WO2005081611A1 - 支持ピン把持装置および基板支持装置 - Google Patents

支持ピン把持装置および基板支持装置 Download PDF

Info

Publication number: WO2005081611A1
Authority: WO; WIPO (PCT)
Prior art keywords: support pin; pin; support; gripping; gripping device
Prior art date: 2004-02-20

Application number

PCT/JP2005/002327

Other languages

English (en)

French (fr)

Japanese (ja)

Inventor

Takeshi Kondo

Akinobu Ito

Shinsuke Suhara

Original Assignee

Fuji Machine Mfg. Co., Ltd.

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2004-02-20

Filing date

2005-02-16

Publication date

2005-09-01

2005-02-16 Application filed by Fuji Machine Mfg. Co., Ltd. filed Critical Fuji Machine Mfg. Co., Ltd.

2005-02-16 Priority to JP2006510208A priority Critical patent/JP4499096B2/ja

2005-09-01 Publication of WO2005081611A1 publication Critical patent/WO2005081611A1/ja

Links

Classifications

- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components

Definitions

the present invention relates to a support pin gripping device for attaching and detaching a support pin for supporting a plate-like member such as a printed circuit board to and from a pin support member, and more particularly to a plurality of support pins for gripping and releasing the support pin.
the present invention relates to an improvement of an opening and closing device for opening and closing a gripping member.
a support pin gripping device that includes a plurality of support pin gripping members and grips and releases the support pins by opening and closing the support pin gripping members is already known, for example, as described in Patent Document 1 ing.
This support pin gripping device includes a pair of support pin gripping members, and the support pin gripping members are opened and closed by an opening / closing device driven by a vacuum cylinder, so as to grip and release the support pins. I have.
Patent document 1 Japanese Patent Application Laid-Open No. 2000-1-1111296
this support pin gripping device requires a vacuum cylinder, which is a dedicated actuator for opening and closing the support pin gripping member, and a control device that controls the supply and cutoff of negative pressure to the vacuum cylinder. Yes, the cost is high.
the holding and opening of the support pins are electrically controlled based on the command signal from the control device, signals are transmitted and received, and the operation of the opening and closing device is checked. The time required for gripping and releasing becomes longer.
the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a support pin gripping device that is inexpensive and can quickly grip and release the support pin. Means for solving the problem
the present invention provides a support pin gripping device for gripping a support pin to be attached to a pin support member, comprising: (a) a gripping device main body; and (b) a gripping device main body.
An openable and closable gripping member group comprising a plurality of support pin gripping members held directly or indirectly so as to be relatively movable; and (c) a gripping device main body which is operably held by the gripping device main body.
An actuating member that is actuated from a non-acting position to an actuating position by engagement of the gripping device body with an engaging member that relatively moves with the relative movement with the pin support member;
a switching device that is mechanically interlocked and alternately switches the gripping member group from an open state to a closed state from a closed state to an open state each time the operating member is operated once. It is characterized by having.
the support pin gripping member may be directly held by the gripping device main body, for example, may be held by an operating member and indirectly held by the gripping device main body.
the operating member may be a turning member that turns around the turning axis, or an advancing / retreating member that moves back and forth in the axial direction.
the gripping device body may be moved to open and close the gripping member group, the pin support member may be moved, or both may be moved.
the actuating member and the engaging member engage with the relative movement of the gripping device main body and the pin support member, and the actuating member is operated from the non-operating position toward the operating position, and is mechanically interlocked with the operation. Then, the gripping member group is opened and closed, and the support pin is gripped and released.
relative movement between the support pin gripping device and the pin support member is indispensable, and the support pin is gripped by utilizing the indispensable relative movement. Since it is possible to open the support pin holding member, there is no need to provide a dedicated actuator for opening and closing the support pin holding member, and the support pin holding device can be configured at low cost. Also, since the support pin gripping member is opened and closed, electrical control by the control device is not required, and the support pin can be quickly gripped and released.
an invention recognized as being claimable in the present application may be referred to as a "claimable invention”.
the claimable invention is at least the invention described in the claims.
the present invention includes the "invention” or “the invention of the present application, but may also include a subordinate invention of the present invention, a superordinate concept of the present invention, or an invention of another concept.)
each aspect is divided into sections, each section is numbered, and the number of another section is cited as necessary. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combination of the components constituting the claimable invention to those described in the following items.
the claimable invention should be interpreted in consideration of the description attached to each item, the description of the embodiment, and the like, and other components are added to the embodiments of each item as long as the interpretation is followed.
the embodiments and the embodiments in which the constituent elements are deleted from the embodiments of the respective sections can also be one embodiment of the claimable invention.
(1) corresponds to claim 1, (2) to claim 2, (3) to claim 3, and (4) to claim (4), (5) to claim 5, (6) to claim 6, (7) to claim 7, (8) to claim 8, and (9) to claim (9), (10) to claim 10, (11) to claim 11, (12) to claim 12, (13) to claim 13, (14) Claim to claim 14, (15) to claim 15, (16) to claim 16, (17) to claim 17, and part of (50) to claim Claim 18 corresponds to claim 19 with the remaining part of (50) and claim 20 with the combination of (50) and (40).
a support pin holding device for holding a support pin to be attached to a pin support member
An openable / closable gripping member group including a plurality of supporting pin gripping members held directly or indirectly so as to be relatively movable by the gripping device main body;
the gripping device body is operably held by the gripping device body, and the gripping device body and the pin An operating member which is operated from the non-operating position toward the operating position by engagement of the gripping device main body with the engaging member which moves relatively with the relative movement with the support member;
a switching device that is mechanically interlocked with the operating member and alternately switches the gripping member group from an open state to a closed state from a closed state to an open state each time the operating member is operated once.
the support pin may be engaged with the operating member at the distal end thereof, or may be engaged at a portion other than the distal end.
the support pin gripping device since the operating member is operated by the support pin itself, which is the member to be gripped, the support pin grips as compared with a case where the engaging member is formed by a member different from the support pin.
the apparatus can be simplified and cost can be reduced.
“Back of center” includes the back of the center and the back near the center.
the actuation member may be provided coaxially with the gripping member group, including the actuated portion, the actuated portion is provided at a position engageable with the front end of the support pin, and other portions are opened and closed by the gripping member group. It may be provided in a direction crossing the axis. In the case of the former, the operating member is provided at the back of the center of the gripping member group, and in the case of the latter, it is provided at the back of the vicinity of the center.
the operating member may be provided at the back of the center of the gripping member group, and as in the case of engaging with a portion other than the tip of the support pin, It is not necessary to provide a portion that engages with a portion other than the tip portion.
a motion conversion mechanism that converts the motion of the operating member into an opening and closing motion of the gripping member group.
the operating member When the operating member is pushed to the vicinity of a single action position by engagement with the engaging member, the operating member is moved to the action
an operating member control device that allows the operating member to return to the non-operating position by releasing the holding when the lever is pressed again.
the support pin gripping device according to any one of (1) to (3), comprising:
the gripping member group is switched to the closed state and grips the support pin, and the operating member is It is held in the working position and maintains its closed state. Then, when the operating member is pushed back to return to the non-operating position, the gripping member group is switched to the open state to open the support pin.
the switching of the gripping member group from the open state to the closed state and the switching from the closed state to the open state can be performed by pushing the operating member to the vicinity of the operating position.
the support pin can be gripped and released by the same relative movement of
the operating member control device is a locking device including a locking member provided on one of the device main body and the operating member and a locked member provided on the other, and A member that is locked by a locking member to hold the operating member in the operating position; and a guide that guides the locking member, and an engagement caused by a single operation of the operating member.
the desired operation of the locking member can be easily realized by selecting the shape of the locked member, and the relative movement between the gripping device main body and the pin support member can be achieved. Can be easily converted to the motion of the operating member.
the locking member includes a rotating shaft, a pair of arms extending substantially perpendicularly from the rotating shaft, and a pair of engaging portions provided at free ends of the arms.
a rotation locking member rotatably held at one of the gripping device main body and the operating member at a rotation shaft portion, wherein the locked members cooperate with each other to form the pair of engagement members.
the locking member can have a simple structure.
a roller may be rotatably provided on each of the pair of engagement portions to form a rotation engagement portion, and friction between the engagement portion and the guide portion may be reduced.
the pair of guide portions have a shape that causes the pair of engagement portions to perform a predetermined orbiting motion including the locked portions in accordance with two operations of the operation member ( The support pin holding device according to the item 6).
the locking member can easily perform two types of operations different from the locking to the locked portion and the unlocking with the operation member twice. Can be made.
the gripping member group can grip the support pin on which the axis is positioned without hindering the positioning. Further, by moving one of the plurality of support pin gripping members in the closing direction, the remaining member can be moved in the closing direction.
the gripping member group be opened and closed axially symmetrically.
the cross-sectional shape of the gripped portion of the support pin is asymmetrical with respect to the axis of the support pin.
the gripping member group opens and closes asymmetrically with respect to the opening and closing axis.
the support pin gripping device of this section is compactly configured in a direction intersecting the axis of the gripping device main body as compared with a case where the operating member is a rotating member. can do.
the operating member of the support pin gripping device of this section is entirely located at the center rear of the group of gripping members, including the operated part, and the support pin gripping device can be configured to be more compact.
the biasing means includes gravity in addition to an elastic member such as a spring.
the operating member is piled up by the urging force of the urging means, is operated from the non-operation position toward the operation position, and is returned to the non-operation position by the urging of the urging means.
the re-actuating member can be reliably and quickly returned to the non-operating position by the elastic force of the elastic member.
the motion conversion mechanism includes a plurality of support pin gripping members each having one end connected to be relatively rotatable and the other end being connected to each other so as to be rotatable relative to each other. And linking means for guiding the other end of the link in the direction of movement of the member but not in the direction intersecting the direction of movement of the member. 20.
the support pin gripping device according to any one of to (12).
a plurality of support pin gripping members can be moved simultaneously. Also, one of the plurality of support pin gripping members is opened and closed. By doing so, the opening / closing operation can be performed on other support pin gripping members via the connection link. If the plurality of support pin gripping members and the plurality of connection links are configured to be axially symmetric, the plurality of support pin gripping members can be moved axially symmetrically, and the gripping member group can be opened and closed axially symmetrically.
the support pin functions as the engagement member
the advance / retreat member includes a fitting hole that fits with the support pin to substantially prevent the support pin from tilting, and the plurality of support pin grips are provided.
the support pin gripping device according to any one of the above modes (9) to (13), wherein the member is engaged with the support pin at each free end thereof in such a manner as to allow a relative inclination of the support pin.
the support pin is centered by the fitting with the fitting hole, and the support pin holding member can grip the support pin in the centered state. By centering, the support pin can be accurately arranged at a preset position such as a pin support member.
