Component mounting device

Abstract

To suppress a mounting position deviation of an electronic component.SOLUTION: A component mounting device 10 includes a first head 32A in which a first air path 35A is formed, a second head 32B in which a second air path 35B is formed, an air supply device 80 that adjusts a pressure of the first air path 35A and the second air path 35B, and a control part 70 that controls the air supply device 80. The first head 32A includes a gripping suction holder 40. The gripping suction holder 40 includes a main body part 41 in which a suction hole 45 communicating with one of the first air path 35A and the second air path 35B is formed and which sucks an electronic component E by negative pressure generated in the suction holes 45, a plurality of gripping claws 46 which protrude downward from the main body part 41 and whose a tip end part is located below the suction hole 45 and which is opened and closed to grip the electronic component E sucked to the main body part 41, and a mechanical mechanism that converts the pressure of air flowing through the other of the first air path 35A and the second air path 35B into a force for opening and closing the plurality of gripping claws 46.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a component mounting apparatus. [Background technology]

[0002] A component mounter described in Japanese Patent No. 7303214 (Patent Document 1 below) is known. This component mounter includes a work head and a component gripper detachably attached to the lower end surface of the work head. The component gripper has a pair of gripping claws capable of gripping an electronic component. The component gripper is formed with a communication passage that communicates with a first air passage of the work head. When negative pressure is supplied to the communication passage through the first air passage, the pair of gripping claws are configured to approach each other. This allows the component gripper to grip an electronic component with the pair of gripping claws.

[0003] The component gripper also includes a fixture to which the suction nozzle is attached. The fixture has a through-hole that communicates with the suction hole of the suction nozzle. The component gripper is provided with a switching valve that connects the first air passage to either the through-hole or the communication passage. In other words, the component gripper is configured to selectively grip an electronic component with the pair of gripping jaws or suck an electronic component with the suction nozzle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7303214 Summary of the Invention [Problem to be solved by the invention]

[0005] In the component gripping tool described above, when an electronic component is gripped by the multiple pairs of gripping jaws, there is a risk that the electronic component may be gripped in an inclined position or at a different height than the intended position due to a decrease in gripping force, etc. If the electronic component is gripped in a different position or height than the intended position, a deviation in the mounting position may occur when the electronic component is mounted on a circuit board. [Means for solving the problem]

[0006] The component mounting device of the present disclosure is a component mounting device that mounts electronic components on a substrate, and includes: a first head having a first air path formed therein; a path member having a second air path formed therein; a pressure adjustment device connected to the first air path and the second air path and adjusting the flow of air in the first air path and the second air path; and a control unit that controls the pressure adjustment device. The first head includes a gripping and suction holder. The gripping and suction holder has a main body portion formed with suction holes that communicate with one of the first air path and the second air path and that sucks the electronic component by negative pressure generated in the suction holes; a plurality of gripping claws that protrude downward from the main body portion, with their tips located below the suction holes and that open and close to grip the electronic component sucked to the main body portion; and a mechanical mechanism that converts pressure caused by air flowing in the other of the first air path and the second air path into force that opens and closes the plurality of gripping claws. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to prevent the mounting position of electronic components from shifting. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view of a component mounting apparatus according to an embodiment. [Figure 2] FIG. 2 is a front view of the head unit. [Figure 3] FIG. 3 is a diagram showing the electrical configuration of the component mounting apparatus. [Figure 4]FIG. 4 is a side view of the gripping and suction holding device. [Figure 5] FIG. 5 is a plan view of the gripping, suction holding device and the connecting device. [Figure 6] FIG. 6 is a front view of the gripping, suction holding device and the connecting device. [Figure 7] FIG. 7 is a plan view of the gripping, suction holding device, the communication device, and the support member. [Figure 8] FIG. 8 is a front view of the gripping and suction holding device, the communication device, and the support member. [Figure 9] FIG. 9 is a plan view showing the threshold value of the angle range in which the first head and the second head can rotate clockwise. [Figure 10] FIG. 10 is a plan view showing the threshold value of the angle range in which the first head and the second head can rotate counterclockwise. [Figure 11] FIG. 11 is an explanatory diagram illustrating the sequence of holding an electronic component by the gripping suction holder. [Figure 12] FIG. 12 is an explanatory diagram illustrating the sequence of mounting an electronic component by the gripping suction holder. [Figure 13] FIG. 13 is an explanatory diagram illustrating the configuration of the air supply device. [Figure 14] FIG. 14 is an explanatory diagram illustrating a component mounting apparatus according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Description of the embodiments of the present disclosure] First, embodiments of the present disclosure will be listed and described. [1] A component mounting device disclosed herein is a component mounting device that mounts electronic components on a substrate, and includes: a first head having a first air path formed therein; a path member having a second air path formed therein; a pressure adjustment device connected to the first air path and the second air path and adjusting the air flow in the first air path and the second air path; and a control unit that controls the pressure adjustment device. The first head includes a gripping and suction holder. The gripping and suction holder has a main body portion formed with suction holes that communicate with one of the first air path and the second air path and that sucks the electronic component by negative pressure generated in the suction holes; a plurality of gripping claws that protrude downward from the main body portion, with their tips positioned below the suction holes and that open and close to grip the electronic component sucked to the main body portion; and a mechanical mechanism that converts pressure from air flowing in the other of the first air path and the second air path into force that opens and closes the plurality of gripping claws.

