JPH04217436A - Packaging device for work - Google Patents

Abstract

PURPOSE:To enable the suction/installation of the electronic part of a chip, etc., while rotating a rotating drum continuously for reducing a loss time, in a work packaging device. CONSTITUTION:The present device is equipped with a rotating drum 7 continuously rotated by a driving means M5, a work holding member 21 provided on the outer peripheral face of the rotating drum 7 and revolvable along this outer peripheral face, and control part SL which makes the work holding member 21 executing the specified revolving movement corresponding to the rotation of the rotating drum 7, and controls the work holding time of the work holding member and the work releasing time parting the work during this revolving movement.

Description

[Detailed description of the invention]

0001 [Purpose of the invention]

0002

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece mounting apparatus suitable for mounting electronic components such as chips on a printed circuit board.

0003

2. Description of the Related Art Conventionally, electronic component mounting apparatuses for mounting electronic components on printed circuit boards have been used, for example, in
The one described in Publication No. 114290 is known.

That is, a vertically movable suction head disposed around the periphery of a rotatable table is lowered after the table is stopped at a suction station position, and is raised again after adsorbing a workpiece such as a chip. Next, the table is rotated by a predetermined amount, the suction head holding the work is moved to the mounting station, stopped, and the suction head is lowered again to mount the work on the printed circuit board.The mounting movement is repeated.

[0005]

[Problems to be Solved by the Invention] As mentioned above, in the conventional workpiece mounting apparatus, the rotation of the table is repeatedly stopped when the suction head picks up the workpiece and when the workpiece is mounted, so the table stops. This was undesirable in terms of work efficiency, as it led to lost time.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a workpiece mounting device that can hold a workpiece and mount a workpiece while continuously rotating.

[0007] [Structure of the invention]

[0008]

[Means for Solving the Problems] In order to achieve the above object, the present invention includes a rotating drum that is continuously rotated by a driving means, and a rotating drum that is provided on the outer circumferential surface of the rotating drum and that rotates along the outer circumferential surface. control that controls when the work holding member holds the work and when the work is released to release the work, by causing the work holding member to make a predetermined turning movement in response to the rotation of the rotating drum, and during this turning movement, when the work holding member holds the work and when releasing the work. It has a section.

[0009]

[Operation] In such a workpiece mounting apparatus, the workpiece holding member repeats a turning motion in response to the rotation of the continuously rotating rotary drum. At this time, by controlling the period from the lowest position to the lowest position of the workpiece holding member using a command signal from the control unit, the workpiece holding member moves from the workpiece supply part while holding the workpiece, and moves to the workpiece setting part. At this point, the mounting movement to release the workpiece is repeated. During this mounting movement, the rotary drum is ensured to be in continuous rotation, eliminating lost time and improving work efficiency.

0010

【Example】

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings of FIGS. 1 to 7.

In FIG. 1, reference numeral 1 indicates the body of the workpiece mounting apparatus 3. As shown in FIG. The machine body 1 includes a rotating drum 7 mounted and supported on a rotatable drum shaft 5, and a fixed work supply section (hereinafter referred to as a supply table 9) serving as a suction station along the outer periphery of the rotating drum 7. , a movable workpiece setting section (hereinafter referred to as an XY table 11) serving as a mounting station are arranged.

The supply table 9 has an arcuate shape along the outer periphery of the rotating drum 7, and has a plurality of workpieces P such as chips arranged in the radial direction. In addition,
The work P is sequentially fed from the feeder T to the suction position.

[0013] The XY table 11 is movable in the front and back A directions by a first motor M1a, and in the right and left B directions by a motor M1b. A mounting conveyor 13 for transporting and moving is mounted. This mounting conveyor 13 includes a terminal end of an incoming conveyor 15 which is arranged on both left and right sides and can be transported in the direction of the arrow D by a third motor M3, and a starting end of an unloading conveyor 17 which can be transported in the direction of the arrow by a fourth motor M4. It functions to approach the board by moving the XY table 11 in the left and right directions, receive the printed circuit board 19 in a standby state on the carry-in conveyor 15, and send it out onto the carry-out conveyor 17 after mounting is completed.

