Component mounting machine

Abstract

This component mounting machine comprises: a component mounting tool for picking up a component by supplying negative-pressure air and attaching the component onto a board; an attachment head which has a main holding mechanism for holding the component mounting tool in an attachable / detachable manner with a predetermined holding force, and is capable of moving in the horizontal direction; and an auxiliary holding mechanism which operates by means of the supply of the negative pressure air and generates an auxiliary holding force that is added to the holding force.

Description

Technical Field

[0004] , , , , , , , ,

[0005] , , , , , ,

[0001] This specification relates to a component mounting machine that mounts components on a substrate using a mounting head, and a component mounting tool that is detachably held by the mounting head of the component mounting machine.

Background Art

[0002] [[ID=1​​​​​​​​​​​​​​​​​​​​​​​​​ Incidentally, in recent years, in order to cope with the sophistication of circuit functions in electronic circuits and the resulting complexity of circuit configurations, the size and weight of components have been increasing at an accelerating pace. On the other hand, in order to increase the production speed of component mounting machines, the movement speed of the mounting head and the lifting speed of the component mounting device (suction nozzle) are being increased. From both perspectives, it is important to increase the holding force with which the mounting head holds the component mounting device (clamps the suction nozzle). In the technology described in Patent Document 1, which addresses this, predetermined components to be reinforced are set in advance, and the reinforcement switching means determines whether the target component is a predetermined component or not, and controls the operation of the clamping force reinforcement mechanism according to the determination result. In technologies that require such determination, control, and a dedicated reinforcement mechanism, the device configuration tends to become complex, and there is a risk that the operation of reinforcing the holding force may become unstable.

[0006] Furthermore, as a structure in which the mounting head holds the component holder, in addition to the mechanical clamp structure disclosed in Patent Document 1, a negative pressure suction type structure that uses the supply of negative pressure air to attract the component holder can also be used. The technology in Patent Document 1 uses a configuration that restricts the release operation of the clamp arm by a clamp force reinforcement mechanism, and therefore cannot be applied to the negative pressure suction type structure.

[0007] Therefore, this specification aims to provide a component mounting machine that can increase the holding force with which the mounting head holds the component mounting device using a simple configuration, and a component mounting device that can increase the holding force with which it is held by the mounting head using a simple configuration. [Means for solving the problem]

[0008] This specification discloses a component mounting machine comprising: a component mounting device that picks up components and mounts them to a substrate by supplying negative pressure air; a mounting head that is movable in the horizontal direction and has a main holding mechanism that detachably holds the component mounting device with a predetermined holding force; and an auxiliary holding mechanism that operates by supplying negative pressure air to generate an auxiliary holding force added to the holding force.

[0009] Furthermore, this specification discloses a component mounting device comprising: a mounting device body that picks up a component by supplying negative pressure air and mounts it to a substrate, and is detachably held with a predetermined holding force by a main holding mechanism having a mounting head that is movable in the horizontal direction; and an auxiliary holding mechanism provided on the mounting device body that operates by supplying the negative pressure air and generates an auxiliary holding force added to the holding force. [Effects of the Invention]

[0010] In the disclosed component mounting machine and component mounting device, the auxiliary holding mechanism can increase the holding force by generating an auxiliary holding force in addition to the predetermined holding force of the main holding mechanism. Therefore, the component mounting device is stably held on the mounting head, enabling stable component mounting work and high-speed movement of the mounting head. In addition, the auxiliary holding mechanism can have a simple configuration that operates by supplying negative pressure air. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic plan view showing the overall configuration of the component mounting machine according to the first embodiment. [Figure 2] This diagram shows the configuration of the main holding mechanism and the suction nozzle (parts mounting device). [Figure 3] This is a side view showing the auxiliary holding mechanism in its normal state. [Figure 4] This is a side cross-sectional view showing the auxiliary holding mechanism in its normal state. [Figure 5] This is a side view showing the operating state of the auxiliary holding mechanism. [Figure 6] This is a side cross-sectional view showing the operating state of the auxiliary holding mechanism. [Figure 7] This is a view of the suction nozzle (parts mounting device) of the second embodiment, seen from below. [Figure 8] This is a side cross-sectional view showing the configuration of the auxiliary holding mechanism in the second embodiment. [Figure 9] This is a side cross-sectional view showing the configuration of the auxiliary holding mechanism in the third embodiment. [Modes for carrying out the invention]

[0012] 1. Overall configuration of the component mounting machine 1 of the first embodiment The overall configuration of the component mounting machine 1 of the first embodiment will be described with reference to Figure 1. The component mounting machine 1 repeatedly performs the mounting operation of mounting components onto a substrate K. In Figure 1, the direction from left to right on the paper is the X-axis direction for transporting the substrate K, and the direction from the bottom (front) side of the paper to the top (rear) side is the Y-axis direction. The component mounting machine 1 includes a substrate transport device 2, a component supply device 3, a component transfer device 4, a suction nozzle 5 corresponding to the component mounting tool of the embodiment, and a main holding mechanism 6. Furthermore, the suction nozzle 5 is equipped with an auxiliary holding mechanism 7.

