JP6346223B2 - Component mounter - Google Patents

Component mounter Download PDF

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JP6346223B2
JP6346223B2 JP2016119527A JP2016119527A JP6346223B2 JP 6346223 B2 JP6346223 B2 JP 6346223B2 JP 2016119527 A JP2016119527 A JP 2016119527A JP 2016119527 A JP2016119527 A JP 2016119527A JP 6346223 B2 JP6346223 B2 JP 6346223B2
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nozzle
component
drive mechanism
rotary head
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JP2016165020A (en
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茂人 大山
茂人 大山
淳 飯阪
淳 飯阪
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Description

本発明は、回転ヘッド（ロータリヘッド）にその円周方向に所定間隔で複数のノズルホルダを下降可能に設けた部品実装機に関する発明である。   The present invention relates to a component mounter in which a plurality of nozzle holders are provided on a rotary head (rotary head) so as to be lowered at predetermined intervals in the circumferential direction.

回転ヘッド（ロータリヘッド）型の部品実装機は、例えば特許文献１（特開２００４−３９８１８号公報）に記載されているように、回転ヘッドにその円周方向に複数のノズルホルダを所定間隔で下降可能に設けると共に、各ノズルホルダにそれぞれ吸着ノズルを下向きに保持させ、更に、Ｒ軸駆動機構により回転ヘッドをＲ軸（鉛直軸）の回りを回転させることで、複数のノズルホルダをそれらに保持した複数の吸着ノズルと一体的に該回転ヘッドの円周方向に旋回させると共に、その旋回軌道の所定位置で、Ｚ軸駆動機構により１つのノズルホルダを下降させることで部品の吸着・実装を行い、Ｑ軸駆動機構により各ノズルホルダをその軸心線の回りを回転させることで、各ノズルホルダに保持した各吸着ノズルに吸着した各部品の向き（角度）を修正するようにしたものがある。   As described in Patent Document 1 (Japanese Patent Laid-Open No. 2004-39818), for example, a rotary head (rotary head) type component mounting machine has a plurality of nozzle holders arranged at predetermined intervals on the rotary head. In addition to being provided so that it can be lowered, each nozzle holder holds the suction nozzle downward, and further, by rotating the rotating head around the R axis (vertical axis) by the R axis drive mechanism, a plurality of nozzle holders are attached to them. The rotating head is swung in the circumferential direction integrally with a plurality of held sucking nozzles, and at a predetermined position on the swiveling track, one nozzle holder is lowered by a Z-axis drive mechanism to suck and mount parts. The direction of each component sucked by each suction nozzle held in each nozzle holder by rotating each nozzle holder around its axis by the Q axis drive mechanism Is that so as to correct the angle).

特開２００４−３９８１８号公報JP 2004-39818 A

しかし、上記従来構成では、Ｚ軸駆動機構によりノズルホルダを下降させる位置（角度）が１箇所に固定されているため、部品の吸着・実装動作時に回転ヘッドを最大３６０°近く回転させる必要があり、これが部品の吸着・実装動作に要する時間を延ばして生産性（サイクルタイム）を低下させる原因となっている。   However, in the above conventional configuration, the position (angle) at which the nozzle holder is lowered by the Z-axis drive mechanism is fixed at one place, and therefore it is necessary to rotate the rotary head nearly 360 ° at the time of component suction / mounting operations. This increases the time required for component adsorption / mounting operations and reduces productivity (cycle time).

そこで、本発明が解決しようとする課題は、回転ヘッド型の部品実装機において、部品の吸着・実装動作に要する時間を短縮して生産性（サイクルタイム）を向上できるようにすることである。   Therefore, the problem to be solved by the present invention is to reduce the time required for component adsorption / mounting operation and improve productivity (cycle time) in a rotary head type component mounting machine.

上記課題を解決するために、本発明は、上下方向に延びるＲ軸の回りを回転可能に設けられた回転ヘッドと、前記回転ヘッドにその円周方向に所定間隔で下降可能に設けられた複数のノズルホルダと、前記複数のノズルホルダにそれぞれ下向きに保持され、部品を吸着する複数の吸着ノズルと、１つのＲ軸モータの駆動力により前記回転ヘッドを前記Ｒ軸の回りを回転させることで前記複数のノズルホルダを前記複数の吸着ノズルと一体的に該回転ヘッドの円周方向に旋回させると共に前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置で該ノズルホルダの旋回を停止させるＲ軸駆動機構と、前記Ｒ軸モータとは別の１つのＱ軸モータの駆動力により前記複数のノズルホルダをそれぞれ各ノズルホルダの軸心線の回りを回転させることで各ノズルホルダに保持された各吸着ノズルに吸着した各部品の向きを修正するＱ軸駆動機構と、前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置で前記複数のノズルホルダを個別に下降させるＺ軸駆動機構と、基板搬送方向をＸ方向、前記Ｘ方向と直角な方向をＹ方向とし、前記吸着ノズルが部品を吸着する部品吸着エリアと前記吸着ノズルに吸着した部品を実装する部品実装エリアとの間で前記回転ヘッドをＸＹ方向に移動させて部品吸着及び実装を行うＸＹ方向移動装置とを備え、前記Ｚ軸駆動機構は、前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置に対応する位置に前記回転ヘッドとは分離して固定的に１つずつ設けられ、２つ以上のＺ軸モータの駆動力により前記複数のノズルホルダを個別に下降させるように構成され、前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置には、該旋回軌道の直径方向両側に位置する前記Ｘ方向とその反対方向の２箇所の停止位置が含まれ、前記部品吸着エリアのうち前記Ｘ方向に位置する境界付近の領域で前記部品を吸着する場合には、前記Ｘ方向とその反対方向の２箇所の停止位置のうち前記Ｘ方向の停止位置へ下降対象となるノズルホルダを旋回させるように前記Ｒ軸駆動機構のＲ軸モータを制御し、前記部品吸着エリアのうち前記Ｘ方向と反対方向に位置する境界付近の領域で前記部品を吸着する場合には、前記Ｘ方向とその反対方向の２箇所の停止位置のうち前記Ｘ方向と反対方向の停止位置へ前記下降対象となるノズルホルダを旋回させるように前記Ｒ軸駆動機構のＲ軸モータを制御するように構成されていることを特徴とするものである。 In order to solve the above-described problems, the present invention provides a rotary head that is provided so as to be rotatable around an R axis that extends in the vertical direction, and a plurality of rotary heads that are provided on the rotary head so as to be lowered at predetermined intervals in the circumferential direction. The rotary head is rotated around the R-axis by the driving force of one R-axis motor and a plurality of suction nozzles that are respectively held downward by the plurality of nozzle holders and suck parts. The plurality of nozzle holders are swung integrally with the plurality of suction nozzles in the circumferential direction of the rotary head, and the swiveling of the nozzle holders is stopped at two or more stop positions on the swiveling trajectory of the plurality of nozzle holders. and R-axis drive mechanism, this rotating around the R-axis motor with another one Q-axis axial line of said plurality of each of the nozzle holder and the nozzle holder by a driving force of the motor The Q-axis drive mechanism for correcting the orientation of each part sucked by each suction nozzle held by each nozzle holder and the plurality of nozzle holders individually at two or more stop positions on the orbit of the plurality of nozzle holders A Z-axis drive mechanism that moves downward , a substrate transport direction as an X direction, a direction perpendicular to the X direction as a Y direction, and a component suction area where the suction nozzle sucks components and a component sucked by the suction nozzle are mounted An XY direction moving device that moves and rotates the rotary head in the XY direction between the component mounting areas, and the Z axis drive mechanism includes two or more of the orbits of the plurality of nozzle holders. of said rotary head to a position corresponding to the stop position provided by one fixedly separated, to individually lower the plurality of the nozzle holder by the drive force of the two or more Z-axis motor Configured urchin, the two or more positions of the stop position of the turning trajectory of the plurality of nozzle holders are included at two locations of the stop position of the X-direction and the opposite direction are located diametrically opposite sides of said pivot trajectory, the When the component is sucked in the region near the boundary located in the X direction in the component sucking area, the object to be lowered to the stop position in the X direction among the two stop positions in the X direction and the opposite direction. When the R-axis motor of the R-axis drive mechanism is controlled to rotate the nozzle holder and the component is sucked in the region near the boundary located in the direction opposite to the X direction in the component suction area, The R-axis motor of the R-axis drive mechanism is controlled so as to turn the nozzle holder to be lowered to the stop position in the opposite direction to the X direction among the two stop positions in the X direction and the opposite direction. It is characterized by being comprised .

