JPH03227595A - Component mounting apparatus - Google Patents

Abstract

PURPOSE:To enhance the operating rate of mounting operations by storing the kind of components when the components run out during the operation, supplying only components that can be supplied, and making it possible to take out the component after the components in shortage are replenished based on the stored contents. CONSTITUTION:When components to be supplied with a component supply device 1 run out during the operation of a component mounting apparatus 4, the kind of the component is stored in a storage means 92. A first control means controls the supplying device 1 so that only the components that can be supplied among a plurality of components to be taken out with a plurality of pickup nozzles are supplied. A second control means 114 controls the supplying device 1 so that the component can be taken out with the nozzle based on the stored contents in the storage means 92 after the component in shortage is replenished. Thus, the operation can be continued without stopping the apparatus.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a component mounting device that takes out components from a supply device through a nozzle and mounts them on a printed circuit board.

(B) Prior Art In the conventional technology for this type of component mounting apparatus, when the supply apparatus runs out of parts of the type to be supplied, the operation of the apparatus is stopped.

(8) Problems to be Solved by the Invention However, the above-mentioned prior art has the drawback that even if there are other types of parts that can be installed, the device cannot continue operating.

Therefore, an object of the present invention is to enable the equipment to continue operating even when the type of parts to be supplied runs out, and to allow parts to be mounted efficiently even when multiple take-out nozzles are used. do.

(d) Means for Solving the Problems For this reason, the present invention provides a component mounting device that takes out components from a supply device through a plurality of take-out nozzles attached to a mounting head and mounts them on a printed circuit board. If the part to be supplied runs out, the storage means stores the type of the part, and if the part to be supplied runs out during operation, the plurality of parts to be taken out by the plurality of nozzles are stored. a first control means for controlling the supply device to supply only the parts that can be supplied; and a first control means for controlling the supply device based on the storage contents of the storage means after the parts that could not be supplied have been compensated for. and a second control means that enables the nozzle to take out the parts.

Further, the present invention provides a component mounting device that takes out components from a supply device through a nozzle and mounts them on a printed circuit board according to NC data storing component types and mounting information for each mounting order. a storage means for storing the mounting order in the NC data when there are no more parts to be supplied; and a storage means for storing the mounting order in the NC data; and a storage means for storing the mounting order in the NC data; control means for controlling the supply device so as to supply the parts, and to take out the parts with the nozzle based on the stored contents of the storage means after the parts that could not be supplied are replenished. It was established.

(Main) Operation According to claim 1 of the patent, when the supply device runs out of components to be supplied during operation of the component mounting device, the storage means stores the type of component that is prohibited, The first control means controls the supply device so as to supply only the parts that can be supplied out of the plurality of parts to be taken out by the plurality of take-out nozzles.

Further, the second control means is characterized in that the supply device is configured to allow the nozzle to take out the parts based on the stored contents of the storage means after the parts that could not be supplied are replenished. According to the above, the component mounting device or the control means controls the supply device so that the component can be taken out by the take-out nozzle based on the stored contents of the storage device after the component that could not be supplied is replenished.

(f) Example An embodiment of the present invention will be described below based on the drawings.

In FIGS. 1 to 3, (1) is a tray component supply device that supplies electronic components (3) placed on a tray (2) to a component mounting device (4).

The tray component supply device (1) will be explained.

(5) is a stocker section, each of which has 4 pallets (6).
Stocker 1 (7) and stocker 2 (8) loaded on the 0th stage
) are arranged side by side. The pallet (6) is fixedly placed with one or more trays (2) positioned. A safety door (9) that is opened and closed when an operator replaces the pallet (6) is attached to the stocker section (5). The door (9) is made transparent so that the stocker part (5) can be seen.

Opening and closing of the safety door (9) is detected by a door sensor (10). , (11) is the elevator section, and the strike section (
5) Pull out the pallet (6) from the parts removal section (12)
The 6-component take-out section (12> moves up to the tray (
The component (3) placed on 2) is taken out and transferred to the transfer shuttle section (13).

Next, the elevator section (11) will be explained.

(14) is a drawer table on which the parent (6) is pulled out from the stocker 1 (7) and placed thereon;
The lifting motor (15) attached to the nut (14)
A ball screw (17) rotated by the motor (16) is fitted, and the pull-out table (
14) is guided by guide rods (18) (18) and moves up and down. A drawer table (14) is also provided in the stocker 2 (8), and the aforementioned mechanism for raising and lowering the table (14) is also provided in each table (14). Therefore, the two tables (14) can be raised and lowered independently.

As shown in FIG. 4, the pull-out table (14) is provided with a pull-out claw (20) attached to a pull-out belt (21). The belt (21) is connected to the drawer driven pulley (22) (22) (22) and the drawer drive pulley (22).
3), and the drawer claw (20) is moved by the drawer motor (24) to two parallel drawer guide shafts (20).
5) Performs reciprocating motion guided by (25).

The pull-out claw (20) has a push-back piece (27) that engages with the end face of the pallet (6) and pushes back the pallet (6), and a support shaft (28) provided on the push-back piece (27). It rotates about the fulcrum and engages with the rising part of the end face of the pallet (6), and the pallet (
6) and a drawer piece (29>) for pulling out.

The drawer table (14) further includes a stopper (30).
, pallet detection sensor <31) and vertical movement cylinder (3
2) is installed.

The stopper (30) is cut out only at the part where the pallet (6) stored in one stage of stocker 1 (7) or stocker 2 (8) is pulled out by the pull-out claw (20), and extends vertically. It has a plate-like shape, and has a pallet (6
) is on the elevator part (1) other than on the drawer table (14).
1) Prevents it from being extruded.

The pallet detection sensor (31) is installed at a position laterally shifted from the stopper (3o), and the pallet (6)
It detects whether the pull-out claw (20) is pushed into the stocker 1 (7) or the stocker 2 (8) to a position where it can be engaged, and in this embodiment, a reflective photo sensor is used. .

An opening/closing stopper (34) is attached to the vertically movable rod (33) of the vertically movable cylinder (32) so as to be laterally displaced from the attachment position of the stopper (30). When the cylinder (32) is raised, the opening/closing stopper (34) is positioned as shown in FIGS. 4 and 6, and the pallet (6) is
When the cylinder (32) descends, the pallet (6
) is allowed to enter.

The rod (33) is connected to the opening/closing stopper (3) in FIG.
4) and moves upward to push up the drawer piece (29) against the urging force of the spring (35) when the drawer claw (20) is in the drawer position as shown in Figure 9. When the rod (33), which also plays a role, descends, the drawer piece (29) rotates downward due to the biasing force of the spring (35),
The pull-out claw (20) will close.

In Fig. 5, the parts storage areas (36) where parts are placed are arranged in multiple rows and columns on the tray (2), and the pull-out direction of the pallet (6) is the X direction, and the direction perpendicular thereto. If is the Y direction, then the parts storage area (36) in the X direction is...
The arrangement of parts storage areas (36) in the Y direction will be called columns. In this arrangement of parts storage <36), the first column is the rightmost side in Figure 5, and the first row is the fifth
Assume that it is on the upper side of the diagram.

In Fig. 5, (37A) is the in-process mark, and the parts in the tray (2) are still in the in-process state when they are placed in the stocker 1 (7).
), when the pallet (6) is supplied to the stocker 2 (8), it is placed in the parts storage area (36) one place before the part (3) to be taken out next. The in-process mark (37B) is further placed in the parts storage area (36) at the head of the column where the in-process mark (37A) is placed.