the support pin gripping member only needs to prevent the support pin from being detached from the fitting hole, and it is also possible to use one support pin.
the support pin gripping member does not “grip”, so it should be called a detachment prevention member.
the operating member is an advance / retreat member fitted to the gripping device main body so as to be able to advance / retreat in the axial direction, and the plurality of support pin gripping members are held by the advance / retreat member so as to be relatively movable.
the gripping device main body is provided with an operating portion that engages at least one of the plurality of support pin gripping members as the advancing / retreating member retracts to move at least one of the plurality of support pin gripping members in the closing direction. Constitutes at least a part of the motion conversion mechanism.
the support pin holding device according to the mode (4).
the action portion is configured to move in the retreating direction of the retreating member by the gripping device main body.
the support pin gripping device according to (15), comprising a movable action member movably provided in a crossing direction and biased by a biasing means in a direction approaching the at least one support pin gripping member. .
the support pin gripping member can reliably grip the support pin.
the action section may be provided fixed to the gripping device main body.
the angle at which the support pin gripping member is most closed is determined according to the arrangement of the action section, and the support pin gripping device is Due to manufacturing errors or assembling errors of the component members, the closing angle of the support pin gripping member varies, and if it is insufficient, the support pin may not be able to be gripped.
the movable action member is further moved from the position where the support pin holding member is to be held by the support pin.
the closing angle does not become insufficient even if there is a component manufacturing error or the like, and the support pin can be reliably held by the support pin holding member.
the movable action member may be a rotary action member that is turned around a rotation axis that intersects the reciprocating direction of the reciprocating member, and a linear moving action that is linearly moved in a direction intersecting the reciprocating direction of the reciprocating member. It may be a member.
the support pin gripping member may be a linear movement type gripping member that linearly moves in a direction intersecting the axis of the support pin to grip and release the support pin. However, if the rotation type gripping member is used, the support pin gripping member may be used.
the device can be configured simply and compactly. (20) a base having an inner space inside,
a pin member having a base end located in the inner space and movably held in the axial direction relative to the base, and supporting the printed circuit board at a tip end of the protrusion protruding from the base;
a permanent magnet unit for applying a force to the base based on the force to press the base against the pin support member;
the pin member is provided on at least one of a portion located in the inner space and the permanent magnet portion, and when a tensile force is applied to the pin member, the tensile force is applied to the permanent magnet portion.
a force transmission device for transmitting the force as a force to separate the permanent magnet portion from the pin support member while tilting the permanent magnet portion relative to the pin support member.
the printed circuit board is a printed circuit board on which printed wiring is formed, a printed circuit board on which electronic circuit components are mounted at predetermined positions and soldered and completed to be mounted, and a printed circuit board between them.
the permanent magnet section may be composed of only the permanent magnet, or may be composed of the permanent magnet and a member that fixedly holds the permanent magnet.
the permanent magnet portion is disposed at least in a tiltable manner in the inner space of the base, and when a tensile force is applied to the pin member, first, the permanent magnet portion is tilted, whereby the magnetic attraction force is reduced.
the base is separated from the pin support member in the reduced state, and the support pin is removed from the pin support member.
the support pin can be removed from the pin support member. However, if the entire permanent magnet part is simultaneously separated from the pin support member, the entire permanent magnet part will be removed. It is necessary to apply a tensile force that overcomes the magnetic attraction force that acts on the surface, and a large tensile force is required. On the other hand, when tilting the permanent magnet, all the permanent magnets must be separated at the same time. In this case, the permanent magnet can be separated from the pin supporting member with a smaller tensile force. Further, when the permanent magnet portion is tilted, the base and the pin member do not tilt, and the support pin can be removed in the same posture as that supported by the pin support member.
a support pin having a permanent magnet and fixed to the pin support member by magnetic attraction is described in, for example, Japanese Patent Application Laid-Open No. 2003-283197.
a permanent magnet is fixed to a lever rotatably provided on the support pin.
the lever is rotated by the use of the gripping operation when the support pin gripper having a pair of grippers grips the support pin, the permanent magnet is moved away from the pin support member, and then the support pin is removed from the pin support member. It is.
the support pin gripping device since the lever needs to be rotated and the gripping operation of the support pin gripping device needs to be increased, the support pin gripping device is increased in size and the support pin gripping is performed. , There is a problem that it takes time to release.
the lever may interfere with the already mounted circuit components, and the supporting position is limited, which may be a problem.
the magnetic attractive force can be reduced and the support pin can be easily separated from the pin support member without such a problem.
the permanent magnet can be tilted by a simple pulling operation of the support pin, which is usually performed when the support pin is removed from the pin support member, and the work time required for removing the support pin is extended.
the support pin can be easily removed with reduced magnetic attraction without the need.
the support pin gripping device described in the paragraphs (1) to (17) can be used, but is not limited thereto. Any supporting pin gripping device that can apply a pulling force by gripping the device can be used. It may be installed and removed by the operator.
the permanent magnet section may be provided in the inner space so that it can only be tilted.However, if the permanent magnet section is disposed independently, the constraint of the permanent magnet section is reduced, and the permanent magnet section can be easily disposed in a tiltable state. It is.
the magnetic attraction force easily acts between the permanent magnet portion disposed in the inner space of the base and the pin support member, and the base is reliably pressed against the pin support member.
the permanent magnet portion and the base are engaged with each other in a state where the permanent magnet portion is closest to the pin supporting member, and the magnetic attraction force is transmitted to the base to move the base.
the support pin according to any one of the above modes (20) to (22), further comprising a force transmitting unit for pressing the pin support member.
the permanent magnet portion only needs to exert a magnetic attraction force, and may or may not contact the pin support member. In the former case, the contact may be made directly or indirectly.
the base is provided with a concave part whose bottom is open as the inner space, at least a part of the concave part is covered by a bottom plate, and the upper surface of the bottom plate and the permanent magnet part
the pressing force based on the magnetic attraction force is transmitted from the permanent magnet portion to the base near the pin support member, and the support pin is stably attached to the pin support member.
the base is provided with an engaging portion located in the inner space
the permanent magnet is provided with an engaging portion for engaging the engaging portion from the side opposite to the pin support member. Apply the pressing force.
the bottom plate When the permanent magnet portion transmits the pressing force to the base, the bottom plate is not magnetized, the permanent magnet portion and the bottom plate are not magnetically attracted to each other, and the tension when tilting the permanent magnet portion is generated. High forces are avoided.
Rubber is a kind of high friction material having a high coefficient of friction. Since the bottom surface of the base is covered with the high friction material layer, a large frictional force is obtained between the support pin and the pin support member. Therefore, even if a force is applied to the support pin in a direction intersecting the axis thereof, the position is not easily shifted, and the printed circuit board can be stably supported.
the high friction material layer also functions as a cushion, which prevents the support pins from being damaged when placed on the pin support surface of the pin support member or the support pin storage device.
the force transmitting device includes: a first engaging portion that moves together with a portion of the pin member located in the inner space; and a second engaging portion that moves together with the permanent magnet portion.
the one engagement portion and the second engagement portion engage with each other at a position deviating from the line of action of the resultant force of the magnetic attraction force acting between the permanent magnet portion and the pin support member, thereby providing a permanent
the support pin according to any one of the above modes (20) to (26), which generates a rotational moment in the magnet section.
the tensile force for generating the rotational moment is smaller than the tensile force for separating the entire permanent magnet portion from the pin support member at once.
the pair of first and second engaging portions When a tensile force is applied to the pin member, first, the pair of first and second engaging portions, which are close to each other, first engage with each other, and the first and second engaging portions engage with each other. Tilt with the distant second engagement part side as a fulcrum to reduce magnetic attraction .
the other of the pair of first and second engaging portions (farther from each other) is engaged, and the portion of the permanent magnet portion serving as the fulcrum is separated from the pin supporting member. To extinguish the magnetic attraction. The entire permanent magnet portion is separated from the pin support member in the inner space, so that the magnetic attraction force can be effectively eliminated.
the support pin can be removed from the pin support member with a relatively small tensile force, which is smaller than the pull force required to separate the pin support member from the pin support member.
the pair of first engagement portions is fixedly provided at a portion of the pin member located in the inner space, and has a generally C-shaped cross-sectional shape, and the C-shaped opening is provided.
the pair of second engaging portions are integrally formed on the permanent magnet, and are formed by a pair of laterally protruding protrusions.
the base has a groove shape having a groove opened downward, and the C-shaped member is accommodated in the groove with the both ends extending in parallel with the groove.
the permanent magnet portion is disposed in a space substantially surrounded on all sides by the base and the C-shaped member in such a manner that the permanent magnet portion is freely movable, but is prevented from being separated from the space.
the support pin according to 1.
the support pin and the C-shaped member constitute a means for preventing detachment of the permanent magnet, and the support pins can be constituted simply and inexpensively as compared with the case where the detachment preventing means is provided separately from them.
a support pin storage device for storing a support pin for supporting a printed board, which is conveyed by a board conveyer as a movable frame, from below,
a support pin storage device mounted on the movable frame so as to be movable together with the movable frame.
the transport width is changed, for example, when the type of the printed circuit board changes and the width changes.
the printed board supporting positions of the support pins usually differ depending on the type of the printed board, and the support pins are arranged according to the type of the printed board.
the support pins are stored in the support pin storage device, or the support pins are taken out of the support pin storage device and used to support the printed circuit board.
the support pin storage device can move together with the movable frame. If it is attached to the support pin, the support pin storage device can always be located near the print board and near the support pin arrangement area, regardless of the type of printed circuit board. Can be done quickly.
the support pin storage device when the support pin storage device is provided in an electronic circuit component mounting system for mounting electronic circuit components on a printed circuit board, it is possible to avoid a reduction in component mounting efficiency.
the component supply device when the component supply device is provided on the fixed frame side, if the support pin storage device is attached to the fixed frame, the distance between the printed board and the component supply unit of the component supply device will be lengthened accordingly. It takes time to move the component mounting head, but if it is mounted movably with the movable frame, the moving distance of the component mounting head does not increase, and a reduction in mounting efficiency is avoided.
a storage portion can be provided at least in a region where the movable frame is provided, and while being compact in a direction parallel to the moving direction of the movable frame, A support pin storage device with a large number of storages can be obtained.
Item (40) includes a support pin position detection device that detects a position of the support pin stored in the support pin storage device in a width direction of the substrate conveyor that changes with movement of the movable frame. Or the support pin storage device according to the above mode (41).