[0010] With this configuration, the electronic component can be sucked onto the gripping suction holder by reducing the pressure in the suction holes through one of the first and second air paths. Furthermore, by adjusting the pressure in the other of the first and second air paths, the electronic component can be gripped by multiple gripping jaws. Therefore, by using a single gripping suction holder to grip and suck an electronic component, the electronic component can be held more stably. Therefore, displacement of the mounting position of the electronic component can be suppressed.

[0011] [2] In the above item [1], it is preferable that the gripping and suction holder and the path member are connected by an air hose, and the second air path and the internal space of the air hose are in communication with each other.

[0012] With this configuration, the gripping suction holder and the second air path can be connected with a simple configuration.

[0013] [3] In the above [2], it is preferable that the path member is a second head, the first head and the second head are each configured to be rotatable, the control unit is capable of controlling the rotational movement of the first head and the second head, the gripping and suction holder has a first connection portion to which one end of the air hose is connected, the second head has a second connection portion to which the other end of the air hose is connected, and the control unit controls the first head to rotate only within a predetermined first angle range and the second head to rotate only within a predetermined second angle range so that the rotational movement of the first head and the second head is restricted.

[0014] With this configuration, it is possible to suppress interference between the first connecting portion and other members, and interference between the second connecting portion and other members.

[0015] [4] It is preferable that the component mounting device of [2] or [3] above further comprises a support member for supporting the air hose so that the air hose does not hang down below the gripping suction holder.

[0016] With this configuration, the support member can prevent the air hose from hanging down below the gripping suction holder, thereby preventing the air hose from coming into contact with, for example, a circuit board or an electronic component.

[0017] [5] In any one of [1] to [4] above, it is preferable that the control unit controls the pressure adjustment device so that the pressures generated by the air flow passing through the first air path and the second air path are switched at different times.

[0018] With this configuration, the timing at which the gripping suction holder picks up an electronic component and the timing at which the gripping suction holder picks up the electronic component can be made different, which makes it easier to hold the electronic component more stably.

[0019] [6] It is preferable that the component mounting device of any one of [1] to [5] above further includes a pressure sensor that detects the pressure in one of the first air path and the second air path, and the control unit is capable of reading the detection value of the pressure sensor and determining the suction state of the electronic component based on the detection value.

[0020] With this configuration, the pressure sensor detects the pressure in one of the first air path and the second air path that communicate with the suction hole, making it possible to determine the suction state of the electronic component held by the gripping suction holder.

[0021] [7] In any one of [1] to [6] above, it is preferable that the path member is a second head, the first head and the second head are each configured to be rotatable, the control unit is capable of controlling the rotational movement of the first head and the second head, and when rotating the first head, the control unit rotates the second head to follow the first head.

[0022] With this configuration, when the first head is rotated, it is possible to prevent damage to the portion connecting the gripping suction holder and the second air path.

[0023] [8] In any one of [1] to [7] above, it is preferable that the path member is a second head, the first head and the second head are each configured to be able to rise and fall, the control unit is capable of controlling the rising and falling operations of the first head and the second head, and when raising and lowering the first head, the control unit raises and lowers the second head following the first head.

[0024] With this configuration, when the first head is raised and lowered, it is possible to prevent damage to the portion connecting the gripping, suction holding tool and the second air path.

[0025] [9] In any one of [1] to [8] above, it is preferable that the first head has a first shaft that constitutes the first air path, and the gripping and suction holder is detachable from the lower end of the first shaft.

[0026] With this configuration, when the gripping and suction holding device is not in use, another holding device can be attached to the first shaft.

[0027]

[10] In the above [9], it is preferable that the path member is a second head, the second head comprises a second shaft constituting the second air path, and a connecting device that connects the second air path with a connecting space provided in the gripping suction holder, and the connecting device is detachable from the lower end of the second shaft.

[0028] With this configuration, when the communication tool is not used, a separate holder can be attached to the second shaft.

[0029] [Details of the embodiments of the present disclosure] The following describes embodiments of the present disclosure. The present disclosure is not limited to these examples, but is defined by the claims, and is intended to include all modifications within the meaning and scope of the claims. In the drawings, for the sake of convenience, some components may be exaggerated or simplified. Furthermore, the dimensional ratios of the components may differ between drawings. In this specification, "orthogonal" does not only refer to a strict orthogonal relationship, but also includes a roughly orthogonal relationship within the scope of the operation and effect of the present embodiment.

[0030] <Embodiment> An embodiment of the present disclosure will be described with reference to Fig. 1 to Fig. 13. As shown in Fig. 1, the embodiment illustrates a component mounting apparatus 10 that mounts an electronic component E on a board B such as a printed circuit board.

[0031] (Overall configuration of component mounting apparatus 10) The component mounting apparatus 10 includes a base 11, component supply units 12A to 12D, a transport conveyor 15, a head unit 30, a transport unit 20, a control unit 70 (see FIG. 3), an air supply unit 80 (an example of a pressure adjustment unit, see FIG. 3), etc. In the following description, the longitudinal direction of the base 11 (the left-right direction in FIG. 1) is referred to as the left-right direction, the depth direction of the base 11 (the up-down direction in FIG. 1) is referred to as the front-rear direction, and the direction perpendicular to the plane of the paper in FIG. 1 is referred to as the up-down direction. In each drawing, the positive direction of the X axis indicates the right, the positive direction of the Y axis indicates the rear, and the positive direction of the Z axis indicates the upward direction.

