CN104303613A

CN104303613A - Nozzle replacement storage machine and component mounting device

Info

Publication number: CN104303613A
Application number: CN201380002487.0A
Authority: CN
Inventors: 粟野之也
Original assignee: Yamaha Motor Co Ltd
Current assignee: Yamaha Motor Co Ltd
Priority date: 2013-04-11
Filing date: 2013-04-11
Publication date: 2015-01-21
Anticipated expiration: 2033-04-11
Also published as: JPWO2014167684A1; WO2014167684A1; JP5676010B1; CN104303613B

Abstract

The purpose of the present invention is to suppress increase in size, and cost, of a drive mechanism (732) for driving a regulating member (82) that regulates nozzle insertion and release to and from a plurality of nozzle housing sections (81), in a nozzle replacement housing machine (7) having arranged therein a plurality of nozzle housing units (81U) having the nozzle housing sections (81) arranged circumferentially therein. Three shutters (82) are provided corresponding to three nozzle housing units (81U). Each shutter (82) assumes either an insertion/removal restricted state whereby the insertion and removal of nozzles (N) is restricted for all nozzle housing sections, or an insertion/removal permitted state in which insertion and removal are permitted for all nozzle housing sections, for each nozzle housing section (81) of the corresponding nozzle housing unit (81U). A slider (84) is provided whereby the state of each shutter (81) can be switched as a group, to either the insertion/removal restricted state or the insertion/removal permitted state, by the slider (84) moving in conjunction with each shutter (82). An X-axis cylinder (732) in a shutter operation mechanism (73) is capable of moving the slider (84) and switching, in a batch, the state of the three shutters (82).

Description

Mouth is changed with storage machine, element fixing apparatus

Technical field

The present invention relates to a kind of mounting head to detachably installing mouth uses mouth replacing storage machine to change the technology of mouth.

Background technology

Conventionally, there is known use, multiple mouth is arranged in the element fixing apparatus that circle-shaped rotary type mounting head carries out element installation.In addition, in patent documentation 1, propose the mouth replacing storage machine being applicable to above-mentioned rotary type mounting head being performed to mouth replacing.This mouth replacing storage facility are standby to be rotatably installed on multiple mouth incorporating sections of housing nozzle being arranged in the schematic configuration on the top of circle-shaped mouth storage appts respectively holding plate, and multiple opening is lined up circle-shaped with the arrangement of mouth incorporating section by holding plate accordingly.Further, by making holding plate suitably rotate, thus can retrain in each mouth incorporating section mouth restrained condition and remove to each mouth incorporating section mouth constraint unconfinement state between mutually switch.

That is, when holding plate is in the turned position corresponding with restrained condition, opening departs from from mouth incorporating section, engages with the mouth be accommodated in mouth incorporating section, so mouth of cannot choosing from mouth incorporating section.On the other hand, when holding plate is in the turned position corresponding with unconfinement state, opening aligns with mouth incorporating section, so can to choose from mouth incorporating section mouth via opening, and is accommodated in mouth incorporating section by mouth via opening.Incidentally, in order to be switched mutually between restrained condition and unconfinement state by mobile holding plate like this, need the driving mechanism driving holding plate.Therefore, drive the cylinder of holding plate and holding plate to adjoin to arrange.

Patent documentation 1: Japanese Unexamined Patent Publication 2006-269794 publication

Summary of the invention

So, in the mouth replacing of patent documentation 1 with in storage machine, multiple mouth incorporating section be arranged in circle-shaped and form mouth housing unit, being provided with holding plate relative to this mouth housing unit.Further, make holding plate relative to the displacement of mouth housing unit by cylinder, thus switch mouth inserts taking-up restriction state relative to mouth incorporating section.

In addition, in mouth replacing with in storage machine, can increase the number of the mouth incorporating section in mouth storage appts, practical function is expanded.Specifically, can consider arrange multiple multiple mouth incorporating section is arranged in circle-shaped and form mouth housing unit, form mouth replacing storage machine.But, in the mouth replacing storage machine being provided with the restriction mouth limiting part such relative to the above-mentioned holding plate of mouth incorporating section insertion taking-up relative to mouth housing unit, along with being provided with multiple mouth housing unit, need to arrange multiple limiting part.At this moment, if be equipped with the such driving mechanism of cylinder respectively to multiple limiting part, then need multiple cylinder, cost may be made to increase.

The present invention makes in view of the above problems, its object is to provide a kind of following technology: multiplely multiple mouth incorporating section be arranged in the mouth replacing storage machine of circle-shaped mouth housing unit and possess in the element fixing apparatus of this mouth replacing storage machine being arranged with, can suppress, to the increase of the driving mechanism that restriction mouth drives relative to the limiting part that taking-up is inserted in mouth incorporating section, to realize the suppression that cost increases.

In order to reach above-mentioned purpose, mouth replacing storage facility of the present invention are standby: storage appts main body, is arranged with multiple mouth housing unit, and the multiple mouth incorporating sections can inserting taking-up ground housing nozzle are respectively arranged in circle-shaped and form by this mouth housing unit; Multiple limiting part, corresponding each mouth housing unit is arranged respectively, is optionally in separately: the insertion that the insertion limiting mouth together relative to each mouth incorporating section of corresponding mouth housing unit is taken out take out restriction state and permit the insertion of mouth to take out together insertion taking-up License Status in any state; Switching part, moves with each limiting part, thus the state of each limiting part is switched to together any state inserted and take out restriction state and insert in taking-up License Status; And driving mechanism, drive switching part.

In order to reach above-mentioned purpose, element fixing apparatus of the present invention possesses: head unit, is arranged with multiple rotary type mounting head, and the multiple mouth installation portions detachably installing mouth are respectively arranged in circle-shaped and form by this rotary type mounting head, and mouth storage appts, multiple mouth housing unit is arranged with accordingly with the arrangement of multiple mounting head, the multiple mouth incorporating sections can inserting taking-up ground housing nozzle are respectively arranged in circle-shaped and form by this mouth housing unit, between the mounting head corresponded to each other and mouth housing unit, the arrangement of multiple mouth installation portion is corresponding with the arrangement of multiple mouth incorporating section, mouth storage appts has: multiple limiting part, corresponding each mouth housing unit is arranged respectively, and be optionally in separately: any state in License Status is taken out in the insertion taking-up restriction state each mouth incorporating section of corresponding mouth housing unit being limited together to the insertion taking-up of mouth and the insertion of permitting the insertion of mouth to take out together, switching part, moves with each limiting part, thus the state of each limiting part is switched to together any state inserted and take out restriction state and insert in taking-up License Status, and driving mechanism, drive switching part.

In the present invention's (mouth replacing storage machine, element fixing apparatus) of formation like this, be arranged with multiple multiple mouth incorporating section is arranged in circle-shaped and form mouth housing unit, corresponding each mouth housing unit is provided with limiting part.That is, multiple limiting part is provided with accordingly with multiple mouth housing unit.Further, multiple limiting part be optionally in respectively insertion that the insertion that limits mouth together to each mouth incorporating section of mouth housing unit corresponding to forming takes out take out restriction state and permit the insertion of mouth to take out together insertion taking-up License Status in any state.At this moment, in the present invention, owing to possessing mobile with each limiting part thus the state of each limiting part being switched to together the switching part inserting and take out restriction state and insert any state of taking out in License Status, so driving mechanism can make switching part move and switch the state of multiple limiting part together.Therefore, without the need to separately arranging driving mechanism to multiple limiting part, can suppress, to the increase of the driving mechanism that restriction mouth drives relative to the limiting part that taking-up is inserted in mouth incorporating section, to realize the suppression that cost increases.