the detection of the position of the support pin may be performed, for example, when the support pin storage device is mounted on the movable frame, or after the mounting, when a preset condition is satisfied. For example, the position is detected again when the set time elapses or when the set number of electronic circuit components on the printed circuit board is completed.
the width of the board conveyor of the support pin storage device changes accordingly.However, by detecting the position of the support pins with the support pin position detection device, for example, the support pins are supported.
the support pin mounting / removing device is accurately moved from the support pin stored in the pin storage device to the empty pin storage unit, causing damage to the support pin. Storage and unloading can be performed without the need.
An imaging device for imaging an imaging target portion which is a predetermined portion of the support pin stored in the support pin storage device or a member moving therewith, from a position facing the imaging target portion;
An imaging device moving device that moves the imaging device at least in the width direction of the substrate conveyor
a position calculation device that calculates the position of the support pin based on the position of the imaging device moved by the imaging device moving device and the position of the imaging target in an image captured at the position.
the support pin storage device according to item (42).
the members that move together with the support pins include, for example, the support pin storage device itself and a movable frame.
the part to be imaged may be, for example, a mark or unevenness provided on the tip surface of the support pin or the support pin, and may be distinguished from other parts by imaging, such as a mark or unevenness provided on the support pin storage device or the movable frame.
the part that can be recognized may be used. If the predetermined portion of the support pin storage device is set as the imaging target portion, the imaging target portion is imaged even when the support pin is not stored in the support pin storage device, and the position of the support pin scheduled to be stored. Can be detected.
the support pin position detecting device is
An encoder that is provided in a frame moving device that moves the movable frame and outputs a signal corresponding to a position of the movable frame;
a position calculating device connected to the encoder and calculating a position of the support pin stored in the storage portion based on an output of the encoder;
the support pin storage device according to the above mode (42) or (43), comprising:
the position of the movable frame is obtained automatically as it moves, and the position of the support pin is quickly detected.
the position calculating section calculates the position of the support pin based on an output of the encoder and information on a predetermined relative position between the movable frame and the storage section. Item).
the support pin storage device is provided outside the board transfer area, and can be provided without considering interference with the printed board transferred by the board conveyor.
the support pin storage device may be mounted at a position on the fixed frame side of the movable frame. However, in this case, the support pin storage device must be located within the board transfer area of the board conveyor. Avoid interference with the electronic circuit components already mounted on the surface, or fix the support pin storage device at a position that does not interfere with the printed circuit board etc. in a direction perpendicular to the board transfer surface of the board conveyor. In addition to this, it is necessary to provide a support pin mounting / removing device having an operating stroke capable of storing and removing the storage portion of the support pin storage device. They are unnecessary in the pin storage device.
the support pin storage device according to any one of (40) to (46), wherein the storage unit includes a positioning unit that fits the support pin and positions the support pin.
the pins are not displaced, and the storage and removal of the support pins can be accurately performed using the detected positions of the support pins. Further, the relative position between the storage section and the support pin is uniquely determined, and the position of the support pin can be detected by detecting the position of the storage section.
a support pin storage device for storing the support pin
a relative movement device that relatively moves the support pin gripping device and the pin support member and the support pin storage device to an arbitrary relative position within one plane, and relatively moves in a uniaxial direction orthogonal to the one plane;
An automatic setup changeable substrate supporting device including:
the support pin While enjoying the effect obtained with the support pin gripping device according to any one of the paragraphs (1) to (17) and the support pin according to any one of the paragraphs (20) to (31), the support pin is The setup can be changed automatically.
the print in which the relative movement device is supported by the substrate support device (50) The substrate supporting device according to the above mode (50), which also serves as a relative moving device that moves an operation head for performing an operation on an arbitrary portion of the substrate relative to the print substrate.
the work head includes, for example, a component mounting head that mounts electronic circuit components on a printed circuit board, a high-viscosity fluid application head that applies a high-viscosity fluid such as an adhesive or creamy solder, or an electronic device mounted on a printed circuit board.
a mounting state inspection head that inspects the mounting state of circuit components.
the relative moving device may also serve as the whole or a part of the relative moving device that moves the work head relative to the printed circuit board.
the substrate supporting device can be simply and inexpensively configured.
the work head and the support pin gripping device can be respectively held by the holding device and mounted together on the relative movement device. Thereby, for example, the setup can be changed immediately after the work is completed, or the work can be started immediately after the work is completed.
a plurality of holding units which are provided with the separate holding device and are relatively moved by the relative moving device are prepared, and the plurality of holding units are selectively mounted on the relative moving device.
the substrate supporting apparatus according to the above item.
the support pin gripping device is changed together with the work head, and the support pin gripping device is always mounted on the relative moving device together with the work head.
the support pin holding device may be left mounted on the relative moving device, and may be shared by a plurality of work heads selectively mounted on the relative moving device.
the work head When changing the support pins, the work head is detached from the holding device and detached from the relative movement device, and the support pin holding device is held by the holding device. At the same time, the work head is mounted on the relative movement device instead of the support pin gripping device when the work head is working.
the relative moving device only needs to move one of the working head and the support pin gripping device, and the moving portion is light, and for example, acceleration and deceleration during movement can be increased.
a plurality of holding units provided with the common holding device and relatively moved by the relative moving device are prepared, and the plurality of holding units are selectively mounted on the relative moving device.
the substrate supporting apparatus according to the above item.
the support pins can be automatically changed while enjoying the effects of the support pin storage device according to any one of the above modes (40) to (47).
FIG. 1 is a perspective view showing an electronic circuit component mounting system in which a plurality of mounting modules each including a support pin gripping device and the like according to an embodiment of the present invention are arranged.
FIG. 2 is a perspective view showing a part of the plurality of mounting modules.
FIG. 3 is a perspective view showing a nozzle holding head and a nozzle holding head moving device of the mounting module.
FIG. 4 is an exploded perspective view showing the nozzle holding head moving device.
FIG. 5 is a perspective view showing the nozzle holding head with a head cover removed.
FIG. 6 is a perspective view showing three types of nozzle holding heads having different numbers of nozzle holders.
FIG. 7 is a plan view schematically showing one of the mounting modules.
FIG. 8 is a front view showing a movable rail of the substrate transfer device of the mounting module and peripheral portions thereof together with a support pin, a pin support, and the like.
FIG. 9 is a side sectional view showing the movable rail and the support pin storage device.
FIG. 10 is a plan view showing the movable rail and the support pin storage device.
FIG. 11 is a front view (partial cross section) showing the support pin.
FIG. 12 is a side view showing the support pin.
FIG. 13 is a plan view showing the support pin.
FIG. 14 is a side view showing the support pin gripping device and the support pin gripping device elevating device.
FIG. 15 is a front view showing the support pin gripping device and the support pin gripping device elevating device.
FIG. 16 is a front cross-sectional view showing the support pin gripping device, showing a state in which an advance / retreat member is located at a non-operating position.
FIG. 17 is a front cross-sectional view showing the support pin gripping device, showing a state in which an advance / retreat member is located at a retreat end position.
FIG. 18 is a front cross-sectional view showing the support pin gripping device, showing a state in which an advance / retreat member is located at an operation position.
FIG. 19 is a left side sectional view showing the support pin gripping device, showing a state in which the reciprocating member is located at a non-operation position.
FIG. 20 is a right side view showing the support pin, showing a state in which an advance / retreat member is located at an operation position.
FIG. 21 is a diagram illustrating removal of a support pin from a pin support by the support pin holding device.
FIG. 22 is a view showing a pair of guide portions provided on the advance / retreat member, and is a diagram for explaining the guide of the pair of engagement portions from the original position to the locking position by the guide portions.
FIG. 23 is a diagram for explaining the guide from the locked position of the pair of engagement portions to the original position by the pair of guide portions.
FIG. 24 is a block diagram schematically showing a control device for controlling the mounting module.
FIG. 25 is a view schematically showing a support pin position detecting device of a support pin storage device which is another embodiment of the claimable invention.
FIG. 26 is a left side view showing a support pin holding device according to still another embodiment of the claimable invention. It is sectional drawing.
FIG. 27 is a left side sectional view showing a support pin gripping device as still another embodiment of the claimable invention.
FIG. 28 is a front sectional view showing a magnet holding portion of a support pin and its periphery according to still another embodiment of the claimable invention.
Substrate support device 40 Nozzle holding head 42: Nozzle holding head moving device 50: Printed circuit board 1 20: Head body 250: Support pin 252: Support pin holding device 254: Pin support table 256: Support pin storage device 360: Gripping device main body 362: Gripping claw group 3 64: Retracting member 366: Switching device 374: Compression coil spring
Retractable member 744 Engagement arm 770: Support pin Best mode for carrying out the invention
FIG. 1 shows an electronic circuit component mounting system (hereinafter abbreviated as “mounting system”) that includes a wiring board support device and the like and performs an electronic circuit component mounting operation as one embodiment of the claimable invention.
this mounting system a plurality of mounting modules 12 are arranged in the same direction on one system base 10 close to each other. This constitutes a module row.
the mounting of electronic circuit components (hereinafter abbreviated as circuit components) to the printed circuit board is performed in a shared manner.
Each of the mounting modules 12 is an electronic circuit component mounting machine.
the direction in which the mounting modules 12 are arranged is referred to as the X-axis direction
the direction perpendicular to the X-axis direction in the horizontal plane is referred to as the Y-axis direction.
FIG. 2 shows a perspective view in which a part of one exterior component of the plurality of mounting modules 12 is removed.
Each of the mounting modules 12 includes a module body 18, a component supply device 22 provided on the module body 18, a board transfer device 24, a component mounting device 26, a board support device 28 (see FIG. 8), and the like. have.
the component supply device 22 is provided in a front part of the module main body 18 so as to supply electronic circuit components by a feeder type component supply device or supply electronic circuit components by a tray type component supply device. Has been.
the component mounting device 26 includes a nozzle holding head 40 and a nozzle holding head moving device (hereinafter, abbreviated as a head moving device) 42.
the nozzle holding head 40 holds a suction nozzle 44 (see FIG. 5) as a component holder, and is moved by the head moving device 42 across the component supply device 22 and the substrate transfer device 24.
the circuit components are taken out from the component supply device 22 and transported by the substrate transport device 24, and the circuit components are mounted on a printed circuit board (hereinafter abbreviated as a substrate) 50 supported by the substrate support device 28.
the nozzle holding head 40 is a component mounting head, and is a kind of work head.
the head moving device 42 is an XY robot type moving device, which is provided in the module main body 18 and has a nozzle holding device as shown in FIGS. 3 and 4. It includes a Y-slide device 60 and an X-slide device 62 as two linear moving devices for moving the head 40 in two directions (X, Y-axis directions) orthogonal to each other.
a Y-pole motor 68 as a drive source rotates a Y-pole screw 68, which is a kind of screw shaft, so that a Y nut 70 is formed.
the Y-axis slide 72 as a moving member is moved in the Y-axis direction.
the Y-axis motor 66 is constituted by, for example, a servomotor with an encoder.
Servo motors are electric motors that can precisely control the rotation angle.
a step motor may be used instead of the servo motor.