この構成によれば、回転ヘッドに保持された複数のノズルホルダの旋回軌道の直径方向両側に位置するＸ方向とその反対方向の２箇所の停止位置を含む２箇所以上の停止位置で、Ｚ軸駆動機構によりノズルホルダを個別に下降させることができるため、部品の吸着・実装動作時の回転ヘッドの最大回転角度を従来より大幅に短縮することができ、部品の吸着・実装動作に要する時間を短縮して生産性（サイクルタイム）を向上できる。
しかも、部品吸着エリアのうちＸ方向に位置する境界付近の領域で部品を吸着する場合には、Ｘ方向に位置する停止位置へ下降対象となるノズルホルダを旋回させ、一方、部品吸着エリアのうちＸ方向と反対方向に位置する境界付近の領域で部品を吸着する場合には、Ｘ方向と反対方向に位置する停止位置へ下降対象となるノズルホルダを旋回させるようにしたので、部品吸着エリアのうちＸ方向とその反対方向の境界付近の領域で部品を吸着する場合に、その部品吸着エリアのＸ方向とその反対方向の境界から食み出す回転ヘッドの食み出し量を縮小することが可能となり、その分、回転ヘッドの移動エリアのＸ方向のサイズが小さくなって部品実装機を小型化できる。しかも、回転ヘッドの移動エリアのＸ方向のサイズが小さくなるため、部品の吸着・実装動作に必要な回転ヘッドのＸ方向の往復移動距離を短くすることも可能となり、上述した回転ヘッドの回転角度を小さくできることと相俟って、部品の吸着・実装動作に要する時間を短縮して生産性を向上する効果を大きくできる。 According to this configuration, at two or more stop positions including two stop positions in the X direction and opposite directions on the both sides in the diameter direction of the orbit of the plurality of nozzle holders held by the rotary head, the Z axis Since the nozzle holder can be lowered individually by the drive mechanism, the maximum rotation angle of the rotating head during component suction / mounting operation can be greatly reduced compared to the conventional method, and the time required for component suction / mounting operation can be reduced. Productivity (cycle time) can be improved by shortening.
In addition, when the component is sucked in the region near the boundary located in the X direction in the component suction area, the nozzle holder to be lowered is turned to the stop position located in the X direction, When picking up a component in the region near the boundary located in the direction opposite to the X direction, the nozzle holder to be lowered is turned to the stop position located in the direction opposite to the X direction. When picking up parts in the area near the boundary between the X direction and the opposite direction, it is possible to reduce the amount of protrusion of the rotary head that protrudes from the boundary between the X direction and the opposite direction of the part picking area. Accordingly, the size of the moving area of the rotary head in the X direction is reduced, and the component mounter can be downsized. In addition, since the size in the X direction of the moving area of the rotating head is reduced, it is possible to shorten the reciprocating distance of the rotating head in the X direction, which is necessary for component suction and mounting operations. In combination with being able to reduce the time, it is possible to increase the effect of improving the productivity by shortening the time required for the component adsorption / mounting operation.

この場合、複数のノズルホルダの旋回軌道の２箇所以上の停止位置には、Ｙ方向とその反対方向に位置する２箇所の停止位置がさらに含まれるようにしても良い。
更に、Ｚ軸駆動機構は、ノズルホルダとは別体に設けるようにしても良い。
In this case, the two or more stop positions on the orbit of the plurality of nozzle holders may further include two stop positions located in the Y direction and the opposite directions.
Further, Z-axis drive mechanism may be so that provided separately from the nozzle holder.

図１は本発明の実施例１の回転ヘッド駆動装置の構成を示す斜視図である。FIG. 1 is a perspective view showing the configuration of the rotary head driving apparatus according to the first embodiment of the present invention. 図２は実施例１のノズルホルダの配置と下降可能位置との関係を説明する平面図である。FIG. 2 is a plan view illustrating the relationship between the arrangement of the nozzle holder and the descendable position according to the first embodiment. 図３は実施例１の回転ヘッドの移動エリアと部品実装エリアと部品吸着エリアとの位置関係を説明する図である。FIG. 3 is a diagram illustrating the positional relationship among the moving area, the component mounting area, and the component suction area of the rotary head according to the first embodiment. 図４は従来の回転ヘッドの移動エリアと部品実装エリアと部品吸着エリアとの位置関係を説明する図である。FIG. 4 is a diagram for explaining the positional relationship among a moving area, a component mounting area, and a component suction area of a conventional rotary head. 図５は実施例１の部品実装機の制御系の構成を示すブロック図である。FIG. 5 is a block diagram illustrating a configuration of a control system of the component mounter according to the first embodiment. 図６は実施例２のノズルホルダの配置と下降可能位置との関係を説明する平面図である。FIG. 6 is a plan view illustrating the relationship between the arrangement of the nozzle holder and the descendable position according to the second embodiment. 図７は実施例２の回転ヘッドの移動エリアと部品実装エリアと部品吸着エリアとの位置関係を説明する図である。FIG. 7 is a diagram illustrating the positional relationship among the moving area, the component mounting area, and the component suction area of the rotary head according to the second embodiment. 図８は実施例３の回転ヘッド駆動装置の構成を示す斜視図である。FIG. 8 is a perspective view illustrating a configuration of the rotary head driving device according to the third embodiment. 図９は実施例４の回転ヘッド駆動装置の構成を示す斜視図である。FIG. 9 is a perspective view illustrating a configuration of the rotary head driving device according to the fourth embodiment. 図１０は実施例４の回転ヘッド駆動装置のノズルホルダ下降動作時の状態を示す斜視図である。FIG. 10 is a perspective view showing a state of the rotary head driving device according to the fourth embodiment when the nozzle holder is lowered. 図１１は実施例４の回転ヘッド駆動装置のＱ軸駆動機構の構成を示す斜視図である。FIG. 11 is a perspective view illustrating a configuration of a Q-axis drive mechanism of the rotary head drive device according to the fourth embodiment. 図１２は実施例５の回転ヘッド駆動装置の構成を示す斜視図である。FIG. 12 is a perspective view illustrating a configuration of the rotary head driving apparatus according to the fifth embodiment. 図１３は実施例５の回転ヘッド駆動装置のノズルホルダ下降動作時の状態を示す斜視図である。FIG. 13 is a perspective view showing a state of the rotary head driving device of the fifth embodiment when the nozzle holder is lowered.