[0013] The substrate transport device 2 consists of a pair of guide rails 21, a pair of transport belts (not shown), and a clamping mechanism 23. The pair of guide rails 21 extend in the X-axis direction across the center of the upper surface of the base 10 and are assembled to the base 10 parallel to each other. The pair of transport belts rotate along the guide rails 21 with two parallel sides of the substrate K placed on them, transporting the substrate K to the work position near the center of the base 10. The clamping mechanism 23 pushes up the transported substrate K and clamps it between itself and the guide rails 21 to position it.

[0014] The parts supply device 3 is located at the front of the base 10. The parts supply device 3 consists of multiple tape feeders 31 and a tray feeder 35. Each tape feeder 31 has a flattened shape that is long in the front-to-back direction (Y-axis direction) and thin in the left-to-right direction (X-axis direction). The multiple tape feeders 31 are arranged in a line along the X-axis direction on the right side of the parts supply device 3. The tape feeders 31 feed out a carrier tape containing numerous parts in a single row at a pitch towards the supply position 32 near the rear end. In this way, the tape feeders 31 supply parts so that they can be picked up at the supply position 32. The parts supplied by the tape feeders 31 are small and medium-sized parts.

[0015] The tray feeder 35 is arranged on the left side of the component supply device 3. The tray feeder 35 has a magazine 36 and a tray pulling-out mechanism 37. The magazine 36 vertically stacks and accommodates a plurality of trays 38 each storing components in a plurality of storage compartments. The magazine 36 moves up and down to align the tray 38 to be pulled out with the pulling-out height of the tray pulling-out mechanism 37. The tray pulling-out mechanism 37 pulls out the tray 38 from the magazine 36 to the supply position 39 and supplies the components in a manner that allows them to be picked up. The components supplied by the tray feeder 35 are large components or components with irregular shapes.

[0016] The component transfer device 4 is composed of a Y-axis moving body 41, an X-axis moving body 42, a mounting head 43, a nozzle tool 44, a small suction nozzle 45, a substrate recognition camera 46, a component recognition camera 47, a tool station 48, etc. The Y-axis moving body 41 is formed of a member long in the X-axis direction and is driven by a Y-direction driving mechanism (not shown) to move in the Y-axis direction. The X-axis moving body 42 is mounted on the Y-axis moving body 41 and is driven by an X-direction driving mechanism (not shown) to move in the X-axis direction. The mounting head 43 is attached to a clamp mechanism (not shown) provided on the front surface of the X-axis moving body 42 and moves horizontally in two directions together with the X-axis moving body 42. The Y-axis moving body 41, the Y-direction driving mechanism, the X-axis moving body 42, and the X-direction driving mechanism constitute a horizontal driving mechanism 40 for driving the mounting head 43 in the horizontal direction.

[0017] A nozzle tool 44 having a substantially cylindrical outer shape is provided rotatably about a vertical central axis below the mounting head 43. The nozzle tool 44 has a plurality of small suction nozzles 45 that revolve around the vertical central axis. The small suction nozzles 45 are selectively supplied with negative-pressure air and positive-pressure air. Thereby, the small suction nozzles 45 perform a suction operation of sucking components from the tape feeder 31 and a mounting operation of mounting the components on the substrate K. Note that the nozzle tool 44 is replaceable with another type of nozzle tool 44A and a suction nozzle 5.

[0018] The substrate recognition camera 46 is provided on the X-axis moving body 42 alongside the mounting head 43. The substrate recognition camera 46 is arranged such that its optical axis faces downward, and images the position reference marks attached to the substrate K from above. The acquired image data is processed, and the working position of the substrate K is accurately determined. As the substrate recognition camera 46, a digital imaging device having an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be exemplified.

[0019] The component recognition camera 47 is provided on the base 10 between the substrate transfer device 2 and the component supply device 3. The component recognition camera 47 is arranged such that its optical axis faces upward. The component recognition camera 47 images and recognizes the component held by the suction nozzle 45 from below while the mounting head 43 is moving to the substrate K. Thereby, the quality of the application state of the resin material applied to the component is determined, and the position and orientation of the component with respect to the suction nozzle 45 are detected and reflected in the mounting operation. As the component recognition camera 47, a digital imaging device having an imaging element such as a CCD or a CMOS can be exemplified.

[0020] Tool stations 48 are provided on the left and right of the component recognition camera 47. The tool stations 48 are places where the aforementioned nozzle tool 44, a different type of nozzle tool 44A, and the suction nozzle 5 can be placed for replacement. The nozzle tool 44 is for small components such as chip components and has 12 small suction nozzles 45. The nozzle tool 44A is for medium-sized components and has 4 medium-sized suction nozzles 45A. The suction nozzle 5 is a nozzle for large components and irregular-shaped components. The mounting head 43 can move to the tool station 48 and automatically exchange the nozzle tool 44 held by the main holding mechanism 6 (details will be described later) with the nozzle tool 44A or the suction nozzle 5. In order to realize the automatic exchange function, at least a part of the mounting head 43 is configured to be able to move up and down.