the X slide device 62 is a multi-stage moving device, that is, a two-stage moving device.
the first X sliding device 80 and the second X sliding device 82 It consists of two slide devices.
the first and second X slide devices 80, 82 each have an X-axis motor 84, 86 as a drive source, and an X pole screw 88, which is a kind of screw shaft. , 90, nuts 92, 94 and an X-axis slide 96, 98 as a moving member.
the X-axis motors 84 and 86 are constituted by a servomotor with an encoder.
the nozzle holding head 40 is held on the second X-axis slide 98, which is the X-axis slide of the second X-slide device 82, and the Y-axis motor 66 and the X-axis motors 84, 86 rotate. By controlling the pressure, the nozzle holding head 40 can be moved to an arbitrary position within one horizontal plane.
the nozzle holding head 40 is detachable from the head moving device 42, and can be selected and held from a plurality of components having different configurations.
the component mounting device 26 can replace the nozzle holding head 40 with a different type.
FIG. 6 shows three nozzle holding heads 40 a, 40 b, and 40 c as an example of the nozzle holding head 40 that can be held by the head moving device 42.
the nozzle holding head 40a is a nozzle holding head 40a.
FIG. It is composed of the following components and components, and a head cover 122 (see FIG. 3) that covers these components.
FIG. 5 shows a state where the head cover 122 is removed.
the head main body 120 is provided with a holder 126 holding the nozzle holding head 40 a and attached to the head moving device 42, which constitutes a holding device. ing. Nozzle holding head 40a The head positioning device with respect to the second X-axis slide 98 at the holding body 126
the nozzle holding heads 40 a, 40 b, and 40 c have different numbers of nozzle holders 130, respectively, and have different numbers of suction nozzles 44 to hold.
the head is selectively held by the head moving device 42 according to the type of 0, the type of the circuit component to be mounted, and the like. Head positioning device 1 2 3 above, Head mounting device 1
the second X-axis slide 98 is a device for imaging a reference mark or the like attached to the surface (upper surface) of the substrate 50 below the second X-axis slide 98, and includes a CCD camera 1 as an imaging device.
a mark imaging device 164 which is a type of recognition device including a lighting device 160 and a lighting device 162, is provided (see Figs. 3 and 24). The mark imaging device 16 4 is moved together with the nozzle holding head 40 to an arbitrary position within one horizontal plane by the head moving device 42.
Each mounting module 12 has a module main body as shown in FIG.
a component imaging device which is a kind of a recognition device having a CCD camera and an illumination device as an imaging device between the component supply device 22 and the substrate transfer device 24.
each mounting module 12 is a modularized device that is provided with the component supply device 22, the component transport device 24, and the component mounting device 26, and is modularized.
It has a structure that can be easily separated from 10 and can be replaced with each other.
the substrate transfer device 24 will be described.
the substrate 50 is transported by the substrate transport device 24 in the X-axis direction in which the mounting modules 12 are arranged.
the X-axis direction is the substrate transfer direction.
the substrate transfer device 24 is As shown schematically in FIG. 7, the conveyor device has two conveyor units, a front conveyor unit 200 and a rear conveyor unit 202.
the guide rail 210 and the guide rail 211 constitute the main body of the front conveyor section 200, and the guide rail 210 and the guide rail 216 constitute the main body of the rear conveyor section 202.
the guide rails 210, 212, 214, and 216 are examples of side frames, but are referred to as guide rails because they have guide portions for guiding the substrate 50 and a conveyor belt described later. Hereinafter, it is simply referred to as a rail.
the rail 210 is a fixed rail fixedly provided in front of the system base 10 (on the component supply device 22 side in the Y-axis direction), and the rails 2 1 2, 2 1 4, 2 1 Reference numeral 6 denotes a movable rail provided to be movable in the Y-axis direction along a guide 2 18 (see FIG. 8) provided on the system base 10.
These rails 2 1 2, 2 14, and 2 16 are, as shown in Fig. 8, representative of rails 2 12, a rail position changing motor 2 20 (see Fig. 24) as a driving source, and a pole screw. It can be moved independently by the rail moving device 2 26 including the 2 2 2 and the nut 2 2 4, and the transport width of the front conveyor 200 and the rear conveyor 202 can be changed arbitrarily.
the rails 214 are movable rails, but in the rear conveyor section 202, the rails 214 are moved closer to and away from the rails 214 to adjust the transport width. In that sense, rails 2 1 4 can also be considered fixed rails.
Each of the rails 2 10 -2 16 is provided with a plurality of pulleys including a pulley 2 30 as shown in FIG.
An annular conveyor belt 232 is wrapped around the belt conveyor, and the belt drive device driven by a substrate carrying motor 234 (see FIG. 24) drives the bullion 230 and the like to rotate so that the conveyor is recombined.
the belt 23 is rotated, and the substrate 50 placed on its upper surface is transported in the X-axis direction while being guided by the guide members 236.
the surface including the upper surface of the conveyor belt 232 is the substrate transfer surface 238.
the motor 220 is constituted by a servo motor with an encoder, which is an electric motor.
Each of the rails 210-216 also has a clamp that pushes up the substrate 50 from above the conveyor belt 232 and presses it against the holding portion 240 as shown in FIGS. 8 and 9.
a member or a lifting member 242 is provided so as to be able to move up and down, and the pressing portion 240 and the lifting member 242 constitute a substrate clamping device.
the substrate support device 28 includes a support pin 250, a support pin gripping device 252, a pin support base 254 as a pin support member, and a support pin. It has a storage device 256, a support pin gripping device moving device as a relative moving device, and a control device for controlling the moving device.
the support pins 250, the pin support bases 254, and the support pin storage devices 256 are provided for each of the front conveyor section 200 and the rear conveyor section 202. Have been.
the support pin 250 and the pin support 254 will be described. As shown in FIGS. 11 to 13, the support pin 250 is pressed against the pin support base 254 based on the magnetic force of the permanent magnet 270, and is detachably fixed. In addition, the substrate 50 is supported by a pin member 274 supported by the base 272. As schematically shown in FIG. 8, the pin support 2 4 4 has a rectangular plate shape in cross section, and has a support pin 2 5 6 0 is placed. Therefore, at least the pin support surface 276 of the pin support 254 is made of a magnetic material such as steel.
the support pins 250 support the substrate 50 by the support lift device 280 as a pin support member moving device.
the support pins 250 are moved to a retracted position in which the support pins 250 are retracted below the substrate transfer surface 238, as shown by a solid line in FIG.
the support platform elevating device 280 uses an air cylinder, which is a type of fluid pressure actuator, as a drive source.
the pin support 254 supports a plurality of types of substrates 50 conveyed by the front conveyor section 200 and the rear conveyor section 202.
the movable rails 2 1 2 and 2 16 are moved in the Y-axis direction with respect to the pin support 2 254 when the transport width is adjusted.
the base 2 72 of the support pin 250 is made of a non-magnetic material such as an aluminum alloy, and has a circular cross section as shown in FIGS. 11 and 13. It is open downward, has a groove 288 that penetrates in a direction perpendicular to the axis of the support pin 250, and has a groove shape, and has an inner space 290 inside. .
the inner space 290 is also a concave part whose bottom is open.
a bottom plate 292 is fixed to the entire lower surface, which is the bottom surface of the base 272, by an appropriate fixing means such as bonding, and covers the entire inner space 290.
the bottom plate 292 is made of a non-magnetic material such as stainless steel, and a rubber plate is provided on the lower surface which is the outer surface opposite to the upper surface 293 which is the surface on the base 272 side. 294 is fixed by an appropriate fixing means such as bonding, and the bottom surface of the base 272 is covered with a rubber layer.
the surface of the rubber plate 294 opposite to the bottom plate 292 forms a supported surface supported by the pin support 254 of the support pin 250.
the pin member 274 includes a first member 300 and a second member 302, each of which has a shaft shape.
the second member 300 is fitted to the ceiling wall 314 constituting the bottom of the groove 288 of the base 272 so as to be relatively movable in the axial direction, and is held by the base 272.
the lower end is positioned inside the inner space 290 to form a base end, and the C-shaped member 304 is fixed.
the C-shaped member 304 is composed of a main body portion 308 having a rectangular cross-sectional shape, and a main body portion 308 at both ends in the longitudinal direction of the main body portion 308, respectively, from the center in the width direction.
a pair of plate-shaped engaging portions 3 1 0, 3 1 2 which are made to extend at right angles to the plate surface and whose extending end portions are bent so as to approach each other to be parallel to the main body 3 08.
the cross-sectional shape is generally C-shaped.
the engaging portions 310 and 312 are located at the same position in the axial direction of the pin member 274.
the C-shaped member 304 is accommodated in the groove 288 with the engaging portions 310 and 318 extending in parallel with the groove 288, with the C-shaped opening facing downward. It is detachably fixed to the second member 302 by an appropriate fixing means 310, such as a port.
Reference numeral 12 protrudes downward from both ends of the main body portion 108.
the limit of the movement of the pin member 274 to the base 272 is defined by the top wall 314 engaging the C-shaped member 304, and the top wall 314 defines the movement limit stipulation portion. Make up.
the first and second members 300, 302, and the C-shaped member 304 are made of a nonmagnetic material such as an aluminum alloy in the present embodiment.
the first member 300 is screwed into a protrusion protruding from the base 272 of the second member 302, that is, the side protruding from the opposite side to the inner space 290. It is fixed so that it can be attached and detached and its axial position can be adjusted.
the tip of the protruding portion forms a plane orthogonal to the axis of the support pin 250, forms a support surface 324, and supports the substrate 50.
an annular groove 326 is provided at an intermediate portion in the axial direction of the first member 300, and a gripped portion 328 and a circular engagement portion 329 having a circular cross section are provided. Have been.
the cross section of the permanent magnet 270 is circular, and the permanent magnet 270 is held by a magnet holding member 330.
the magnet holding member 330 has a concave shape provided with a concave portion 332 opened on the bottom surface thereof, and a permanent magnet 270 is fixed in the concave portion 332 by an appropriate fixing means such as bonding, and the permanent magnet is permanently fixed. It is integrated with the magnet 270, and the permanent magnet 270 and the magnet holding member 330 constitute a permanent magnet section 334.
the magnet holding member 330 is made of a magnetic material such as steel.
the permanent magnet 270 is fixed in a state of being slightly retracted from the bottom surface 335 of the magnet holding member 330 into the concave portion 332, thereby protecting the permanent magnet 270 and forming a magnetic material.
the magnetic attraction generated by the pin support 254 is strengthened.
the magnet holding member 33 is provided with a pair of protrusions 33 36 and 33 38 that project in opposite directions to the sides. .
the magnet holding member 330 has the recessed portion 3332 opening downward, and the projections 33, 36, 38 are engaged with the engaging portions 310, 31. 2 in the direction parallel to the direction in which the engaging portions 3110 and 3112 of the C-shaped member 304 are arranged.
the base 272 and the base 272 there is a slight gap between the base 272 and the base 272 in the right angle direction, and the relative movement is free in a space substantially surrounded by the base 272 and the C-shaped member 304. However, it is arranged in a state where it is prevented from leaving the space.
the projections 336 and 338 have different thicknesses, and the engagement surfaces 3400 and 3 have different axial positions of the pin members 274, respectively. With 4 2.
the engagement is constituted by a downward surface that is a plane perpendicular to the axis of the pin member 274 of the projection 336.
the surface 340 is located lower than the engagement surface 342 of the projection 338, and the pin member 274 has a different position in the axial direction.
the engaging portions 310 and 312 constitute the first engaging portion of the pair, and the projections 336 and 338 constitute the second engaging portion of the pair, These constitute a force transmission device.
the magnet holding member 330 applies a force to the base 272 via the bottom plate 292 and presses the base 272 against the pin support 2524, and the support pin 250 becomes a pin. It is fixed on the support stand 25 and is supported.
the bottom surface 335 of the magnet holding member 330 and the upper surface 293 of the bottom plate 292 constitute a force transmitting section.
the pin member 274 is supported by a base 272 fixed to the pin support 254, and the pin support 254 via a C-shaped member 304 and a magnet holding member 330. , Which supports the substrate 50 from below.
the support pin gripping device 252 will be described.
Fig. 14 As shown in FIG. 15 and shown in FIG. 15, it is held by the holder 126 and is attached to the second X-axis slide 98 of the head moving device 42 together with the nozzle holding head 40 to move the head. It is moved to any position in the horizontal plane by the device 42.
the portion of the holding body 1 26 holding the support pin gripping device 25 2 constitutes a holding device holding the support pin gripping device 25 2, and in this embodiment, the nozzle holding head 40
the support pin holding device 25 2 is held by a separate holding device, and the holding devices are integrally provided.
the nozzle holding head 40, the support pin holding device 25 2, and the holding body 1 26 Constitute a holding unit.