[0032] The transport conveyor 15 is disposed in the center of the base 11. The transport conveyor 15 is equipped with a pair of transport belts 16 that are driven to rotate in the left-right direction, and transports the board B on the transport belts 16 to the right by friction with the transport belts 16. In this embodiment, the board B is carried into the component mounting device 10 from the left side through the transport conveyor 15. The carried-in board B is carried by the transport conveyor 15 to a working position (position indicated by a two-dot chain line) in the center of the base 11, where it stops.

[0033] Four component supply units 12A to 12D are provided around the work position on the base 11. Tray feeders 13 are installed in the component supply units 12A and 12B. A number of tape feeders 14 are installed adjacently in the left-right direction in the component supply units 12C and 12D.

[0034] The tray feeder 13 is a device that supplies the tray parts E1 by drawing out a tray 13A that stores a plurality of tray parts E1 from a storage cabinet 13B. The tray parts E1 are, for example, medium- to large-sized electronic parts such as ICs.

[0035] The tape feeder 14 is a device that supplies tape components E2 by feeding a component supply tape to a supply position. The tape components E2 are, for example, small electronic components such as chip capacitors. The electronic components E in this specification may be tray components E1 or tape components E2.

[0036] At the work position, the head 32 of the head unit 30 mounts the electronic component E on the board B. Thereafter, the board B on which the electronic component E is mounted is transported to the right via the transport conveyor 15 and taken out of the component mounting apparatus 10.

[0037] The transport unit 20 transports the head unit 30 in the X-axis and Y-axis directions within a predetermined movable range. The transport unit 20 includes an X-axis beam 21, a Y-axis frame 22, an X-axis servo motor 23, and a Y-axis servo motor 24. The head unit 30 is supported by the X-axis beam 21, and can be moved back and forth in the X-axis direction by the X-axis servo motor 23. The X-axis beam 21 is supported by the Y-axis frame 22, and can be moved back and forth in the Y-axis direction by the Y-axis servo motor 24.

[0038] The head unit 30 has a box-shaped head unit main body 31, a plurality of heads 32 (five in this embodiment), and a board imaging camera 17.

[0039] As shown in FIG. 2, the multiple heads 32 protrude downward from the head unit main body 31. Each head 32 has a shaft 33 extending in the vertical direction. Any one of the gripping suction holder 40, the connecting device 50, and the suction nozzle 34 can be detachably attached to the lower end of the shaft 33. Each head 32 is provided with an air path, and negative or positive pressure is supplied to each air path by an air supply device 80. For example, when negative pressure is supplied to the air path of a head 32 equipped with a suction nozzle 34, a suction force is generated at the tip of the suction nozzle 34. This enables the suction nozzle 34 to pick up an electronic component E. The component mounting apparatus 10 also has a pressure sensor 81 (see FIG. 3) that detects the pressure in each air path.

[0040] As shown in FIG. 13 , the air supply device 80 includes a compressor 82, an air passage 83, a filter regulator 84, a pressure switching unit 85, an ejector 86, and the like. The compressor 82 serves as an air supply source. The air passage 83 is a path through which air can pass and connects the compressor 82 to each pressure switching unit 85. The filter regulator 84 is provided in the air passage 83. The filter regulator 84 has the function of removing moisture and foreign matter from the air and adjusting the air pressure. The pressure switching unit 85 and the ejector 86 are provided corresponding to each of the multiple heads 32. The pressure switching unit 85 is provided between the air passage of each head 32 and the air passage 83. The pressure switching unit 85 has the function of switching the pressure of each air passage between negative pressure and positive pressure in response to a command from the control unit 70. The pressure switching unit 85 includes a solenoid valve, a throttle valve, and the like. The ejector 86 generates a negative pressure when air is supplied from the compressor 82 .

[0041] A Z-axis servo motor 36 (see FIG. 3) provided inside the head unit main body 31 is attached to each shaft 33. The shaft 33 (head 32) can be raised and lowered in the vertical direction by the Z-axis servo motor 36. Also provided inside the head unit main body 31 is an R-axis servo motor 37 (see FIG. 3) that rotates each head 32 around an axis extending in the vertical direction.

[0042] As shown in FIG. 2, the multiple heads 32 include a first head 32A and a second head 32B. The first head 32A includes a first shaft 33A and a gripping / suction holder 40 that is detachably attached to the lower end of the first shaft 33A. The second head 32B includes a second shaft 33B and a connecting device 50 that is detachably attached to the lower end of the second shaft 33B. A first air path 35A is formed in the first shaft 33A of the first head 32A. A second air path 35B is formed in the second shaft 33B of the second head 32B. The second head 32B is an example of a path member. Considering the space occupied by the connecting device 50, it is preferable that the first head 32A and the second head 32B are adjacent to each other.

[0043] As shown in FIG. 1, the head unit 30 has a board imaging camera 17 disposed with its imaging surface facing downward. The board imaging camera 17 is configured to capture an image of a fiducial mark (not shown) on the board B in order to recognize the position and orientation of the board B. A light (not shown) is also provided near the board imaging camera 17. This light is configured to irradiate the board B with visible light when the board imaging camera 17 is capturing an image. This allows the board B to be clearly imaged by the board imaging camera 17.