On the other hand, the rotary drum 7 is continuously rotated in the direction of the arrow H as rotational power is transmitted to the drum shaft 5 via the conduction belt 20 by the fifth motor M5 mounted on the body 1.

A plurality of work holding members 21 are attached to the outer peripheral surface of the rotating drum 7.

Note that since the workpiece holding members 21 are composed of members with the same function, only one workpiece holding member will be described.

As shown in FIG. 5, the workpiece holding member 21 has a rotary head 25 in which suction nozzles 23 of different sizes are provided at four locations at 90 degree intervals in the radial direction, and the rotary head 25 is held in the same posture. It has a planetary gear mechanism and a link mechanism 27, which will be described later, to rotate as it is.

The suction nozzle 23 communicates with a vacuum pump 26 via a pipe 29 as shown in FIG.
Adsorption and removal of adsorption are possible using the vacuum pressure of 3.

The pipe 29 rotates together with the on-off valve 31 and the rotary drum 7, and one end thereof is connected to a communication hole 33 provided in the third link 27c constituting the link mechanism 27, as shown in FIG. . This communication hole 33 is connected to the spring 3
The rotating head 2 is biased by a biasing means such as 4, etc.
5 is rotated by 90 degrees, for example, it is always provided at a position facing and communicating with the passage 35 provided on the suction nozzle 23 side.

The other end of the pipe 29 is connected to an outlet 37 provided at the bottom of the drum shaft 5 as shown in FIG.
The outlet 37 communicates with the vacuum pump 26 via a communication passage 41. The communication passage 41 is connected to the vacuum pump 2.
It has a ring-like shape that passes through the center of a fixed shaft 39 that communicates with the outlet 6 and opens in the circumferential direction, so that even if the outlet 37 rotates, the connection state is always ensured.

The link mechanism 27 includes a first link 27a, a second link 27b, and a third link 27c, and the first link 27a is fixed to a first link shaft 45 constituting the first conduction path 43. It is rotatable together with the first link shaft 45.

[0022] The second link 27b is connected to the first link shaft 4.
5 and a second link shaft 49 which is conductively connected via a conductive belt 47, and is rotatable together with the second link shaft 49.

The third link 27c has one end rotatably supported by the second link 27b and is pivotally connected to a third link shaft 51 that rotates around the second link shaft 49, while the other end thereof is rotatably supported by the second link 27b. The side is rotatably connected to the first link 27a via a pin 53.

The third link 27c is equipped with the rotary head 25, which rotates 90 degrees to select the suction nozzle 23.

That is, the third link shaft 5 of the third link 27c
1 has a double shaft with an outer shaft 55 and an inner shaft 57, as shown in FIG.
5 is fixed, while a rotary head drive gear 59 is attached to the other end.
is fixed. Therefore, the rotating head drive gear 5
By transmitting rotational power to 9, it is possible to rotate 90 degrees at a time.

A suction nozzle drive gear 61 is attached to one end of the inner shaft 57, and a side gear 63 is attached to the other end, and a pinion gear 65 attached to the base of the suction nozzle 23 meshes with the side gear 63.

Therefore, rotational power is transmitted to the suction nozzle drive gear 61, and the side gear 63 and pinion gear 6
By slightly rotating the suction nozzle 23 through the
As shown in , the θ angle correction of the suction nozzle 23, that is, the reference line W
The suction posture of the work P in the correct direction is ensured.

The suction nozzle drive gear 61 and the rotary head drive gear 59 connect the final parts of the second and third transmission paths 69 and 71 via a pair of intermediate gears 67 and 67 rotatably supported by the second link 27b. The gears 59, 61, 67, 73, and 75 mesh with the gears 73 and 75, respectively, and constitute a planetary gear mechanism that rotates about the second link shaft 49.