a support pin gripping device 25 2 is provided for each of the plurality of types of nozzle holding heads 40, and a plurality of holding portions are selectively mounted on the head moving device 42.
the support pin gripping device 252 includes a gripping device main body 360, a gripping claw group 362, an advancing / retreating member 3664 as an operating member, and a switching device 3666. Include.
the gripping device body 360 has a generally circular cross-sectional shape, and has a bottomed hollow cylindrical shape that is open at the bottom or downward.
the reciprocating member 365 includes a gripping claw group holding portion 370 and a locked member portion 372.
the gripping claw group holding portion 370 has an oval cross section and, as shown in FIGS. 16 and 19, is coaxial with the gripping device main body 360 and axially along its axis. And can be moved up and down.
the locked member portion 372 has a circular cross-sectional shape, is extended concentrically and upward from the gripping claw group holding portion 370, and is coaxial with the gripping device main body 360.
the reciprocating member 364 is oriented in a direction to protrude from the gripping device main body 360 by a compression coil spring 374 as an elastic member which is a kind of biasing means provided between the gripping device main body 360 and the gripping device main body 360. Being energized.
the movement limit of the advance / retreat member 364 by the bias of the spring 374 is provided on the advance / retreat member 364, and the end face of the concave portion 376 extending in the axial direction is provided on the gripping device main body.
the working position is located inside and above the gripping device main body 360 from the non-working position relative to the gripping device main body 360, and the gripping claw group 36
This is a position where the support pin 2 50 is held in a state where the support pin 2 50 is held and the support pin 2 50 is held, and the spring 37 4 urges the advance / retreat member 36 4 in a direction from the working position to the non-working position.
the advance / retreat of the advance / retreat member 364 with respect to the gripping device main body 360 is guided by a guiding device including an inner peripheral surface of the gripping device main body 360 and a guide surface 382 provided on the gripping device main body 360. .
the gripping claw group holding portion 370 is provided with a bottomed fitting hole 386 having an opening on the lower surface, extending in the axial direction, and having a bottom surface 384 on the axis thereof.
the fitting hole 3886 is located on the axis of the gripping device main body 360, and the distal end of the support pin 250, in this embodiment, the engaging portion 32 of the first member 300 The portion closer to the support surface 32 4 than 8 is fitted so as to substantially prevent the support pin 250 from tilting and to be positioned coaxially with the gripping device main body 360.
the gripping claw group holding portion 370 also has
the gripping claws 3 94, 3 96 are formed in a longitudinal shape, and at the upper end, which is one end in the longitudinal direction, the gripping claw group holding section 3 70 is moved forward and backward by the shafts 3 98, 4 00.
An axis that crosses the axis of 364 at right angles to the axis, and is rotatably mounted about axes parallel to each other, can be opened and closed, and is provided axially symmetrically with respect to the axis of the gripper main body 360. Have been.
the lower end or the free end, which is the other end of the gripping claws 394, 3966, is As shown in FIG. 16 and FIG. 18, claws 4 10 and 4 12 which are bent so as to approach each other and are holding portions are provided. The surfaces of the claws 4 10 and 4 12 facing each other are partially cylindrical gripping surfaces 4 13 and 4 14. The free ends of the gripping claws 3 94 and 3 96 are also provided with projections 4 15 and 4 16 protruding in the opposite direction to the claws 4 10 and 4 12, respectively. It works. The use of the protrusions 415 and 416 will be described later.
the lower end surfaces of the gripping claws 394, 3966 are, for example, subjected to a black dyeing treatment so as not to reflect light.
the gripping claws 3 94, 3 96 are formed at their middle portions in the longitudinal direction by the compression coil springs 4 18, 4 20 as elastic members, which are a kind of urging means, to form the claw portions 4 10, 4.
Numeral 12 is separated from the axis of the gripping member holding portion 370, and is biased in the direction of separating from each other and in the opening direction.
the rotation limit of the gripping claws 394, 396 due to the biasing of the springs 418, 4200 is such that the gripping claws 394, 396 abut the bottom surfaces of the recesses 390, 392. It is defined by
the outer surfaces of the gripping claws 394, 396 which are opposite to each other, and the outer surfaces of the gripping claws 394, 396 extend in the longitudinal direction of the gripping claws 394, 396. It has been.
the portions on the rotation axis side of these actuated surfaces 4 2 2 and 4 2 4 4 are tilted outward (toward the outer peripheral surface side of the gripping device body 360) in a direction away from the rotation axis (downward).
the inclined surfaces 4 26 and 4 28 are set.
the switching device 366 includes a motion conversion mechanism 430 and a locking device 432.
the motion conversion mechanism 430 includes a pair of connecting links (hereinafter abbreviated as links) 434, 436, a guide device 438, and a working lever 440 as a movable working member.
links connecting links
One end of each of the links 4 3 4 and 4 3 6 are respectively connected to the gripping claws 3 9 4 and 3 9 6 by the axes 4 4 4 and 4 4.
the other end is connected to an axis line parallel to the rotation axis of one end by a shaft 448 so as to be relatively rotatable relative to each other. I have.
the shaft 4 448 is projected out of the gripping claw group holding portion 3700, and the notch 4 52 provided in the gripping device main body 360, 3 6 0 Is movable in the direction of movement of the reciprocating member 36 4, but perpendicular to the direction of movement of the reciprocating member 36 4, and the direction of opening and closing of the gripping claws 3 94, 3 96.
the notch 452 is provided in one plane including the axis of the gripper body 360, the axis 448 moves in that plane, and the links 436, 438 are in the gripper body. It is configured to be axially symmetric with respect to the 360 axis.
the pair of gripping claws 394, 3966 are simultaneously rotated and axially symmetric about the axis of the gripping device main body 360, and the gripping claw group 362 is opened and closed axially symmetrically.
the gripping claw group 362 is opened and closed axially symmetrically.
the shaft 4448 and the notch 452 constitute the guide device 438.
the gripping device main body is used.
the reciprocating member 364 which is coaxially fitted with 360 and holds the gripping claw group 362 coaxially, is disposed on the axis of symmetry of the gripping claw group 362, and Provided to advance and retreat along the symmetry axis of the gripping claw group 36 2.
the fitting hole 384 provided in the reciprocating member 364 is located on the axis of symmetry of the group of gripping claws 362, and the bottom surface 384 thereof is located at the center back of the group of gripping nails 362. .
the action lever 4440 has a longitudinal shape, and as shown in FIG. 16, one of a pair of gripping claws 394, 396 of the gripping device body 360, for example, gripping
a shaft 4 56 6 is provided so as to be rotatable around an axis parallel to the rotation axis of the grasping claw 3 94, and a direction intersecting the advancing and retreating direction of the grasping claw 3 94. It is provided to be movable.
the operating lever 440 is rotatably mounted at an upper end portion which is one end portion thereof, and serves as an elastic member which is a kind of biasing means wound around the outside of the gripping device main body 360.
a roller 460 is rotatably attached to a lower end portion, which is the other end portion of the action lever 440, and forms a rotation engagement portion.
the rotation limit of the operation lever 4400 by the bias of the spring 458 is set on the specified surface 462 (see Fig. 16) provided on the gripping device body 360. Is defined by contact.
the action lever 4 4 0 As shown in FIG. 16, it is located at the operation start position.
the operation start position is the roller
a part of 4 60 is fitted into the recess 3 9 in which the gripping claw 3 94 is fitted, and the gripping claw 3 94 grips the support pin 2 50 as shown in FIG.
This is a position located on the axis side of the gripping device main body 360 (opening / closing axis side of the gripping claw group 362) from the position of the affected surface 422 in the state in which the gripper is held.
the locking device 4 32 includes, as shown in FIG. 16, a locked member 4 70 provided on the locked member portion 3 72 of the reciprocating member 3 64 and a gripping device main body.
a rotation locking member 472 as a locking member provided in the 360 is included.
the locked member 470 is provided integrally with the advance / retreat member 364, and is provided on the advance / retreat member 364.
the locked member may be provided separately from the operating member, and may be fixed to the operating member to operate integrally.
the rotation locking member 472 is provided by bending a steel wire, and extends in a direction substantially perpendicular to the integral rotation shaft 476 and the rotation shaft 476.
a pair of engaging portions 482, 484 provided at the free ends of the arms 4778, 480 so as to approach each other. And held by a gripping device main body 360 at a rotating shaft portion 476 so as to be rotatable around an axis orthogonal to the axis thereof.
the rotation locking member 472 is elastically deformable.
the locked member portion 3772 is provided with grooves 486, 488 at two positions separated in a direction parallel to the rotation axis of the rotation shaft portion 476, respectively.
a pair of guide portions 49, 492 and locked portions 49, 46 are provided, and the grooves 48, 48 are provided.
the engaging portions 482, 484 fitted in 8 are guided and locked.
the groove 486 has a portion in which one of the pair of groove side surfaces functions as a guide surface, and both functions as a guide surface or a restraining surface to restrain the engaging portion 482 from being in a free state
the guide portion 490 includes a guide groove portion for determining and guiding a moving route, and the guide portion 490 is formed by one of the groove side surfaces as shown in FIG. 22 (a).
the guide portion 492 is provided with a sixth, seventh guide surface 5 16, 5 18, a second, a third, and a fourth guide surface constituted by one of the groove side surfaces.
Fifth guide groove portions 5 24, 5 26, 5 27, and 5 28 include both groove side surfaces and locked surfaces 5 30.
the engaged surfaces 5110 and 5330 are concave downwards, respectively, so that the engaging portions 482 and 484 can engage with each other.
the portions provided with the locked surfaces 5 10 and 5 30 constitute the locked portions 4 94 and 4 96, and the engaging portions 4 82 and 4 8 of the rotation locking member 4 72.
the position where 4 engages with the locked surfaces 5 10 and 5 30 is the locking position.
the support pin gripping device 25 2 is a support pin gripping device elevating device (hereinafter, abbreviated as an elevating device) provided on the holding body 126. It is moved up and down by 540, and is moved closer to and away from the pin support 254.
the lifting device 540 is configured by using an air cylinder 542 as a drive source, and the support pin gripping device 252 is guided by a planning device 546 including a guide rod 544. While being moved to the preset rising end position and falling end position.
the lifting / lowering device 540 is an approach / separation device, and constitutes a relative moving device together with the head moving device 42. A part of the relative moving device includes a nozzle holding head 40 and a substrate 50. It also serves as a part of the relative movement device that moves the object relatively.
the support pin storage device 256 will be described.
the support pin storage device 256 is provided outside the movable rails 2 12 and 2 16, that is, the fixed rail 2 10 side and the movable rail 2 14. At the position opposite to the side, it is movably mounted on the movable rails 2 1 2 and 2 16. Regarding the movable rail 2 16, it may be considered that the support pin storage device 256 is attached to the opposite side to the fixed rail 210 side.
the support pin storage device 256 attached to the movable rail 211 will be described as a representative.
the storage body 600 of the support pin storage device 256 has a longitudinal shape as shown in FIG. 10, and is mounted on the movable rails 212 in the substrate transfer direction (left and right directions in FIG. 10). It is detachably fixed in a parallel posture.
a plurality of O2s are provided at a distance along the longitudinal direction of the storage body 600 or the movable rails 122, for example, in a row at equal intervals.
Each of the plurality of pin storage holes 602 has a size to which the base 272 of the support pin 250 is fitted and positioned in the radial direction, and each of the plurality of pin storage holes is fitted to the support pin 250 to support the support pin.
the storage section includes a positioning section for concentrically positioning the 250. At the open end of the pin storage hole 602, a tapered surface whose diameter increases toward the opening edge is formed, and a guide surface 606 for guiding the fitting of the support pin 250 is provided. Make up.
the portion constituting the bottom surface 608 of the pin storage hole 602 is made of a magnetic material, and the other portions are made of a non-magnetic material.
reference marks 610 and 612 are provided at both ends of the upper surface of the housing 600 separated in the longitudinal direction.
the support pin storage device 256 is provided such that the lower surface thereof is located slightly above the pin support surface 276 of the pin support base 254 in a state of being located at the rising end position. Have been killed. Therefore, the support pin storage device 256 moves together with the movable rail 212, but does not interfere with the pin support 254 moved to the rising end position.
the support surface 324 is positioned at substantially the same height as the upper surface of the movable rail 212 as shown in FIG. While avoiding the interference between the pin storage device 256 and the pin support 254, the support pin 250 is prevented from protruding significantly from the upper surface of the movable rail to be in the way.
the lifting and lowering device 540 is set the same when attaching and detaching the support pin 250 to and from the pin support base 254 and when storing and removing the support pin 250 to and from the support pin storage device 256.