In addition, mouth replacing storage machine can be formed as follows: the arrangement center of the multiple mouth incorporating sections of limiting part in corresponding mouth housing unit, rotate with the movement of switching part, thus take out restriction state in insertion and insert and take out between License Status and switch.In such a configuration, by means of only switching part, each limiting part is rotated, just can switch the state of multiple limiting part together.

In addition, mouth replacing storage machine can be formed as follows: limiting part has multiple jut, the plurality of jut and multiple mouth incorporating section are arranged accordingly, and be arranged in circle-shaped around arrangement center, multiple jut is arranged in any position that the insertion outstanding relative to the insertion taking-up path of corresponding mouth incorporating section to mouth is taken out restriction site and taken out the insertion taking-up license position that path departs from from insertion respectively with the rotation of limiting part, limiting part is in by rotating to side and is positioned together to insert the insertion taking-up restriction state taking out restriction site by multiple jut, and take out License Status by being in the opposite side contrary with side rotation the insertion being positioned multiple jut together to insert taking-up license position.In such a configuration, make to be located at the jut displacement of limiting part by means of only switching part makes limiting part rotate, just can switch the state of multiple limiting part together.

In addition, mouth replacing storage machine can be formed as follows: this mouth replacing storage machine also possesses: elevating mechanism, and the mouth storage appts be made up of storage appts main body, limiting part and switching part is elevated between lifting position and down position; And clutch, between the switching part and driving mechanism of the mouth storage appts in lifting position, form the power transfer path transmitting the actuating force making switching part movement with limiting part, and cut off power transfer path between the switching part and driving mechanism of the mouth storage appts at down position.In such a configuration, by making mouth storage appts be elevated, can power transfer path between connection/disconnection switching part and driving mechanism.Therefore, it is possible to carry out controlling to make to form power transfer path when needing the state switching limiting part, and cutting off power transfer path when not needing the state switching limiting part, the state of limiting part can not be switched by mistake.

And, be configured to, form power transfer path when mouth storage appts is positioned at lifting position, and cut off power transfer path when mouth storage appts is positioned at down position.Therefore, when making mouth storage appts rise to lifting position to make mouth replacing storage machine perform the installation/storage of mouth to the mounting head being positioned at upside, owing to forming power transfer path, so the state of limiting part suitably can be switched.On the other hand, during mouth replacing does not perform the installation/storage of mouth, if make mouth storage appts drop to down position, then because power transfer path is cut off, so the state of limiting part can not be switched by mistake.So, according to the opportunity of the installation/storage of execution mouth, the formation/cut-out of power transfer path can suitably be controlled, so said structure is preferred.

In addition, mouth replacing storage machine can be formed as follows: switching part becomes the direction of inserting taking-up restriction state to each limiting part and is biased.In such a configuration, during power transfer path is cut-off, limiting part becomes insertion and takes out restriction state, is limited so mouth takes out relative to the insertion of mouth incorporating section.Therefore, be cut off due to power transfer path thus cannot from driving mechanism to the state of limiting part transferring power, can prevent the mouth be such as accommodated in mouth incorporating section to come off this situation by mistake.

In addition, mouth replacing storage machine can be formed as follows: for having the mouth replacing storage machine of multiple mouth storage appts, wherein, elevating mechanism makes multiple mouth storage appts rise to lifting position together.In such a configuration, by making multiple mouth storage appts rise to lifting position, power transfer path can be formed between multiple mouth storage appts switching part separately and driving mechanism, the state switching of limiting part can be performed multiple mouth storage appts together.

Or, mouth replacing storage machine can be formed as follows: for having the mouth replacing storage machine of multiple mouth storage appts, wherein, elevating mechanism makes a mouth storage appts in multiple mouth storage appts optionally rise to lifting position.In such a configuration, optionally power transfer path can be formed to the limiting part of the mouth storage appts not needing the state switching limiting part in multiple mouth storage appts.

In addition, can forming element erecting device as follows: multiple mounting head to be arranged in a straight line shape with head arrangement pitches in head unit in head orientation, multiple mouth housing unit to be arranged in a straight line shape with the arrangement pitches equal with head arrangement pitches in mouth storage appts on the direction identical with head orientation, belong to different mouth housing unit adjacent on the direction identical from head orientation respectively and on the direction identical with head orientation the arrangement pitches of two mouth incorporating sections of alinement shape equal with head arrangement pitches.In such a configuration, the mouth incorporating section belonging to adjacent different mouth housing unit can be used for mouth simultaneously change, mouth replacing can be carried out efficiently.

In addition, can forming element erecting device as follows: also possess the trucking department to board carrying direction carrying substrate, multiple mounting head is arranged in a straight line shape in head unit on board carrying direction, multiple mouth housing unit is arranged in a straight line shape in mouth storage appts on board carrying direction, the equal diameters arranging the circumference of multiple mouth incorporating section in the diameter of the circumference of multiple mouth installation portion and mouth housing unit is arranged in mounting head, the arrangement pitches arranged in mounting head in the circumference of multiple mouth installation portion is equal with the arrangement pitches in the circumference arranging multiple mouth incorporating section in mouth housing unit.In such a configuration, between multiple mouth installation portion of mounting head and multiple mouth incorporating sections of mouth housing unit, the installation/storage of mouth can be carried out efficiently, mouth replacing can be carried out efficiently.

According to the present invention, be arranged with multiple multiple mouth incorporating section is arranged in circle-shaped mouth housing unit mouth replacing storage machine and possess in the element fixing apparatus of this mouth replacing storage machine, can suppress, to the increase of the driving mechanism that restriction mouth drives relative to the limiting part that taking-up is inserted in mouth incorporating section, to realize the suppression that cost increases.

Accompanying drawing explanation

Fig. 1 is the vertical view schematically illustrating the partial structurtes that can be suitable for element fixing apparatus of the present invention.

Fig. 2 is the end view of the example representing the head unit that the element fixing apparatus of Fig. 1 possesses.

Fig. 3 is the partial sectional view of the X-direction of the example representing the head unit that the element fixing apparatus of Fig. 1 possesses.

Fig. 4 is the stereogram representing an example that can be suitable for mouth replacing storage machine of the present invention.

Fig. 5 is the vertical view of the example representing the mouth storage appts that the mouth replacing storage machine of Fig. 4 possesses.

Fig. 6 is the figure of the corresponding relation of the arrangement of mouth incorporating section in the arrangement of the mouth installation portion schematically shown in head unit and mouth storage appts.

Fig. 7 represents the vertical view inserting an example of taking out restriction state and inserting the switching action of taking out License Status.

Fig. 8 is the end view of an example of the mouth replacing storage machine representing Fig. 4.

Fig. 9 is the front view of an example of the mouth replacing storage machine representing Fig. 4.

Figure 10 is the front view of the state after illustration mouth storage appts optionally rises.

Figure 11 is the stereogram of the example schematically showing jacking condition testing agency.

Figure 12 is the action specification figure of an example of the action of the jacking condition testing agency schematically showing Figure 11.

Figure 13 is the block diagram of the example representing the electrical structure that the element fixing apparatus of Fig. 1 possesses.

Figure 14 is the flow chart of an example representing the installation of the mouth performed by the element fixing apparatus of Fig. 1, storage, replacing.

Figure 15 is the flow chart of the example representing " decline state confirmation entirely " as subroutine that performed by the flow chart of Figure 14.

Figure 16 is the action specification figure of the example representing the action performed by the step S160 of Figure 14 ~ S200 partly.

Figure 17 is the flow chart of the example representing " a part of propradation confirmation " as subroutine that performed by the flow chart of Figure 14.

Figure 18 is the flow chart of the example representing " the mouth installation " as subroutine that performed by the flow chart of Figure 14.

Figure 19 is the flow chart of the example representing " the mouth storage " as subroutine that performed by the flow chart of Figure 14.