In this case, it is also possible to replace the final gears 73, 75, the suction nozzle drive gear 61, and the rotary head drive gear 59 with pulleys or sprockets, and to adopt belt or chain transmission means.

The gear ratios of the rotary head drive gear 59 and suction nozzle drive gear 61 and the final gears 75 and 73 are set at 1:1. Further, as shown in FIG. 6, the distance a from the first link shaft 45 to the pin 53 and the distance b from the second link shaft 49 to the third link shaft 51 are set to be approximately the same dimension.

[0031] As a result, the first and second link shafts 45, 4
The first, second and third links 27a, 27b, 2 centering around 9
7c and the action of the planetary gear mechanism, the rotary head 25 can be rotated in the same position with the suction nozzle 23 for suction operation always facing downward, and the communication holes 33 and 35 are always kept in communication with each other. It's starting to drip.

The first conduction path 43 is connected to the sixth motor M supported on the body 1 by a bracket 77 as shown in FIG.
6 and the power from the rotating drum 7 are transmitted to the ring gear 7.
9 and an input side gear 87 to form a transmission system that is input to the first and second link shafts 45 and 49.

That is, the ring gear 79 has an outer gear portion 79a on the outside and an inner gear portion 79b on the inside, and is rotatably mounted on the inner flange portion 78a of the fixed frame 78. The outer gear portion 79a is correctly positioned on the upper surface of the inner flange portion 78a by a ring member 83 provided on the lower surface side of the ring gear 79 and in contact with the inner wall surface 78b of the fixed frame 78.
It meshes with the motor gear 85 of. Further, the inner gear portion 79b meshes with the input side gear 87 of the gear shaft 81 supported by the rotating drum 7, and is engaged with the output side gear 87 of the gear shaft 81.
9 meshes with a transmission gear 91 mounted on the first link shaft 45.

Therefore, when the sixth motor M6 is turned off, the rotating drum 7 rotates in the direction of the arrow H.
When the input gear 87 meshes with the ring gear 79 and revolves around its own axis, the rotational power is transmitted to the first and second link shafts 4 via the output gear 89 and the transmission gear 91.
5 and 49 as counterclockwise rotational power. As a result, the suction nozzle 23 of the rotary head 25 repeatedly moves up and down, drawing a cycloid curve N shown in FIG. 3.

On the other hand, by rotating the ring gear 79 in the same direction as the rotating direction of the rotating drum 7 by controlling the operation of the sixth motor M6 while the rotating drum 7 is rotating, the cycle of the pickup movement can be lengthened. can.

To explain this point more specifically, in this embodiment, while moving 180 degrees from the supply table 9 to the XY table 11, the downward suction nozzle 23 moves counterclockwise as shown in FIG. For example, from a place that is set to make about 5 rotations, for example, 4 rotations, 6th rotation
By controlling the operation of the motor M6, as shown in FIG. 3, the suction nozzle 23 can obtain a pick-up motion that draws a cycloid curve N in one cycle L in which the suction nozzle 23 descends twice at approximately 180 degrees. In this pickup movement, the rotation ratio is set so that the speed of the tip of the suction nozzle 23 due to the rotation of the rotating drum 7 in the direction of arrow H matches the speed of the tip of the suction nozzle 23 due to the counterclockwise rotation of the rotary head 25. Therefore, the suction nozzle 23 has a ground speed close to zero, and can perform suction operation without any trouble. therefore,
By controlling the operation by the sixth motor M6 such as 3 rotations or 4.5 rotations, it is possible to lengthen or shorten the cycle L of the cycloid curve N, and the workpiece can be spread over the entire area of the supply table 9. P
Pick-up operation can now be performed.