the support pin gripping device 255 can be moved up and down by the up and down strokes.
each of the plurality of mounting modules 12 is provided with a control device 65 0.
the control device 650 is mainly composed of a computer 660 including a CPU 652, a ROM 654, a RAM 656 and a bus 658 connecting them. Bus 6 5 8
An input / output interface 662 is connected to the controller, and various devices such as a substrate transfer device 24, a drive source, and an image obtained by a component imaging device 170 via a drive circuit 664 are connected.
the image processing unit 670 that processes data, the system controller 680 that controls and controls all of the multiple work modules 12, and the controller 650 of other work modules 12 are connected. ing.
the ROM 654 and the RAM 656 store various programs and data, such as a component mounting program and a support pin automatic setup change program, and the control unit 650 executes these programs.
the automatic setting change of the support pin 250 under the control of the relative moving device is performed.
the head moving device 42 of the control device 650, etc. By controlling the head moving device 42 of the control device 650, etc., the mounting, dismounting, and storing of the support pin 250 between the pin support base 254 and the support pin storage device 256 are performed.
the part constitutes a control device of the substrate support device 28.
the substrate 50 is transported by the substrate transport device 24 and stopped at a preset mounting position. Then, the pin support 254 is raised, and the support pins 250 fixed on the pin support 254 come into contact with the back surface of the substrate 50 and are supported from below. At this time, the pin support 254 pushes up the push-up member 242 to hold the substrate 50.
the support pins 250 are arranged on the pin support 254 so as to support a preset portion on the back surface of the substrate 50. For example, if circuit components have already been mounted on one side of the board 50, it is necessary to avoid them and support them.
the support pin 250 is placed at the set position. While holding the substrate 50 in this manner and supporting the substrate 50 by the support pins 250, the nozzle holding head 40 is moved by the head moving device.
the arrangement of the support pins 250 with respect to the pin support 254 is automatically changed. Less than Below, the automatic setup change of the support pin 250 will be described.
the setup change for example, it is not necessary to change the position of the support pins 250 currently fixed to the pin support bases 254 to the support position of the substrate 50 on which the circuit components are to be mounted next, and it is unnecessary.
the support pins 250 are returned to the support pin storage device 256, or the support pins 250 are removed from the support pin storage device 256 and attached to the pin support bases 250.
Is Pin arrangement data is created and stored in the computer in accordance with the type of the board 50, and pin arrangement data created for each of the two types of boards 50 on which circuit components are mounted one after another.
the setup is changed based on the requirements.
the removal of the support pin 250 from the pin support base 254 and the storage in the support pin storage device 256 will be described.
the support pin gripping device 25 2 is moved by the head moving device 42 according to the pin arrangement data, and the pin support 25 is moved. It is moved above the support pin 250 fixed on the 4.
the reciprocating member 36 4 is in the non-operating position
the rotation locking member 4 72 is located in the original position
grips The pawl group 362 is in the open state
the gripping pawls 394 and 396 are open
the operating lever 440 is located at the operation starting position.
the pin support 254 is raised to the rising end position.
the support pin gripping device 255 is moved to a position where the axis of the gripping device body 360 coincides with the axis of the support pin 250, and is moved from the rising end position to the falling end position by the lifting device 540. Can be lowered.
the support pin 250 is the same in a direction perpendicular to its axis to show the state of the permanent magnet portion 334 of the support pin 250. The state viewed from the direction is illustrated.
the tip of the pin member 27 4 of the support pin 250 is fitted into the fitting hole 3886, and the center of the gripping claw group 36 2 It goes into the back, and as shown in FIG. 16, the support surface 3 24 contacts the bottom surface 3 84 of the fitting hole 386. From this state, the support pin gripping device 255 is further lowered. However, the advancing / retreating member 365 touches the support pin 250 and is prevented from lowering. Only the main body 360 is lowered while compressing the spring 374. It is equivalent to the advancing / retreating member 364 being pushed by the tip of the support pin 250 and being relatively raised with respect to the gripping device body 360, and is advanced from the non-operation position to the operation position.
the bottom surface 384 constitutes an actuated surface or an engaged surface
the portion of the reciprocating member 364 provided with the bottom surface 384 constitutes an actuated portion or an engaged portion.
the gripping claw group 3 62 together with the reciprocating member 3 64 rises with respect to the gripping device body 360, and the roller 460 of the operating lever 440 is engaged with the work surface 422 of the gripping nail 394. Then, the gripping claw 3 94 is rotated in the closing direction against the urging force of the spring 4 18. As a result, the gripping claws 396 are also symmetrically rotated in the closing direction, and the claws 4 15 and 4 16 are fitted into the grooves 3 26 of the support pins 250.
the operation lever 4400 is such that a part of the roller 4600 is fitted into the concave portion 3900 in which the gripping claw 394 is fitted, and as shown in FIG. Affected surface when gripping claw 3 94 grips support pin 250
the gripping claw 3 94 and the action lever 4 40 are guided by the inclined surface 4 2 6 and the roller 4 6
the operating lever 440 securely rotates the gripping claw 394 in the closing direction and securely grips the support pin 250.
the gripping claws 3 94, 3 96 engage the gripping surfaces 4 13, 4 14 with the gripped portion 3 28, and the support pin 2 50 Hold.
the support pin gripping device 2 52 is further lowered from the state where the gripping claws 3 94 and 3 96 grip the support pin 250 and reaches the lower end position, during which the operating lever 4 40 is spring-loaded.
the gripping device main body 360 is lowered, and in parallel with the movement of the advance / retreat member 365 from the non-operation position to the operation position, the rotation locking member of the locking device 432 is rotated. 4 7 2 is moved from the original position toward the locking position.
the rotation locking member 472 is formed with the engaging portions 482, 484 in the grooves.
the engaging portion 484 is located in the upper end portion of the second guide groove portion 524. This position is the original position of the rotation locking member 472, and with the movement of the reciprocating member 364 to the operating position, as shown in FIG.
the rotation guide member 472 is relatively moved with respect to the advance / retreat member 364 in a direction parallel to the axis of the advance / retreat member 364, which is provided by the second guide groove portion 524. Then, first, the engaging portion 482 contacts the first guide surface 500, and is guided by the first guide surface 500, so that the rotation locking member 472 is locked in the moving direction of the moving member 364. While being guided to the surface 5 10 0, it is turned in a direction away from the locked surface 5 10 0 in a direction perpendicular to the advance / retreat direction.
the rotation locus of the rotation locking member 472 is shown by a two-dot chain line.
the other engaging portion 484 is engaged with the sixth guide surface 5 16 and moves along the sixth guide surface 5 16.
the distance of the sixth guide surface 5 16 from the rotation axis of the rotation locking member 472 is substantially the same as the distance of the first guide surface 500 from the rotation axis. Since the engaging portion 484 is contacted from the side opposite to the one guide surface 500, the engaging portion 484 has a smaller rotation angle than the engaging portion 482, and the rotation locking member
the arm portion 472 is elastically deformed, and the arm portion 478 is twisted in a direction to rotate clockwise relative to the arm portion 480 in FIG. 22B. For convenience, this torsion direction is defined as the forward direction.
the position of the engagement portion 484 when there is no torsion is shown in FIG.
the engaging portion 484 is formed in the third guide groove portion 526 in a state where the engaging portion 482 is guided by the first guide surface 500. It is guided by the third guide groove portion 526, and is relatively moved with respect to the locked member 470 while its rotation is restricted. Therefore, the engaging portion 4 82 is the first guide surface 50 When it has moved to the end of 0, it is rotated in the opposite direction by the elastic restoring force of the rotation locking member 472 and engages with the fourth guide surface 506, and directly below the second guide surface 502. Is located at In a state where the support pin gripping device 25 2 is lowered to the lower end position, as shown in FIG.
the engaging portion 48 2 is engaged with the fourth guide surface 50 6,
the engaging portion 484 is fitted into the lower portion of the third guide groove portion 526.
the guide portions 49 0 and 49 2 are provided back to back with each other, they are shown side by side in FIGS. 22 and 23, and the rotation locking members 47 2 The direction of rotation is illustrated in the opposite direction.
the support pin gripping device 255 is raised toward the rising end position after the gripping device main body 360 is lowered to the lower end position. At this time, the advancing / retreating member 365 is held in a state of being engaged with the distal end of the support pin 250 by the bias of the spring 374, and the spring 374 expands while the gripping device main body 356 is held. 0 rises with respect to the advance / retreat member 364, and as shown in FIG. 22 (d), the rotation locking member 472 is raised, and the pair of engaging portions 4882, 4884 Are guided by the fourth guide surface 506 and the third guide groove portion 526, respectively, and are moved to the locked surfaces 5110 and 530, respectively.
the engaging portion 482 is engaged with and guided by the second guide surface 502, and is eventually engaged with the locked surface 5110 as shown in FIG. 22 (e).
the engaging portion 482 is engaged with the second guide surface 502 while the engaging portion 484 is fitted in the third guide groove portion 526. Therefore, after the engagement, the rotation locking member 472 is elastically deformed and twisted in the opposite direction, and when the engagement portion 484 comes out of the third guide groove portion 526, The locking member 472 is moved toward the locked surface 5300 by the elastic restoring force of the locking member 472, and is located almost directly below the locked surface 5330. At this time, the engaging portion 482 is also located almost directly below the locked surface 5110.
the support pin gripping device 2 52 is further raised from this state, but the advancing / retreating member 3 64 is raised together with the gripping device body 360, and the gripping claw group 36 2 and the support pin 250 are raised. Let me do.
the gripping claws 3 94, 3 96 are configured such that the claws 4 10, 4 12 engage with the annular engaging portion 3 29 to apply a tensile force to the pin member 2 7 4, and the base 2 7 2 To raise against.
the engaging portion 310 of the C-shaped member 304 engages with the protrusion 336. Therefore, as shown in FIG.
the magnet holding member 330 is formed around the contact portion between the protrusion 338 side of the bottom surface 335 and the bottom plate 292,
the magnetic attraction force is reduced by being piled up and inclined at the attraction force, and being obliquely separated from the pin support 254.
the tensile force applied to the pin member 274 is transmitted to the permanent magnet portion 334 as a force for tilting the permanent magnet portion 334.
the combined force of the magnetic attraction force which can be considered to act intensively at the center of the permanent magnet part 3 34, the force applied by the engaging part 3 10 to the protrusion 3 36, and the bottom plate 2 9 2 can be countered by the force applied to the protrusion 3 3 8 side of the bottom surface 3 3 5 of the magnet holding member 3 3 0.
the engaging portion 3 10 The horizontal distance (the distance in the direction parallel to the bottom plate 292) to the point of contact with the protrusion 338 is from the point of contact between the protrusion 338 side of the bottom surface 335 and the bottom plate 292.
the force that the engaging portion 310 should apply to the protrusion 336 may be a little more than 1 Z3 of the magnetic attraction force.
the force required to tilt the magnet holding member 330 is compared to the force required to separate the entire magnet holding member 330 at right angles to the pin support 254 (equivalent to the resultant force of the magnetic attraction force).
the engaging portion 312 engages with the projection 338, and the entire permanent magnet portion 334 is pin-supported. If it is separated from, the magnetic attraction will disappear.
the permanent magnet section 3 3 4 is closest to the pin support 2 5 4 and applies magnetic attraction to the base 2 7 2, the engaging surface 3 4 0 is located below the engaging surface 3 4 2.
the engaging surface 340 is closer to the engaging portion 310 than the engaging surface 342, and is engaged first, and then the engaging surface 342 is engaged with the engaging portion 314. And the engaging portions 310, 312 and the protrusions 336, 338 However, at the two positions different from each other in the axial direction of the pin member 274, they are engaged at different times to tilt the permanent magnet portion 334.
the C-shaped member 304 engages with the top wall 314 of the base 272 as shown in FIG. 2 is lifted from the pin support 25 4 and the entire support pin 250 is easily lifted from the pin support 2 54.
the gripping claws 394, 3966 which open and close symmetrically with each other, contact and grip the support pins 250 fitted in the fitting holes 382, but they are opened and closed axially symmetrically. And the length of the gripping surfaces 4 13 and 4 14, that is, the length in the direction along the axis when gripping the support pin 250 is short, and the phase of the support pin 250 is small. It engages in a state that allows a counter tilt, does not prevent the centering of the support pin 250 by the fitting hole 386, and the support pin 250 is transported in a posture where the axis is vertical You.