[0044] A component imaging camera 18 is disposed on the base 11 with its imaging surface facing upward. The component imaging camera 18 captures an image (bottom image) of an electronic component E held by the suction nozzle 34 or the gripping suction holder 40. A light (not shown) is also provided near the component imaging camera 18. This light is configured to irradiate visible light onto the electronic component E held by the suction nozzle 34 or the gripping suction holder 40 when the component imaging camera 18 is capturing an image. This allows the component imaging camera 18 to clearly capture an image of the electronic component E sucked by the suction nozzle 34 or the gripping suction holder 40.

[0045] (Gripping suction holder 40) As shown in FIG. 4, the gripping suction holder 40 includes a main body 41, an attachment portion 42 extending upward from the main body 41, and a first connection portion 43 extending horizontally (to the right in the figure) from the main body 41. A first space 44 is formed above the attachment portion 42 and the main body 41. As shown in FIG. 2, the attachment portion 42 is attached to the lower end of the first shaft 33A. The first space 44 is connected to the first air path 35A. As shown in FIG. 4, the first connection portion 43 is connected to one end of an air hose 51 (described later). The first connection portion 43 is, for example, an air coupler. A suction hole 45 is formed in the lower portion of the main body 41. The suction hole 45 opens downward on the lower surface 41A (suction surface) of the main body 41. The suction hole 45 is connected to the internal space of the first connection portion 43 and the internal space of the air hose 51.

[0046] The gripping and suction holder 40 has a plurality of gripping claws 46 (two in this embodiment). Each of the plurality of gripping claws 46 protrudes downward from the main body 41, and has a first gripping claw 46A and a second gripping claw 46B, with their tip ends positioned below the suction surface 41A. As shown in FIG. 3, a transmission part 47 is provided at the upper end of the second gripping claw 46B. The transmission part 47 has an elongated shape. A bearing hole 47A is provided in a portion of the transmission part 47 closer to the second gripping claw 46B. A support shaft 41B provided in the main body 41 is inserted through the bearing hole 47A. An engagement hole 47B is provided at the end of the transmission part 47 opposite the second gripping claw 46B. The engagement hole 47B is elongated.

[0047] A piston 48 is disposed at the end of the first space 44 opposite the mounting portion 42. A coil spring 48A is provided inside the piston 48, and the piston 48 is biased downward by the coil spring 48A. When negative pressure is supplied to the first space 44 through the first air path 35A, the piston 48 moves upward. The piston 48 has a protrusion 48B that engages with the inner wall of the engagement hole 47B. When the piston 48 moves upward, the protrusion 48B slides against the inner wall of the engagement hole 47B, causing the transmission unit 47 to rotate around the support shaft 41B, and the second gripping claws 46B approach the first gripping claws 46A. In other words, the distance between the first gripping claws 46A and the second gripping claws 46B becomes smaller. Therefore, when negative pressure is supplied to the first air path 35A, the electronic component E is gripped by the multiple gripping claws 46. The mechanical mechanism of the present disclosure is configured by the piston 48, the transmission part 47, and the support shaft 41B. Such a mechanical mechanism has the function of converting the pressure of the air flowing through the first space 44 into a force that opens and closes the first gripping jaws 46A relative to the second gripping jaws 46B.

[0048] (Communication tool 50) As shown in FIG. 2, the communication device 50 is a member that communicates the second air path 35B with the suction holes 45 provided in the gripping suction holder 40 and the internal space of the first connection portion 43 (an example of a communication space). The communication device 50 includes an air hose 51 and a relay nozzle 52. The air hose 51 is a tubular member made of a flexible material. The relay nozzle 52 functions to communicate the second air path 35B with the internal space of the air hose 51. The relay nozzle 52 does not have a structure for holding the electronic component E (e.g., a suction hole, a gripping portion, etc.). As shown in FIGS. 5 and 6, the relay nozzle 52 includes a main body portion 53, an attachment portion 54 extending upward from the main body portion 53, and a second connection portion 55 extending horizontally (to the right in the figure) from the main body portion 53. A second space 56 is formed between the attachment portion 54 and the main body portion 53. The second connection part 55 is connected to the other end of the air hose 51 (the end of the air hose 51 opposite to the first connection part 43). The second connection part 55 is, for example, an air coupler. The second space 56 communicates with the internal space of the second connection part 55 and the internal space of the air hose 51. As shown in FIG. 2, the attachment part 54 is attached to the lower end of the second shaft 33B, and the second space 56 communicates with the second air path 35B.

[0049] As described above, the suction holes 45 of the gripping suction holder 40 are connected to the second air path 35B by the communication device 50. When negative pressure is supplied to the second air path 35B, a suction force is generated on the suction surface 41A of the gripping suction holder 40. This enables the gripping suction holder 40 to suck and hold the electronic component E.

[0050] (support member 60) As shown in FIGS. 7 and 8 , the component mounting apparatus 10 may include a support member 60 that supports the air hose 51. Providing the support member 60 makes it easier to appropriately control the posture of the air hose 51. For example, the support member 60 includes a support plate 61 and a bundling member 62 that bundling the support plate 61 and the air hose 51. The support plate 61 is a flexible, band-shaped plate member. It is preferable that the support plate 61 has higher rigidity than the air hose 51. The support plate 61 may be made of, for example, a metal plate. One end of the support plate 61 is fixed to the main body 41 of the gripping suction holder 40 by screwing or the like. The other end of the support plate 61 is fixed to the main body 53 of the relay nozzle 52 by screwing or the like. A central portion of the support plate 61 is arranged along the air hose 51 and is bundling to the air hose 51 by the bundling member 62. The thickness direction of the support plate 61 is oriented in a direction perpendicular to the up-down direction (horizontal direction). With this configuration, the support member 60 makes it easier for the air hose 51 to deform in the horizontal direction and makes it harder for the air hose 51 to deform in the vertical direction. For example, the support member 60 can prevent the air hose 51 from hanging down below the gripping suction holder 40. This makes it possible to prevent the air hose 51 from coming into contact with the electronic component E, the board B, etc.