Note that the pickup movement of the suction nozzle 23 is not limited to the above-mentioned method of obtaining power. For example, as shown in the dotted line in FIG. 7, the outer gear 7 of the ring gear 79
The input side gear 87 may be meshed with the input side gear 87 on the 9a side, and the motor gear 85 of the sixth motor M6 may be meshed with the inner gear portion 79b of the ring gear 79. Also, the transmission system from the sixth motor M6 may be meshed with the inner gear portion 79b of the ring gear 79. Instead, the input side gear 87 is directly engaged with the horizontally rotating ring gear 80 as shown in the two-dot chain line in the figure, and the first transmission path 43 is connected.
It is also possible to create a layout that connects to the

The second transmission path 69 cuts off the power from the rotating drum 7, while the power from the seventh motor M7 supported on the fuselage 1 by the bracket 77 is transmitted to the differential gear 93 and the vertically long sleeve shaft. 95 and a transmission system for correcting the θ angle of the suction nozzle 23, which is input to the final gear 73 via an outer sleeve shaft 97 located outside the second link shaft 49, which is long in the left and right directions.

That is, the motor pulley 99 of the seventh motor M7 is connected to the pulley 101 of the differential gear 93 and the transmission belt 103.
The first gear 105 of the differential device 93 meshes with a ring-shaped fixed gear 109 that is fixed integrally with a fixed shaft 107 supported on the rotating drum 7.
The second gear 111 of No. 3 meshes with a ring-shaped free gear 113 that is loosely fitted to the fixed shaft 107 within the range of the elongated hole. The free gear 113 meshes with a transmission gear 115 provided at the upper end of the sleeve shaft 95. In this state, the differential device 93 and each gear 10
The number of teeth is set as 9, 105, 111, and 113.

As a result, the power from the fixed gear 109 rotating together with the rotating drum 7 is transmitted to the free gear 113 via the first gear 105 and second gear 111 of the differential device 93, but at this time, the fixed gear 109 rotates together with the rotating drum 7. Gear 109 and free gear 11
3 is synchronized with the rotation, and the power to the sleeve shaft 95 is cut off.

On the other hand, a bevel gear 117 provided at the lower end of the sleeve shaft 95 meshes with a bevel gear 119 provided on the outer sleeve shaft 97.

[0042] Therefore, when the seventh motor M7 operates, its rotational power is transmitted to the second gear 111 and the free gear 113.
via the sleeve shaft 95 and the outer sleeve shaft 97,
The rotational power is then transmitted to the final gear 73.

The third transmission path 71 cuts off the power from the rotating drum 7, while the power of the eighth motor M8 supported on the fuselage 1 by the bracket 77 is transmitted to the differential gear 121.
, a vertically long transmission shaft 123 passing through the inside of the sleeve shaft 95 , and an inner sleeve shaft 125 located outside the second link shaft 49 and forming a triple shaft with the outer sleeve shaft 97 . This is a transmission system for selecting the suction nozzle 23 that is input to the final gear 75.

That is, the motor pulley 127 of the eighth motor M8 is connected to the pulley 129 of the differential gear 121 and the transmission belt 1.
30 and the first gear 1 of the differential 121.
31 is a ring-shaped fixed gear 1 integrated with the fixed shaft 107.
The second gear 135 of the differential device 121 meshes with a ring-shaped free gear 137 that is loosely fitted to the fixed shaft 107 within the range of the elongated hole. free gear 1
37 meshes with a transmission gear 139 provided at the upper end of the transmission shaft 123. In this state, the fixed gear 113
The differential device 121 and each gear 133, 131, 135, 13 are adjusted so that the speed ratio of the free gear 137 is 1:1.
The number of teeth is set to 7.

As a result, the power from the fixed gear 133 rotating together with the rotating drum 7 is transmitted to the free gear 137 via the first gear 131 and second gear 135 of the differential device 121. Gear 133 and free gear 1
37 is synchronized with the rotation, and the power to the transmission shaft 123 is cut off.