以下、本発明を実施するための形態を具体化した５つの実施例１〜５を説明する。   Hereinafter, five examples 1 to 5 embodying a mode for carrying out the present invention will be described.

本発明の実施例１を図１乃至図５に基づいて説明する。
まず、部品実装機の回転ヘッド駆動装置１０の構成を説明する。 A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the rotary head driving device 10 of the component mounting machine will be described.

回転ヘッド１１には、その円周方向に所定間隔で複数のノズルホルダ１２が下降可能に支持され、各ノズルホルダ１２には、それぞれ部品を吸着する吸着ノズル１３が下向きに交換可能に保持されている。   A plurality of nozzle holders 12 are supported by the rotary head 11 so as to be able to descend at predetermined intervals in the circumferential direction, and suction nozzles 13 for sucking components are held downward and replaceable in each nozzle holder 12. Yes.

回転ヘッド１１は、上下方向に延びるＲ軸１４の下端に嵌着され、該Ｒ軸１４の上端には、Ｒ軸駆動機構１５のＲ軸ギア１６が嵌着されている。このＲ軸ギア１６には、Ｒ軸モータ１７の回転軸１８に固定されたギア１９が噛み合い、Ｒ軸モータ１７のギア１９の回転によりＲ軸ギア１６が回転して、回転ヘッド１１がＲ軸１４を中心にして回転することで、複数のノズルホルダ１２が複数の吸着ノズル１３と一体的に該回転ヘッド１１の円周方向に旋回するようになっている。   The rotary head 11 is fitted to the lower end of the R-axis 14 extending in the vertical direction, and the R-axis gear 16 of the R-axis drive mechanism 15 is fitted to the upper end of the R-axis 14. A gear 19 fixed to the rotation shaft 18 of the R-axis motor 17 is engaged with the R-axis gear 16, and the R-axis gear 16 is rotated by the rotation of the gear 19 of the R-axis motor 17. By rotating around 14, the plurality of nozzle holders 12 are rotated together with the plurality of suction nozzles 13 in the circumferential direction of the rotary head 11.

Ｒ軸１４には、Ｑ軸駆動機構２０の上下２段のＱ軸ギア２１，２２が回転可能に挿通され、下段のＱ軸ギア２２には、各ノズルホルダ１２の上端に嵌着されたギア２３が噛み合っている。上段のＱ軸ギア２１には、Ｑ軸モータ２４の回転軸２５に固定されたギア２６が噛み合い、Ｑ軸モータ２４のギア２６の回転によりＱ軸ギア２１，２２が一体的に回転して各ギア２３が回転して、各ノズルホルダ１２がそれぞれ各ノズルホルダ１２の軸心線の回りを回転させることで、各ノズルホルダ１２に保持された各吸着ノズル１３に吸着した各部品の向き（角度）を修正するようになっている。   The R-axis 14 is rotatably inserted into two upper and lower Q-axis gears 21 and 22 of the Q-axis drive mechanism 20, and the lower Q-axis gear 22 is a gear fitted to the upper end of each nozzle holder 12. 23 is engaged. The upper Q-axis gear 21 meshes with a gear 26 fixed to the rotation shaft 25 of the Q-axis motor 24. The rotation of the gear 26 of the Q-axis motor 24 causes the Q-axis gears 21 and 22 to rotate integrally. As the gear 23 rotates and each nozzle holder 12 rotates about the axis of each nozzle holder 12, the direction (angle) of each component sucked by each suction nozzle 13 held by each nozzle holder 12 ) Has been corrected.

更に、本実施例１では、回転ヘッド１１の周囲の例えば４箇所（４方向）に、ノズルホルダ１２を個別に下降させるＺ軸駆動機構２８が設けられ、各Ｚ軸駆動機構２８により、ノズルホルダ１２の旋回軌道の４箇所の停止位置で、各ノズルホルダ１２を個別に下降させるように構成されている。４箇所のＺ軸駆動機構２８の位置は、回転ヘッド１１の回転角度で、０°、９０°、１８０°、２７０°の位置である。ここで、０°と１８０°はＸ方向（基板搬送方向）とその反対方向であり、９０°と２７０°はＹ方向（基板搬送方向と直角な方向）とその反対方向である。尚、図２、図３に図示されたノズルホルダ１２の本数は、４本となっているが、４本以上（例えば８本又は１２本）のノズルホルダ１２を配列した構成としても良い。   Further, in the first embodiment, Z-axis drive mechanisms 28 for individually lowering the nozzle holders 12 are provided at, for example, four locations (four directions) around the rotary head 11. Each nozzle holder 12 is configured to be lowered individually at four stop positions on the twelve orbits. The positions of the four Z-axis drive mechanisms 28 are 0 °, 90 °, 180 °, and 270 °, which are the rotation angles of the rotary head 11. Here, 0 ° and 180 ° are the X direction (substrate transport direction) and the opposite direction, and 90 ° and 270 ° are the Y direction (direction perpendicular to the substrate transport direction) and the opposite direction. Although the number of nozzle holders 12 shown in FIGS. 2 and 3 is four, four or more (for example, eight or twelve) nozzle holders 12 may be arranged.