[0021] The component transfer device 4 can repeat multiple suction mounting cycles on the positioned substrate K. In a suction mounting cycle, first, the mounting head 43 moves above the tape feeder 31 or tray feeder 35, and the suction nozzles (45, 45A, 5) descend and rise toward the supply position (32, 39) to perform the component suction operation. Next, the mounting head 43 moves above the component recognition camera 47, and the component recognition camera 47 takes an image. Then, the mounting head 43 moves above the substrate K, and the suction nozzles (45, 45A, 5) descend and rise toward the predetermined component mounting position to perform the component mounting operation. After completing the component mounting operation, the mounting head 43 moves again toward the tape feeder 31 or tray feeder 35. The suction mounting cycle is a general term for the series of operations described above.

[0022] 2. Main holding mechanism 6 and suction nozzle 5 Next, the detailed configuration of the main holding mechanism 6 and the suction nozzle 5 will be explained with reference to Figure 2. Figure 2 shows a perspective view of the mounting head 43 from diagonally below, and a side view of the suction nozzle 5. The main holding mechanism 6 holds the suction nozzle 5 in a detachable manner with a predetermined holding force. The main holding mechanism 6 is provided at the bottom 61 of the mounting head 43. More specifically, the inner air chamber 62, partition edge 63, outer air chamber 64, and outer edge 65 are provided concentrically from the center outward toward the outer circumference of the approximately circular bottom surface of the bottom 61 of the mounting head 43. The outer air chamber 64 is the main part of the main holding mechanism 6.

[0023] The partition edge 63 and the outer peripheral edge 65 are formed in an annular shape that protrudes downward. The lower surface of the partition edge 63 and the lower surface of the outer peripheral edge 65 are made capable of contacting the upper surface of the flange 57 (described later) of the suction nozzle 5.

[0024] The inner air chamber 62 has an upper bottom surface that extends above the partition edge 63. The inner air chamber 62 is formed by a thin cylindrical space partitioned on the inner circumference side of the partition edge 63. The outer air chamber 64 has an upper bottom surface that extends above the partition edge 63 and the outer peripheral edge 65. The outer air chamber 64 is formed by a thin annular space partitioned between the partition edge 63 and the outer peripheral edge 65.

[0025] The inner air chamber 62 is connected to a negative pressure source such as a vacuum pump via a first air passage 66 that opens into the inner air chamber 62 and a first on / off valve (not shown). The first air passage 66 is a passage that supplies negative pressure air to the suction nozzle 5. The first air passage 66 passes through the center of the mounting head 43. The inner air chamber 62 can be considered as part of the first air passage 66.

[0026] The outer air chamber 64 is connected to the negative pressure source via four second air passages 67 that open near the outer peripheral edge of the partition edge 63 and a second on / off valve (not shown). In Figure 2, the second air passages 67 are shown in black for convenience. The second air passages 67 are passages that supply negative pressure air to the main holding mechanism 6 independently of the first air passage 66. The second air passages 67 pass closer to the outer peripheral edge, away from the center of the mounting head 43 (see Figure 3). The first on / off valve and the second on / off valve are individually controlled from a control unit (not shown) and open and close independently of each other. Therefore, the first air passages 66 and the second air passages 67 receive negative pressure air from the negative pressure source at different times.

[0027] The suction nozzle 5 is a negative pressure suction type component mounting device that uses negative pressure air to attract and attach a component P to a substrate K. The suction nozzle 5 comprises a nozzle body 51, a flange 57, and an auxiliary holding mechanism 7 (details described later). The nozzle body 51 consists of a shaft portion 52 that extends vertically and has a generally cylindrical outer shape, and a tip portion 53 that is located below the shaft portion 52 and expands horizontally in a circular shape. An internal air passage 54 is provided in the shaft portion 52. In the prior art, the internal air passage 54 is provided so as to extend vertically through the center of the shaft portion 52.

[0028] The tip portion 53 has an outer peripheral edge portion 55 and an adsorption air chamber 56 on its lower surface. The outer peripheral edge portion 55 is formed in an annular shape that protrudes downward. The lower surface of the outer peripheral edge portion 55 is in contact with the component P to be adsorbed. The adsorption air chamber 56 has an upper bottom surface that extends above the outer peripheral edge portion 55. The adsorption air chamber 56 is formed by a thin cylindrical space partitioned on the inner circumference side of the outer peripheral edge portion 55. The adsorption air chamber 56 is in communication with the internal air passage 54.

[0029] The flange 57 is provided on the upper side of the shaft portion 52. The flange 57 is the part that is held by the main holding mechanism 6. The flange 57 is formed in the shape of a circular plate with a diameter approximately the same as the outer peripheral edge 65 of the main holding mechanism 6 and is arranged horizontally. The flange 57 has a base end portion 571 into which negative pressure air flows by being perforated in the center portion. The base end portion 571 is the starting point of the internal air passage 54. The upper surface of the flange 57 is a polished smooth surface, which enhances the adhesion with the main holding mechanism 6.

[0030] The main holding mechanism 6 can hold the suction nozzle 5 by adsorbing the flange 57 because the outer air chamber 64 becomes negatively pressurized due to the supply of negative-pressure air to the second air passage 67. Furthermore, the adsorption causes the partition edge 63 and the outer peripheral edge 65 to contact the flange 57, ensuring airtightness of the outer air chamber 64 and stabilizing the holding state of the suction nozzle 5. While the main holding mechanism 6 is holding the suction nozzle 5, the supply of negative-pressure air to the second air passage 67 continues. As a result, the main holding mechanism 6 can maintain a predetermined holding force. Theoretically, the holding force of the main holding mechanism 6 can be determined by multiplying the pressure difference between the negative-pressure air and atmospheric air by the opening area of ​​the outer air chamber 64.