Embodiment

Fig. 1 is the vertical view schematically illustrating the partial structurtes that can be suitable for element fixing apparatus of the present invention.In this figure and figure shown below, suitably represent the XYZ orthogonal coordinate system be made up of board carrying direction X, Width Y and vertical Z.In addition, the arrow side of X-axis is called side, the opposition side of the arrow of X-axis is suitably called opposite side.Element fixing apparatus 1 possesses the schematic configuration on substrate that the element transfer that supplied in component feeding portion 3 by head unit 4 moves into transport road 2.More specifically, element fixing apparatus 1 possesses two transport roads 2 extended concurrently on the X of board carrying direction, is respectively equipped with component feeding portion 3 and four head units 4 of two in every side of the both sides of the Width Y of these two transport roads 2.

Article two, transport road 2 has common structure respectively, and performs following action: by substrate from the upstream side of board carrying direction X (Fig. 1 from right side to the left carrying substrate form side) move into and make it at the single dotted broken line of stop position 20(Fig. 1 of regulation) substrate that stops moves into action and the substrate that the substrate receiving element installation at stop position 20 takes out of to the downstream of board carrying direction X taken out of action.At this moment, each transport road 2 possesses substrate can be made to stop at structure on two such as different on the X of board carrying direction stop positions 20 respectively.Article two, two carrying conveyers 21 that each freedom of transport road 2 is extended concurrently on the X of board carrying direction are formed, four carrying conveyer 21 broad ways arrangements in element fixing apparatus 1.Article four, two outside in carrying conveyer 21 is fixed conveyor fixing on Width Y, and two of inner side is mobile movable conveyer freely on Width Y.Therefore, by making movable conveyer 21 broad ways Y move, the width of transport road 2 can be adjusted according to the width of substrate.

Incidentally, the form of the board carrying in two transport roads 2 is not limited to the illustrative form of Fig. 1.Namely, add up to setting four stop positions 20 exemplified with respectively setting two stop positions 20 respectively to two transport roads 2 and carry out the situation of board carrying in Fig. 1, but also can to two transport roads 2 respectively a side for right side the opposing party is for left side respectively sets a stop position 20 and add up to setting two stop positions 20.In addition, due to substrate width wide and board carrying cannot be performed by two transport roads 2 simultaneously when, also only can perform board carrying by two transport roads one, and not perform board carrying on another.

Be arranged with two component feeding portions 3 along board carrying direction X respectively in the both sides of the Width Y of these transport roads 2, in element fixing apparatus 1, be provided with total four component feeding portions 3.Each component feeding portion 3 possesses the structure arranging multiple tape feeder 31 on the X of board carrying direction.Each tape feeder 31 possesses the material strip winding of the strip electronic components such as storage integrated circuit (IC), transistor, capacitor in the schematic configuration of tep reel, by intermittently electronic component being sent to transport road 2 side end from tep reel, thus supply electronic component.In addition, as the kind of the loader of composed component supply unit 3, being not limited to the loader of banding pattern, also can be the loader of the tray type of the state supply electronic component be placed on pallet.

Four head units 4 have three mounting heads 5 arranged in X direction respectively, by the mouth of the front end by each mounting head 5 transport road 2 side end absorptive element from each tape feeder 31, thus the element supplied in component feeding portion 3 is to the substrate transfer stopping at stop position 20.In addition, in element fixing apparatus 1, be provided with the head driving mechanism 6 for making head unit 4 movement.Specifically, four head driving mechanisms 6 are arranged accordingly with above-mentioned four component feeding portions 3.Further, four head driving mechanisms 6 bear the driving of a head unit 4 respectively.

Each head driving mechanism 6 possesses the X-axis beam 61 extended in X direction to be supported for and moves structure freely along Y-direction, this X-axis beam head unit 4 is supported in X direction mobile freely.Be provided with at X-axis beam 61: be installed on head unit 4 and the X-axis ball-screw 62 extended in the X direction; And the X-axis servo motor 63 driving X-axis ball-screw 62 to rotate.Further, when X-axis servo motor 63 drives X-axis ball-screw 62 to rotate, the head unit 5 being fixed with the not shown nut screwed togather with X-axis ball-screw 62 moves in the X direction along X-axis beam 61.In addition, each head driving mechanism 6 has: be provided with X-axis beam 61 an end and above transport road 2 along Y-direction extend Y-axis ball-screw 64; And the Y-axis servo motor 65 driving Y-axis ball-screw 64 to rotate.Further, when Y-axis servo motor 63 drives Y-axis ball-screw 64 to rotate, the X-axis beam being fixed with the not shown nut screwed togather with Y-axis ball-screw 64 moves along Y-direction along with head unit 5.The other end of X-axis beam 61 can be slidably supported at respectively along Y-direction across arbitrary track in two tracks 66 of the top of the X-direction central portion of two transport roads 2.

Each head driving mechanism 6 of formation like this suitably rotates by making X-axis servo motor 63 and Y-axis servo motor 65, thus the head unit 4 taken on can be made to move above corresponding component feeding portion 3 and between the surface of stop position 20.Thus, the element that head unit 4 can be supplied by mounting head 5 absorptive element supply unit 3, and by it to the substrate transfer stopping at stop position 20.

In addition, camera 68 and mouth changing machine 7 configure from the inner side of Y-direction (transport road 2 side) adjacently with four component feeding portions 3 respectively.So, camera 68 and mouth changing machine 7 are located at (in other words, the mobile route of head unit 4) between component feeding portion 3 and transport road 2.Camera 68 is parallel with vertical Z and configure upward, the element kept the head unit 4 passed through in upside, the flag member 41(Fig. 3 of location recognition described later being installed on head unit 4) take.In addition, mouth changing machine 7 is for changing the mouth be installed in each mounting head 5 of head unit 4, and its detailed content is discussed below.

Fig. 2 is the end view of the example representing the head unit that the element fixing apparatus of Fig. 1 possesses.Fig. 3 is the partial sectional view of the X-direction of the example representing the head unit that the element fixing apparatus of Fig. 1 possesses.Next, use Fig. 2 and Fig. 3, the structure of each head unit 4 is discussed in detail.In addition, four head units 4 possess identical structure each other, so be described a head unit 4 at this.

Head unit 4 possesses in X direction with three mounting heads 5 of the arrangement pitches Lh alinement shape of regulation.Three mounting heads 5 possess the schematic configuration of having installed mouth N in the bottom of the mouth axle 50 extended along Z-direction respectively.Specifically, mounting head 5 has eight mouth axles 50 of the circumferentially equal arrangement pitches configuration centered by the central shaft C51 parallel with Z-direction, and the mouth installation portion 51 of bottom being located at each axle 50 detachably installs mouth N.

In mouth installation portion 51, bottom separates with gap in opposite directions towards the leaf spring 52 that axle 50 is bending with the periphery of the bottom of mouth axle 50.And, when making the front end of mouth N towards downside and the state making the top of mouth N chimeric with mouth axle 50 from outside being pressed into mouth N in mouth installation portion 51 upward, outside is pushed to and the gap entered between mouth axle 50 and leaf spring 52 in the bottom of leaf spring 511 by the engaging protrusion Ne being located at the periphery of mouth N.Its result is, the periphery projection Ne of mouth N engages with the bottom of leaf spring 52, and its front end of mouth N is towards downside and be installed on mouth installation portion 51.So, the mouth N being installed on mouth installation portion 51 is held in mouth installation portion 51 by the elastic force of leaf spring 511.On the other hand, by resisting the elastic force of leaf spring 51, the mouth N being installed on mouth installation portion 51 is stretched downwards, thus mouth N can be taken off from mouth installation portion 51.In addition, on mouth N, between the lower end (front end) of engaging protrusion Ne and mouth N, be formed with the flange part Nf outstanding to side.About the function of this flange part Nf, state below together with mouth changing machine 7.