On the other hand, a bevel gear 141 provided at the lower end of the transmission shaft 123 meshes with a bevel gear 143 provided on the inner sleeve shaft 125.

Therefore, when the eighth motor M8 operates, its rotational power is transmitted to the second gear 135 and the free gear 137.
via the transmission shaft 123 and the inner sleeve shaft 125,
The rotational power is then transmitted to the final gear 75.

In FIG. 2, SL indicates a control section. The control unit SL has a visual sensor such as an image recognition device for checking the holding state of the workpiece or a rotating drum 7 on the input side.
Various information is input from a rotation angle sensor that detects the rotation angle of the motor M1, and the output side outputs a command signal based on the input information, such as the opening/closing time of the on-off valve 31 and the first to eighth motors M1. ...It has a function to control the on/off time of M8.

Next, the operation will be explained.

The suction nozzle 23 facing downward continues to rotate counterclockwise as shown in FIG. 6 while maintaining the same posture as the rotating drum 7 continuously rotates in the direction of arrow H. At this time, the suction nozzle 23 moves up and down based on a command signal from the control unit SL, drawing a cycloid curve N with a long cycle L from the lowest position to the lowest position. At this time, at the lowest point, the suction nozzle 23 has a ground speed close to zero, so it suctions the workpiece P from the supply table 9 without any problem, moves to the XY table 11 in a cycloid trajectory, and then picks up the printed circuit board 19. The mounting movement for releasing the holding of the workpiece P on the upper surface is repeated. At this time, if the operation of the seventh motor M7 is controlled and the power is transmitted to the final gear 73 via the second transmission path 69, the suction nozzle 23 will rotate slightly, the θ angle will be corrected, and the workpiece P will be corrected. Be able to place it in position.

[0051] Furthermore, the operation of the eighth motor M8 is controlled;
When power is transmitted to the final gear 75 via the third transmission path 71, the rotary head 25 rotates 90 degrees, and the suction nozzle 23 corresponding to the size of the workpiece P can be selected. In this series of operations, the rotary drum 7 is ensured to be in a continuous rotation state, so no loss time occurs.

Furthermore, by controlling the length of the period L of the cycloid curve N, the workpiece P supplied over the entire area of the supply table 9 can be attracted, and the attracted workpiece P can be attached to the printed circuit board 19 on the XY table 11. The mounting work can be performed without stopping the rotating drum 7. As a result, takt time is shortened and operation rate is improved.

FIGS. 8 to 11 show examples of a built-in motor type. In addition, in this example,
Parts of structures corresponding to those in the first embodiment will be described with the same reference numerals, and detailed descriptions of the same functional parts will be omitted since they are redundant.

That is, a plurality of work holding members 21 are attached to the outer peripheral surface of the rotating drum 7, as in the previous embodiment.

Note that since the workpiece holding members 21 are composed of members with the same function, only one workpiece holding member will be described.

As shown in FIG. 9, the workpiece holding member 21 has a rotary head 25 in which suction nozzles 23 of different sizes are provided at four locations at 90 degree intervals in the radial direction, and the rotary head 25 is held in the same posture. The head posture control mechanism 145 rotates the head as it is.

The suction nozzle 23 communicates with a vacuum pump 26 via a pipe 29 as shown in FIG.
Adsorption and removal of adsorption are possible using the vacuum pressure of 3.

The pipe 29 rotates together with the on-off valve 31 and the rotating drum 7, and one end is connected to the rotating head 25.
It is connected to a communication hole 149 of a disc body 147 that contacts the back side of the disc body 147 . This communication hole 149 is formed when the disk body 147 is biased by a biasing means such as a spring 150, so that when the rotary head 25 is rotated, for example, 90 degrees, the suction nozzle 2
It is provided at a position where it always faces and communicates with the passage 152 provided on the third side.