[0031] Furthermore, while the main holding mechanism 6 holds the suction nozzle 5, the inner air chamber 62 communicates with the base end portion 571 of the flange 57 while ensuring airtightness. When the suction nozzle 5 held by the main holding mechanism 6 picks up a part P, negative pressure air is supplied to the first air passage 66. The supplied negative pressure air reaches the suction air chamber 56 from the inner air chamber 62 via the base end portion 571 and the internal air passage 54. Therefore, the suction nozzle 5 can pick up a part P with its tip portion 53 because the suction air chamber 56 is under negative pressure.

[0032] Here, if the part P to be suctioned is large and heavy, the holding safety factor of the main holding mechanism 6 decreases. In other words, there may be cases where a predetermined holding force is insufficient to ensure a sufficient holding safety factor for the total load, which is the sum of the weight of the suction nozzle 5 and the weight of the part P. In this case, there is a concern that the suction nozzle 5 may fall from the main holding mechanism 6, or that the suction nozzle 5 may vibrate unstably and cause the part P to fall. If the horizontal movement speed of the mounting head 43 or the lifting speed of the suction nozzle 5 is reduced as a measure to prevent falling, it will lead to a decrease in the production efficiency of the part mounting machine 1. As a countermeasure, an auxiliary holding mechanism 7 is used, which operates by supplying negative pressure air and generates an auxiliary holding force that is added to the holding force.

[0033] 3.Auxiliary holding mechanism 7 Next, the auxiliary holding mechanism 7 will be described with reference to Figures 3 and 4. The auxiliary holding mechanism 7 operates by supplying negative pressure air and generates an auxiliary holding force that is added to the holding force of the main holding mechanism 6. Figures 3 and 4 show the normal state in which the auxiliary holding mechanism 7 is not operating. In the first embodiment, the auxiliary holding mechanism 7 is provided on the suction nozzle 5. The auxiliary holding mechanism 7 consists of an air-driven mechanism 8 provided on the shaft portion 52 and a locking mechanism 9 provided on the lower side of the flange 57, etc.

[0034] The air-driven mechanism 8 includes a cylinder 81 (second cylinder), a piston 82 (second piston), and a biasing member 83 (second biasing member). The cylinder 81 is constructed using a hollow cylindrical portion of the shaft 52. An internal air passage 54 extending vertically is provided inside the wall thickness at one point in the circumferential direction of the cylinder 81. Furthermore, an internal air passage 54 is formed at the center of the lower shaft portion 521, which is located below the cylinder 81 of the shaft 52. In short, the internal air passage 54 communicates while maintaining airtightness from the base end 571 of the flange 57, through one upper end 811 of the cylinder 81, through the wall thickness of the cylinder 81 and the center of the lower shaft portion 521 to the adsorption air chamber 56.

[0035] An atmospheric communication hole 813 is provided near the lower end 812 of the cylinder 81, horizontally penetrating the wall thickness of the cylinder 81. The atmospheric communication hole 813 connects the other end 812 of the cylinder 81 to the atmosphere. As a result, atmospheric air can freely enter and exit the other end 812 of the cylinder 81. A drive opening 814 is provided at one location in the circumferential direction at approximately the middle height of the cylinder 81. The cylinder 81 may also be provided separately from the shaft portion 52, with one end 811 communicating with the internal air passage 54.

[0036] The piston 82 is formed in a substantially cylindrical shape. The piston 82 is movably positioned inside the cylinder 81 and maintains airtightness at one end 811. The piston 82 has a drive lever 821 that protrudes outward from the drive opening 814 of the cylinder 81, located at approximately the middle height on its outer surface. The drive lever 821 moves vertically within the drive opening 814 while maintaining airtightness.

[0037] A drive pin 822 extending horizontally is provided near the outside of the drive lever 821. The height dimension of the drive lever 821 is smaller than the height dimension of the drive opening 814 by the stroke length ST. Therefore, the piston 82 can move up and down within the range of the stroke length ST. In addition, the drive lever 821 and the drive pin 822 move up and down integrally with the piston 82.

[0038] For example, a coil spring is used as the biasing member 83. The biasing member 83, which is made of a coil spring, is inserted into the inside of the cylinder 81, on one end 811 side, that is, on the upper side of the piston 82. Furthermore, the biasing member 83 is used in a compressed state and exerts a biasing force in the direction of downward extension. In other words, the biasing member 83 constantly biases the piston 82 toward the other end 812 with a downward biasing force. Note that a material other than a coil spring can be used as the biasing member 83.

[0039] When negative pressure air is not supplied to the suction nozzle 5, the pressure difference between one end 811 and the other end 812 becomes small. As a result, the piston 82 is pushed downward by the biasing force of the biasing member 83 and positioned near the other end 812. When negative pressure air is supplied to the suction nozzle 5, the pressure difference between one end 811 and the other end 812 becomes large. As a result, the piston 82 is pushed upward by the pressure difference, compressing the biasing member 83 and rising by the stroke length ST, to a position near the one end 811.