Be formed with the vent passage 53 extended from mouth installation portion 51 along Z-direction at the center of each mouth axle 50, on the other hand, be formed with the nozzle aperture Nv running through Z-direction at the center of mouth N, the nozzle aperture Nv being installed on the mouth N of mouth installation portion 51 is communicated with vent passage 53.Therefore, it is possible to adjust the air pressure of nozzle aperture Nv via vent passage 53 and make mounting head 51 executive component install.Specifically, when the element that holding element supply unit 3 supplies, the front end of mouth N can be made to contact with element and apply negative pressure to nozzle aperture Nv, at the front end absorptive element of mouth N.In addition, when substrate loads element, malleation can be applied, from mouth N to substrate transfer element instantaneously to nozzle aperture Nv.In addition, mounting head 51 can make eight axles 50 be elevated separately.Therefore, to be optionally elevated to the mounting of the substrate mouth axle 50 that can make to have installed as the mouth N of executive agent from the maintenance of the element in component feeding portion 3, element and to perform.In addition, mounting head 51 is the rotary type mounting heads that eight axles 50 can be made centered by central shaft C51 to rotate integratedly.Therefore, eight axles 50 are suitably rotated, the position of mouth N can be adjusted.

The flag member 41 of the bar-shaped location recognition extended in z-direction is configured with outside two of the X-direction of three heads 5 so formed.Each flag member 41 is fixed on head unit 3, is taken by camera 68, for the location recognition of head unit 3.In addition, head unit 3 has the illumination 45 being adsorbed in the camera 43 of the element of mouth N and the visual field of irradiation camera 43 from side shooting.The optical system 431 of camera 43() from Y-direction be installed on mounting head 5 mouth N front end in opposite directions, be adsorbed in the element of mouth N from Y-direction shooting.So, camera 43 is configured at the Y-direction side of mounting head 5.In addition, in mounting head 5, be provided with bar-shaped reflection part 47 in the central authorities being arranged in eight circle-shaped mouth N.Reflect the light from illumination 45 by this reflection part 47, the visual field of camera 43 can be irradiated more brightly.

It is more than the summary of element fixing apparatus 1.Then, lip-syncing changing machine 7 is discussed in detail.Fig. 4 is the stereogram representing an example that can be suitable for mouth replacing storage machine of the present invention.In the diagram, the state being accommodated with mouth N in whole mouth incorporating sections of mouth replacing storage machine 7 is represented.Mouth replacing storage machine 7 performs the installation action mouth N be accommodated in mouth storage appts 8 being installed on mounting head 5, the storage action be accommodated in by the mouth N being installed on mounting head 5 in mouth storage appts 8.Specifically, on the top of mouth replacing storage machine 7 along Y-direction to be equidistantly arranged with four the mouth storage apptss 8 possessing structure common each other, each mouth storage appts 8 can perform installation action and storage action.

Fig. 5 is the vertical view of the example representing the mouth storage appts that the mouth replacing storage machine of Fig. 4 possesses.Based on Fig. 5, mouth storage appts 8 is described.Mouth storage appts 8 has the mouth incorporating section 81 of the rectangular-shaped storage appts main body 80 that extends in the X direction and the upper surface opening upward in storage appts main body 80, inserts to take out freely mouth N to be accommodated in mouth incorporating section 81 from vertical Z.Specifically, the downside (front) of the flange Nf of mouth N is embedded in mouth the incorporating section 81 and upside of the flange Nf of the mouth N state outstanding from mouth incorporating section 81 (Fig. 4), mouth incorporating section 81 housing nozzle N.As shown in Figure 5, at the upper surface of storage appts main body 80, formed a mouth housing unit 81U by with eight mouth incorporating sections 81 of circle-shaped equidistant arrangement, in addition, three mouth housing unit 81U equidistantly arrange with linearity in X direction.The arrangement of above-mentioned mouth incorporating section 81 is corresponding with the arrangement of the mouth installation portion 51 in head unit 4.

Fig. 6 is the figure of the corresponding relation of the arrangement of mouth incorporating section in the arrangement of the mouth installation portion schematically shown in head unit and mouth storage appts.Represent the situation of the arrangement of the mouth installation portion 51 in viewing head unit 4 from below in the hurdle of the epimere of this figure, in the hurdle of the hypomere of this figure, represent the situation of the arrangement from the mouth incorporating section 81 top view mouth storage appts 8.In addition, in the figure, represent that the anglec of rotation of each mounting head 5 is adjusted to the state be equal to each other, mouth installation portion 51 is bottoms of the mouth axle 50 of the toroidal of mounted mouth N, is represented by circle.

As mentioned above, in head unit 4, three mounting heads 5 to be arranged in a straight line shape with arrangement pitches Lh in X direction.In addition, in each installation 5, eight mouth installation portions 51 are circumferentially arranged in circle-shaped with arrangement pitches Lo.

In contrast, in mouth storage appts 8, three mouth housing unit 81U to be arranged in a straight line shape with the arrangement pitches equal with above-mentioned arrangement pitches Lh in X direction.In addition, in each mouth housing unit 81U, eight mouth incorporating sections 81 circumferentially arrange with the arrangement pitches equal with above-mentioned arrangement pitches Lo.Incidentally, when like this arrangement mouth incorporating section 81, belong to different mouth housing unit 81U adjacent in the X direction and the mouth incorporating section 81 that the configuration of each mouth housing unit 81U is in relation of equality arranges with arrangement pitches Lh in X direction.

So, the arrangement of the mouth installation portion 51 in head unit 4 is corresponding with the arrangement of the mouth incorporating section 81 in mouth storage appts 8.Therefore, as long as the anglec of rotation of each mounting head 5 of adjustment head unit 5, make the arrangement angle of mouth installation portion 51 consistent with the arrangement angle of mouth incorporating section 81 as shown in Figure 6, then by making head unit 4 from Z-direction and mouth storage appts 8 in opposite directions, thus each mouth storage appts 51 and each mouth incorporating section 81 can be made with man-to-man corresponding relation each other in z-direction in opposite directions.It is more than the explanation of the corresponding relation of the arrangement of the mouth incorporating section in the arrangement of the mouth installation portion in head unit 4 and mouth storage appts 8.Turn back to Fig. 4, Fig. 5 and go on to say mouth storage appts 8.

At the upper surface of storage appts main body 80, be formed around each mouth housing unit 81 with the bottom opening of dead eye 801, eight mouth incorporating sections 81 of roughly discoideus depression at dead eye 801.Further, the circular baffle plate 82 with roughly the same with the internal diameter of dead eye 801 or more smaller than it external diameter is embedded in each dead eye 801, and arranges relative to each mouth housing unit 81U.In each mouth housing unit 81, the center of the center of the circumferential arrangement of multiple mouth incorporating section 81, the center of the circle of dead eye 801 and the toroidal of baffle plate 82 is consistent with each other, and baffle plate 82 slides and rotates freely around mouth housing unit 81U between the inwall of dead eye 801.In addition, at the upper surface of storage appts main body 80, the inner side to dead eye 801 is outstanding and be screwed on each dead eye 801 around from the pressing plate 803 of upper positioning baffle 82, and anti-baffle plate 82 comes off from dead eye 801.