(41) is a tray in-process mark placement part on which the in-process mark (37C) is placed to indicate the in-process status of tray (2) of the supplied pallet (6>); There are four mark placement places (42) for placing pallets (6).
The tray (2) placed above can identify up to four trays in progress, and the sensor (37C) placed in a position corresponding to each tray (2) detects the in-process mark 40) detects which tray <2) is in progress. In addition, the work in progress mark (37A>(37B)
(37C) are all the same, but they may be of different sizes and shapes as long as the sensor (40) can determine whether there is a mark at the placement location.
37A ) (37B ) (37C) are made of metal, and P
It is detected by a tray in-process detection sensor (40) which is a proximity sensor attached to the &P head (39). However, it is also possible to use a photosensor as the detection sensor (40) and use a work-in-progress mark that is not made of metal.

Furthermore, the mark (37C) has four mark placement locations (
Although the mark (37C) is placed in one place, it is not only possible to simply place it, but also to attach it removably or to attach it with a magnet.
Instead of placing the mark in the same place as the mark (37C), there is a structure in which a plate-like or rod-like member with only one part made of a metal part of the same size as the mark (37C) is slid, so that the metal part is the same as the mark placement place (42). It is also possible to have the sensor (40) detect this when the tray (2) is in the position and determine which tray (2) is in the process.

Next, the component extraction section (12) will be explained. In Fig. 2, the P&P head (39) has two suction nozzles (44) that suction the component (3) from the tray (2), each of which is mounted so that it can move up and down independently, and the Y-axis belt (45). ) is installed. The belt (45) is connected to the Y-axis motor (46
) and the driven pulley (47) attached to
8), and by the rotation of the Y-axis motor (46), the P&P head (39) is guided by the Y guide rail (49) via the belt (45) and moves in the Y direction.

(50> is the drive pulley (47), driven pulley (48)
) and a Y guide rail (49) are attached to the X-moving body, and is attached to the X-axis belt (51).

The X-axis belt (51) is stretched between a drive pulley (53) and a driven pulley (54) attached to the X-axis motor (52), and rotates around the X-moving body ( 5
0) is guided by the X guide rails (55) (55) and moves in the X direction.

Therefore, the P&P head (39) moves in the XY
Move and pick up the part (3) at any position with the suction nozzle (44)
The component (3) can be taken out by suction and moved further to be transferred to the component receiver (56) of the transfer shuttle section (13).

The component receiver (56) is used as a position in the transfer shuttle section (13) to place the component (3) picked up by the suction nozzle (44) by a cylinder drive source (not shown), and as a take-out nozzle for the component mounting device (4). The component (3) is reciprocated between the mounting nozzle (57) and the component suction position while placing the component (3) almost horizontally. Up to three components (3) stored in the tray (2) can be placed on the component receiver (56) by the suction nozzle (44), and the three components (3) can be placed on the mounting nozzle (56).
7) is installed using three mounting nozzles (57
) are placed in a position where they can be picked up at the same time as shown in FIG.

(59) is an operation panel, which includes a pallet replenishment switch (60) that is pressed by the operator to notify the end of the exchange when the exchange of the pallet (6) is completed.

In FIG. 17, (62) is a CPU, which performs operations based on component request information from the component mounting device (4), information from various switches, sensors, etc., and information stored in the RAM (63). A ROM (64) stores a program related to the operation of the CPU (62), which controls the operation of the component supply device (1). <65) is the pass line, CPU (62), RAM (63), ROM (64)
and I10 interface (66). (
67) is a CRT connected to the pass line (65) via a CRT interface (68), on which various data are displayed. (69) is a keyboard provided on the operation panel (59), and is a numeric keypad (
70), cursor key (72) for moving the cursor (71) on the CRT (67) screen, SET key (73),
CRT key (74) to display the CRT (67) screen
, Alphabetical/y key to input alphabetic characters
(75), NEXT key (76), BACK key (77), etc.

The RAM (63) stores model data and product library, and also includes old execution model memory, new execution model memory, total number of parts memory, and current data memory.One model data is stored in the 18th memory. As shown in the figure, parts types are prepared for each model of board (61) and stored for each stocker stage number, and each model data includes PRO, NO, and FILE NAME (model name). is attached.

Variety library (TRAY DATA LIBRAR
Y) is made up of data groups as shown in FIG. 19 for each part type, and each data in FIG. 19 will be explained.

What is displayed on the PALLET MATRIX is the number of component placement columns and component placement rows when tray (2) is fully loaded with components (3), as well as the number of component placement columns and component placement rows when tray (2) is fully loaded with components (3).
) is a pallet matrix showing the number of pallets (6) placed on the pallet (6). Therefore, according to FIG. 19, one pallet is placed, the number of component placement columns is 9, and the number of component placement rows is 5.
You can see that it is a column.

TRAY 0RIGIN indicates the origin position of each tray (2) from the origin of the pallet (6) for each tray (2).
PARTS PITCH consists of 5IDE, which represents the position of the center of the part (3) placed at the farthest end from the origin of tray (2), with respect to the origin of tray (2), and BETWEEN, which represents the distance between the parts (3). It is data.PART
S5IZE represents the large number of parts (3), and the contents of these product libraries can also be viewed on the screen of the CRT (67).

The old execution model memory stores component types for each stocker stage number as shown in FIG. 20, but when switching models, the component types that were previously stored in the pallet data memory are stored.

When changing the model, the new model execution memory contains a FIL that corresponds to the board (61) on which you are about to mount components.
The model data of ENAME is stored as shown in FIG. 21, for example.

The total number of parts memory contains the parts (
The maximum number of items 3) is stored for each stocker stage number as shown in FIG.

The contents of the pallet data memory are displayed on the CRT screen as shown in FIG. 23, and the following data is stored for each stocker stage number.

In other words, what is displayed in the TYPE column is the part type;
B (XN, YN) displays a take-out matrix indicating the in-process position of part (3). 6 The in-process position of part (3) is the placement position of part (3) to be taken out next. , the number of parts placed on tray (2) is indicated by the tray number, and the part location in tray (2) is indicated by the position of the matrix. Part 0 (3) is taken out by the P&P head (39). Then, the take-out matrix is changed in a predetermined order and the parts (3) are taken out in a predetermined order. Parts (3) in the first row are taken out in order from part (3) in the first row, and when the first row ends, they are taken out from the beginning of the second row, and each time tray (2) is finished, the next tray number tray (2) is taken out. ) and take them out in the same order.

What is displayed in the MAXB (XN, YN) column is the aforementioned palette matrix.

What is displayed in the WORK column is the number of parts remaining, and
What is displayed in the column is pallet protrusion data indicating that the pallet (6) is protruded. As for the pallet protrusion data, r E is stored only in the stocker stage number where the pallet (6) is protruded.

The stocker stage numbers of stocker 1 (7) are 1 to 40, and the stocker stage numbers of stocker 2 (8) are 41 to 80.

Next, the parts mounting section! ! (4) will be explained. In FIG. 1, (78) is a mounting head to which three mounting nozzles (57) are attached. A nut (79) attached to the head (7B) is fitted into a ball screw (81) that is rotated by a head motor (80), and the rotation of the motor (80) causes the mounting head (78) to rotate. is guided by a linear guide (82) and moves in the Y direction.

(83) is a tape-shaped part (3) attached to the installed nozzle (57)
(84) is a tape component supply unit that supplies components (
3) It is a recognition camera that recognizes. (85) is a part (
3) and moved in the Y direction (7).
8> is a component mounting section for mounting the component (3) on the printed circuit board (61).

<87) is a mounting table on which the printed circuit board (61) conveyed to the supply conveyor (88) is placed, and a nut (not shown) fitted with a pole screw (90) that is rotated by the motor (89) is attached. It is being The table (8
7) is a linear guide (
91) and moves in the X direction.

Therefore, the mounting nozzle (57) can mount the component (3) at any position on the printed circuit board (86) placed on the mounting table (87).