[0040] The locking mechanism 9 includes a connecting seat 91, a connecting member 92, a locking seat 93, a locking member 94, and a clamping portion 95. The connecting seat 91 and the locking seat 93 are provided facing downward on the lower surface of the flange 57. As viewed from the drive pin 822 of the piston 82, the connecting seat 91 and the locking seat 93 are arranged side by side, spaced apart radially outward from the flange 57.

[0041] The connecting member 92 is a strip-shaped or rod-shaped member that bends at an obtuse angle at the support point 921. The support point 921 is pivotably supported by the connecting seat 91. A bifurcated driven groove 922 is provided at the inner end of the connecting member 92 that extends radially inward from the support point 921 to the flange 57. The drive pin 822 of the piston 82 is engaged between the grooves of the driven groove 922 so as to be able to move relative to it. A bifurcated drive groove 923 is provided at the outer end of the connecting member 92 that extends radially outward from the support point 921 to the flange 57.

[0042] The locking member 94 is a strip-shaped or rod-shaped member that bends at an obtuse angle at the support point 941. The support point 941 is pivotably supported by the locking seat 93. A horizontally extending driven pin 942 is provided at the inner end of the locking member 94 that extends radially inward from the support point 941 to the flange 57. The driven pin 942 is engaged in the drive groove portion 923 of the connecting member 92 so as to be relatively movable. A clamp portion 95 is integrally provided on the outer side of the locking member 94 that extends radially outward from the support point 941 to the flange 57.

[0043] The clamp portion 95 swings integrally with the locking member 94. As shown in Figures 3 and 4, the clamp portion 95 is positioned to extend from the underside of the flange 57 to the outer circumference. Furthermore, the clamp portion 95 has an inward-facing crank shape that bends at right angles in two places. The size of the crank shape is designed to be able to clamp both the bottom portion 61 of the mounting head 43 and the flange 57 of the suction nozzle 5, and to prevent large gaps from forming when clamped. The clamp portion 95 is in an inclined position (normal state) when negative pressure air is not supplied to the suction nozzle 5, and does not clamp the bottom portion 61 and the flange 57.

[0044] 4. Operation of parts mounting machine 1 Next, the operation of the component mounting machine 1, mainly the operation of the main holding mechanism 6 and the auxiliary holding mechanism 7, will be described. For each substrate K, the component mounting machine 1 first mounts small components using the nozzle tool 44. Next, the component mounting machine 1 mounts medium-sized components using the nozzle tool 44A. After that, the component mounting machine 1 mounts large components and irregularly shaped components using the suction nozzle 5.

[0045] Here, we will describe the operation of replacing the nozzle tool 44A held by the mounting head 43 with the suction nozzle 5. First, the mounting head 43 moves to an empty position on the tool station 48 and descends. During the descent, the negative pressure air in the outer air chamber 64 is discharged (in reality, atmospheric air flows in), and the holding force of the main holding mechanism 6 decreases or disappears. Therefore, the mounting head 43 can place the nozzle tool 44A in the empty position. At this time, the supply of positive pressure air to the second air passage 67 may also be used. By using this in combination, the outer air chamber 64 becomes positive pressure, so the operation of placing the nozzle tool 44A in the empty position is expedited.

[0046] The mounting head 43 then moves above the suction nozzle 5 and descends. During the descent, negative pressure air is supplied to the second air passage 67, creating negative pressure in the outer air chamber 64, which generates a holding force for the main holding mechanism 6. As a result, the main holding mechanism 6 can hold the suction nozzle 5 by adsorbing onto the flange 57. After this, the supply of negative pressure air to the second air passage 67 continues throughout the period in which the suction nozzle 5 is used.

[0047] Next, the operation of the suction mounting cycle using the suction nozzle 5 will be explained with reference to Figures 3 to 6. Figures 5 and 6 show the operating state when the auxiliary holding mechanism 7 is in operation. In the suction mounting cycle, first, the mounting head 43 moves above the tray feeder 35. During this movement, negative pressure air is not supplied to the first air passage 66. In other words, negative pressure air is not supplied to the suction nozzle 5, and negative pressure air is not supplied to one end 811 of the cylinder 81. Therefore, the auxiliary holding mechanism 7 does not operate, and the clamp portion 95 maintains the inclined position shown in Figures 3 and 4.

[0048] After the mounting head 43 has moved above the tray feeder 35, or while it is in motion, the suction nozzle 5 descends toward the part P at the supply position 39. During the descent, negative pressure air is supplied to the first air passage 66. The negative pressure air reaches the suction air chamber 56 via the inner air chamber 62 and the internal air passage 54. This allows the suction nozzle 5 to pick up the part P.

[0049] Here, the negative pressure air has already reached one end 811 of the cylinder 81 just before it reaches the adsorption air chamber 56. Therefore, the auxiliary holding mechanism 7 operates. More specifically, in the air drive mechanism 8, the pressure difference between one end 811 and the other end 812 of the cylinder 81 increases. For example, if the negative pressure air is close to a vacuum, the pressure difference increases from zero to approximately 1 atmosphere. As a result, the piston 82 rises by a stroke length ST. The drive lever 821 and drive pin 822 also rise by a stroke length ST, similar to the piston 82.

