment, only one gripping position of the first chuck 127 may be used, and a plurality of gripping positions of the second chuck 129 may be used. In this case, the component receiving position where the first chuck 127 receives the radial component 2 from the pallet 9 can be fixed.

[0133] Although the present disclosure has been fully described in connection with preferred embodiments with reference to the accompanying drawings, various modifications and variations will be apparent to those skilled in the art. Such modifications and variations are to be understood as being included therein as long as they do not depart from the scope of the present disclosure as defined by the appended claims. Also, changes in the combination and order of elements in each embodiment can be realized without departing from the scope and spirit of the present disclosure.

Industrial Applicability

[0134] The present invention is applicable to a component mounting apparatus and a component mounting method.

Explanation of Signs

[0135] 1 Component mounting apparatus 2 Radial component 2A First radial component 2B Second radial component 3 Substrate 4 Substrate holding table 6 Mounting unit 8 Component transfer unit 9 Pallet 10 Pallet drive unit 12 Component feeder 14 Control unit 20 Transfer head 22 Insertion head 26 Lead 27 First chuck 28, 28A - 28D First gripping claw 29 Second chuck 30, 30A - 30D Second gripping claw T1 First gripping position T2 Second gripping position

Claims

1. A component transfer unit that horizontally transfers two radial components with leads, A transfer head having a first chuck for gripping the leads of the radial component, movable between a first position for receiving the radial component from the component transfer unit using the first chuck and a second position away from the first position, An insertion head having a second chuck for gripping the leads of the radial component, receiving the radial component from the transfer head at the second position using the second chuck, and inserting the received leads of the radial component into the insertion holes of the substrate, A control unit for controlling the component transfer unit, the transfer head, and the insertion head, The insertion head is rotatable to change the orientation of the second chuck, The first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component with a lead pitch of a first pitch and a second radial component with a second pitch longer than the first pitch, The control unit adjusts the position of the first chuck or the second chuck so as to selectively grip at either a first gripping position or a second gripping position different from the first gripping position when the second chuck grips the first radial component from the first chuck at the second position. A component mounting device.

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

3. Furthermore, it includes a substrate holding table that holds the substrate below the insertion head and is movable horizontally, The insertion head has a fixed horizontal position. The component mounting device according to claim 2.

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

5. The transfer head has a first drive unit for linearly moving the first chuck and a second drive unit for rotating the first chuck, When moving the first chuck from the first position to the second position, the control unit rotates the first chuck using the second drive unit. The component mounting device according to claim 2.

6. The second drive unit has a motor with a variable drive amount. The component mounting device according to claim 5.

7. The component mounting device according to claim 5, wherein the transfer head has a first cam mechanism connected to the first driving unit for opening and closing the first chuck, and a second cam mechanism connected to the first driving unit for linearly moving the first chuck.

8. The component mounting device according to claim 1, wherein the first gripping position and the second gripping position correspond to the gripping positions at both ends among a plurality of gripping positions where the second chuck can grip the first radial component.

9. The component mounting device according to claim 1, wherein the component transfer unit endlessly conveys a plurality of pallets capable of holding the radial components respectively.

10. A step of horizontally conveying two radial components with leads using a component transfer unit; A step of receiving the radial component from the component transfer unit at a first position using a transfer head having a first chuck for gripping the leads of the radial component; A step of moving the transfer head from the first position to a second position away from the first position; A step of receiving the radial component from the transfer head at the second position using an insertion head having a second chuck for gripping the leads of the radial component; A step of inserting the leads of the radial component into the insertion holes of the substrate using the insertion head, including: The insertion head is rotatable to change the orientation of the second chuck; The first chuck and the second chuck each have a plurality of gripping claws corresponding to a first radial component with a lead pitch of a first pitch and a second radial component with a second pitch longer than the first pitch; A component mounting method, wherein when the second chuck grips the first radial component from the first chuck at the second position, the position of the first chuck or the second chuck is adjusted to selectively grip at either a first gripping position or a second gripping position different from the first gripping position.

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