So, baffle plate 82 is respectively equipped with to three mouth housing unit 81U.Further, each baffle plate 82 is by possessing following such structure, thus restriction mouth N takes out relative to the insertion of eight mouth incorporating sections 81 of corresponding mouth housing unit 81U.That is, baffle plate 82 is formed by circular circumference 821 with from eight juts 822 that circumference 821 is outstanding to the inside.Circumference 821 has the internal diameter larger than the external diameter of a circle external with eight the mouth incorporating sections 81 forming mouth housing unit 81U, surrounds mouth housing unit 81U from outside.Eight protuberances 822 are along the inwall of above-mentioned circumference 821, circle-shaped to be equidistantly arranged in.That is, be provided with around eight the mouth incorporating sections 81 forming mouth housing unit 81U and jut 822, eight mouth incorporating sections 81 of they equal numbers and eight juts 822 correspondences.And, when flap shutter 82, each jut 822 takes out restriction site Pr and takes out from this insertion insertion that path departs from and take out and permit to rotate between the Pp of position (reference Fig. 7) taking out the outstanding insertion in path to mouth N relative to the insertion of corresponding mouth incorporating section 81.Each jut 822 takes out restriction site Pr restriction mouth N in insertion and takes out relative to the insertion of corresponding mouth incorporating section 81, on the other hand, takes out restriction site Pp permit that mouth N takes out relative to the insertion of corresponding mouth incorporating section 81 in insertion.In addition, in Figure 5, each jut 882 is positioned to insert and takes out restriction site Pr.

Baffle plate 82, owing to possessing said structure, so by suitable flap shutter 82, can limit together eight mouth incorporating sections 81 corresponding with this baffle plate 82 and perhaps can the insertion of mouth N take out.That is, when baffle plate 822 be in each jut 822 be positioned at insert rotary state (insert and take out restriction state) of taking out restriction site Pr time, the insertion eight the mouth incorporating sections 81 corresponding with this baffle plate 82 being limited together to mouth N is taken out.On the other hand, when baffle plate be in each jut 822 be positioned at rotary state (insert take out License Status) of inserting and taking out license position Pp time, eight the mouth incorporating sections 81 corresponding with this baffle plate 82 are permitted that the insertion of mouth N is taken out together.

The crankshaft cheek 83 that the rotation of such baffle plate 82 is arranged relative to each baffle plate 82 via the upper surface in storage appts main body 80 carries out.That is, baffle plate 82 has the pin 823 given prominence to upward from circumference 821.In contrast, crankshaft cheek 83 is arranged with the dead eye 801 that embedded in baffle plate 82 is adjacent, and be configured to engage with the pin 823 of baffle plate 82 and rotatable.Specifically, crankshaft cheek 83 has the holding section 831 outstanding to the inner side of dead eye 801, and holding section 831 is engaged with pin 823 by running through the elongated hole 832 of Z-direction.Therefore, when crankshaft cheek 83 rotates, baffle plate 82 and crankshaft cheek 83 rotate in linkage.In addition, make the length of elongated hole 832 than the outer path length of pin 823.Play is set between elongated hole 832 and pin 823, thus baffle plate 82 is formed in the mode that can link swimmingly with crankshaft cheek 83.

The guiding groove 805 extended to opposite side (right side of Fig. 5) from the side (left side of Fig. 5) of X-direction is formed in the side of the Y-direction of storage appts main body 80.Further, longer than guiding groove 805 in the X direction sliding part 84 is embedded into guiding groove 805.This sliding part 84 is outstanding from the local, one end of guiding groove 805 at the opposite side (right side of Fig. 5) of X-direction, and movably arranges in the X direction along guiding groove 805.

In addition, sliding part 84 has pin 841, and this pin 841 is configured at the respective below of three crankshaft cheeks 83 arranging in X direction and gives prominence to upward.Three pins 841 so arranged in X direction respectively be positioned at the notch 833 that the crankshaft cheek 83 of top is formed and engage.Therefore, if make sliding part 84 move in X direction, then three crankshaft cheeks 83 engaged with sliding part 84 via three pins 841 rotate in the lump, and three baffle plates 82 also rotate in the lump.By so making sliding part 84 move in the X direction, three baffle plates 82 linked with sliding part 84 are rotated in the lump, thus the state of three baffle plates 82 can be switched in the lump any one state inserted and take out restriction state and insert in taking-up License Status.

Fig. 7 represents the vertical view inserting and take out restriction state and insert an example of taking out License Status, is accommodated with the state of mouth N exemplified with each mouth housing unit 81 at mouth housing unit 81U.In addition, in the figure, representative shows the structure relevant with a mouth housing unit 81U, but the structure relevant with three the mouth housing unit 81U belonging to identical mouth storage appts 8 performs same action in the lump.

As shown in the hurdle of this figure epimere, under restriction state is taken out in insertion, pin 841 is in the state of the side Xl moving to X-direction along with sliding part 84.Therefore, crankshaft cheek 83 is in the state turning to clockwise side Rf, and baffle plate 82 is in the state turning to counterclockwise Rb.Its result is, is arranged in each jut 822 inserting taking-up restriction site Pr and is positioned at directly over the flange Nf of the mouth N being accommodated in mouth incorporating section 81, limit and take out mouth N from mouth incorporating section 81.

As shown in the hurdle of this figure hypomere, under License Status is taken out in insertion, pin 841 is in the state of the opposite side Xr moving to X-direction along with sliding part 84.Therefore, crankshaft cheek 83 is in the state turning to counterclockwise side Rb, and baffle plate 82 is in the state turning to clockwise Rf.Its result is, be arranged in insert take out license position Pp each jut 822 from be accommodated in mouth incorporating section 81 mouth N flange Nf directly over depart from, permit to take out mouth N from mouth incorporating section 81.

Turn back to Fig. 4, Fig. 5 and proceed explanation.Be provided with side (left side of Fig. 5) to X-direction in storage appts main body 80 to the elastomeric elements such as the spring that sliding part 84 exerts a force (diagram omit), each baffle plate 82 is inserted the rotation direction Rb taking out restriction state by this elastomeric element be biased to becoming.On the other hand, sliding part 84 has baffle plate operating portion 843 outstanding upward in opposite side (right side of Fig. 5) the outstanding part from storage appts main body 80 to X-direction.Therefore, by operation baffle plate operating portion 843, the active force can resisting elastomeric element moves in X direction to make sliding part 84.Wherein, storage appts main body 80, at the opposite side (right side of Fig. 5) of the X-direction of sliding part 84, on the mobile route of sliding part 84, possesses the not shown retainer being located at installation flat part 75a described later.Therefore, when sliding part 84 contacts with retainer, the sliding part 4 of resistant function power is limited further movement.

The heavy section 845 that sliding part 84 is being provided with pin 841 is formed with heavy wall along Y-direction.This heavy section 845 is outstanding to Y-direction from guiding groove 805, moves together with the movement of sliding part 84.On the other hand, relative to the side of storage appts main body 80, screw thread is fixed with the moving range of the heavy section 845 avoiding sliding part 84 and covers the cap assembly 807 of guiding groove 805.By this cap assembly 807, prevent sliding part 84 from departing from from guiding groove 805.

Then, use Fig. 4, Fig. 8 and Fig. 9, the storage appts elevating mechanism 71 that mouth storage appts 8 is elevated is described.At this, Fig. 8 is the end view of an example of the mouth replacing storage machine representing Fig. 4, and Fig. 9 is the front view of an example of the mouth replacing storage machine representing Fig. 4.At the upper surface of mouth replacing with the base station 70 of storage machine 7, along Y-direction to be equidistantly arranged with four the storage appts elevating mechanisms 71 possessing structure common each other, in the upside of these storage appts elevating mechanisms 71 along Y-direction to be equidistantly arranged with four mouth storage apptss 8.The arrangement pitches of storage appts elevating mechanism 71 and the arrangement pitches of mouth storage appts 8 are equal to each other, and four storage appts elevating mechanisms 71 are corresponding with four mouth storage apptss 8.Further, each storage appts elevating mechanism 71 makes the mouth storage appts 8 directly over corresponding setting be elevated.