各Ｚ軸駆動機構２８は、それぞれアクチュエータとしてＺ軸モータ２９を用い、このＺ軸モータ２９により送りねじ３０を回転させてＺ軸スライド３１を上下方向に移動させることで、ノズルホルダ１２の上端に設けられた係合片３２に該Ｚ軸スライド３１を係合させて該ノズルホルダ１２を上下動させるようになっている。尚、Ｚ軸モータ２９としてリニアモータを用いてＺ軸スライド３１を上下方向に移動させるようにしても良い。或は、リニアモータに代えて、リニアソレノイド、エアーシリンダ等を用いても良い。   Each Z-axis drive mechanism 28 uses a Z-axis motor 29 as an actuator, and the Z-axis motor 29 rotates the feed screw 30 to move the Z-axis slide 31 in the vertical direction. The nozzle holder 12 is moved up and down by engaging the Z-axis slide 31 with the provided engagement piece 32. A Z-axis slide 31 may be moved in the vertical direction using a linear motor as the Z-axis motor 29. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

以上のように構成した回転ヘッド駆動装置１０は、部品実装機のＸＹ方向移動装置３３（図５参照）に支持されてＸ方向とＹ方向に移動するようになっている。部品実装機の制御装置３４（制御手段）は、生産プログラムに従って、ＸＹ方向移動装置３３、回転ヘッド駆動装置１０のＲ軸モータ１７、Ｑ軸モータ２４及び各Ｚ軸モータ２９を制御して、複数のフィーダ３５から部品吸着エリアに供給される部品を吸着して基板上の部品実装エリアに実装する動作を制御する。   The rotary head driving device 10 configured as described above is supported by the XY direction moving device 33 (see FIG. 5) of the component mounting machine and moves in the X direction and the Y direction. The component mounting machine control device 34 (control means) controls the XY direction moving device 33, the R-axis motor 17, the Q-axis motor 24, and each Z-axis motor 29 of the rotary head driving device 10 according to the production program. The operation is to control the operation of sucking the component supplied from the feeder 35 to the component suction area and mounting it on the component mounting area on the board.

従来構成では、図４に示すように、Ｚ軸駆動機構２８によりノズルホルダ１２を下降させる位置（旋回角度）が１箇所に固定されているため、ノズルホルダ１２（Ａ）の吸着ノズル１３で部品吸着エリア内の部品を吸着して、基板上の部品実装エリアの境界付近（端縁付近）に該部品を実装する場合に、それらの境界の３方向（３辺）で、それらの境界から回転ヘッド１１を大きく食み出させる必要がある。このため、回転ヘッド１１の移動エリアを部品実装エリアや部品吸着エリアのサイズよりかなり大きく確保する必要があり、これが回転ヘッド型の部品実装機の小型化を妨げる原因となっている。しかも、回転ヘッド１１の移動エリアのサイズが大きくなれば、その分、部品の吸着・実装動作に必要な回転ヘッド１１のＸＹ方向の往復移動距離が長くなり、これが部品の吸着・実装動作に要する時間を延ばして生産性（サイクルタイム）を低下させる原因となっている。   In the conventional configuration, as shown in FIG. 4, the position (turning angle) at which the nozzle holder 12 is lowered by the Z-axis drive mechanism 28 is fixed at one place, so that the suction nozzle 13 of the nozzle holder 12 (A) When picking up components in the pick-up area and mounting them near the boundary of the component mounting area on the board (near the edge), they rotate from those boundaries in three directions (three sides) It is necessary to protrude the head 11 greatly. For this reason, it is necessary to ensure the moving area of the rotary head 11 to be considerably larger than the size of the component mounting area or the component suction area, which hinders the miniaturization of the rotary head type component mounting machine. Moreover, if the size of the moving area of the rotary head 11 is increased, the reciprocating distance in the XY direction of the rotary head 11 necessary for the component suction / mounting operation is increased accordingly, which is required for the component suction / mounting operation. This increases the time and decreases the productivity (cycle time).

そこで、本実施例１では、部品実装機の制御装置３４は、回転ヘッド１１の移動エリアの境界付近の領域で部品の吸着や実装を行う場合は、下降対象となるノズルホルダ１２を当該境界に最も近い位置へ旋回させると共に、４箇所のＺ軸駆動機構２８の中から当該境界に最も近い位置のＺ軸駆動機構２８のＺ軸モータ２９を作動させて、前記下降対象となるノズルホルダ１２を下降させるようにしている。   Therefore, in the first embodiment, when the control device 34 of the component mounting machine picks up or mounts a component in a region near the boundary of the moving area of the rotary head 11, the nozzle holder 12 to be lowered is set as the boundary. The nozzle holder 12 to be lowered is moved by rotating the Z-axis motor 29 of the Z-axis drive mechanism 28 closest to the boundary among the four Z-axis drive mechanisms 28 while turning to the nearest position. I try to lower it.

例えば、図３の例において、ノズルホルダ１２（Ａ）の吸着ノズル１３で部品吸着エリアの境界付近の部品を吸着して、基板上の部品実装エリアの境界付近で該ノズルホルダ１２（Ａ）を下降させて該部品を実装する場合に、該ノズルホルダ１２（Ａ）を当該部品実装エリアの境界に最も近い位置へ旋回させると共に、当該部品実装エリアの境界に最も近い位置のＺ軸駆動機構２８のＺ軸モータ２９を作動させて、該ノズルホルダ１２（Ａ）を下降させる。   For example, in the example of FIG. 3, the suction nozzle 13 of the nozzle holder 12 (A) sucks components near the boundary of the component suction area, and the nozzle holder 12 (A) is moved near the boundary of the component mounting area on the board. When the component is mounted while being lowered, the nozzle holder 12 (A) is turned to the position closest to the boundary of the component mounting area and the Z-axis drive mechanism 28 at the position closest to the boundary of the component mounting area. The Z-axis motor 29 is operated to lower the nozzle holder 12 (A).

このようにすれば、部品吸着エリアの境界付近の部品を吸着する場合や部品実装エリアの境界付近に部品を実装する場合に、それらの境界から食み出す回転ヘッド１１の食み出し量を大幅に縮小することが可能となり、その分、回転ヘッド１１の移動エリアのＸＹ方向の幅を縮小して部品実装機を小型化できる（又は実装可能な基板のサイズを大型化できる）。しかも、回転ヘッド１１の移動エリアのＸＹ方向の幅が小さくなることで、部品の吸着・実装動作に必要な回転ヘッド１１の水平方向（ＸＹ方向）の往復移動距離を短くすることができ、その分、部品の吸着・実装動作に要する時間を短縮して生産性（サイクルタイム）を向上できる。   In this way, when picking up components near the boundary of the component pick-up area or mounting components near the boundary of the component mounting area, the amount of protrusion of the rotary head 11 protruding from those boundaries is greatly increased. Accordingly, it is possible to reduce the width of the moving area of the rotary head 11 in the XY direction, thereby reducing the size of the component mounting machine (or increasing the size of the mountable board). Moreover, since the width of the moving area of the rotary head 11 in the XY direction is reduced, the reciprocating distance in the horizontal direction (XY direction) of the rotary head 11 necessary for the component suction / mounting operation can be shortened. Therefore, productivity (cycle time) can be improved by shortening the time required for picking and mounting parts.

また、本実施例１では、回転ヘッド１１に保持された複数のノズルホルダ１２の旋回軌道の４箇所の停止位置で、各Ｚ軸駆動機構２８により各ノズルホルダ１２を個別に下降させることができるため、部品の吸着・実装動作時の回転ヘッド１１の最大回転角度を従来より大幅に短縮することができ、上述した回転ヘッド１１の水平方向（ＸＹ方向）の往復移動距離を短縮する効果と相俟って、部品の吸着・実装動作に要する時間を短縮して生産性（サイクルタイム）を向上させる効果を大きくできる。   In the first embodiment, each nozzle holder 12 can be individually lowered by each Z-axis drive mechanism 28 at the four stop positions of the turning trajectory of the plurality of nozzle holders 12 held by the rotary head 11. Therefore, the maximum rotation angle of the rotary head 11 at the time of component suction / mounting operation can be greatly shortened compared to the conventional case, and this has the effect of shortening the reciprocating distance of the rotary head 11 in the horizontal direction (XY direction). As a result, it is possible to increase the effect of improving productivity (cycle time) by shortening the time required for component adsorption and mounting operations.