[0051] (Electrical configuration of component mounting apparatus 10) Next, the electrical configuration of the component mounting apparatus 10 will be described with reference to Fig. 3. The component mounting apparatus 10 includes a control unit 70 and an operation unit 71. The control unit 70 includes an arithmetic processing unit 72, a motor control unit 73, a storage unit 74, an image processing unit 75, an external input / output unit 76, a feeder communication unit 77, etc.

[0052] The arithmetic processing unit 72 includes a CPU, a ROM, a RAM, etc., and controls each unit of the component mounting apparatus 10 by executing a control program stored in the ROM.

[0053] The motor control unit 73 rotates each motor such as the X-axis servo motor 23, the Y-axis servo motor 24, the Z-axis servo motor 36, the R-axis servo motor 37, the conveyor drive motor 19, etc. under the control of the calculation processing unit 72.

[0054] The storage unit 74 stores various data including data (component data) related to electronic components E. The various data includes information related to the number and variety of boards B to be produced, information related to the number and type of electronic components E to be mounted on the board B, information related to the mounting positions of the electronic components E on the board B, information related to the mounting sequence of the electronic components E, shape data indicating the component size and outer peripheral shape of the electronic components E, and the like.

[0055] The image processing unit 75 is configured to take in image signals output from the board imaging camera 17 and the component imaging camera 18, and generates a digital image based on the output image signals.

[0056] The external input / output unit 76 is a so-called interface, and is configured to receive detection signals output from various sensors such as a pressure sensor 81. The external input / output unit 76 is also configured to control the operation of various actuators such as the air supply device 80 based on control signals output from the arithmetic processing unit 72.

[0057] The feeder communication unit 77 allows the control unit 70 to communicate with the tray feeder 13 and the tape feeder 14 .

[0058] The operation unit 71 includes a display unit 71A such as a liquid crystal display, and an input unit 71B such as a touch panel, keyboard, mouse, etc. An operator can operate the operation unit 71 to make various settings.

[0059] (Interlocking of the first head 32A and the second head 32B) When holding and placing an electronic component E using the gripping and suction holder 40, the control unit 70 raises and lowers the first head 32A. If only the first head 32A is raised and lowered without the second head 32B being raised and lowered, the air hose 51 may be pulled, causing damage to the air hose 51 or disconnection from the first connector 43 or the second connector 55. Therefore, when raising and lowering the first head 32A, the control unit 70 preferably raises and lowers the second head 32B following the first head 32A. In this case, the amount of elevation (displacement in the up-down direction) of the second head 32B is preferably the same as the amount of elevation of the first head 32A. The timing of raising and lowering the second head 32B is preferably approximately simultaneous with the timing of raising and lowering the first head 32A.

[0060] If an angle deviation occurs when the gripping and suction holder 40 picks up the electronic component E, or if the angle at which the electronic component E is supplied differs from the angle at which it is attached, it is necessary to rotate the first head 32A. Because the gripping and suction holder 40 has a first connection portion 43 that extends horizontally from the main body portion 41, depending on the rotation angle of the first head 32A, the gripping and suction holder 40 or the air hose 51 may interfere with other components (such as an adjacent head 32). To avoid interference between the gripping and suction holder 40 or the air hose 51 and other components, it is preferable that the control unit 70 rotates the first head 32A within a predetermined first angle range.

[0061] Furthermore, if only the first head 32A is rotated without rotating the second head 32B, the air hose 51 may be pulled, causing the air hose 51 to break or become detached from the first connector 43 or the second connector 55. Therefore, when rotating the first head 32A, the control unit 70 preferably rotates the second head 32B following the first head 32A. At this time, it is preferable that the rotation angle of the second head 32B is the same as the rotation angle of the first head 32A. It is preferable that the timing of rotating the second head 32B is approximately simultaneous with the timing of rotating the first head 32A.

[0062] Furthermore, in order to avoid interference between the communication device 50 and other components, it is preferable that the control unit 70 rotates the second head 32B within a predetermined second angle range.

[0063] In this embodiment, the angles of the first head 32A (grasping and suction holder 40) and the second head 32B (communication device 50) shown in FIG. 5 are considered to be reference angles α and β, respectively. The first connection portion 43 extends downward (forward) relative to the main body 41, and the second connection portion 55 extends rightward (rightward) relative to the main body 53. As shown in FIG. 9, the threshold value of the rotation angle of the first head 32A when the first head 32A is rotated clockwise as viewed from above is α-θ1 (θ1>0). Note that the positive direction of the rotation angle is counterclockwise. This makes it possible to avoid interference between the first connection portion 43 and the air hose 51 and the adjacent head 32. Similarly, the threshold value of the rotation angle of the second head 32B when the second head 32B is rotated clockwise as viewed from above is β-θ1. This makes it possible to suppress tensile stress from being applied to the air hose 51.