In FIG. 17, the component mounting device (4) is provided with an out-of-stock memory (92) and a material-out mode changeover switch (93). In the out-of-stock memory (92), parts types for which the parts (3) have not been mounted due to out-of-material are sequentially stored together with mounting information. The changeover switch (93
) is an abnormal stop mode in which an abnormal stop occurs when the placement device requests a part type that is out of material and is informed by the supply device (1) that it cannot be supplied, and a mode in which it is placed after the normal placement operation as a postponement. The device is configured to switch between two reinstallation modes. (94)
is a warning light indicating that part (3) could not be installed due to running out of material. In addition, the type and mounting information of the parts are stored in the RAM (63) for each mounting order on the printed circuit board (86), and if the mounting order is stored in the out-of-stock memory (92). good.

The above-mentioned model data is set in advance for each model of the board (61). The settings will be explained below.

Although the product type library can also be set on the CRT screen, it is assumed here that the settings for the various types of parts (3) that can be used have been completed and stored in the RAM (63). First, press the CRT key (74) and select "
0. When the key is pressed, the FILE shown in Figure 24 is displayed.
A NAME LIST screen appears on the CRT (67). In this state, PRO.

NO, ' I J and "2" already have FILENA
ME is displayed, indicating that the model data for this FILENAME has been set.

When setting the model data of a new model represented by rPC-3J as FILENAME, move the cursor (71) to the FILE NAME column of PRO, N013 using the cursor keys (72) and press the alphabet key <7
5) and key in "PC-3" using the numeric keypad (70). Then, when the SET key (73) is pressed, the model data screen appears.

Here, move the cursor (71) to the TYPE column and key in the number of the part type for each stage number, resulting in a screen as shown in FIG. 18. Do not write numbers for unused rows.On this screen, only up to 10 row numbers are displayed, but by pressing the NEXT key (76), you can
Screens from 1 to 20 rows can be displayed. By pressing the NEXT key (76), the next 10 screens are sequentially called up, and by pressing the BACK key (77), the previous 10 screens are called up. In this way, by pressing the SET key (73) after completing the key-in of the part type, the key-in data is stored in the RAM (63).
The data is stored in , and the setting of model data is completed.

The operation of the above configuration will be explained below.

When changing the model of the printed circuit board (61) on which parts have been mounted so far and attempting to mount components on a new model of printed circuit board (61), the tray component supply device (1)
It is necessary to change the pallet (6) on which the parts (3) stored in the stocker section (5) of the machine are placed to match the new model board (61). Regarding the model switching operation, it is assumed that the storage state of the component (3) in the stocker section (5) when the component installation of the previous model is completed is the state displayed on the CRT screen as shown in Figure 23. This will be explained according to the flowchart shown in FIG.

First, press the "0" key while pressing the CRT key (73), and the FILENAME L shown in Fig. 26 will be displayed.
IST is displayed on the CRT (67) screen. cursor(
71) to PRO, NO, "3" and press the SET key (73).
The state of the stocker unit (5) that had been storing 3) is stored in the old execution model memory from the pallet data memory shown in Fig. 23.The part type for each stocker stage number is stored in the old execution model memory, and the part type of the new model PC-3 is stored in the old execution model memory. The model data is stored in the new execution model memory.

Next, the CPU (62) confirms that the contents of the new execution model memory for stocker stage number 1 are not unused, and compares the parts types in the new execution model memory and the old execution model memory.

Since the component types of both memories are "10" and are the same, the CPU
(62) leaves the contents of stage number 1 of the pallet data memory unchanged and looks at the component type of stocker stage number 2 of the new execution model memory. Since stocker stage number 2 is unused, the contents of stage number 2 in the pallet data memory are changed and 4'' stage number 3 is checked.

In stage number 3, the part type stored in the new execution model memory is "11.", and the data in both memories is different, so the second
According to the flowchart in FIG. 5, "1" is stored in the TYPE memory area of stage number 3 of the palette data memory. Then, select pallet matrix 1 (9, 5) from the part type rIJ type library to MAXB (XN, YN).
memory area. Further, the CPU (62) sets pallet protrusion data "E" in the memory area of P and sets the number of remaining parts r□ in the memory area of WORKS.

The CPU (62) then performs the following operation for ejecting the pallet (6) of stocker stage number 3. First, the lifting motor (16) rotates, and the pole screw (17) rotates, so that the drawer table (14) is moved along the guide rod (1B>(1B>) to the lifter's height via the nut (15). It descends and stops at the position of pallet (6) with stage number 3.

Then, the drawer motor (24) rotates, and the drawer claw (20) moves to the stocker 1 (
7> side along the guide shafts (25) (25).

Then, the tip of the drawer piece (29) engages with the end face of the pallet (6), and the pallet (6) does not protrude from the stocker portion (5) as shown in FIG. 15.

Next, the CPU (62) performs the same operation as described above for stocker stage number 4, but since the part type of the new execution model memory is "r20" and is different from the old execution model memory, the CPU (62) performs the same operation as described above for stocker stage number 4. The contents are changed in the same way as for stage number 3, and the pallet (6) of stage number 4 is projected.

The same operation as described above occurs from stocker stage number 5 onwards.
It will be carried out until When switching to a new model, the stocker section (5) is in a state in which all of the pallets (6), (6), etc. to be replaced are protruded.

After that, the operator pulls out the protruding pallet (6) and stores the pallet (6) of the parts type according to the model data of the new model in the pulled out stocker stage.

At this time, if all the trays (2) placed on the pallet (6) are fully loaded with parts (3), the operator places an in-progress mark on the tray in-progress mark placement section (41). (37C) is not placed, but the pallet (6
) to the stocker section (5), place the in-process mark (37C) on the mark placement location (42) indicating the in-process tray (2) in the storage section (41). At the same time, the next part to be taken out from the tray (2) in progress (
There is a work in progress mark (37A) in the parts storage area (36) just before 3).
) is placed, and a mark (37B) is also placed at the head position (end) of the column where the mark (37A) is placed. If the parts storage area (36) immediately before the part (3) to be taken out next is at the head of the column, only the mark (37B) is placed at the head position. In addition, when the operator pushes the pallet <6), the stopper (30) and the opening/closing stopper (34) which is moved upwardly by the cylinder (32) and positioned above and below the notched part of the stopper (30) 11. prevents the pallet (6) from entering the electric heater section (11) side. It's happening.

Next, the operation of checking whether each of the replaced pallets (6), (6), etc. is pushed into a predetermined position will be explained. First, when the replacement of pallets (6) (6)... is completed 1-, the operator presses the pallet supply switch (
60).

Then, the CPU (60) that detected the ON of the switch (60)
2>, pallet protrusion data r E is stored in stage number 1 of the pallet data memory according to the flowchart of FIG.
Check if it is stored. Since "rE" has not been stored completely, the CPU (62) checks the presence or absence of pallet ejection data "E" for stage number 2, but since it is not stored in this stage number either, it checks stage number 3. Since data “E” is stored in number 3, the CPU
(62) rotates the lifting motor (16) and rotates the table (1).
4) up or down to detect the pallet detection sensor (3).
1) is stopped at the position of the pallet (6) of stage number 3.

Then, the pallet detection sensor (31) checks whether the pallet (6) has been pushed to a predetermined position, and if the presence of the pallet (6) is detected, the pallet at stocker stage number 3 in the pallet data memory is protruded. Reset the data r E .

Thereafter, the checking operation is performed in the same manner in order of stocker stage number, but the pallet protrusion data rE is set and the pallet (6) of that stage is detected by the pallet detection sensor (31).
If the absence of the pallet <6) is detected even when the pallet is detected, the pallet protrusion data r E is detected.

is not reset and continues to be stored as is.