上記実施例１では、回転ヘッド１１の周囲の４箇所（４方向）に、ノズルホルダ１２を個別に下降させるＺ軸駆動機構２８を設けるようにしたが、図６及び図７に示す本発明の実施例２では、回転ヘッド１１の周囲の２箇所（２方向）に、ノズルホルダ１２を個別に下降させるＺ軸駆動機構２８を設け、該Ｚ軸駆動機構２８により、ノズルホルダ１２の旋回軌道の２箇所の停止位置で、該ノズルホルダ１２を個別に下降させるように構成している。２箇所のＺ軸駆動機構２８の位置は、回転ヘッド１１の回転角度で、例えば９０°と２７０°の位置（Ｙ方向両側の位置）である。前述したように、Ｙ方向は、基板搬送方向と直角な方向である。   In the first embodiment, the Z-axis drive mechanism 28 for individually lowering the nozzle holder 12 is provided at four locations (four directions) around the rotary head 11, but the present invention shown in FIGS. In the second embodiment, a Z-axis drive mechanism 28 that individually lowers the nozzle holder 12 is provided at two locations (two directions) around the rotary head 11. The nozzle holder 12 is configured to be lowered individually at two stop positions. The positions of the two Z-axis drive mechanisms 28 are the rotation angles of the rotary head 11, for example, 90 ° and 270 ° positions (positions on both sides in the Y direction). As described above, the Y direction is a direction perpendicular to the substrate transport direction.

本実施例２では、回転ヘッド１１の移動エリアの境界付近の領域のうち、Ｙ方向両側の境界（図６において上側と下側の境界）では、Ｙ方向両側の２箇所のＺ軸駆動機構２８の中から当該境界に近い方のＺ軸駆動機構２８のＺ軸モータ２９を作動させて、当該境界に最も近い位置のノズルホルダ１２を下降させる。   In the second embodiment, two Z-axis drive mechanisms 28 on both sides in the Y direction are present on the boundaries on both sides in the Y direction (upper and lower boundaries in FIG. 6) in the vicinity of the boundary of the moving area of the rotary head 11. The Z-axis motor 29 of the Z-axis drive mechanism 28 closer to the boundary is operated from among the nozzle holders 12 to lower the nozzle holder 12 closest to the boundary.

例えば、図７に示すように、ノズルホルダ１２（Ａ）の吸着ノズル１３で部品吸着エリアの境界付近の部品を吸着して、基板上の部品実装エリアのＹ方向の境界付近で該ノズルホルダ１２（Ａ）を下降させて該部品を実装する場合に、該ノズルホルダ１２（Ａ）を部品実装エリアのＹ方向の境界に最も近い位置へ旋回させると共に、該部品実装エリアのＹ方向の境界に近い方のＺ軸モータ２９を作動させて、該ノズルホルダ１２（Ａ）を下降させる。   For example, as shown in FIG. 7, a component near the boundary of the component suction area is sucked by the suction nozzle 13 of the nozzle holder 12 (A), and the nozzle holder 12 is near the boundary in the Y direction of the component mounting area on the substrate. When mounting the component by lowering (A), the nozzle holder 12 (A) is turned to a position closest to the boundary in the Y direction of the component mounting area, and at the boundary in the Y direction of the component mounting area. The nozzle holder 12 (A) is lowered by operating the closer Z-axis motor 29.

尚、ノズルホルダ１２（Ａ）の吸着ノズル１３で部品吸着エリアの境界付近の部品を吸着して、基板上の部品実装エリアのＸ方向の境界付近で該ノズルホルダＡを下降させて該部品を実装する場合には、回転ヘッド１１のＸ方向側にはＺ軸駆動機構２８が無いため、該ノズルホルダ１２（Ａ）を旋回させず（又は１８０°旋回させて）、該ノズルホルダ１２（Ａ）に対応するＺ軸駆動機構２８のＺ軸モータ２９を作動させて、該ノズルホルダ１２（Ａ）を下降させるようにすれば良い。   It should be noted that the suction nozzle 13 of the nozzle holder 12 (A) sucks the component near the boundary of the component suction area, and lowers the nozzle holder A near the boundary in the X direction of the component mounting area on the board to remove the component. In the case of mounting, since there is no Z-axis drive mechanism 28 on the X direction side of the rotary head 11, the nozzle holder 12 (A) is not rotated (or rotated 180 °). The Z-axis motor 29 of the Z-axis drive mechanism 28 corresponding to) is operated to lower the nozzle holder 12 (A).

以上説明した本実施例２では、回転ヘッド１１のＹ方向両側の２箇所にＺ軸駆動機構２８を設けたので、回転ヘッド１１の移動エリアのＹ方向両側の境界付近で部品の吸着や実装を行う場合に、部品吸着エリアや部品実装エリアのＹ方向両側の境界から食み出す回転ヘッド１１の食み出し量を大幅に縮小することが可能となり、部品実装機の小型化を実現できる（又は実装可能な基板のサイズを大型化できる）。しかも、回転ヘッド１１の移動エリアのＹ方向のサイズを小型化できるため、部品の吸着・実装動作に必要な回転ヘッド１１のＹ方向の往復移動距離を短くすることができ、その分、部品の吸着・実装動作に要する時間を短縮して生産性（サイクルタイム）を向上できる。   In the second embodiment described above, since the Z-axis drive mechanisms 28 are provided at two locations on both sides of the rotary head 11 in the Y direction, the components are attracted and mounted near the boundary on both sides in the Y direction of the moving area of the rotary head 11. In this case, the amount of protrusion of the rotary head 11 that protrudes from the boundary on both sides in the Y direction of the component suction area and the component mounting area can be greatly reduced, and the component mounting machine can be downsized (or The size of the board that can be mounted can be increased). In addition, since the size in the Y direction of the moving area of the rotary head 11 can be reduced, the reciprocating distance in the Y direction of the rotary head 11 necessary for the component suction / mounting operation can be shortened. Productivity (cycle time) can be improved by shortening the time required for suction and mounting operations.

次に、図８を用いて本発明の実施例３を説明する。但し、前記実施例１と実質的に同一部分には同一符号を付して説明を省略又は簡略化し、主として異なる部分について説明する。   Next, Embodiment 3 of the present invention will be described with reference to FIG. However, substantially the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted or simplified, and different parts are mainly described.