[0064] 10, the threshold value of the rotation angle of the first head 32A when the first head 32A is rotated counterclockwise as viewed from above is set to α+θ2 (θ2>0). Furthermore, the threshold value of the rotation angle of the second head 32B when the second head 32B is rotated clockwise as viewed from above is set to β+θ2. This makes it possible to avoid interference between the first connector 43 and the second head 32B. Furthermore, it is possible to suppress tensile stress from being applied to the air hose 51.

[0065] To summarize the above, in this embodiment, the first angle range is equal to or greater than α-θ1 and equal to or less than α+θ2, and the second angle range is equal to or greater than β-θ1 and equal to or less than β+θ2.

[0066] (Holding of electronic component E by gripping and suction holder 40) The sequence (procedure) of holding the electronic component E by the gripping suction holder 40 will be described with reference to Fig. 11. Although the second head 32B is not shown in Fig. 11, the second head 32B is assumed to move following the first head 32A. As shown in Fig. 11(A), first, the control unit 70 moves the head unit 30 horizontally so that the gripping suction holder 40 (first head 32A) is positioned directly above the position (component supply position) where the electronic component E is supplied in any of the component supply units 12A to 12D.

[0067] As shown in FIG. 11B, the control unit 70 lowers the first head 32A and brings the suction surface 41A close to the top surface of the electronic component E.

[0068] As shown in FIG. 11(C), the control unit 70 causes the air supply device 80 to supply negative pressure to the suction holes 45 through the second air path 35B, thereby suctioning the electronic component E onto the suction surface 41A.

[0069] 11(D), in a state in which the electronic component E is sucked, i.e., in a state in which negative pressure is supplied to the second air path 35B, the control unit 70 controls the air supply device 80 to supply negative pressure to the first space 44 through the first air path 35A. As a result, the second gripping claws 46B approach the first gripping claws 46A, and the electronic component E is gripped by the multiple gripping claws 46. In this way, by delaying the timing of gripping the electronic component E from the timing of sucking the electronic component E, the gripping suction holder 40 can stably hold the electronic component E. As a result, the electronic component E is held by the gripping suction holder 40.

[0070] As shown in FIG. 11(E), while negative pressure is being supplied to the first air path 35A and the second air path 35B, the control unit 70 raises the first head 32A.

[0071] The control unit 70 may detect the pressure in the second air path 35B using the pressure sensor 81 when a certain time has elapsed (for example, the time shown in FIG. 11D) after supplying negative pressure to the second air path 35B, and determine whether the detected pressure value is equal to or less than a predetermined threshold. Here, the certain time is the time required for the pressure value detected by the pressure sensor 81 to stabilize. If the detected pressure value is equal to or less than the predetermined threshold, the control unit 70 may determine that the electronic component E has been normally picked up, and may raise the first head 32A and the second head 32B, as shown in FIG. 11E. On the other hand, if the detected pressure value is greater than the predetermined threshold, the control unit 70 may determine that the electronic component E has not been normally picked up, and may notify the operator of a suction error.

[0072] (Mounting of electronic component E by gripping and suction holding tool 40) Next, the sequence (procedure) for mounting an electronic component E by the gripping suction holder 40 will be described with reference to Fig. 12. Although the second head 32B is not shown in Fig. 12, the second head 32B is assumed to move following the first head 32A. As shown in Fig. 12(A), with negative pressure supplied to the first air path 35A and the second air path 35B, i.e., with the electronic component E held by the gripping suction holder 40, the control unit 70 moves the head unit 30 horizontally so that the gripping suction holder 40 (first head 32A) is positioned directly above the position on the board B where the electronic component E is to be mounted (component mounting position).

[0073] As shown in FIG. 12(B), the control unit 70 lowers the first head 32A and places the electronic component E on the board B while supplying negative pressure to the first air path 35A and the second air path 35B.

[0074] 12(C), while the control unit 70 supplies negative pressure to the second air path 35B, the control unit 70 supplies positive pressure to the first space 44 through the first air path 35A. As a result, the second gripping claws 46B move away from the first gripping claws 46A, and the grip of the electronic component E by the multiple gripping claws 46 is released.

[0075] As shown in FIG. 12(D), the control unit 70 supplies positive pressure to the suction holes 45 through the second air path 35B, and the suction of the electronic component E is released.

[0076] 12(E), the control unit 70 raises the first head 32A. With the above, the mounting of the electronic component E onto the board B by the gripping, suction holding tool 40 is completed.

[0077] (Effects of the embodiment) (1) A component mounting apparatus 10 according to an embodiment is a component mounting apparatus 10 that mounts an electronic component E on a board B, and includes a first head 32A having a first air path 35A formed therein, a second head 32B (path member) having a second air path 35B formed therein, an air supply device 80 (pressure adjusting device) that is connected to the first air path 35A and the second air path 35B and adjusts the air flow in the first air path 35A and the second air path 35B, and a control unit 70 that controls the air supply device 80. The first head 32A includes a gripping and suction holding tool 40, and the gripping and suction holding tool 40 is The electronic component E is sucked onto the main body 41 by the negative pressure generated in the suction hole 45, and the main body 41 is formed with a suction hole 45 that is connected to one of the first air path 35A and the second air path 35B. The electronic component E is sucked onto the main body 41 by the negative pressure generated in the suction hole 45 ...