At this time, by pressing the "1" key on the numeric keypad (70) while pressing the CRT key (74), the 28th
The contents of the pallet data memory can be checked by displaying the screen shown in the figure on the CRT (67), but if the pallet protrusion data r E is still stored,
"E" is displayed in the P column of the corresponding stocker stage number, and it can be confirmed whether the pallet (6) is firmly pushed in.

In this way, the model change of the stocker section (5) is completed,
It is assumed that the palette data memory has contents as shown in FIG.

Next, the operation of supplying the component (3) from the tray component supply device (1) to the component mounting device (4) will be explained.

Once the model change is complete, the operator must use the component mounting device (
4) Start automatic operation.

Then, the component supply device 4) moves the mounting head 3
Parts type 1 for adsorption to the book attachment nostle (57)
1'', ``6'', and ``r20'' one by one from the tray component supply device (1).

The CPU (62) checks the contents of the pallet data memory and confirms that there is a stocker stage number of the requested part type for which the pallet protrusion data rE is not displayed, and supplies the part to the component mounting device (4). inform someone of something.

The CPU (62) determines to take out part (3) of the part type "IJ" from the pallet (6) of stocker stage number 3, and checks the number of parts remaining in the same stage.

At this point, since the number of remaining parts "0." is stored, an automatic check operation of the in-process tray is performed. First, the lifting motor (16) is rotated to move the table (14) to the pallet with stage number 3. (6).Then, by rotation of the drawer motor (24), the drawer claw (20)
moves toward stocker 1 (7).

Once the pull-out claw (20) stops at the home position, the rod (33) moves 1" by the operation of the vertical movement cylinder (32), and the pull-out piece (29) is rotated by the spring (3) with the support shaft (28) as the fulcrum.
5) Swing and push up as shown in FIG. 8 against the urging force. The drawer motor (24) further rotates and the drawer claw (20)
moves in the open state and is located in the drawn-out position as shown in FIG. Then, the rod (3) gets stuck in the vertical movement cylinder (32).
3) is lowered and the pawl (20) closes due to the biasing force of the spring (35), pinching the rising portion of the end of the pallet (6) as shown in FIG. Next, the drawer motor (24) rotates, and the claw (20) moves in the direction away from the stocker 1 (7).
), the barre 1-(6) is pulled out as shown in FIG.

Next, the table (14) is raised by the rotation of the lifter (16) and stopped at a position where the P&P head (39) can take out the parts.

Here, the rotation of the X-axis motor (52) causes the drive boo
(53), driven pulley (54) and X-axis belt (51)
(X moving body (50) is connected to X guide rail (55)
The P&P head (39) moves along the Y guide via the Y axis drive pulley (47), Y axis drive pulley (48) and Y axis belt (45) due to the rotation of the Y axis motor (46). It moves along the rail (49) and the P&P head (
The tray in-process detection sensor (40) provided at 39) first detects the presence or absence of the in-process mark (37C) on the tray in-process mark placement section (41).
The CPU (62) determines that the pallet (6) is in the in-process state by detecting the in-process mark (37C) placed on the loading section (41) as shown in FIG. do.

Then, the CPU (62) moves the P&P head (39) and directs the sensor (40) to the row of the first parts storage area (36) of the tray (2) as shown by the arrow in FIG. Have them search for mark (37B). Said sensor (4o)
When the mark (37B> is detected, the sensor (40) is moved in the direction of the arrow along the row of parts storage areas (36) where the mark (37B> is placed), and the mark (37A) is detected. Have the child search for the location of the item.

In this way, when the sensor (40) detects the parts storage area (36> where the mark (37A) is placed), the CPU
(62) is the next position Wl (lower parts storage area (36) in Fig. 5) after the parts storage area <36) where the mark (37A) is placed, and the next place is the part (3). It is determined that this is the position where the workpiece should be taken out, and a takeout matrix 1 (5, 3) indicating this position is stored in the pallet data memory. At this time, if the mark (37A) is not placed and cannot be found, the position next to the mark (37B) is assumed to be the position of the next part (3). Then, the CPU (62) follows the flowchart in Figure 30 as the number of work in progress, and calculates (5-1).
"22" is calculated by calculating X5+(3-1). Based on this result and the data in the total number of parts memory, the CPU (62) calculates (total number of parts - number of parts in progress) to calculate the number of remaining parts "23." and stores it in the pallet data memory.

When the check in progress is completed in this way, P
As the &P head (39) moves, the suction nozzle (44) stops at the position of the next part (3) to be taken out as indicated by the take-out matrix, and picks up the part (3). Then, the CPU (62> is in Fig. 31) -1-ゼ＼・-
Stocker stage number 3 in pallet data memory according to
The remaining number of parts is subtracted by ``r'1'' and ``22.'' is re-stored, and the extraction matrix is changed to 1 (5, 4).

Then, the CPU (62) confirms that the remaining quantity of tl[) is not "0", lowers the table 14) according to the solo chart in FIG. 32, and places the table (14) in the stocker. 1 (7), and move the pallet (6) on the table (14) into the stocker 1 (7) as shown in Fig. 12 by moving the pull-out claw (20). Store it in.

After that, the rod (
33) moves upward, and the claw (20) opens as shown in FIG.

The pawl (20) continues to move and stops at the original position as shown in FIG. 14, and the rod (33) is lowered by the operation of the vertical cylinder (32) and the pawl (20) is closed. Parts (3
) is adsorbed by the nozzle (44), then the P&P head (39
) moves and places the component (3) in a predetermined position on the component receiver (56).The next component required by the component mounting device (4) is component type r6. Therefore, when it comes to taking out the part (3) from the pallet (6) with stage number 41, the CPU (
Step 62) confirms that the pallet protrusion data "E" is not in the stage number 41 of the pallet data memory and checks the contents of the number of remaining parts. Then, since the number of remaining parts "0" is stored, the automatic check operation of the in-process tray is performed in the same manner as described above. The table (14) on which the pallet (6) is pulled out and placed in the same way as in the case of stage number 3
However, it stops at a position where the P&P head (39) can take out the parts.

Then, when the P&P head (39) is moved in the same manner as described above and the presence or absence of the work-in-progress mark (37C) on the mounting section (41) is checked, it is detected that there is no work-in-progress mark (37C). Since the replaced pallet (6) is full, the extraction matrix 1 (1°1) that should be extracted first is stored in the pallet data memory, and the remaining number of parts is determined by the data "90" stored in the total number memory.
．． is stored.

When the in-process automatic check is completed in this way, P&
The P head (39) moves and the suction nozzle (44)
, 1) and picks up the component (3) at position 1) and places it on the component receiver (56).
At the same time, the CPU (62) subtracts "1" from the remaining number of parts at stocker stage number 41 in the pallet data memory, stores "89", and sets the takeout matrix to 1 (1, 2). ).

The CPU (62) confirms that the number of remaining parts is not "0" and lowers the table (14) to the pallet (6).
are stored in the stage numbered 41 of the stocker 2 (8) in the same manner as described above.

In the operations of stage number 3 and stage number 41 explained above, the drawer of the pallet (6) and the lifting and lowering of the table (14) are performed on the stocker 1 (7) side and the stocker 2 (8) side.
After the drawer and lifting operation on the stocker 1 (7) side is started, the drawer and lifting operation on the stocker 2 (8) side are immediately performed in parallel, and both sides are operated at the same time. The tables (14) (14) are stopped at the parts removal position.

Then, an automatic check for the tray (2) in progress is performed for each table (14) (14), and
The book suction nozzles (44) (44) are attached to each pallet (6).
) (6) to pick up parts (3) (3) and simultaneously place the part (3) on the parts receiver (56) using the suction nozzle (44).
) are adsorbed, the table (14) will be lowered.