前記実施例１，２では、ノズルホルダ１２を下降させるＺ軸駆動機構２８のＺ軸モータ２９を複数設けたが、本実施例３では、ノズルホルダ１２を下降させるＺ軸駆動機構４０のＺ軸モータ４１（アクチュエータ）を１個のみとし、該Ｚ軸モータ４１を該ノズルホルダ１２の旋回方向に旋回させて２箇所以上の停止位置で選択的に停止させることで、該Ｚ軸モータ４１によりノズルホルダ１２の旋回軌道の２箇所以上の停止位置でノズルホルダ１２を個別に下降させるようにしている。   In the first and second embodiments, a plurality of Z-axis motors 29 of the Z-axis drive mechanism 28 for lowering the nozzle holder 12 are provided. However, in the third embodiment, the Z-axis of the Z-axis drive mechanism 40 for lowering the nozzle holder 12 is provided. Only one motor 41 (actuator) is used, and the Z-axis motor 41 is selectively stopped at two or more stop positions by turning the Z-axis motor 41 in the turning direction of the nozzle holder 12, so that the nozzle is driven by the Z-axis motor 41. The nozzle holder 12 is individually lowered at two or more stop positions on the orbit of the holder 12.

以下、本実施例３のＺ軸駆動機構４０の構成を説明する。
Ｚ軸モータ４１を旋回させるギア４２がＲ軸１４に回転可能に挿通支持され、該ギア４２に取付部材４３を介してＺ軸モータ４１が下向きに取り付けられ、このＺ軸モータ４１により送りねじ４４を回転させてＺ軸スライド４５を上下方向に移動させることで、ノズルホルダ１２の上端の係合片３２に該Ｚ軸スライド４５を係合させて該ノズルホルダ１２を上下動させるようになっている。尚、Ｚ軸モータ４１としてリニアモータを用いてＺ軸スライド４５を上下方向に移動させるようにしても良い。或は、リニアモータに代えて、リニアソレノイド、エアーシリンダ等を用いても良い。 Hereinafter, the configuration of the Z-axis drive mechanism 40 of the third embodiment will be described.
A gear 42 for turning the Z-axis motor 41 is rotatably inserted into and supported by the R-axis 14, and the Z-axis motor 41 is attached downward to the gear 42 via an attachment member 43. And the Z-axis slide 45 is moved in the vertical direction so that the Z-axis slide 45 is engaged with the engagement piece 32 at the upper end of the nozzle holder 12 to move the nozzle holder 12 up and down. Yes. Note that a linear motor may be used as the Z-axis motor 41 to move the Z-axis slide 45 in the vertical direction. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

Ｚ軸モータ４１を旋回させるギア４２には、モータ４６の回転軸４７に固定されたギア４８が噛み合い、該モータ４６のギア４８の回転によりギア４２を回転させてＺ軸モータ４１を旋回させる。   The gear 42 that rotates the Z-axis motor 41 is engaged with a gear 48 fixed to the rotation shaft 47 of the motor 46, and the gear 42 is rotated by the rotation of the gear 48 of the motor 46 to rotate the Z-axis motor 41.

以上のように構成した本実施例３では、回転ヘッド１１の移動エリアの境界付近の領域で部品の吸着や実装を行う場合は、モータ４６によりギア４２を回転させてＺ軸モータ４１を回転ヘッド１１の移動エリアの境界に最も近い位置へ旋回させると共に、下降対象となるノズルホルダ１２を該回転ヘッド１１の移動エリアの境界に最も近い位置へ旋回させた後、該Ｚ軸モータ４１を作動させて、前記下降対象となるノズルホルダ１２を下降させる。このようにすれば、前記実施例１と同様の効果を得ることができる。   In the third embodiment configured as described above, when the component is sucked or mounted in the region near the boundary of the moving area of the rotary head 11, the gear 42 is rotated by the motor 46 so that the Z-axis motor 41 is rotated. The nozzle holder 12 to be lowered is turned to the position closest to the boundary of the moving area of the rotary head 11, and then the Z-axis motor 41 is operated. Then, the nozzle holder 12 to be lowered is lowered. In this way, the same effect as in the first embodiment can be obtained.

次に、図９乃至図１１を用いて本発明の実施例４を説明する。但し、前記実施例１と実質的に同一部分には同一符号を付して説明を省略又は簡略化し、主として異なる部分について説明する。   Next, Embodiment 4 of the present invention will be described with reference to FIGS. However, substantially the same parts as those in the first embodiment are denoted by the same reference numerals, description thereof is omitted or simplified, and different parts are mainly described.

本実施例４では、前記実施例３と同様に、Ｚ軸駆動機構５０のＺ軸モータ５１（アクチュエータ）を１個のみとし、該Ｚ軸モータ５１と、該Ｚ軸モータ５１により回転される送りねじ５４と、該送りねじ５４の回転により上下方向に移動するＺ軸スライド５５とがノズルホルダ１２の旋回方向に旋回して２箇所以上の停止位置で選択的に停止するようになっている。尚、Ｚ軸モータ５１としてリニアモータを用いてＺ軸スライド５５を上下方向に移動させるようにしても良い。或は、リニアモータに代えて、リニアソレノイド、エアーシリンダ等を用いても良い。   In the fourth embodiment, similarly to the third embodiment, only one Z-axis motor 51 (actuator) of the Z-axis drive mechanism 50 is provided, and the Z-axis motor 51 and a feed rotated by the Z-axis motor 51 are used. The screw 54 and the Z-axis slide 55 that moves in the vertical direction by the rotation of the feed screw 54 turn in the turning direction of the nozzle holder 12 and selectively stop at two or more stop positions. Note that a linear motor may be used as the Z-axis motor 51 to move the Z-axis slide 55 in the vertical direction. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

Ｚ軸モータ５１を旋回させるギア５２には、モータ５６の回転軸５７に固定されたギア５８が噛み合い、該モータ５６のギア５８の回転によりギア５２を回転させてＺ軸モータ５１を旋回させるようにしている。   The gear 52 that rotates the Z-axis motor 51 is engaged with a gear 58 fixed to the rotation shaft 57 of the motor 56, and the gear 52 is rotated by the rotation of the gear 58 of the motor 56 to rotate the Z-axis motor 51. I have to.

Ｚ軸駆動機構５０は、Ｒ軸ギア１６の上方に配置され、Ｚ軸スライド５５にプッシャ５９が下向きに設けられ、該プッシャ５９の下端部でノズルホルダ１２を押し下げるようになっている。各ノズルホルダ１２は、それぞれスプリング等の付勢手段（図示せず）により上方に付勢されている。   The Z-axis drive mechanism 50 is disposed above the R-axis gear 16, and a pusher 59 is provided downward on the Z-axis slide 55, and the nozzle holder 12 is pushed down at the lower end of the pusher 59. Each nozzle holder 12 is biased upward by a biasing means (not shown) such as a spring.