The other end of the pipe 29 is connected to an outlet 37 provided at the top of the drum shaft 5.
It communicates with the vacuum pump 26 via a communication passage 151. The base end of the communication passage 151 is connected to the vacuum pump 26.
It is a ring-shaped outlet 157 that opens in the circumferential direction and communicates with the passage 155 on the fixed sleeve 153 side that communicates with the passage 153, so that even if the drum shaft 5 rotates, the outlet 157 and the passage 1
55 connection status is always ensured.

The head posture control mechanism 145 includes a link 169 fixed to the sleeve shaft 193 and a first shaft 159 that revolves around the sleeve shaft 193 by the link 169.
, a second axis 161, and a third axis 163. First axis 159
is rotatably arranged inside the second shaft 161,
A suction nozzle drive pulley 165 is attached to one end, and a side gear 63 is attached to the other end, and a pinion gear 65 attached to the base of the suction nozzle 23 meshes with the side gear 63.

Therefore, the suction nozzle drive pulley 165
The rotational power is transmitted to the side gear 63 and the pinion gear 65 to rotate the suction nozzle 23, as shown in FIG.
As shown in , the θ angle correction of the suction nozzle 23, that is, the reference line W
The suction posture of the workpiece P in the correct direction is ensured.

The second shaft 161 is rotatably disposed inside the third shaft 163 and has one end connected to the rotary head 25.
The other end is attached to a rotary head drive pulley 167, respectively. Therefore, the rotary head 25 rotates by inputting rotational power to the rotary head drive pulley 167,
The suction nozzle 23 can be selected.

The third shaft 163 serves as an outer shaft, and a link 169 is fitted and fixed at one end.

The other side of the third shaft 163 has the disk body 14
7 is rotatably mounted, and a pulley 171 is provided on the body of the disc body 147. This pulley 1
71 is connected to a final pulley 173 fixed to a central fixed shaft 177 constituting a quadruple shaft via a belt 175.

The fixed shaft 177 constituting a quadruple shaft is supported on one side by a sleeve shaft 193, which will be described later, fitted into the link 169, and on the other hand supported by a support frame fixed to the rotating drum 7. It is fixedly supported by 7a.

The suction nozzle drive pulley 165 and the rotary head drive pulley 167 are connected to the second and third transmission paths 69 and 7.
1 final pulley 181, 179 and belt 183 respectively
A conductive state is ensured through the . Therefore, when the final pulleys 179 and 181 are stopped, the link 169 is rotated by the first conduction path 43, thereby forming a planetary mechanism in which the rotary head 25 revolves while rotating.

In this case, each pulley 173, 179, 18
1, 165, 167, and 171, as shown in FIG. 12, it is also possible to use gear transmission instead of belts to form a planetary gear mechanism using gear transmission.

Note that the rotating head drive pulley 167, the suction nozzle drive pulley 165, and the pulley 17 of the disc body 147
1 and the respective final pulleys 179, 181, and 173 are set in a 1:1 relationship.

As a result, the planetary mechanism allows the rotary head 25 to rotate about the fixed shaft 177 in the same position with the suction nozzle 23 for suction operation always facing downward.

The first transmission path 43 connects the power from the sixth motor M6 supported by the rotating drum 7 via a bracket and the power from the rotating drum 7 via the differential gear 185, as shown in FIG. It is a conduction system that receives input at the same time.

That is, the differential device 185 is generally called a harmonic device, and is held by the rotating drum 7, and includes a motor transmission system that transmits the power of the sixth motor M6 to the output bevel gear 187, and a motor transmission system that transmits the power of the sixth motor M6 to the output bevel gear 187. The ring gear 189 fixed to the sleeve 153 and the transmission gear 191 mesh with each other, and the transmission gear 191 rotates and revolves around the ring gear 189, thereby transmitting the power from the rotating drum 7 to the bevel gear 187. It has a structure with a transmission mechanism.

The output bevel gear 187 is passed through the fixed shaft 177 and meshes with a bevel gear 198 provided on a sleeve shaft 193 serving as the second shaft of the quadruple shaft.