Next, stocker 1 (7
) side table <14) is lowered and the pallet (6) of stage number 4 can be completely pulled out. The table (14) on which the barre 1-<6) is placed rises and stops at the parts removal position. Since the number of parts remaining in the pallet data memory is rO, the automatic tray in-process check described above is performed.

First, the tray in-process detection sensor (40) checks the in-process mark placement part (41), and as shown in FIG.
lif! detect that it is being As a result, the CPU (62) determines that the upper left tray (2) in FIG. 33, which corresponds to this loading location, is in the work-in-progress state, and marks the upper left tray (2) in the same manner as described above. (37B) (3
7A), and from the placement position of mark (37A), take-out matrix 3 (4°5) is stored in the pallet data memory. The CPU (62) calculates the number of parts in progress in the same manner as described above and calculates "79", calculates the number of remaining parts "41" from the data in the total number of parts memory, and stores it in the pallet data memory.

Thereafter, the component (3) is taken out by the suction nozzle (57) and transferred to the third predetermined position of the component receiver (56).

The contents of the pallet data memory are such that the number of remaining parts is "40" and the take-out matrix is 3 (5.degree. 1), and the contents of the memory at this time are as shown in FIG. When three parts (3) are placed on the parts receiver (56) and it becomes full, the parts receiver (56> moves the transfer shuttle part (13) by a cylinder drive source (not shown) and picks up the parts in the mounting nozzle (57). Stop in position.

When the supply of the requested product is completed in this way, the CPU (62)
notifies the component mounting device (4) that supply has been completed.

The operation of the component mounting device (4) in this state will be described below.

A supply completion signal is sent from the CPU (62) to the component mounting device (4).
When the mounting head (78) receives the head motor (8), the mounting head (78)
0), the ball screw (81) and nut (7
9), moves in the Y direction along the linear guide (82), and stops on the component receiver (56). When the three mounting nozzles (57) (57) (57) pick up the three components (3) placed on the component receiver (56) as shown in Fig. 16, the mounting head (78) is recognition camera (84)
Move in the Y direction to the top.

After the position and orientation of the component (3) are recognized by the recognition camera (84), the mounting head (78) moves to the component mounting section (85) in the Y direction and stops at a predetermined position. Further, the mounting table (87) on which the printed circuit board (61) supplied to the supply conveyor (88) is placed is moved along the linear guide (91) via the ball screw (90) by the rotation of the motor (89). Moves in the X direction and stops at a predetermined position. In this state, the mounting nozzle (57) mounts the component (3) at a predetermined position on the printed circuit board (61>).

Thereafter, by moving the mounting head (78) in the Y direction and moving the mounting table (87) in the X direction, the remaining two components adsorbed by the mounting nozzles (57) (57) are placed on the printed circuit board (61) at the position where they should be mounted. (3) is also installed.

When all three parts (3) have been installed, the installation head (
78) is the parts supply device (1) to take out the next part (3).
).

While the component mounting device (4) is performing the mounting operation, the component receiver (56) moves to the receiving position of the component (3). Further, when the mounting operation is completed, the component mounting device (4)
According to the flowchart in the figure, a request for the next component group is made to the tray component supply device (1), and the device (1) performs the operation of supplying the next component (3). The following component placement device (
4) The request is for "part type r30" and other 2
If the type is a request to the tape parts supply department (83),
Output the supply ready signal and load the pallet with stage number 43 (6)
is pulled out in the same manner as described above and located at the component extraction position of the component extraction section (12). In this stage, since the pallet ejection data "rE" has not been stored and the number of remaining parts is not "rO", the component (3) placed at the position of the extraction matrix 1 (7, 3) is picked up by the suction nozzle. (44) is attracted and transferred to the parts receiver (56). Then, Barret]・
The contents of the data memory are changed to the number of remaining parts to "2" and the take-out matrix 1 (7.degree. 4). Since the component (3) to be sucked to the other two mounting nozzles (57) is supplied from the two-side base tape component supply section (83), the component receiver (56) is located at the component suction position of the mounting nozzle (44). The CPU (62) outputs a supply completion signal according to the flowchart of FIG. Then, attach the installed nozzle (4
4) sucks the component (3) on the component receiver (56).

Then, the mounting head (78) is connected to the tape component supply section (83).
), and the installed nozzle (44) (44) is the part (3)
(3) is adsorbed and the component mounting operation is performed in the same manner as described above.

The above-mentioned operations are performed according to the request of the component (3) of the component mounting device (4), and each time the component (3) is supplied, the number of remaining components decreases.
3 parts type r30" is requested, the remaining number of parts is "
1. In this case, when the suction nozzle (44) suctions the component (3) as described above, the number of components remaining in the pallet data memory becomes r□. The number of parts remaining for the CPU (62) is r.
□.

Then, the drawer table (14) on which the pallet <6> is placed is lowered and stopped at the pallet storage position of stage number 43, and the motor <24> is rotated to move the pallet (6) to the position shown in Fig. 12. move it. And the cylinder (32
) is operated to open the pull-out claw (20) and moved to the state shown in FIG. 14, and the cylinder (32) is operated to close the pull-out claw (20). At this time, CPU (
62) is the door sensor (
10) determines whether to open or close the safety door (9). At this time, if the hinge (10) detects that the safety door (9) is closed, the CPU (62) activates the drawer motor (
24) to rotate at normal speed (high speed) and rotate it until the pallet (6) reaches the position shown in Figure 15.
Don't stand out. At the same time, pallet protrusion data rE is stored in the pallet data memory. The operator selects the palette (
6> is protruding, it can be seen that the pallet (6) is empty, and the pallet (6) must be replaced. Also, it can be checked on the screen of the CRT (67) that r E is displayed in the P column as shown in FIG.

Next, the operator's pallet exchange operation (6) will be explained. The operator opens the safety door (9) and pulls out the protruding pallet (6) to find the pallet (6) full of parts (3) or, if the part (3) is in the process, to remove the model. In the same way as when switching, the in-process mark (37A) (
37B> Insert and push in the pallet (6) on which (37C) is placed. At this time, the pallet (6) is locked by the stopper (30) attached to the table (14), so that it does not protrude into the elevator section (11).

Even when the table (14) is being raised or lowered as shown in Fig. 6, the vertical movement cylinder (32) operates, the opening/closing stopper (34) moves upward, and the stopper (30) moves the pallet ( 6) so as not to protrude into the elevator section (11). When the operator presses the pallet supply switch (60) after replacing the pallet (6), the pallet (6) is replaced according to the flowchart in FIG.
A check is made to see if 6> is firmly pushed in.
When the presence of the pallet (6) is detected, the pallet protrusion data "E" is reset, and when the absence of the pallet (6) is detected, the pallet protrusion data "E" remains set. During the above-mentioned exchange of pallet (6), the pallet <6> of another stage number becomes empty and the number of remaining parts becomes "0".
When this occurs, the CPU (62) detects this and performs the operation of ejecting the empty pallet (6). When the state shown in FIG. 12 is reached in the same manner as described above, the CPU (62) uses the door sensor <10> to detect whether the safety door (9) is open or closed, but it is determined that the safety door (9) is open. In order to detect this, the drawer motor (
24) is set to rotate at a low speed, the pallet (6) is projected at a low speed to the position shown in FIG. 15. Pallet protrusion data rE is stored in the pallet data memory in the same manner as described above.

The door sensor (10) indicates that this safety door (9) is open.
If the empty pallet (6) is to be ejected while it is being detected, a buzzer etc. will be used to notify the operator who is replacing the pallet (6) that the empty pallet (6) will be ejected. It's okay.