the support pin gripping device 25 2 is moved to the rising end position, and crosses the movable rail 21 2 or 21 6 by the head moving device 42 to the support pin storage device 25 6. It is moved and the support pins 250 are transported in the state shown in FIG. 21 (b).
the support pin gripping device 25 2 is moved above the empty pin storage hole 62 out of the plurality of pin storage holes 62 of the support pin storage device 256, and then lowered and supported. Holds pin 250.
the reference marks 610 and 612 are imaged by the mark imaging device 164 and stored in the pin storage hole 602. The position of the support pin 250 in the width direction of the substrate transfer device 24 is detected.
the support pin storage device 25 6 moves together with the movable rails 2 12 and 2 16, and with the movement of the movable rails 2 12 and 2 16, the position of the substrate transfer device 24 in the width direction is changed.
the position of the stored support pin 250 changes. Therefore, the position of the support pin 250 is detected when the movable rails 212 and 216 are moved to change the conveyance width, and the position of the support pin storage device 256 is changed.
the positions of the movable rails 2 1 2 and 2 16 in the Y-axis direction are set in advance according to the type of the substrate 50, and at the time of mark imaging, are based on the positions of the movable rails 2 1 2 and 2 16.
the mark image pickup device 164 is moved to a position where the reference marks 61 0 and 612 are expected to be located, and the reference marks 61 0 and 612 are directly above, that is, the reference marks 610 and 612. Take an image from the position facing 612.
the mark imaging device 164 is mounted on the second X-axis slide 98 and is moved by the head moving device.
the actual positions of the reference marks 610 and 612 are determined. And their positions and the support pin storage device 2
the respective center positions of the pin storage holes 602 are calculated, and the respective positions of the support pins 250 are obtained.
the support pins 250 are fitted in the pin storage holes 602 and are positioned concentrically, and the position of the support pins 250 is detected by detecting the position of the pin storage holes 602. These positions are associated with data identifying each of the plurality of pin storage holes 602, and
the mark imaging device 1 64 also serves as the imaging device for the reference marks 610 and 612 that are the imaging target portions of the support pin storage device 256, and the head moving device 42 also serves as the imaging device moving device.
a support pin position detecting device is constituted together with a position calculating device constituted by a portion for detecting the position of the supporting pin of the device 650.
the base 272 When the support pin gripping device 252 is lowered, the base 272 is fitted and positioned in the pin storage hole 602 while being guided by the guide surface 606, and reaches the bottom surface 608 to be seated.
the pin member 274 By further lowering the support pin gripping device 252, the pin member 274 is lowered with respect to the base 272, the entire bottom surface 335 of the magnet holding member 330 is brought into contact with the bottom plate 292, and the magnetic material in the pin storage hole 602 is formed. Magnetically attracted by the bottom surface 608 made of Press the base 2 7 2 against the bottom 6 08 to fix it.
the bottom surface 608 and the permanent magnet portion 334 constitute a support pin fixing device, and the support pin 250 is fixed while being positioned in the pin storage hole 602.
the support pin gripping device 255 is further lowered from this state, but the reciprocating member 365 is prevented from lowering by the support pin 250 fixed to the pin storage hole 62, and the gripping device main body is moved.
the 360 moves down with respect to the advance / retreat member 365 while compressing the spring 37 4.
the advancing / retreating member 365 is pushed by the tip of the support pin 250, is relatively raised with respect to the gripping device body 360, is moved from the non-working position toward the working position, and is retracted. It is moved to the end position.
the engaging portions 482, 484 is separated from the locked surfaces 5110 and 5330, and the lock is released.
the rotation locking member 472 descends relatively to the guide portions 490, 492 while maintaining the vertical posture.
the engaging portion 484 is engaged with the seventh guide surface 518, and thereafter moved to the left in the figure, The rightward movement of 482 is prevented by the third guide surface 504, so that the rotation locking member 472 is twisted in the opposite direction.
the engagement portion 484 is positioned leftward from the position indicated by only the two-dot chain line circle in FIG.
the advancing / retreating member 365 descends relatively to the gripping device main body 360 and moves to the non-operating position, As shown in Fig. 16, the gripper claw group holder 370 is disengaged from the gripper body 360, and the grippers 394, 396 are opened by the bias of the springs 418, 420. The support pin 250 is opened. Therefore, the support pin gripping device 255 is further raised after the rotation locking member 472 has reached the original position and the reciprocating member 364 has returned to the non-operating position.
the reciprocating member 364 is raised together with the gripping device main body 360, and the support pin 250 is disengaged from the fitting hole 386. It is kept in the state of being stored in the support pin storage device 256.
the locked member 470 has a pair of guide portions 490, 492, and these guide portions 490, 492 are formed by the reciprocating member 364,
at least one of the engaging portions 482, 484 is restrained in principle, and the rotation locking member 472 freely rotates. It is provided so that it will not be in a state where If one of the engagement parts is free, Prior to this, the other engaging portion is restrained by the guide groove so that the moving direction of one of the engaging portions is determined, and both of the engaging portions are located in the guide groove.
the engaging portions 482, 484 are engaged with the guide surfaces from opposite directions in the rotating direction of the rotation locking member 472, so that the moving direction is determined. .
the pair of guide portions 490 and 492 cooperate with each other, so that the engaging portions 482 and 484 are locked by the forward and backward movement of the advance / retreat member 364 twice.
a predetermined orbiting motion is performed including the following, and the engagement with the locked surfaces 5110 and 5330, which are the opposite operations, and the release of the engagement are easily performed.
the support pin gripping device 25 2 in order to place or store the support pins 250 held by the support pin gripping device 25 2 on the pin support base 255 4 or the support pin storage device 256, it is necessary to approach the support pins 250. , Separation operation is required.
a new actuator is added to open and close the gripping claw group 362 by using this operation to advance and retreat the advancing / retreating member 364 to open and close the gripping claw group 362.
the support pin 250 can be gripped and released without any need.
the gripping claw group 362 with the support pin 250 released is always switched to the open state, and the protrusion 415 of the gripping claw 394 is actuated by the operating lever 440.
the roller is located below the roller 460 and covers the roller 460. Therefore, when the nozzle holding head 40 takes out the circuit component from the component supply device 22 and then the component imaging device 110 captures an image from below, the roller 460 is illuminated to form an image of the circuit component. Adverse effects are avoided.
the support pin position detecting device of the present embodiment includes an encoder 720 of a rail moving device 700 for moving a movable rail and a position calculating device 704.
the rail moving device 700 has, for example, the same configuration as that of the rail moving device 222, and the output of the encoder 720 provided for the rail position changing motor 706 corresponds to the position of the movable rail.
a signal is output and input to the control device 708.
the control device 7 08 is constituted mainly by a computer similarly to the control device 6 50, and in the portion constituting the position calculation device 7 04, the output of the encoder 7 0 2 is set in advance.
the position of the support pin is calculated based on information on the relative position between the movable rail and the pin storage hole. This information includes, for example, relative position information in the X-axis and Y-axis directions between the reference position or the rail position acquisition position set on the movable rail and the center position of each of the plurality of pin storage holes.
the engagement member with which the operating member engages may be configured by a member other than the support pin.
the projecting portion 724 from the reciprocating member 72 is extended in a direction intersecting the retreating direction, in this embodiment, at right angles.
the holding member 728 is provided with an engaging member 732 having an upward engaging surface 730 facing the projection 724.
the fitting hole 736 into which the support pin 250 is fitted has a depth such that the bottom surface 738 does not touch the support pin 250.
the support pin gripping device 720 is lowered, the tip of the support pin 250 is fitted into the fitting hole 736, and the gripping claw group 362 is switched to the closed state to be gripped.
the lowering of the advancing / retreating member 722 is stopped by the engagement of the projection 724 with the engagement surface 730, and the lowering of the gripping device body 360 thereafter.
the reciprocating member 722 is pushed by the engaging member 7332, and is moved in the direction from the non-operating position to the operating position.
the group of gripping claws 36 2 is closed to grip the support pin 250.
Engaging member 7 3 2 Except for engaging with the reciprocating member 7 22 and pushing in the direction from the non-operating position to the operating position, the supporting pin 250 is similar to the case where the supporting pin 250 is engaged with the reciprocating member and operated. Is gripped and released.
a pin support member and a support pin storage device may be used as an engagement member.
the engagement arm 7444 is extended downward from the reciprocating member 7424 toward the pin support 254 to engage. Part is provided.
the engagement arm 7 4 4 is provided so as to come into contact with the pin support surface 2 76 when the gripping claw group 3 6 2 has just reached the position where the support pin 2 50 is gripped. 4 4 and pin support surface 2 7 6
the lowering of the 742 is stopped, and it is pushed up against the gripper body 360. Also, although not shown, when the support pins are stored in the support pin storage device, the engaging arm 744 is engaged with a component of the support pin storage device, for example, the retractable member 74 by engaging with the storage body. The descent of 2 is stopped.
the force transmission device of the support pin may be a device that generates a rotational moment in the permanent magnet.
the permanent magnet portion 772 of the support pin 770 shown in FIG. 28 includes a permanent magnet 774 and a magnet holding member 776, and an inner space 7 of the base 778.
the magnet holding member 776 is disposed in the inside of the groove 78, and the magnet holding member 776 is separated from the permanent magnet 774 in a direction parallel to the longitudinal direction of the groove 782 constituting the inner space 7800. It is rotatably attached to the base 7778 by a shaft 784. A projection 790 projects from a free end of the magnet holding member 776 to constitute a second engagement portion.
the base end of the pin member 794 is located in the inner space 780, and the projection 790 is provided with an engagement portion 796 that can be engaged from below, and the first engagement portion Is composed.
the engaging portion 796 engages with the protruding portion 790, and the magnet holding member 770 is rotated, so that the permanent magnet portion 770 While tilting it away from the pin support 2 54.
the protrusion 790 is provided at a position deviated from the permanent magnet 774, and is a line of action of the resultant force of the magnetic attraction acting between the permanent magnet 770 and the pin support 254.
the protrusion 7 9 0 and the engagement 7 9 and 6 engage with each other to generate a rotational moment in the permanent magnet section 772 and rotate it.
the C-shaped member of the support pin may be made of a magnetic material such as soft iron. If the C-shaped member is made of a non-magnetic material, magnetic attraction does not act on the C-shaped member, and the magnet holding member is easily inclined with respect to the pin support. However, even if the C-shaped member is made of a magnetic material, it can be engaged with the magnet holding member and tilted as long as the magnetic attraction of the pin support does not reach. In a state where the magnet holding member is separated from the bottom plate of the base, the magnet holding member is attracted to the main body by the magnetic force by the C-shaped member, and can be held in a straight state.
a magnetic material such as soft iron.
a pair of first engaging portions of the C-shaped member of the support pin may be provided at different positions in the axial direction of the pin member, and together with the pair of second engaging portions of the permanent magnet portion.
the pin members may be provided at different positions in the axial direction.
the pin supporting member elevating device and the supporting pin gripping device elevating device may be a device that includes an electric motor, for example, a servo motor as a drive source, and includes a motion converter having a screw shaft and a nut.
the claimable invention is a component mounting system other than the module type component mounting system, a component mounting machine other than the component mounting machine in which the nozzle holding head is moved in the X-axis and Y-axis directions by the head moving device,
a component mounting machine other than the component mounting machine in which the nozzle holding head is moved in the X-axis and Y-axis directions by the head moving device
index-type component mounting machines in which a plurality of nozzle holding heads are swiveled around the axis
work systems other than the component mounting system such as screen printing machines, support pins for adhesive coating devices, etc.
Suitable for pin holding device, support pin storage device, substrate support device Can be used.