Therefore, when the sixth motor M6 is off, when the rotary drum 7 rotates in the direction of the arrow H, and the transmission gear 191 engages with the ring gear 189 and revolves around its axis, the rotational power is The rotational power is transmitted to the sleeve shaft 193 via the bevel gears 187 and 198 in the counterclockwise direction. As a result, the suction nozzle 23 of the rotary head 25 repeatedly moves up and down, drawing a cycloid curve N shown in FIG. 3.

On the other hand, while the rotary drum 7 is rotating, by controlling the operation of the sixth motor M6 to rotate it in the same direction as the rotation direction of the rotary drum 7, the cycle of the pickup movement can be lengthened.

To explain this point more specifically, in this embodiment, while moving 180 degrees from the supply table 9 to the XY table 11, the downward suction nozzle 23 moves counterclockwise as shown in FIG. For example, by controlling the operation of the sixth motor M6 for 4 rotations from the point where the suction nozzle 23 is set to rotate about 5 times, the suction nozzle 23 descends twice at approximately 180 degrees as shown in FIG. A pickup motion that draws a cycloid curve N of one cycle L can now be obtained. In this pickup movement, the rotation ratio is set so that the speed of the tip of the suction nozzle 23 due to the rotation of the rotating drum 7 in the direction of arrow H matches the speed of the tip of the suction nozzle 23 due to the counterclockwise rotation of the rotary head 25. Therefore, the suction nozzle 23 has a ground speed close to zero, and can perform suction operation without any trouble. Therefore, by controlling the rotation by the sixth motor M6, for example, by 3 rotations or 4.5 rotations, it is possible to lengthen or shorten the cycle L of the cycloid curve N. The work P can be picked up over the area.

Further, by further developing the rotation control and controlling the rotary head 25 so as to give it a rotation angle that is approximately 10 times the rotation angle of 1 of the rotary head 7, the rotary head 25 can rotate on its own axis. It becomes possible to revolve in the same posture, and the rotating head 25 revolves in the highest position except for suction and mounting operations, and it can be used to prevent interference with the suction nozzle 23.

The second transmission path 69 connects the power of the seventh motor M7 supported by the rotating drum 7 to the input pulley 195.
This is a transmission system for correcting the θ angle of the suction nozzle 23, which is inputted to the suction nozzle drive pulley 165 via the suction nozzle drive pulley 165. The input pulley 195 is fixed to the sleeve shaft 196 of the final pulley 181, which is the fourth shaft of the quadruple shaft, and is connected to the seventh motor M.
A transmission state is ensured through the motor pulley 197 and the transmission belt.

The third transmission path 71 is such that the power of the eighth motor M8 supported by the rotating drum 7 is transmitted to the input pulley 20.
1 serves as a transmission system for selecting the suction nozzle 23 that is input to the rotary head drive pulley 167 via the rotary head drive pulley 167. The input pulley 201 is connected to the final pulley 1, which is the third axis of the quadruple axis.
It is fixed to the sleeve shaft 200 of the eighth motor M8 and is transmitted via the motor pulley 203 of the eighth motor M8 and the transmission belt 205.

Therefore, by controlling the operation of the eighth motor M8, in addition to selecting the suction nozzle 23 by rotating the rotary head 25 approximately 90 degrees, for example, after the suction operation is completed, the rotary head 25 is rotated approximately 45 degrees. By rotating the suction nozzle 25, it changes from the suction/installation position facing straight down to approximately 45 mm.
A higher degree of non-operating posture can now be obtained.

As a result, the suction nozzle 23 can be used in a manner that prevents interference, and the quadruple shaft provides a simple structure in which the link mechanism 27 and the first link shaft 45 of the first embodiment can be omitted. Become.