[0050] The locking mechanism 9 is activated by the upward movement of the drive pin 822. In other words, the piston 82 drives the locking member 94 and the clamp portion 95 as it rises. To describe the operation in detail, the upward movement of the drive pin 822 pushes up the driven groove portion 922 of the connecting member 92. As a result, the connecting member 92 swings clockwise around the support point 921 as shown in Figures 3 and 4. At this time, the drive groove portion 923 of the connecting member 92 descends. As the drive groove portion 923 descends, it pushes down the driven pin 942 of the locking member 94. As a result, the locking member 94 swings counterclockwise around the support point 941 as shown in Figures 3 and 4.

[0051] The clamp portion 95 swings counterclockwise together with the locking member 94. This causes the clamp portion 95 to change its position from an inclined position to an upright position (operating state) as shown in Figures 5 and 6. In the upright position, the clamp portion 95 clamps both the bottom portion 61 of the mounting head 43 and the flange 57 of the suction nozzle 5. In other words, the locking member 94 locks the suction nozzle 5 to the mounting head 43. At the clamped position by the clamp portion 95, a different holding force is generated than the holding force of the main holding mechanism 6. Through the above operation, the auxiliary holding mechanism 7 generates an auxiliary holding force that is added to the holding force of the main holding mechanism 6. After this, the supply of negative pressure air to the first air passage 66 continues throughout the time that the suction nozzle 5 holds the part P, and the operating state of the auxiliary holding mechanism 7 is maintained.

[0052] The suction nozzle 5 rises after picking up the component P. Next, with the suction nozzle 5 holding the component P, the mounting head 43 moves above the component recognition camera 47, and the component recognition camera 47 takes an image. Then, the mounting head 43 moves above the substrate K. After the mounting head 43 has moved above the substrate K, or while it is in the process of moving, the suction nozzle 5 descends toward the component mounting position on the substrate K.

[0053] Since the auxiliary holding mechanism 7 is maintained throughout the horizontal movement of the mounting head 43 and the raising and lowering of the suction nozzle 5, the suction nozzle 5 is stably held on the mounting head 43. As a result, there is no concern that the suction nozzle 5 will fall from the main holding mechanism 6 or that the suction nozzle 5 will cause the part P to fall. Furthermore, there is no problem even if the mounting head 43 moves horizontally at high speed, and there is no problem even if the suction nozzle 5 moves up and down at high speed.

[0054] As the suction nozzle 5 descends toward the substrate K, the negative-pressure air in the inner air chamber 62 is discharged, and positive-pressure air is supplied to the first air passage 66. The positive-pressure air reaches the suction air chamber 56 via the inner air chamber 62 and the internal air passage 54. As a result, the suction nozzle 5 can release the component P from its suction state and attach it to the substrate K.

[0055] Here, the positive-pressure air has already reached one end 811 of the cylinder 81 just before it reaches the adsorption air chamber 56. Therefore, the auxiliary holding mechanism 7 returns to its normal state. More specifically, in the air-driven mechanism 8, the pressure difference between one end 811 and the other end 812 of the cylinder 81 decreases, causing the piston 82 and the drive pin 822 to descend. As a result, the locking mechanism 9 operates in the opposite direction to the above, the clamp portion 95 returns from an upright position to an inclined position, and the auxiliary holding force disappears.

[0056] As can be seen from the explanation so far, the auxiliary holding mechanism 7 operates in conjunction with the supply of negative pressure air to the first air passage 66. In other words, the auxiliary holding mechanism 7 generates an auxiliary holding force in accordance with the time period when the suction nozzle 5 is holding the part P. That is, the auxiliary holding mechanism 7 generates an auxiliary holding force when the total weight burdened by the main holding mechanism 6 is large because the suction nozzle 5 is holding the part P, and does not generate an auxiliary holding force when the total weight burdened is small, consisting only of the weight of the suction nozzle 5.

[0057] In the component mounting machine 1 of the first embodiment, the auxiliary holding mechanism 7 can increase the holding force by generating an auxiliary holding force that is added to the predetermined holding force of the main holding mechanism 6. Therefore, the suction nozzle 5 is stably held by the mounting head 43, enabling stable component mounting work and high-speed movement of the mounting head 43. In addition, the auxiliary holding mechanism 7 can have a simple configuration that operates by supplying negative pressure air. The auxiliary holding mechanism 7 operates automatically by the negative pressure air supplied to the suction nozzle 5, and does not require a dedicated control unit or drive unit, thus simplifying the configuration and providing high operational reliability.

[0058] Furthermore, by using a portion of the shaft 52 as a cylinder 81, the auxiliary holding mechanism 7 is made lighter, suppressing an increase in the total load, so the effect of adding auxiliary holding force is not diminished. Also, by providing the auxiliary holding mechanism 7 on the side of the suction nozzle 5, the configuration of the main body of the parts mounting machine 1, including the mounting head 43, does not need to be changed from the conventional configuration. Therefore, it is possible to avoid increasing the overall configuration of the parts mounting machine 1 and suppress an increase in equipment costs. In addition, for users who have a parts mounting machine 1 that has a main holding mechanism 6 but no auxiliary holding mechanism 7, it becomes possible to provide the suction nozzle 5 with the auxiliary holding mechanism 7 as a separate item.