[0078] With this configuration, the electronic component E can be sucked onto the gripping, suction holder 40 by reducing the pressure in the suction holes 45 through the second air path 35B. Furthermore, by adjusting the pressure in the first air path 35A, the electronic component E can be gripped by the multiple gripping claws 46. Therefore, gripping and suctioning the electronic component E with a single gripping, suction holder 40 can more stably hold the electronic component E. This can prevent the electronic component E from shifting from its mounting position.

[0079] (2) In the embodiment, the gripping, suction holding tool 40 and the second head 32B are connected by an air hose 51, and the second air path 35B and the internal space of the air hose 51 are in communication with each other.

[0080] With this configuration, the gripping and suction holder 40 and the second air path 35B can be connected with a simple configuration.

[0081] (3) In the embodiment, the first head 32A and the second head 32B are each configured to be rotatable, and the control unit 70 can control the rotational movement of the first head 32A and the second head 32B, the gripping and suction holder 40 has a first connection portion 43 to which one end of the air hose 51 is connected, and the second head 32B has a second connection portion 55 to which the other end of the air hose 51 is connected, and the control unit 70 controls the first head 32A to rotate only within a predetermined first angle range and the second head 32B to rotate only within a predetermined second angle range so that the rotational movement of the first head 32A and the second head 32B is restricted.

[0082] With this configuration, it is possible to suppress interference between the first connecting portion 43 and other members, and interference between the second connecting portion 55 and other members.

[0083] (4) The component mounting apparatus 10 of the embodiment further includes a support member 60 that supports the air hose 51 so that the air hose 51 does not hang below the gripping, suction holding tool 40 .

[0084] With this configuration, the support member 60 can prevent the air hose 51 from hanging down below the gripping, suction holder 40. Therefore, it is possible to prevent the air hose 51 from coming into contact with the board B or the electronic component E, for example.

[0085] (5) In the embodiment, the control unit 70 controls the air supply device 80 so that the pressures generated by the air flows passing through the first air path 35A and the second air path 35B are switched at different times.

[0086] With this configuration, it is possible to differentiate the timing at which the gripping, suction holder 40 picks up the electronic component E from the timing at which the electronic component E is picked up. This makes it easier to hold the electronic component E more stably.

[0087] (6) The component mounting apparatus 10 of the embodiment further includes a pressure sensor 81 that detects the pressure of the second air path 35B, and the control unit 70 is capable of reading the detection value of the pressure sensor 81 and determining the suction state of the electronic component E based on the detection value.

[0088] With this configuration, by detecting the pressure in the second air path 35B communicating with the suction hole 45 using the pressure sensor 81, it is possible to determine the suction state of the electronic component E by the gripping suction holder 40.

[0089] (7) In the embodiment, the first head 32A and the second head 32B are each configured to be rotatable, and the control unit 70 can control the rotational operation of the first head 32A and the second head 32B. When rotating the first head 32A, the control unit 70 rotates the second head 32B following the first head 32A.

[0090] With this configuration, when the first head 32A is rotated, it is possible to prevent damage to the portion connecting the gripping suction holder 40 and the second air path 35B.

[0091] (8) In the embodiment, the first head 32A and the second head 32B are each configured to be able to move up and down, and the control unit 70 can control the movement of the first head 32A and the second head 32B up and down. When the control unit 70 moves the first head 32A up and down, it moves the second head 32B up and down following the first head 32A.

[0092] With this configuration, when the first head 32A is raised and lowered, it is possible to prevent damage to the portion connecting the gripping suction holder 40 and the second air path 35B.

[0093] (9) In the embodiment, the first head 32A includes a first shaft 33A that forms the first air path 35A, and the gripping and suction holder 40 is detachably attached to the lower end of the first shaft 33A.

[0094] With this configuration, when the gripping, suction holding device 40 is not in use, another holding device (such as the suction nozzle 34) can be attached to the first shaft 33A.

[0095] (10) In the embodiment, the second head 32B includes a second shaft 33B that constitutes the second air path 35B, and a communication device 50 that connects the second air path 35B to the communication space (the suction hole 45 and the internal space of the first connection portion 43) provided in the gripping suction holder 40, and the communication device 50 is detachable from the lower end of the second shaft 33B.

[0096] With this configuration, when the communication device 50 is not used, another holder (such as the suction nozzle 34) can be attached to the second shaft 33B.

[0097] (Other embodiments) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0098] In the above embodiment, the plurality of gripping claws 46 is made up of two gripping claws, but the plurality of gripping claws may be made up of three or more gripping claws.

[0099] In the above embodiment, the suction holes 45 communicate with the second air path 35B, and the multiple gripping claws 46 grip the electronic component E by adjusting the pressure in the first air path 35A. However, the suction holes may communicate with the first air path, and the multiple gripping claws may grip the electronic component by adjusting the pressure in the second air path.

[0100] In the above embodiment, the multiple gripping claws 46 are configured such that the second gripping claw 46B approaches or moves away from the first gripping claw 46A, but the multiple gripping claws may also be configured such that they approach or move away from each other.

[0101] The configuration of the mechanical mechanism may be different from that of the above embodiment.

[0102] In the above embodiment, the second head 32B is exemplified as the path member, but the path member does not have to be the second head. For example, as shown in Fig. 14, the path member 90 may be an air coupler that connects the pressure switching unit 85 of the air supply device 80 to the end of the air hose 51 opposite to the first connection portion 43.