On the other hand, in FIG. 8, SL indicates a control section. The control unit SL receives various information from a visual sensor such as an image recognition device that confirms the holding state of the workpiece or a rotation angle sensor that detects the rotation angle of the rotating drum 7 on the input side, and from the output side. has a function of outputting a command signal based on input information and controlling the opening/closing time of the on-off valve 31 and the on/off time of the first to eighth motors M1...M8.

Next, the operation will be explained.

The suction nozzle 23 facing downward continues to rotate in the counterclockwise direction as shown in FIG. 6 while maintaining the same posture with respect to the rotating drum 7 that continuously rotates in the direction of arrow H. At this time, the suction nozzle 23 moves up and down based on a command signal from the control unit SL, drawing a cycloid curve N with a long cycle L from the lowest position to the lowest position. At this time, since the suction nozzle 23 has a ground speed close to zero at the lowest point, it suctions the workpiece P from the supply table 9 without any problem, moves to the XY table 11 in a cycloid trajectory, and then picks up the workpiece P on the upper surface of the printed circuit board 19. The mounting movement for releasing the holding of the workpiece P is repeated. At this time, the operation of the seventh motor M7 is controlled, and the final pulley 181 is
If power is transmitted to , the suction nozzle 23 will rotate slightly and θ
The angle is corrected and the work P can be placed in the correct position.

[0084] Furthermore, the operation of the eighth motor M8 is controlled;
When power is transmitted to the final pulley 179 via the third transmission path 71, the rotary head 25 rotates 90 degrees, and the suction nozzle 23 corresponding to the size of the workpiece P can be selected. In these series of operations, since the rotary drum 7 is ensured to be in a continuous rotation state, no loss time occurs.

Furthermore, by controlling the length of the period L of the cycloid curve N, the workpiece P supplied over the entire area of the supply table 9 can be attracted, and the attracted workpiece P can be attached to the printed circuit board 19 on the XY table 11. Thus, the mounting work can be performed without stopping the rotating drum 7. As a result, takt time is shortened and operation rate is improved.

[0086] Although a vacuum suction means is used to hold the work in these series of examples, the work is not limited to this means, and other means such as electromagnets may also be used. . Moreover, it may be applied to workpieces other than electronic components.

[0087]

As explained above, according to the workpiece mounting apparatus of the present invention, the workpieces can be loaded from the workpiece supply section while the rotary drum is continuously rotated by the workpiece holding member that moves up and down in a cycloidal curve. Since it is possible to hold the workpiece and attach the workpiece to the workpiece installation part, lost time is eliminated and work efficiency can be improved.

[Brief explanation of the drawing]

[Fig. 1] A schematic plan view of a workpiece mounting apparatus of the present invention.

[Figure 2
] Outline cut-away diagram of main parts

[Figure 3] Explanatory diagram depicting a cycloid curve

[Figure 4] Cutaway view showing the mounting state of the rotating head

[Figure 5] Plan view of Figure 4

[Figure 6] Diagram explaining the operation of the rotating head

[Fig. 7] A schematic explanatory diagram similar to Fig. 1 showing another modification example.

[
FIG. 8: A cutaway diagram similar to FIG. 2 showing another embodiment

FIG. 9 is a cross-sectional view similar to FIG. 4 showing another embodiment.

[Figure 10
]A plan view similar to FIG. 5 showing another embodiment.

FIG. 11 is an operation explanatory diagram similar to FIG. 6 showing another embodiment.

FIG. 12 is a sectional view similar to FIG. 9 showing a gear transmission type.

[Explanation of symbols]

7 Rotating drum 21 Work holding member P Work SL control section M5 Motor (drive means)

Claims (1)

[Claims] 1. A rotating drum that is continuously rotated by a driving means, a work holding member that is provided on the outer peripheral surface of the rotating drum and can pivot along the outer peripheral surface, and a work holding member that is rotated in accordance with the rotation of the rotating drum. A workpiece mounting device comprising: a control unit that performs a predetermined turning movement and controls when a workpiece holding member holds a workpiece and releases the workpiece by releasing the workpiece during the turning movement.