[0059] 5. Suction nozzle 5A of the second embodiment Next, the suction nozzle 5A of the second embodiment will be described with reference to Figures 7 and 8. In the second embodiment, the configuration of the main body of the component mounting machine 1 is the same as in the first embodiment. The suction nozzle 5A of the second embodiment differs from the first embodiment in the configuration of the auxiliary holding mechanism 7A. Specifically, the auxiliary holding mechanism 7A has a cylinder 81A (second cylinder) of the air drive mechanism 8A that is provided separately from the shaft portion 52, and is equipped with two sets of locking mechanisms 9. One air drive mechanism 8A drives the two sets of locking mechanisms 9.

[0060] As shown in Figure 7, in the second embodiment, the shaft portion 52 is located in the center of the lower surface of the flange 57. The internal air passage 54 extends vertically from the center of the shaft portion 52. On the other hand, the cylinder 81A is located off-center from the lower surface of the flange 57. As shown in Figure 8, in order to connect one upper end 811 of the cylinder 81A with the outer air chamber 64 of the main holding mechanism 6, a base end 572 is provided in addition to the base end 571 in the center of the flange 57. The other lower end 812 of the cylinder 81A is open to atmospheric air. Drive openings 814 are provided at two locations in the circumferential direction at approximately the middle height of the cylinder 81A.

[0061] The piston 82A is positioned inside the cylinder 81A so as to be movable while maintaining airtightness. The piston 82A has drive levers 821 on its outer surface at approximately the midpoint height, which protrude outward from two drive openings 814 of the cylinder 81. As in the first embodiment, a coil spring is used as the biasing member 83. Two sets of locking mechanisms 9 are provided so as to be driven by drive pins 822 provided on each of the two drive levers 821.

[0062] The locking mechanism 9 has the same configuration as in the first embodiment. However, the dimensional specifications of the connecting seat 91, connecting member 92, locking seat 93, locking member 94, and clamp portion 95 are slightly modified from those of the first embodiment. The two sets of locking mechanisms 9 are arranged such that the two clamp portions 95 are far apart from each other. The two clamp portions 95 clamp the bottom portion 61 of the mounting head 43 and the flange 57 of the suction nozzle 5 at two locations approximately 180° apart in the circumferential direction.

[0063] In the second embodiment, when negative pressure air is supplied to the second air passage 67, the piston 82A of the auxiliary holding mechanism 7A rises, and the two clamping parts 95 operate simultaneously to generate an auxiliary holding force. In other words, the auxiliary holding mechanism 7A generates an auxiliary holding force at two locations in the circumferential direction throughout the time that the main holding mechanism 6 holds the suction nozzle 5. The same effects as in the first embodiment are obtained in the second embodiment. In addition, by having the two clamping parts 95 clamp at two separate locations, an even and stable auxiliary holding force can be obtained.

[0064] 6. Suction nozzle 5B of the third embodiment Next, the suction nozzle 5B of the third embodiment will be described with reference to Figure 9. In the third embodiment, the configuration of the main body of the component mounting machine 1 is the same as in the first embodiment. The suction nozzle 5B of the third embodiment differs from the first and second embodiments in the air drive mechanism 8B that constitutes the auxiliary holding mechanism 7B. In addition, the locking mechanism 9 that constitutes the auxiliary holding mechanism 7B has the same configuration as in the first embodiment.

[0065] As shown in Figure 9, the air-driven mechanism 8B of the third embodiment includes a cylinder 81B (first cylinder), a piston 82B (first piston), and a biasing member 83 (first biasing member). The cylinder 81B also serves as the shaft portion 52 of a hollow cylindrical shape. Therefore, the cylinder 81B constitutes part of the internal air passage 54 that communicates from the base end portion 571 of the flange 57 to the adsorption air chamber 56 at the tip portion 53. A drive opening 814 is provided at one circumferential location at approximately the middle height of the cylinder 81B.

[0066] The piston 82B has a substantially cylindrical shape and is positioned to move within the cylinder 81B while maintaining airtightness. The piston 82B has a through hole 823 that passes through its center in the vertical direction. Both ends of the through hole 823 communicate with the internal air passage 54 and allow the flow of negative pressure air. Furthermore, the piston 82B has a drive lever 821 that protrudes outward from the drive opening 814 of the cylinder 81 at approximately the middle height of its outer surface. As in the first embodiment, a coil spring is used as the biasing member 83. A locking mechanism 9 is provided to be driven by a drive pin 822 provided on the drive lever 821.

[0067] In the third embodiment, the auxiliary holding mechanism 7B operates in conjunction with the supply of negative pressure air to the first air passage 66. In other words, the auxiliary holding mechanism 7B is driven by the negative pressure air that flows when the suction nozzle 5 attracts the part P. While the negative pressure air is flowing, a pressure difference is created at both ends of the through hole 823. Driven by this pressure difference, the piston 82B rises and operates the locking mechanism 9.

[0068] When the tip 53 of the suction nozzle 5 finishes adsorbing the part P and the negative pressure air stops flowing, the auxiliary holding mechanism 7B returns to its normal state. Therefore, the third embodiment is effective when air leakage occurs between the part P and the outer peripheral edge 55 while the tip 53 is adsorbing the part P. For example, if the part P is an irregularly shaped part with irregularities or roughness on its upper surface, and the suction nozzle 5 adsorbs the part P while allowing air leakage, the operating state of the auxiliary holding mechanism 7B is maintained by the air leakage. The effects of the third embodiment are the same as those of the first embodiment, so a further explanation is omitted.