Next, the operation when there is a request from the component mounting device (4) for a component type that is out of material will be explained according to the flowcharts in FIGS. 35 and 36. When the pallet (6) to be placed is empty, ejection is performed, pallet ejection data "E" is stored, and all other stocker stages are filled with parts (3), the component mounting device (4) More parts types '1. ．． '10
．． and "30" shall be required. It is assumed that the material out mode changeover switch (93) is in the reinstallation mode. Since the pallet data memory stores pallet protrusion data "E" in stage number 3, where component type "1." Notify that it cannot be supplied, and inform that the number of parts types that cannot be supplied is "1". Then, the parts mounting device (4) turns on the warning light (94).
lights up, indicating that the parts type ``10'' excluding the out-of-stock type ``11''
” and “30”, and the component type r1. is stored in the missing item memory (92) in the component mounting device (4). is stored together with the installation information.

The FL, t'-CPU (62) that requests the products 11i' 10J and hi'-30J notifies the component mounting device (4) that these products can be supplied, and performs the same component supply operation as described above. Then, place the parts (3) in the parts receiver (56).
(3) is placed, and the parts receiver (56) is attached to the mounting nozzle (57).
), the supply completion signal is fully output. Then, the component mounting device (4) performs the component mounting operation on the printed circuit board (61) in the same manner as described above.

After this, the supplying and mounting operations are continued by the mounting device (4) and the supplying device (1), but the component (3) which is the last component to be mounted on the single board (61) is
When the above-mentioned missing item memory (92) stores one item of the postponed type ``1.'', the loading device 4) stores only one type ``r I J'' in the supply device (1). )
request. Here, if the pallet (6) containing the part (3) of "type r1" has already been replenished in the stocker stage with stage number 3, a supply ready signal is output to the mounting device (4) and the part (3) is replenished. ) is supplied, and upon learning that the supply is complete, the mounting device (4) performs suction and mounting operations for the part (3) of type "1.".

Here, the type “1” was placed later than the mounting device (4).
When a request is made, if the pallet (6) is ejected and the pallet ejection data r E j is stored, an abnormality notification will be made as a material shortage abnormality, and the loading device (4) and the supply Device (1) stops operating. In addition, for the postponed parts (3) that could not be supplied, installation information such as type and installation position is stored one by one in the out-of-stock memory (9).
2), and if there are multiple postponed parts (3), multiple pieces are stored, but the above-mentioned also applies when the component mounting device (4) makes a request for the postponed parts (3). Similar to the normal component mounting operation, requests can be made for up to three components at a time from a plurality of components (3) stored in the memory (92). If all the postponed parts (3) stored in the memory (92) cannot be installed in one product type request, the parts (3) group stored in the out-of-stock memory (92) are requested again. All parts (3) of the part type stored in the missing parts memory (92) are
) is installed.

On the other hand, the aforementioned material out mode changeover switch (93
) has been switched to abnormal stop mode, when the CPU (62) notifies the placement device (4) that there is a part type that cannot be supplied by requesting a normal part type, the abnormality notification is successful. As a result, devices (1) and (4) will stop.

The supply device (1) notifies the component mounting device (4) that the requested product cannot be supplied by sending pallet protrusion data rE to the pallet data memory of the stage number in which the product is stored.
, or if multiple parts of the same type are requested and the second or third part of the same type (3) is removed, the total number of remaining parts in the stocker section (5) becomes 0. This is a case where something that cannot be done can be determined through calculation.

In addition, regarding the operation when there is a request for a component type that is out of material from the component manufacturing and mounting e (4), in this embodiment, after the mounting operation is completed, the next component type stored in the memory (92) is Part (3) is installed. here,
Even if the installation is not completed, the material out pallet (6)
After the pallet supply switch (60) is replaced,
When the pallet (6) is pressed, a check is made to see if the pallet (6) has been pushed in securely according to the flowchart in FIG. The CPU (62) detects that the pallet (6) of the stocker stage number has been replenished and notifies the loading device (4), so that the pallet (6) of the stocker stage number can be requested and supplied without being postponed. It can also be done.

Next, in this embodiment, three mounting nozzles <57) were attached to the mounting head (78);
)G, [The component mounting device (4) to which one mounting nozzle (57) is attached will be explained.

In the tape component supply section (83), tape force sets 1-(101) are arranged in parallel, each supplying a different type of component (3). As shown in FIG. 38, each tape cassette (101) is positioned on the tape feeder base (102) by fitting the positioning pin (103) into the positioning hole (104), and is fixed by a fixing means (not shown). is set up. (105) is the positioning hole (104
) is a photosensor that detects whether or not the positioning bin (103) is inserted in the positioning pin (103).

The tape cassette (101) has a tape feed lever (1
A sprocket (107) with a sprocket (107) attached thereto is provided in the tape cassette (101), and the tape feed lever (106) is moved left and right by a lever holder at the tip of a cylinder (108) by a plate (109). Along with this, the roller (110) provided at the tip of the feed lever (106)
) is moved by one stroke to the left of the cylinder (10g), the sprocket (107) to which the feed lever (106) is attached rotates clockwise, and the claw piece (111 ), the electronic component storage tape (112) is sent to the right.At this point, the biasing force of the cylinder (108) is removed and it returns to the right with respect to its original position, and the feeding lever (106) is moved to the restoring position. The sprocket (107) moves to the right by a spring (not shown).At this time, the sprocket (107)
6) is disengaged and stopped until the next stroke.

The component mounting device (4) has a CP as shown in FIG.
A U (114) is provided, and controls operations related to component mounting of the core part [(4) based on information stored in the RAM (116) according to a program stored in the ROM (115). NC data as shown in FIG. 40 is stored in the RAM (116), and the tape cassette (
It has a built-in parts presence/absence memory (117) that stores whether the parts are out of stock or not for each component (101). The missing memory (92) is also built into the RAM (116).

The CPU (114) is connected to the sensors (105), recognition camera (84), and warning light (94) via an interface (118), and is also connected to the parts supply device (1). . The tape cassette (1
01) is out of parts because the recognition camera (84)
CP when detects a suction error of component <3) three times in a row.
U (114) makes the determination, but in this case, CPU U (114)
) is the corresponding tape cassette (
101) No parts are shown in the area corresponding to 11. Store. When the tape cassette (101) that is out of parts is removed from the tape feeder base (102),
A photosensor (
105) passes light and becomes 1ON, the tape cassette (101) filled with component (3) is attached, and the sensor (105) blocks light and becomes rOFF, then the CP
U (114) determines that component (3) has been supplemented and sets the corresponding area of component presence/absence memory (117) to "r6".

In the NC data of FIG. 40, 'M-No.

is a step number indicating the installation order of part (3), and '
XJ'YJ indicates the mounting position coordinates of part (3), r R
, indicates the type of component (3), and 'C'' stores data rE with a step number indicating the end of mounting of component (3). Whether the parts (3) of the type represented by r R are supplied by the tape cassette (101) or the tray parts supply device (4) is determined by the RA for each type.
M (116) as a parts library, and in the case of a tape cassette (101>), the position of the tape cassette (101) is stored in the RAM (
116).

Below, install according to the NC data in Figure 40.
The operation when one mounting nozzle (57) is attached to 8) will be explained.

First, step r1. If the type r7° of component (3) is the component (3) supplied from the tape cassette (101), the CPU (114) checks the area corresponding to the type "7" in the component presence/absence memory (117). It is determined that the part is not out of stock because it is "r let

Next, the mounting head (78) moves to the recognition camera (84), and the position of the part (3) sucked by the mounting nozzle (57) is recognized by the recognition camera (84).

Then, the component (3) is attached to the position (xt, yt) of the printed circuit board (61). At this time, it is assumed that the tape cassette (101) of type "r7" is out of parts.

