Fuji Corporation

Fuji Machine Mfg. Co., Ltd.

Satoru Nishiyama

Hidetoshi Kawai

Masato Suzuki

Kazuhiro Kusunoki

Chikashi Teshima

Takashi Taneike

Takehito Okada

Akinobu Ito

The robot system for which the position of a camera attached to the arm is changeable to multiple positions. The robot system memorizes offset information between the arm and the camera for each of multiple positions. Further, the robot system moves the arm to the position offset by the offset information corresponding to the attachment position of the selected camera. As a result, even when the mounting position of the camera is changed, the robot system can move the camera to an appropriate position when imaging and perform imaging without requiring troublesome teaching.

Robot system

A component mounting device () includes: a nozzle station (), and the nozzle station () includes a lifting and lowering member () capable of lifting and lowering, a nozzle accommodation device () that accommodates multiple types of suction nozzles () that correspond to the type of the nozzle tool () to be attachable and detachable therein, a positioning device () that positions the nozzle accommodation device () at multiple height positions in accordance with the type of the nozzle tool (), and a fiducial mark () provided on the nozzle accommodation device (). An exchange control device () includes a fiducial mark position calculating section () that positions the nozzle accommodation device () at multiple height positions, and calculates each of the positions of the fiducial marks () at the multiple height positions, and a nozzle exchange control section () that exchanges the suction nozzle () by aligning the nozzle tool () with respect to the nozzle accommodation device () using the calculated position of the fiducial mark () as a reference when the nozzle accommodation device () is positioned at the multiple height positions in accordance with the exchange of the nozzle tool ().

Component mounting device and nozzle exchange method used in the component mounting device

In component mounting device, if a rotary head held by a head holder greatly deviates from a specified reference, a CPU executes a process for a holding error. The process for the holding error includes a process of holding a rotary head again by the head holder or the like, for example. If the rotary head greatly deviates from a specified reference and the component mounting process is executed as is, there is a fear that poor precision will occur during component mounting. Therefore, the CPU does not execute the component mounting process but executes the process for the holding error.

Component mounting device

An interference-prevention Q-axis rotation height position is set as a height position at an intermediate point of raising operation of suction nozzle, and a height position at which the component does not interfere with central protruding member on the lower surface of rotary head. Performed is control of large component interference prevention mode, in which, after picking up the component using suction nozzle at a component pickup height position that is the lower limit height position of lowering operation, the direction of the component is corrected by raising the suction nozzle to the interference-prevention Q-axis rotation height position that is a height position at an intermediate point of raising operation of suction nozzle and then rotating the component held by suction nozzle by Q-axis driving operation, and subsequently raising suction nozzle to a maximum height position of the raising operation, and then moving rotary head in the XY direction.

Component mounter and component mounting method

A component mounter includes a component transfer device, a tool station, and a control device. The component transfer device is provided with a head main body, and a tool holding device configured to hold a nozzle tool and provided to be raisable and lowerable with respect to the head main body and rotatable around a rotation axis line. The tool station is configured to be able to store an exchange-use nozzle tool at multiple different storage angles. The control device of the component mounter includes an angle acquiring section that acquires the storage angle of the exchange-use nozzle tool in the tool station, and an exchange control section that, during the nozzle tool exchange processing, rotates the tool holding device based on the storage angle of the nozzle tool, and performs angle alignment of the nozzle tool with respect to the head main body.

Component mounter

A component mounter is provided with a single nozzle head and multiple nozzle heads which are automatically exchangeable, a pickup/mounting driving section that connects to a suction nozzle of a single nozzle head held on a head holding section and a selected suction nozzle of a multiple nozzle head held on the head holding section and that raises/lowers the internal pressure of the suction nozzle. The pickup/mounting driving device, when making the suction nozzle of the held single nozzle head mount a component, cuts off the suction nozzle from a negative pressure source and connects the suction nozzle to a positive pressure source and the atmosphere.

Component transfer device of component mounter

A rotary head is configured of at least two types of rotary heads, such as a first rotary head in which four suction nozzles are respectively held to be rotatable on the circumference, and a second rotary head in which the suction nozzles of which the number is more than four are respectively held to be rotatable on a pitch circle diameter which is the same as that of the suction nozzle of the first rotary head, the first rotary head is attached to the drive unit, and a control device which controls an angular position of the first rotary head and an angular position of the components suctioned to the suction nozzles, to be respectively controlled to be changed by 45 degrees when the components held by the suction nozzles are imaged by a component camera is provided.

Component mounting machine

When a mounting head is moved upward of a rear side conveyor across and over a front side conveyor after a component suction operation, it is determined whether or not there is a possibility that a component sucked by a suction nozzle may interfere with a component mounted on a circuit board on the front side conveyor. When so determined, a head lifting mechanism is caused to lift up the mounting head to a position where the component sucked by the suction nozzle does not interfere with the mounted component. Thereafter, the mounting head is moved upward of the rear side conveyor, and the head lifting mechanism is caused to lower down the mounting head to an initial height position. Thereafter, the component is mounted on a circuit board on the rear side conveyor.

A component mounter mounting head holding device for detachably holding a mounting head to a head holding section of a component mounter, including: a pin to be engaged provided on a connection section for a head holding section of the mounting head; an engaging member provided on the head holding section that moves between an engagement position for holding the mounting head in which the engaging member is engaged with the pin and a release position in which the engaging member is separated from the pin; and an air cylinder provided on the head holding section that is a power source for moving the engaging member between the engagement position and the release position. When attaching/detaching the mounting head to/from the head holding section, the head holding section is rotated to a position in which the engaging member can pass by the side of the pin.

Component mounter mounting head holding device

A component mounter which exchangeably holds rotary head in head holding unit is provided with Z-axis driving mechanism that engages lever engaging piece of the nozzle holder, which performs component pickup and mounting operations, among multiple nozzle holders held on rotary head, from above and below with pushing down roller and Z-axis lever in order to lower and raise the nozzle holder. The interval between lever engaging piece of first holder that performs component pickup and mounting operation first and lever engaging piece of last holder that performs component pickup and mounting operation last is set at a wide interval at which engagement with Z-axis lever is released, and the wide interval between lever engaging piece of first holder and lever engaging piece of last holder is used as a passage through which Z-axis lever passes in an up/down direction when rotary head is attached/removed to/from head holding unit.

An abnormality detection device including an air flow path that is opened and closed by a vertical movement of a nozzle piston in a nozzle holder of a suction nozzle, an air supply path that supplies air to the air flow path, and a flow sensor that detects an amount of air flow in the air supply path. The amount of air flow in the air flow path of the nozzle holder is monitored and based on an output signal from the flow sensor a defect the vertical movement of the nozzle piston is detected.

Growing community of inventors

Nagoya, Japan

Satoru Nishiyama