本実施例４では、Ｑ軸駆動機構２０のＱ軸モータ２４の回転軸２５をＲ軸１４に直交する方向に向けて配置し、該Ｑ軸モータ２４の回転軸２５に固定された傘歯車２６ａがＱ軸ギア２２の上面部に形成された傘歯車２１ａに噛み合うことで、Ｑ軸モータ２４の回転がＱ軸ギア２２に伝達されるようになっている。尚、Ｑ軸駆動機構２０は、前記実施例１（図１）と同じ構成としても良い。   In the fourth embodiment, the rotating shaft 25 of the Q-axis motor 24 of the Q-axis driving mechanism 20 is arranged in a direction orthogonal to the R-axis 14, and the bevel gear 26 a fixed to the rotating shaft 25 of the Q-axis motor 24. Is engaged with a bevel gear 21 a formed on the upper surface of the Q-axis gear 22, so that the rotation of the Q-axis motor 24 is transmitted to the Q-axis gear 22. The Q-axis drive mechanism 20 may have the same configuration as that of the first embodiment (FIG. 1).

以上のように構成した本実施例４では、回転ヘッド１１の移動エリアの境界付近の領域で部品の吸着や実装を行う場合は、モータ５６によりギア５２を回転させてプッシャ５９を回転ヘッド１１の移動エリアの境界に最も近い位置へ旋回させると共に、下降対象となるノズルホルダ１２を該回転ヘッド１１の移動エリアの境界に最も近い位置へ旋回させた後、該Ｚ軸モータ５１を作動させて、図１０に示すように、プッシャ５９を下降させて前記下降対象となるノズルホルダ１２を押し下げる。このようにすれば、前記実施例１と同様の効果を得ることができる。   In the fourth embodiment configured as described above, when the component is sucked or mounted in the area near the boundary of the moving area of the rotary head 11, the gear 52 is rotated by the motor 56 and the pusher 59 is moved to the rotary head 11. While turning to the position closest to the boundary of the moving area and turning the nozzle holder 12 to be lowered to the position closest to the boundary of the moving area of the rotary head 11, the Z-axis motor 51 is operated, As shown in FIG. 10, the pusher 59 is lowered to push down the nozzle holder 12 to be lowered. In this way, the same effect as in the first embodiment can be obtained.

次に、図１２及び図１３を用いて本発明の実施例５を説明する。但し、前記実施例１，４と実質的に同一部分には同一符号を付して説明を省略又は簡略化し、主として異なる部分について説明する。   Next, Embodiment 5 of the present invention will be described with reference to FIGS. However, substantially the same parts as those in the first and fourth embodiments are denoted by the same reference numerals, the description thereof is omitted or simplified, and different parts are mainly described.

本実施例５では、前記実施例４と同様に、Ｚ軸駆動機構６０のＺ軸モータ６１（アクチュエータ）を１個のみとし、該Ｚ軸モータ６１をＲ軸ギア１６の上方に配置している。Ｚ軸モータ６１により送りねじ６２を回転させてプッシャユニット６３を上下方向に移動させるようにしている。尚、Ｚ軸モータ６１としてリニアモータを用いてプッシャユニット６３を上下方向に移動させるようにしても良い。或は、リニアモータに代えて、リニアソレノイド、エアーシリンダ等を用いても良い。   In the fifth embodiment, similarly to the fourth embodiment, only one Z-axis motor 61 (actuator) of the Z-axis drive mechanism 60 is provided, and the Z-axis motor 61 is disposed above the R-axis gear 16. . The push screw unit 63 is moved in the vertical direction by rotating the feed screw 62 by the Z-axis motor 61. In addition, you may make it move the pusher unit 63 to an up-down direction using a linear motor as the Z-axis motor 61. FIG. Alternatively, a linear solenoid, an air cylinder, or the like may be used instead of the linear motor.

プッシャユニット６３には、回転ヘッド１１に保持された複数のノズルホルダ１２をそれぞれ選択的に押し下げる複数のプッシャ６４が保持されている。各プッシャ６４は、各ノズルホルダ１２の上方にそれぞれ１本ずつ配置され、各プッシャ６４にそれぞれ設けたエアーシリンダ等のアクチュエータ（図示せず）により各プッシャ６４が個別に下降するようになっている。尚、同時に下降可能なプッシャ６４の本数は１本に限らず、２本以上のプッシャ６４を同時に下降させるようにしても良い。各ノズルホルダ１２は、それぞれスプリング等の付勢手段（図示せず）により上方に付勢されている。   The pusher unit 63 holds a plurality of pushers 64 that selectively push down the plurality of nozzle holders 12 held by the rotary head 11. One pusher 64 is disposed above each nozzle holder 12, and each pusher 64 is individually lowered by an actuator (not shown) such as an air cylinder provided on each pusher 64. . Note that the number of pushers 64 that can be lowered simultaneously is not limited to one, and two or more pushers 64 may be lowered simultaneously. Each nozzle holder 12 is biased upward by a biasing means (not shown) such as a spring.

以上のように構成した本実施例５では、回転ヘッド１１の移動エリアの境界付近の領域で部品の吸着や実装を行う場合は、下降対象となるノズルホルダ１２を該回転ヘッド１１の移動エリアの境界に最も近い位置へ旋回させると共に、プッシャユニット６３の複数のプッシャ６４の中から回転ヘッド１１の移動エリアの境界に最も近い位置のプッシャ６４を選択して、該選択したプッシャ６４を下方に突出させた状態とする。この状態で、Ｚ軸モータ６１を作動させてプッシャユニット６３を下降させることで、該選択したプッシャ６４で前記下降対象となるノズルホルダ１２を押し下げる。このようにすれば、前記実施例１と同様の効果を得ることができる。   In the fifth embodiment configured as described above, when the component is sucked or mounted in the region near the boundary of the moving area of the rotary head 11, the nozzle holder 12 to be lowered is placed in the moving area of the rotary head 11. While rotating to the position closest to the boundary, the pusher 64 closest to the boundary of the moving area of the rotary head 11 is selected from the plurality of pushers 64 of the pusher unit 63, and the selected pusher 64 protrudes downward. Let the state be In this state, by operating the Z-axis motor 61 and lowering the pusher unit 63, the nozzle holder 12 to be lowered is pushed down by the selected pusher 64. In this way, the same effect as in the first embodiment can be obtained.

尚、本発明は、上記各実施例１〜５に限定されず、Ｒ軸駆動機構、Ｑ軸駆動機構、Ｚ軸駆動機構等の構成を適宜変更しても良い等、要旨を逸脱しない範囲内で種々変更して実施できることは言うまでもない。   Note that the present invention is not limited to the first to fifth embodiments described above, and the configuration of the R-axis drive mechanism, the Q-axis drive mechanism, the Z-axis drive mechanism, and the like may be appropriately changed. Needless to say, various modifications can be made.