The carriage 710 forming the skeleton of storage appts elevating mechanism 71 to be erected on base station 70 and to extend along Z-direction.Storage appts elevating mechanism 71 has the Z axis cylinder 712 of the bottom being fixed on carriage 710 and is lifting freely located at the lifting board 713 on top of carriage 710.Z axis cylinder 712 is the rod-type cylinders (cylinder) piston rod 712a being retreated by air along Z-direction, via the supply of air hose 702 admission of air, piston rod 712a is elevated from the air feeder 701 of the bottom being contained in base station 70.Lifting board 713 is lifting freely supported by the guide member 714 being fixed on the top of carriage 710.Further, the top of the piston rod 712a of Z axis cylinder 712 is installed on lifting board 713 by joint 715, and the support baseboard 716 supporting mouth storage appts 8 from downside is fixed on the top of lifting board 713.Therefore, by Z axis cylinder 712, make mouth storage appts 8 and lifting board 713 1 lifting.

Such storage appts elevating mechanism 71 is retreated along Z-direction by making the piston rod 712a of Z axis cylinder 712, thus corresponding mouth storage appts 8 can be made to be elevated.In addition, in mouth replacing with in storage machine 7, be separately provided with storage appts elevating mechanism 71 relative to four mouth storage apptss 8.Therefore, it is possible to make four mouth storage apptss 8 be elevated individually.

In addition, mouth replacing storage machine 1 has baffle plate operating mechanism 73, and this baffle plate operating mechanism 73 operates the baffle plate operating portion 843 of the mouth storage appts 8 risen in four mouth storage apptss 8, and operates baffle plate 82.Baffle plate operating mechanism 73 is configured at the opposite side (right side of Fig. 9) of the X-direction of four mouth storage apptss 8, and is installed on carriage 710 via connection box 75.This baffle plate operating mechanism 73 as next like that illustrated, possess by X-axis cylinder 732 to X-direction driving the schematic configuration from baffle plate operating portion 843 clutch part 731 in opposite directions of top and mouth storage appts 8.Baffle plate operating portion 843 is connected with opposite side (right side of Fig. 9) end of the X-direction of sliding part 84, and baffle plate operating portion 843 and sliding part 84 move integratedly in X direction.

Connection box 75 has the installation flat part 75a that arranges in opposite side (right side of Fig. 9) and the YZ plane parallel of the X-direction of four mouth storage apptss 8 and carriage 710 and is installing the both sides of Y-direction of flat part 75a towards two bent flat plate portion 75b of carriage 710 lateral bend, and these bent flat plate portion 75b screw threads are fixed on and are positioned on the carriage 710 at Y-direction two ends.Further, the members of frame 730 of baffle plate operating mechanism 73 is installed on the upper end of installing dull and stereotyped 75a portion, and from installation, dull and stereotyped 75a portion is outstanding to the opposite side (right side of Fig. 9) of X-direction.Members of frame 730 has the parallel plane writing board shape with XY, is positioned at the central authorities of the arrangement of four mouth storage apptss 8 in the Y direction.

Clutch part 731 is installed on the upper surface of members of frame 730 via X-axis guide 733, moves freely in X direction.Specifically, X-axis guide 733 have the upper surface being fixed on members of frame 730 X-axis track 733a and along X-axis track 733a mobile X-axis sliding part 733b freely in the X direction, on X-axis sliding part 733b, screw thread is fixed with clutch part 731.Clutch part 731 is plate-shaped member, is made up of the first extension board 731a, the second extension board 731b and engagement pawl 731c.First extension board 731a is the plate extended in X direction towards mouth storage appts side 8 from X-axis sliding part 733b, in the bend portions stepped of giving prominence to from X-axis sliding part 733b.Second extension board 731b is the plate of the top extending to four mouth storage apptss 8 from the first extension board 731a to X-direction.This second extension board 731b has the width wider than the arrangement of four baffle plate operating portions 843 in the Y direction, from top be arranged in four baffle plate operating portions 843 Y-direction in opposite directions.Engagement pawl 731c is arranged from the front end of the X-direction of the mouth storage appts side 8 of the second extension board 732b is bending downwards, has the width identical with the second extension board 731b in the Y direction.

X-axis cylinder 732 is installed on the lower surface of members of frame 730, has the piston rod 732a extended in X direction towards mouth storage appts 8 side.This piston rod 732a is the through through hole (not shown) be located on the installation flat part 75a of connection box 75 in the X direction, and extends to mouth storage appts 8 side from installation flat part portion 75a.X-axis cylinder 732 is the rod-type cylinders (cylinder) piston rod 732a being retreated in X direction by air, via the supply of air hose 703 admission of air, piston rod 732a is moved from the air feeder 701 of the bottom being contained in base station 70.Further, the front end of mouth storage appts 8 side of piston rod 732a is connected with the engaging dull and stereotyped 735 being sticked in clutch part 731.Specifically, the bottom surface of clutch part 731 be fixed with in X direction configuration at spaced intervals and respectively along the pole member 736 that Y-direction extends, engage dull and stereotyped 735 and keep play ground to be embedded between pole member 736, engage with clutch part 731.Therefore, by making the piston rod 732a of X-axis cylinder 732 retreat in X direction, thus clutch part 731 can be made to move in X direction.

The clutch part 731 of the baffle plate operating mechanism 73 of formation like this is optionally engaged with the baffle plate operating portion 843 of the mouth storage appts 8 risen by storage appts elevating mechanism 71, and can operate the baffle plate 82 of the mouth storage appts 8 of rising.About above-mentioned action, and be described with Figure 10.At this, Figure 10 is the front view of the state after illustration mouth storage appts 8 optionally rises.Situation is expressed as follows: under the piston rod 732a state that clutch part 731 is partial to mouth storage appts 8 to the extension of mouth storage appts 8 side, the mouth storage appts 8 of the left end (Y-direction+side) only in Fig. 4 rises, and other mouth storage apptss 8 decline in the example shown in Figure 10.

Above-mentioned storage appts elevating mechanism 71 make mouth storage appts 8 lifting position Pu and than lifting position Pu down position Pd on the lower between be elevated.On the other hand, the second extension board portion 731b of clutch part 731 from top and the respective operating portion 843 of four mouth storage apptss 8 in opposite directions.The down position Pd of mouth storage appts 8 is set as the upper end of operating portion 843 than the lower end height on the lower of the engagement pawl 731c of the clutch part 731 be fixed on carriage 710, and the lifting position Pu of mouth storage appts 8 is set as the lower end height by the top of the upper end of operating portion 843 than engagement pawl 731c.Specifically, between the upper end of operating portion 843 of mouth storage appts 8 being in lifting position Pu and the second extension board 731 of clutch part 731, space is vacated.In addition, under the state that piston rod 732a extends, the engagement pawl 731c of clutch part 731 is positioned at the side Xl more leaning on X-direction than the operating portion 843 of the side Xl being pushed to X-direction by active force.Therefore, the engagement pawl 731c of clutch part 731 engages with the operating portion 843 of the mouth storage appts 8 being positioned at lifting position Pu at the side Xl of X-direction, in contrast, the engagement pawl 731c of clutch part 731 departs to upside relative to the operating portion 843 of the mouth storage appts 8 being positioned at down position Pd and does not engage.

In such mouth replacing storage machine 7, baffle plate operating mechanism 73 can operate the mouth storage appts 8 being in lifting position Pu via clutch part 731.That is, when baffle plate operating mechanism 73 makes X-axis cylinder 732 action and makes piston rod 732a shorten, the operating portion 843 of mouth storage appts 8 is stretched by the opposite side Xr of clutch part 731 to X-direction.Thus, sliding part 84 moves to the opposite side Xr of X-direction, each baffle plate 82 of mouth storage appts 8 is taken out illegal state from insertion in the lump and takes out License Status switching to insertion.In addition, when baffle plate operating mechanism 73 makes X-axis cylinder 732 action and makes piston rod 732a extend, along with the side Xl of clutch part 731 to X-direction moves, because of the active force of the elastomeric elements such as spring (diagram is omitted), the side Xl to X-direction moves sliding part 84, each baffle plate 82 of mouth storage appts 8 is taken out illegal state from insertion taking-up License Status to insertion in the lump and switches.So, each baffle plate 82 being in the mouth storage appts 8 of lifting position Pu can be taken out License Status in insertion and insert to take out between illegal state and switch by clutch part 731 in the lump.On the other hand, the operating portion 843 being in the mouth storage appts 8 of down position Pd does not engage with clutch part 731.Therefore, each baffle plate 82 being in the mouth storage appts 8 of down position Pd is not maintained in by the operating influence of baffle plate operating mechanism 73 to insert and takes out illegal state.