[0069] 7. Applications and Variations of Embodiments Furthermore, in applications of the first to third embodiments, the auxiliary holding mechanism 7 can be provided on the side of the mounting head 43. That is, the mounting head 43 may include an air drive mechanism provided at the end of a branched air passage obtained by branching the first air passage 66 or the second air passage 67, and a locking mechanism provided on the mounting head 43 and driven by the air drive mechanism. In this embodiment, the weight of the suction nozzle 5 does not increase, and therefore the total weight borne by the main holding mechanism 6 does not increase, so the effect of adding the auxiliary holding force becomes more pronounced. Also, the two sets of locking mechanisms 9 described in the second embodiment may be three or more sets. Furthermore, in the first and third embodiments, the configuration can be modified so that one piston (82, 82B) operates multiple sets of locking mechanisms 9 simultaneously.

[0070] Furthermore, in the first to third embodiments, a negative pressure gripping type mechanism may be used instead of the main holding mechanism 6, in which the gripping arm is operated by the supply of negative pressure air to grip the suction nozzle 5. Also, in the first and third embodiments, a mechanical gripping type mechanism may be used instead of the main holding mechanism 6, in which the gripping arm is operated by a mechanical drive source to grip the suction nozzle 5. Moreover, in the first to third embodiments, a negative pressure gripping type component holder may be used instead of the suction nozzle 5, in which the gripping fingers are operated by the supply of negative pressure air to grip the component P. The first to third embodiments can be further applied and modified in various ways. [Explanation of symbols]

[0071] 1: Component mounting machine 2: Board transport device 3: Component supply device 4: Component transfer device 43: Mounting head 44, 44A: Nozzle tool 5: Suction nozzle 51: Nozzle body 52: Shaft part 53: Tip part 54: Internal air passage 57: Flange 571, 572: Base part 6: Main holding mechanism 61: Bottom part 62: Inner air chamber 64: Outer air chamber 66: First air passage 67: Second air passage 7, 7A, 7B: Auxiliary holding mechanism 8, 8A, 8B: Air drive mechanism 81, 81A, 81B: Cylinder 811: One end 812: Other end 82, 82A, 82B: Piston 822: Drive pin 823: Through hole 83: Biasing member 9: Locking mechanism 92: Connecting member 94: Locking member 95: Clamp part K: Board P: Component

Claims

1. A component mounting device that uses negative pressure air to pick up components and attach them to a circuit board, The aforementioned component mounting device has a main holding mechanism that holds the component detachably with a predetermined holding force, and includes a mounting head that is movable in the horizontal direction, The system includes an auxiliary holding mechanism that operates by supplying the aforementioned negative pressure air to generate an auxiliary holding force added to the holding force, The mounting head has a first air passage that supplies the negative pressure air to the component mounting device, The auxiliary holding mechanism operates in conjunction with the supply of the negative pressure air to the first air passage, The auxiliary holding mechanism includes an air-driven mechanism that operates by the supply of negative pressure air, and a locking member that is driven by the air-driven mechanism to lock the component holder to the mounting head. The air-driven mechanism operates by the supply of the negative pressure air from the first air passage, and, A first cylinder that constitutes part of the internal air passage that communicates from the base end into which the negative pressure air of the component holder flows to the tip end for collecting the component, A first piston, having a through-hole that allows the flow of negative pressure air, is movably positioned inside the first cylinder and drives the locking member while moving, The first piston has a first biasing member that biases it toward the tip, Component mounting machine.

2. A component mounting device that uses negative pressure air to pick up components and attach them to a circuit board, The aforementioned component mounting device has a main holding mechanism that holds the component detachably with a predetermined holding force, and includes a mounting head that is movable in the horizontal direction, The system includes an auxiliary holding mechanism that operates by supplying the aforementioned negative pressure air to generate an auxiliary holding force added to the holding force, The mounting head has a first air passage that supplies the negative pressure air to the component mounting device, The auxiliary holding mechanism operates in conjunction with the supply of the negative pressure air to the first air passage, The auxiliary holding mechanism includes an air-driven mechanism that operates by the supply of negative pressure air, and a locking member that is driven by the air-driven mechanism to lock the component holder to the mounting head. The aforementioned air-driven mechanism is A second cylinder having one end to which the negative pressure air is supplied and the other end to which atmospheric pressure air is open, A second piston is positioned inside the second cylinder so as to be movable while maintaining airtightness, and drives the locking member while moving; The second piston has a second biasing member that biases it toward the other end, Component mounting machine.

3. The component mounting machine according to claim 1 or 2, wherein one air-driven mechanism drives a plurality of locking members.

4. A component mounting device that uses negative pressure air to pick up components and attach them to a circuit board, The aforementioned component mounting device has a main holding mechanism that holds the component detachably with a predetermined holding force, and includes a mounting head that is movable in the horizontal direction, The system includes an auxiliary holding mechanism that operates by supplying the aforementioned negative pressure air to generate an auxiliary holding force added to the holding force, The auxiliary holding mechanism is provided on the component mounting device. Component mounting machine.

Images