Next, part (3) is suctioned in the same way for part (3) type "7" in step "2", but part (3) cannot be suctioned because part type "7." is out of parts. As it is, the mounting nozzle (57) moves to the position of the recognition camera (84), but since the part (3) is not picked up, the camera (84) detects that the part (3) is not present. Therefore, the CPU (114) determines that there has been a suction error, and reinstalls the mounting head (78) with the tape cassette of type r7.<1.
01> position.

Then, the mounting nozzle (57) performs a suction operation to pick up the component (3), but cannot pick it up because the part is out of stock. In this way, when the CPU (114) determines that the suction has failed three times in a row, it determines that the component is out of stock and stores the type r7 in the component presence/absence memory (117). Store "1" in the area. Along with this, C
The P U (114) lights up the warning light (94) to notify the worker that a part is out of stock, and stores the out of stock memory (92).
) is stored with the step number r2.

After this, CPU (114) it item m' 7 J
(') Parts (3) Tape cassette (101)
), that is, the movement of the piston (108), and the nozzle (57) is not moved to the cassette (101).
) is determined to be the component (3) to be supplied by the tray component supply device (1) from the component library in RAM (116), and the component type 1″12 of Outputs a request for type “12” to (1).

Then, the CPU (62) of the supply device (1) uses the RAM
The number of remaining parts stored in (64) is checked, but when it is found that the number of remaining parts is not "0.", the CPU (62)
informs the CPU (114) that parts can be supplied. Then, when the component (3) is placed in the suction position of the mounting nozzle (57) in the same manner as described above, the completion of supply is indicated by the CP.
The U (62) notifies the CPU (114), and the mounting nozzle (57) moves to suck the part (3).

After that, a camera (84) recognizes the positional shift of the part (3).
recognizes the component (3) and attaches it to the printed circuit board (61).

Next, step number r4. Parts of type “21” (3)
However, when the CPU (114) determines that the product type "r21" is the product supplied by the mounting device (1) as a result of checking the parts library, the CPU (62) required. At this time, if the pallet protrusion data rE is stored for the product type "21" and the parts are out of stock, the CPU (62)
114) and sends a supply unavailable signal to CPU (114).
turns on the warning light (94) and stores the step number "4" in the out-of-stock memory (92).

After this, the CPU (114) does not move the mounting head (78) to the position where it picks up the component (3) from the supply device (1), but picks up the component (3) of the type r5J in the next step number "5."
), this part (3) is of the type supplied by the tape cassette (101) and is not out of stock, and the corresponding tape force set 1 is installed in the same way as described above.
- It is adsorbed from (101) and attached to the print base [(61).

Next step number r6. ``Type r7'' is required, but
At this time, if component (3) has not been replenished yet and the area of type "7" in the component presence/absence memory <117) is "1", the CPU (114) uses this "1 degree" to load the mounting head (78). ) is moved, C1 and the cassette (101) of type "7" are fed, step r6" is stored in the V out-of-stock memory (92), and the operation of the next step number "7" is started. The product type of step number "7" is "C21", but the worker has already finished replenishing the part (3) of "product type r21", and the pallet detection sensor (31) detects the pallet (6).
) has been detected and the pallet ejection data r E has disappeared, the supply ready signal is sent from the CPU (62) to the CPU
U (114) is sent out, and parts (3) are sent out in the same manner as described above.
) is supplied and mounted on the printed circuit board (61).

Next, the operation of step number "8." is performed in the same way, and the operation of step number "9." is started, but before that,
Tape cassette (1
When the fixing means (not shown) of 01) is released and the tape cassette (101) is removed from the tape feeder base (102), the photosensor (105) corresponding to the tape cassette <101) becomes "ON", and Parts (3)
When the tape cassette (101) filled with the tape cassette (101) is attached to the same location on the tape feeder base (102), the sensor (105) is turned OFF.

This means that this photosensor (tOS) is “ON”.
OFF, the CPU (114) determines whether to supplement the part (3) and sets the area of ``product type r7'' in the component presence/absence memory (117) to ``0''. In addition, installation and removal of this tape cassette (101) are performed using the installation head (7).
Since the nozzle (57) does not descend even during the movement of the nozzle (57), there is enough room to do so without contacting the nozzle (57).

In this state, when the operation of step number 19 is started, the parts presence/absence memory (117) corresponding to the type 7J is r
□”, it is possible to determine the presence of the part (3), and the installed nozzle (
57) moved, variety r7. The component <3) is attracted and mounted on the printed circuit board (61) in the same manner as described above. In this way, when step number "10" is installed, CPU (1
In step 14), the end of the NC data is determined based on the data rH'', and then the mounting operation of step numbers '2 J + '4 J and 16' stored in the missing item memory (92) is performed.

Further, the mounting nozzle (57) is formed at the tip of the tool (121) which is replaceably mounted on the shaft (12G) as shown in FIG. 41. The tool (121
> is sucked by a vacuum source (not shown) through a tool vacuum passage (123) provided in the shaft (120) and attached to the shaft (120). (124) is a component vacuum passage formed through the tool (121), and when the tool (121) is attached to the shaft (120), it communicates with the component vacuum passage (125) of the shirt 1-(120). , the component (3) is attracted to the nozzle (57) through the vacuum passages (124) and (125) by a vacuum source (not shown).

The attached nozzle (57) has a different size and shape depending on the type of the part (3) to be suctioned, and there are different types of nozzles (57).
Different types of tools (121) are prepared by having a tool table (121) as shown in FIG.
22).

If tool data indicated by "T" according to the type of part (3) is stored in the NC data as shown in Fig. 40, the tool (121) of the tool data with the next step number is currently If the tool (121) is different from the attached tool (121), the tool (121) is replaced with the tool (121) of the tool data.

For example, when the installation of the part (3) with step number 2 is completed and the operation moves on to the installation operation of the part (3) with step number 3, the CP
U (114) requests the type ``12.'' to cpU (62).
A signal indicating that the supply is available is sent to the CPU (
62) to the CPU (114), the tool data ``Tool data 120'' is sent from the tool ``Tool data 121'' to the CPU (114).
30'' to the tool (121) is started.

This exchange operation will be explained.

First, the mounting head (78) moves and the mounting nozzle (57)
is moved onto the tool table (122), and the tool table (122> is moved by a moving means (not shown), so that the tool (121) with tool data "20" is placed on the tool as shown in FIG. The nozzle (57) stops on the storage place (126).Then, the shaft (121) to which the tool (121) is attached is moved by vertical movement means (not shown).
120) is lowered, and as the cylinder (12g) shown in FIG. The member rises and the spring (
The suction pad (134) in which a vacuum ventilation passage (133) communicating with a vacuum source (not shown) is formed via the suction pad (132) is raised, and the tool (121) is moved to the suction pad (132) as shown in FIG.
134').

The tool (1) is then passed through the tool vacuum passage (123).
The vacuum suction of 21) is released, and the tool (121) is vacuum suctioned to the suction pad (134) via the vacuum ventilation path (133). After that, the suction pad (134) is lowered by the cylinder (128) with the vacuum suction released through the vacuum air passage (133), and the tool (121) is removed from the shaft (120) and placed in the tool storage area. (126) as shown in FIG.

Next, the tool table (122) is moved so that the tool storage area (126) on which the tool (121) with tool data "30" is placed is located below the shaft (120).
C Stop. Then, the suction pad (134) rises to lift the tool (121) and the shaft <12
0) as shown in FIG. 45, and the tool (121) is held by vacuum suction through the tool vacuum passage (123).

After the tool (121) is replaced in this way, the component (3) is picked up as described above.

Next, when executing the operation of step number "4" described above, a supply unavailable signal is sent, and the CPU (114)
Since it can be determined that there is no tool (121), the tool (121) is not replaced and moves to the next step number "5°.Then, the next tool data is r30", and the tool (121) is not replaced.
) without replacing the part (3) using the same nozzle (57).
) will be adsorbed and attached.