That is, mouth replacing storage machine 7 can not only make mouth storage appts 8 merely be elevated by storage appts elevating mechanism 71, can also control formation and the cut-out of the power transfer path between the baffle plate 82 of mouth storage appts 8 and baffle plate operating mechanism 73.That is, under the state of being partial to mouth storage appts 8 side at clutch part 731, if make mouth storage appts 8 rise to lifting position Pu by mouth storage appts elevating mechanism 71, then the power transfer path between mouth storage appts 8 and baffle plate operating mechanism 73 can be formed.In addition, if make mouth storage appts 8 drop to down position Pd by mouth storage appts elevating mechanism 71, then the power transfer path between mouth storage appts 8 and baffle plate operating mechanism 73 can be cut off.

In addition, mouth replacing storage machine 7 has the jacking condition testing agency 76 of the jacking condition of detection four mouth storage apptss 8.Figure 11 is the stereogram of the example schematically showing jacking condition testing agency.As shown in the drawing, jacking condition testing agency 76 is made up of four shadow shields 761 and two groups of optical sensors 762,763.Four shadow shields 761 and four mouth storage apptss 8 are respectively accordingly along Y-direction spread configuration.Each shadow shield 761 is elevated with corresponding mouth storage appts 8, so down position Pd is positioned at mutually the same height with each shadow shield 761 being in mutually level mouth storage appts 8 in lifting position Pu, each shadow shield 761 being in the mouth storage appts 8 of differing heights is positioned at height different from each other.

Three through holes 761a, 761b, 761c along Z-direction alinement shape are through with along Y-direction at each shadow shield 761.On each shadow shield 761, between the through hole 761a and the through hole 761b of central portion of topmost, be provided with interval c1, between the through hole 761b and the through hole 761c of foot of central portion, be provided with the interval c2 different with interval c1.Specifically, interval c1 is equal with the interval on the down position Pd of mouth storage appts 8 and the Z-direction of lifting position Pu, interval c2 shorter than interval c1 (c1 > c2).In addition, on each shadow shield 761, the through hole 761c to the distance c3 in the Z-direction of the lower end of shadow shield 761 of foot is than the interval c1 on the down position Pd of mouth storage appts 8 and the Z-direction of lifting position Pu long (c3 > c1).And, as shown in the dotted line of Figure 13, between each shadow shield 761 being in mutually level mouth storage appts 8 in down position Pd and lifting position Pu, the through hole 761a of topmost each other, the through hole 761b of central portion each other, the through hole 761c of foot alinement shape in the Y direction separately from each other.

Two groups of optical sensors 762,763 all possess the structure of light projector Sa arranged in parallel and light-receiving device Sb in the Y direction, and the light from light projector Sa to the parallel injection of Y-direction is received by light-receiving device Sb.Optical sensor 762(upper level sensor) be configured at the first height h1, the luminous site of the light projector Sa of optical sensor 762 and the light position of light-receiving device Sb lay respectively at the first height h1.In addition, level sensor under optical sensor 763() be configured at the second height h2(h1-h2=c1+c2 than the low distance (c1+c2) of the first height h1), the luminous site of the light projector Sa of optical sensor 763 and the light position of light-receiving device Sb lay respectively at the second height h2.

Incidentally, in fig. 11, the position of each shadow shield 761 when four mouth storage apptss 8 are all in down position Pd is shown.As shown in the drawing, in the shadow shield 761 being installed on the mouth storage appts 8 being in down position Pd, the through hole 761a of topmost is positioned at the first height h1, and the through hole 761c of foot is positioned at the second height h2.On the other hand, in each shadow shield 761, the interval c1 of the through hole 761a of topmost and the through hole 761b of central portion is set to equal with the interval of the down position Pd on z direction and lifting position Pu, so when mouth storage appts 8 rises to lifting position Pu, in the shadow shield 761 being installed on this mouth storage appts 8, the through hole 761b of central portion rises to the first height h1.

By using such jacking condition testing agency 76, the jacking condition of four mouth storage apptss 8 can be detected.Specifically, as shown in figure 12, any one state in the transition state that four mouth storage apptss 8 are all in the full decline state of down position Pd, at least one mouth storage appts 8 is in lifting position Pu a part of propradation and at least one mouth storage appts 8 are in the way of down position Pd and lifting position Pu is detected.

Figure 12 is the action specification figure of an example of the action of the jacking condition testing agency schematically showing Figure 11.In addition, in fig. 12, light-receiving device Sb receives the state representation of light for " ON ", and light-receiving device Sb does not receive the state representation of light for " OFF ".As shown in the hurdle of the uppermost of Figure 12, when four mouth storage apptss 8 are all in down position Pd, the through hole 761a of each light-blocking member aligns with the first height h1, and the through hole 761c of each light-blocking member aligns with the second height h2.Therefore, in optical sensor 762, the light penetrated from light projector Sa is received by light-receiving device Sb by each through hole 761a.In addition, in optical sensor 763, the light penetrated from light projector Sa is received by light-receiving device Sb by each through hole 761c.That is, receive this situation of light by the light-receiving device Sb of the optical sensor 762,763 confirming two sides, and full decline state can be detected.

As shown in the hurdle in the stage casing of Figure 12, when a part for four mouth storage apptss 8 is in position in the way of down position Pd and lifting position Pu, left several second shadow shield 761 in shadow shield 761(Figure 12 that the mouth storage appts 8 being in position in way is installed) in, any one through hole 761a, 761b, 761c depart from from first and second height both h1, h2.At this moment, the interval c1 of through hole 761a and through hole 761b is equal with the interval of down position Pd and lifting position Pu, so the part in shadow shield 761 between through hole 761a, 761b is intersected with the first height h1.In addition, through hole 761c is longer than the interval of down position Pd and lifting position Pu to the distance c3 of the lower end of shadow shield 761, so intersect with the second height h2 than through hole 761c part on the lower in shadow shield 761.Therefore, in the optical sensor 762,763 of two sides, covered by the shadow shield 761 of mouth storage appts 8 installation being in position way from the light of light projector Sa injection and light-receiving device Sb can not be arrived.That is, do not receive light by the light-receiving device Sb of the optical sensor 762,763 confirming two sides, thus can transition state be detected.

As shown in the hurdle of the lowermost of Figure 12, when a part for four mouth storage apptss 8 is in lifting position Pu, left several second shadow shield 761 in shadow shield 761(Figure 14 that the mouth storage appts 8 being in lifting position Pu is installed) in, through hole 761a is positioned at the first height h1, on the other hand, any one through hole 761a, 761b, 761c departs from from the second height h2.At this moment, through hole 761c is longer than the interval of down position Pd and lifting position Pu to the distance c3 of the lower end of shadow shield 761, so intersect with the second height h2 than through hole 761c part on the lower in shadow shield 761.Therefore, in optical sensor 762, the light penetrated from light projector Sa is received by light-receiving device Sb by each through hole 761a, 761b.On the other hand, in optical sensor 763, covered by the shadow shield 761 installed at the mouth storage appts 8 being in lifting position Pu from the light of light projector Sa injection and light-receiving device Sb can not be arrived.That is, do not receive light by the light-receiving device Sb of the light-receiving device Sb reception light and optical sensor 763 that confirm optical sensor 762, thus a part of propradation can be detected.