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PCT/JP2005/002327 2004-02-20 2005-02-16 支持ピン把持装置および基板支持装置 WO2005081611A1 (ja)

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Application Number	Priority Date	Filing Date	Title
JP2006510208A JP4499096B2 (ja)	2004-02-20	2005-02-16	支持ピン把持装置および支持ピン保持装置

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Application Number	Priority Date	Filing Date	Title
JP2004-044221		2004-02-20
JP2004044221		2004-02-20

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DE102008023613B3 (de) *	2008-05-15	2009-07-30	Siemens Aktiengesellschaft	Vorrichtung und Verfahren zum Positionieren von Unterstützungsstiften und Bestückautomat
DE102008023614B3 (de) *	2008-05-15	2009-11-26	Siemens Aktiengesellschaft	Verfahren zum automatischen Positionieren von Unterstützungsstiften und Bestückautomat
WO2013021593A1 (ja) *	2011-08-08	2013-02-14	パナソニック株式会社	電子部品実装装置用の下受けピンモジュールおよび基板下受け装置ならびに基板下受け方法
WO2013021594A1 (ja) *	2011-08-08	2013-02-14	パナソニック株式会社	電子部品実装装置および電子部品実装方法ならびに下受けピンモジュールの配置変更方法
WO2015033399A1 (ja)	2013-09-04	2015-03-12	富士機械製造株式会社	対基板作業装置
JP6037412B2 (ja) *	2013-03-05	2016-12-07	富士機械製造株式会社	バックアップピン及びバックアップピン自動交換システム
JP7385534B2 (ja)	2020-06-22	2023-11-22	ヤマハ発動機株式会社	搬送装置、基板処理装置

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JP5984284B2 (ja) *	2012-02-28	2016-09-06	Ｊｕｋｉオートメーションシステムズ株式会社	部品実装装置及び基板の製造方法
CN107176450A (zh) *	2016-03-09	2017-09-19	精工爱普生株式会社	电子部件运送装置、以及电子部件检查装置

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