[0103] In the above embodiment, the communication device 50 includes the air hose 51 and the relay nozzle 52, but the communication device may be configured to communicate between the second air path and the communication space provided in the gripping suction holder.

[0104] In the above embodiment, a so-called inline type head unit 30 in which multiple heads 32 are arranged in a row is exemplified, but the head unit may also be, for example, a so-called rotary head in which multiple heads are arranged on a circumference.

[0105] In the above embodiment, the number of heads 32 is five, but the number of heads may be two or more. [Explanation of symbols]

[0106] 10: Component mounting equipment 11: base, 12A to 12D: component supply unit, 13: tray feeder, 13A: tray, 13B: storage cabinet, 14: tape feeder, 15: transfer conveyor, 16: transfer belt, 17: board imaging camera, 18: component imaging camera, 19: conveyor drive motor 20: Transport unit, 21: X-axis beam, 22: Y-axis frame, 23: X-axis servo motor, 24: Y-axis servo motor 30: head unit, 31: head unit body, 32: head, 32A: first head, 32B: second head, 33: shaft, 33A: first shaft, 33B: second shaft, 34: suction nozzle, 35A: first air path, 35B: second air path, 36: Z-axis servo motor, 37: R-axis servo motor 40: Grip suction holder, 41: Main body, 41A: Bottom surface (suction surface), 41B: Support shaft, 42: Mounting part, 43: First connection part, 44: First space, 45: Suction hole, 46: Double Number of gripping claws, 46A: First gripping claw, 46B: Second gripping claw, 47: Transmission part, 47A: Bearing hole, 47B: Engagement hole, 48: Piston, 48A: Coil spring, 48B: Protrusion 50: connecting member, 51: air hose, 52: relay nozzle, 53: main body, 54: mounting portion, 55: second connection portion, 56: second space 60: Support member, 61: Support plate, 62: Binding member 70: control unit, 71: operation unit, 71A: display unit, 71B: input unit, 72: calculation processing unit, 73: motor control unit, 74: storage unit, 75: image processing unit, 76: external input / output unit, 77: feeder communication unit 80: Air supply device (an example of a pressure adjusting device), 81: Pressure sensor, 82: Compressor, 83: Ventilation path, 84: Filter regulator, 85: Pressure switching unit, 86: Ejector B: Circuit board, E: Electronic components, E1: Tray components, E2: Tape components

Claims

1. A component mounting apparatus that mounts electronic components on a substrate, a first head having a first air passage formed therein; a path member in which a second air path is formed; a pressure adjusting device connected to the first air path and the second air path and adjusting the flow of air in the first air path and the second air path; a control unit that controls the pressure adjusting device, the first head is provided with a gripping and suction holding tool, The gripping and suction holding device is a main body portion having a suction hole formed therein, the suction hole communicating with one of the first air path and the second air path, and configured to suck the electronic component by negative pressure generated in the suction hole; a plurality of gripping claws that protrude downward from the main body, have tip ends positioned below the suction holes, and are opened and closed to grip the electronic component sucked to the main body; a mechanical mechanism that converts pressure of air flowing through the other of the first air path and the second air path into force that opens and closes the plurality of gripping jaws; A component mounting device having the above structure.

2. the gripping and suction holding tool and the pathway member are connected by an air hose; The component mounting device according to claim 1 , wherein the second air path and an internal space of the air hose are in communication with each other.

3. the path member is a second head, the first head and the second head are each configured to be rotatable, the control unit is capable of controlling rotational operations of the first head and the second head, the gripping and suction holding device includes a first connection portion to which one end of the air hose is connected, the second head includes a second connection portion to which the other end of the air hose is connected, 3. The component mounting device according to claim 2, wherein the control unit controls the first head to rotate within a predetermined first angle range and the second head to rotate within a predetermined second angle range so that the rotational movements of the first head and the second head are regulated.

4. 3. The component mounting apparatus according to claim 2, further comprising a support member that supports the air hose so that the air hose does not hang down below the gripping suction holder.

5. 5. The component mounting device according to claim 1, wherein the control unit controls the pressure adjustment device so that pressures generated by the air flows passing through the first air path and the second air path are switched at different timings.

6. a pressure sensor that detects a pressure in one of the first air path and the second air path; 5. The component mounting device according to claim 1, wherein the control unit is capable of reading a detection value of the pressure sensor and determining a suction state of the component based on the detection value.

7. the path member is a second head, the first head and the second head are each configured to be rotatable, the control unit is capable of controlling rotational operations of the first head and the second head, The component mounting apparatus according to claim 1 , wherein when rotating the first head, the control unit rotates the second head so as to follow the first head.

8. the path member is a second head, the first head and the second head are configured to be able to move up and down, the control unit is capable of controlling the lifting and lowering operations of the first head and the second head, The component mounting apparatus according to claim 1 , wherein when the control unit raises and lowers the first head, the control unit raises and lowers the second head so as to follow the first head.

9. the first head includes a first shaft that configures the first air path, The component mounting device according to claim 1 , wherein the gripping and suction holder is detachably attached to a lower end of the first shaft.

10. the path member is a second head, the second head includes a second shaft that configures the second air path, and a communication tool that communicates the second air path with a communication space provided in the gripping, suction, and holding device; The component mounting device according to claim 9 , wherein the communication tool is detachably attached to a lower end of the second shaft.

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