In addition, in the operations shown in the flowcharts of FIGS. 35 and 36, even when not all of the types requested for the mounting device (4) can be supplied, the missing item memory is used as in the case of one nozzle (57). After storing the type and mounting information that were not supplied in step (92), a request for the next type is made.

Also, when three nozzles (57) are attached to the mounting head (78) of the first embodiment, the tool (121)
) is replaced according to the part (3), but when it is obvious that the part is out of stock as in this example, the tool (121) is replaced.
I try not to waste that time by not replacing the parts.

Furthermore, when taking out the component (3) from the tape cassette (101) when three nozzles (57) are attached to the mounting head (78) of the first embodiment, the tape cassette (101) is out of components. If this happens, a suction error will occur, but even if the other nozzle (57) is suctioning the component (3), the component (3) will be taken out again on the spot, and if the suction error is made three times, it will be determined that the component is out. Parts presence/absence memory (11)
Set the corresponding area of 7) to "0." and store the corresponding part (3) in the missing part memory (92). After that, the part (3) is stored in the missing part memory (92) until the corresponding area of the presence/absence memory (117) becomes "1." Even if the part (3) of the relevant type should be taken out, the operator does not perform operations related to taking out the part (3) such as replacing the tool (121), and does not take out the parts of other nozzles (57). Perform only such operations.

Also, the tape cassette (101) can be replaced at device t(4).
Even if this is not possible while the machine is in operation, a parts presence memory (117) is provided to store missing parts.
From 1) onwards, the operation of the device <4) can be continued without performing operations related to parts removal such as exchanging tools. In this case, stop the device (4) once after installing all other parts to be installed (3), and then stop the tape cassette (10).
After replacing 1), it is only necessary to mount the uninstalled part 3) stored in the missing part memory (92). In this way, operations related to parts removal such as tool replacement when a part is out of stock can be performed. Even if there are multiple tape cassettes (101) that have run out of parts, you can replace them all at once, reducing the time it takes to replace them compared to replacing each time a part runs out. When installing, if parts (3) of the same type are installed consecutively, the tool (121>
In addition, in the case of the tray component supply device (1), when an uninstalled component is stored in the out-of-operation memory (92) of the mounting device (4), the replacement of other components to be mounted can be minimized. After all parts (3) have been installed, stop for -10 seconds and replace the parts (3) that have not been replaced yet.
After replenishing 3), the uninstalled parts of the missing memory (92) may be installed by pressing the restart switch, etc. Also, the uninstalled parts may be installed one by one. It is also conceivable that the device could be attached manually.

In addition, in the component supply device (1) of this embodiment, the component (3) placed on the tray (2) is
is temporarily transferred to the parts receiver (56), and then transferred to the parts receiver (56).
56), the mounting nozzle (57) was intended to adsorb the part (3), but the part (3) placed on the tray (2)
) is directly picked up by the mounting nozzle of the component placement device, but if the placement device requests the type of component from the supply device and the supply device cannot supply it based on the remaining number of components stored in the memory, then It is possible to take out and mount only the part (3) that can be supplied, and perform the same operation as shown in the flowcharts of FIGS. 35 and 36 and the same operation as in the case of one nozzle described above. .

Furthermore, the tool data in Figure 40, "TJ, can be stored in the RA as a parts library for each product type without being stored in the NC data."
M (116) and CPU (114
) may be checked from the parts library each time.

Furthermore, parts (3) from the tape cassette (101)
is supplied, the remaining number of parts (3) is always stored in the RAM (116) for each tape cassette (101), and when the remaining number becomes 0. )
However, the component (3) may not be taken out and the component mounting operation as described above may be continued.

Further, in this case, the end of the part (3) may be detected in advance using a sensor.

(G) Effects of the Invention As described above, the present invention allows the device to continue operating without stopping, thereby increasing the operating rate of the mounting operation.

[Brief explanation of drawings]

FIG. 1 is a plan view of a component supply device and a component mounting device to which the present invention is applied, FIG. 2 is a perspective view of the component supply device, FIG. 3 is a side view of the component supply device and component mounting device, and FIG. An enlarged side view of the drawer table, stocker section, etc.; FIG. 5 is a plan view of the pallet pulled out on the drawer table;
Figures 6 and 7 are side views showing the state in which the stopper and the opening/closing stopper are locked to the pallet, and Figures 8 to 14 are
15 is a side view of the stocker and drawer table showing the pallet drawer storage operation; FIG. 15 is a side view of the stocker and drawer table showing the pallet protruding state; FIG.
The figure is a front view showing the mounting nozzle positioned on the component, Figure 17 is a control hook diagram of the present invention, Figure 18 is a diagram illustrating model data, and Figure 19 is an example of a product library. FIG. 20 is a diagram illustrating the contents of the old execution model memory, FIG. 21 is a diagram illustrating the contents of the new execution model memory, FIG. 22 is a diagram illustrating the contents of the total number of parts memory, and FIG. is a CRT illustrating the contents of palette data memory.
Screen diagram, Figure 24 is C of FILENAME LIST
RT screen diagram, Figure 25 is a flowchart of model switching operation, Figure 26 is FILE NAME LI
A CRT screen diagram of ST, FIG. 27 is a diagram showing the broach of the replaced pallet detection operation, and FIGS. 28 and 29 are CRT screen diagrams illustrating the contents of the pallet data memory.
Screen diagrams, Figure 30 shows a flowchart of the automatic check operation of the in-process tray, Figure 31 shows a flowchart of the subtraction operation of the number of remaining parts, and Figure 32 shows the operation of storing pallets into and from the stocker. FIG. 33 is a plan view of the pallet being pulled out onto the pull-out table, FIG. 34 is a diagram illustrating the contents of the pallet data memory, and FIG. 35 is a diagram showing the components of the component mounting device. Figure 3 showing a flowchart of the mounting operation.
6 is a flowchart of the supply operation of the component supply device, FIG. 37 is a CRT screen diagram illustrating the contents of the pallet data memory, FIG. 38 is a side view of the tape cassette, and FIG. 39 is a control of the component mounting device. Block diagram, Figure 40 is N
Figure 41 is a longitudinal cross-sectional view of the shaft and tool, Figure 42 is a cross-sectional view of the shaft, tool table, and suction pad, and Figures 43 to 45 are cross-sectional views showing the tool exchange operation. . (1)...Tray component supply device, (3)...Electronic components, (4)...Component mounting device, (56)...Component receiver, (57)...Mounting nozzle, (62)... )・・
・CPU, (63)...RAM, (92)...
Missing memory, (101)... Tape cassette, (1
14)...CPU, (115)...RAM.

Claims (2)

[Claims] (1) In a component mounting device that takes out components from a supply device through multiple take-out nozzles attached to a mounting head and mounts them on a printed circuit board, if the components to be supplied run out during operation. a storage means for storing the type; and a supply device configured to supply only the parts that can be supplied from among the plurality of parts that were to be taken out by the plurality of nozzles when the parts to be supplied run out during operation. a first control means for controlling the parts that could not be supplied, and a second control means for controlling the supply device based on the stored contents of the storage means to enable the nozzle to take out the parts after the parts that could not be supplied are replenished. A component mounting device consisting of a control means. (2) In a component mounting device that takes out components from a supply device through a nozzle and mounts them on a printed circuit board according to NC data that stores component types and mounting information for each mounting order, the above-mentioned feeding is carried out during operation. a storage means for storing the mounting order in the NC data when the parts to be supplied are no longer available, and a storage means for storing the mounting order in the NC data, and a storage means for storing the mounting order in the NC data; and a control means for controlling the supply device so that the parts that could not be supplied are supplied, and the parts can be taken out by the nozzle based on the stored contents of the storage means after the parts that could not be supplied are replenished. Mounting device.