１０…回転ヘッド駆動装置、１１…回転ヘッド、１２…ノズルホルダ、１３…吸着ノズル、１４…Ｒ軸、１５…Ｒ軸駆動機構、１６…Ｒ軸ギア、１７…Ｒ軸モータ、２０…Ｑ軸駆動機構、２１，２２…Ｑ軸ギア、２４…Ｑ軸モータ、２８…Ｚ軸駆動機構、２９…Ｚ軸モータ（アクチュエータ）、３１…Ｚ軸スライド、３２…係合片、３３…ＸＹ方向移動装置、３４…制御装置（制御手段）、３５…フィーダ、４０…Ｚ軸駆動機構、４１…Ｚ軸モータ（アクチュエータ）、４５…Ｚ軸スライド、４６…モータ、５０…Ｚ軸駆動機構、５１…Ｚ軸モータ（アクチュエータ）、５５…Ｚ軸スライド、５６…モータ、５９…プッシャ、６０…Ｚ軸駆動機構、６１…Ｚ軸モータ（アクチュエータ）、６３…プッシャユニット、６４…プッシャ   DESCRIPTION OF SYMBOLS 10 ... Rotary head drive device, 11 ... Rotary head, 12 ... Nozzle holder, 13 ... Suction nozzle, 14 ... R axis, 15 ... R axis drive mechanism, 16 ... R axis gear, 17 ... R axis motor, 20 ... Q axis Drive mechanism, 21, 22 ... Q axis gear, 24 ... Q axis motor, 28 ... Z axis drive mechanism, 29 ... Z axis motor (actuator), 31 ... Z axis slide, 32 ... engagement piece, 33 ... XY direction movement Device, 34 ... Control device (control means), 35 ... Feeder, 40 ... Z-axis drive mechanism, 41 ... Z-axis motor (actuator), 45 ... Z-axis slide, 46 ... Motor, 50 ... Z-axis drive mechanism, 51 ... Z axis motor (actuator), 55 ... Z axis slide, 56 ... motor, 59 ... pusher, 60 ... Z axis drive mechanism, 61 ... Z axis motor (actuator), 63 ... pusher unit, 64 ... pusher

Claims (3)

上下方向に延びるＲ軸の回りを回転可能に設けられた回転ヘッドと、
前記回転ヘッドにその円周方向に所定間隔で下降可能に設けられた複数のノズルホルダと、
前記複数のノズルホルダにそれぞれ下向きに保持され、部品を吸着する複数の吸着ノズルと、
１つのＲ軸モータの駆動力により前記回転ヘッドを前記Ｒ軸の回りを回転させることで前記複数のノズルホルダを前記複数の吸着ノズルと一体的に該回転ヘッドの円周方向に旋回させると共に前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置で該ノズルホルダの旋回を停止させるＲ軸駆動機構と、
前記Ｒ軸モータとは別の１つのＱ軸モータの駆動力により前記複数のノズルホルダをそれぞれ各ノズルホルダの軸心線の回りを回転させることで各ノズルホルダに保持された各吸着ノズルに吸着した各部品の向きを修正するＱ軸駆動機構と、
前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置で前記複数のノズルホルダを個別に下降させるＺ軸駆動機構と、
基板搬送方向をＸ方向、前記Ｘ方向と直角な方向をＹ方向とし、前記吸着ノズルが部品を吸着する部品吸着エリアと前記吸着ノズルに吸着した部品を実装する部品実装エリアとの間で前記回転ヘッドをＸＹ方向に移動させて部品吸着及び実装を行うＸＹ方向移動装置と
を備え、
前記Ｚ軸駆動機構は、前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置に対応する位置に前記回転ヘッドとは分離して固定的に１つずつ設けられ、２つ以上のＺ軸モータの駆動力により前記複数のノズルホルダを個別に下降させるように構成され、
前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置には、該旋回軌道の直径方向両側に位置する前記Ｘ方向とその反対方向の２箇所の停止位置が含まれ、
前記部品吸着エリアのうち前記Ｘ方向に位置する境界付近の領域で前記部品を吸着する場合には、前記Ｘ方向とその反対方向の２箇所の停止位置のうち前記Ｘ方向の停止位置へ下降対象となるノズルホルダを旋回させるように前記Ｒ軸駆動機構のＲ軸モータを制御し、
前記部品吸着エリアのうち前記Ｘ方向と反対方向に位置する境界付近の領域で前記部品を吸着する場合には、前記Ｘ方向とその反対方向の２箇所の停止位置のうち前記Ｘ方向と反対方向の停止位置へ前記下降対象となるノズルホルダを旋回させるように前記Ｒ軸駆動機構のＲ軸モータを制御するように構成されていることを特徴とする部品実装機。 A rotary head provided to be rotatable around an R axis extending in the vertical direction;
A plurality of nozzle holders provided on the rotating head so as to be lowered at predetermined intervals in the circumferential direction;
A plurality of suction nozzles which are respectively held downward by the plurality of nozzle holders and suck parts;
By rotating the rotary head around the R axis by the driving force of one R-axis motor, the plurality of nozzle holders are rotated together with the plurality of suction nozzles in the circumferential direction of the rotary head and An R-axis drive mechanism for stopping the rotation of the nozzle holder at two or more stop positions on the orbit of the plurality of nozzle holders;
The plurality of nozzle holders are rotated around the axis of each nozzle holder by the driving force of one Q-axis motor different from the R-axis motor, and are attracted to each suction nozzle held by each nozzle holder. A Q-axis drive mechanism for correcting the orientation of each of the parts,
A Z-axis drive mechanism that individually lowers the plurality of nozzle holders at two or more stop positions on the orbit of the plurality of nozzle holders ;
The substrate transport direction is the X direction, the direction perpendicular to the X direction is the Y direction, and the rotation between the component suction area where the suction nozzle sucks a component and the component mounting area where the component sucked by the suction nozzle is mounted An XY direction moving device that moves the head in the XY direction to pick up and mount the component;
With
The Z-axis drive mechanism is fixedly provided one by one separately from the rotary head at positions corresponding to two or more stop positions of the orbit of the plurality of nozzle holders. The plurality of nozzle holders are individually lowered by the driving force of the motor,
The two or more stop positions on the orbit of the plurality of nozzle holders include two stop positions in the X direction and opposite directions located on both sides in the diameter direction of the orbit ,
When the component is picked up in a region near the boundary located in the X direction in the component picking area, the object is lowered to the stop position in the X direction among the two stop positions in the X direction and the opposite direction. The R-axis motor of the R-axis drive mechanism is controlled so as to turn the nozzle holder that becomes
When the component is sucked in the region near the boundary located in the direction opposite to the X direction in the component suction area, the direction opposite to the X direction among the two stop positions in the X direction and the opposite direction. A component mounter configured to control an R-axis motor of the R-axis drive mechanism so as to turn the nozzle holder to be lowered to a stop position . 前記複数のノズルホルダの旋回軌道の２箇所以上の停止位置には、前記Ｙ方向とその反対方向に位置する２箇所の停止位置がさらに含まれることを特徴とする請求項１に記載の部品実装機。 2. The component mounting according to claim 1 , wherein the two or more stop positions on the orbit of the plurality of nozzle holders further include two stop positions located in the Y direction and the opposite directions. Machine. 前記Ｚ軸駆動機構は、前記ノズルホルダとは別体に設けられていることを特徴とする請求項１又は２に記載の部品実装機。   The component mounting machine according to claim 1, wherein the Z-axis drive mechanism is provided separately from the nozzle holder.
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