When employing mouth replacing storage machine 7 possessing such structure, according to the light result of the light accepting part Sb of optical sensor 762,763, full decline state, transition state, a part of propradation of mouth storage appts 8 can be detected easily.And, possess the jacking condition testing agency 76(test section detecting each state), thus can the jacking condition of mouth storage appts 8 be grasped according to the testing result of optical sensor 762,763 and perform suitable control.In addition, about the concrete control of the testing result based on optical sensor 762,763, discuss below.

In addition, when the mouth storage appts 8 using the mouth installation portion 51 of mounting head 5 such mouth replacing storage machine 7 to possess is to perform the installation of mouth N, storage, replacing, requires suitably to grasp mouth and change position with storage machine 7 and mouth storage appts 8.Therefore, in mouth replacing with storage machine 7 and mouth storage appts 8 with the overall labeling M1 or the separate marking M2 that represent respective position.As shown in Figure 4, overall labeling M1 is installed on the Y-direction side of the members of frame 730 be fixed on base station 70 upward via connection box 75 and carriage 710, represents that the mouth in XY face changes the position using storage machine 7.Separate marking M2 is respectively provided with two respectively to four mouth storage apptss 8.As shown in Figure 5, separate marking M2 is installed on the two ends of the X-direction of mouth storage appts 8 upward and respectively, represents the position of the mouth storage appts 8 in XY face.

It is more than an example of the mechanical structure of the element fixing apparatus 1 possessing mouth replacing storage machine 7.Then, an example of the electrical structure that possesses of the element fixing apparatus 1 of key diagram 1.Figure 13 is the block diagram of the example representing the electrical structure that the element fixing apparatus of Fig. 1 possesses.Element fixing apparatus 1 is by the action of each several part of control unit 100 control device 1.This control device 100 have unified control control unit 100 entirety master control part 110, control servo motor, the drive control part 120 of driving of cylinder, the image processing part 130 photographic images of each camera being carried out to image procossing, the input and output control part 140 carrying out the control of input and output and storage part 150.Master control part 110 is by CPU(Central Processing Unit: central processing unit) and the computer that forms of memory, by bus 105, drive control part 120, image processing part 130, input and output control part 140, storage part 150 are electrically connected to each other.

Drive control part 120 controls X-axis servo motor 63 and Y-axis servo motor 65, the movement of the head unit 4 in control XY face, and also controls lifting and the rotation of the mouth axle 50 of mounting head 5.Specifically, be equipped with at head unit 4 and drive the Z axis servo motor 55 of the mouth axle 50 of each mounting head 5 and axle C51 circumferentially drives centered by eight axles 50 of each mounting head 5 R axle servo motor 57 along Z-direction.Further, drive control part 120 controls the lifting that Z axis servo motor 55 carrys out Control Shaft 50, or control R axle servo motor 57 controls the rotation of eight axles 50.

In addition, the Z axis cylinder 712(that drive control part 120 controls individually to four mouth storage apptss are arranged respectively is, the supply of air pressure to the Liang Ge balancing gate pit across piston in Z axis cylinder 712 is controlled by controlling not shown dynamoelectric switching valve), control four mouth storage appts liftings separately individually.In addition, namely drive control part 120 controls X-axis cylinder 732(, the supply of air pressure to the Liang Ge balancing gate pit across piston in Z axis cylinder 712 is controlled by controlling not shown dynamoelectric switching valve), control the rotation being in each baffle plate 82 of the mouth storage appts 8 of lifting position Pu in the lump.

Image processing part 130 carries out the image procossing taking the reference position in the XY face of the image zooming-out head unit 4 of flag member 41 gained of head unit 4 from camera 68 from below, exports the head reference position information of the reference position representing head unit 4 to drive control part 120.Drive control part 120 comes the target location of corrected X axle servo motor 63 and the respective not shown encoder of Y-axis servo motor 65 based on this reference position information, thus can position in the XY face of suitably control head unit 4.In addition, image processing part 130 carries out the image procossing that depart from of image zooming-out elements relative in mouth N taking the element gained being adsorbed in mouth N from camera 68 from below, and carry out taking the image procossing that the image zooming-out being adsorbed in the element gained of mouth N is adsorbed in the posture of the element of mouth N from camera 43 from side, export the element pose information of the element runout information departed from representing element and the posture representing element to drive control part 120.Drive control part 120 adjusts the anglec of rotation of the X-direction position of head unit 4, Y-direction position and mouth axle 50 based on this element runout information, and adjust the height of mouth axle 50 of mounting head 5 based on element pose information, can in position with direction on by component loading in substrate.

In addition, image processing part 130 also bears the image procossing of the position for grasping mouth replacing storage machine 7.Specifically, head unit 4 has the camera 49(installed downward to take reference mark and marks camera for shooting).Further, image processing part 130 performs following image procossing: the image procossing taking the position in the XY face of the image zooming-out mouth replacing storage machine 7 of the overall labeling M1 gained of mouth replacing storage machine 7 from camera 49, take the separate marking M2 gained of mouth storage appts 8 from camera 49 image zooming-out mouth storage appts 8 XY face in the image procossing of position.And, as will be described later, based on representing that the mouth replacing of being tried to achieve by these image procossing is by the positional information of the position of storage machine 7 with represent with the positional information of the position of the overall labeling M1 of the mouth replacing storage machine 7 mouth storage appts 8 that is benchmark, the contraposition in the XY face of drive control part 120 Executive Head unit 4 and mouth storage appts 8.

Input and output control part 140 from optical sensor 762,763 receive the respective light-receiving device Sb of optical sensor 762, optical sensor 763 by light state (that is, the state of ON, OFF), and send master control part 110 to.Master control part 110 can judge the jacking condition of mouth storage appts 8 based on this reception result.At this moment, master control part 110 controls as follows: during the state that can confirm entirely to decline, movement in the XY face of license head unit 4, on the other hand during the state that cannot confirm entirely to decline, movement in the XY face of restriction head unit 4, the mouth N making the mouth storage appts 8(of rising or be accommodated in wherein) and the camera 43 being installed on head unit 4 between do not disturb.In addition, element fixing apparatus 1 has such as display or user interface 69 such as notification buzzer etc., and input and output control part 140 controls the output content of user interface 69 based on the instruction of master control part 110.

Storage part 150 is made up of memory or hard disk etc., stores for the various program needed for action in control element erecting device 1 and data.Concrete example, is stored in storage part 150 for controlling the installation of mouth N described later, storage, the head data Dh of replacing and storage status data Dn.

It is more than an example of the electrical structure that element fixing apparatus 1 possesses.As mentioned above, in the element fixing apparatus 1 possessing mouth replacing storage machine 7, mouth replacing storage machine 7 can be used suitably to perform the installation of mouth N, storage, replacing to mounting head 5.Then, an example of these contents is described.Figure 14 is the flow chart of an example representing the installation of the mouth performed by the element fixing apparatus of Fig. 1, storage, replacing.The program (mouth is installed, receive, change program) of the flow chart shown in Figure 14 is stored in storage part 150, is performed by the control of master control part 110.

In the step s 100, from storage part 150 playback head data Dh and storage status data Dn.Head data Dh be formed in the respective each mouth installation portion 51 of three mounting heads 5 installation of mouth N, storage, replacing execution object mouth installation portion 51 and comprise the mouth N installed to this mouth installation portion 51 the installation situation, the kind of information of mouth N that next should install etc. of kind of information as the data of content.In addition, storage status data Dn represents the data of mouth N to the storage situation of each mouth incorporating section 81 of mouth replacing storage machine 7, represents and is accommodated with the position of the mouth incorporating section 81 of various mouth N, the position etc. being in the mouth incorporating section 81 of blank state of non-housing nozzle N.And, master control part 110 set based on head data Dh form install, storage, on the mouth installation portion 51 of execution object changed and basis to the movement content of this mouth installation portion 51, based on the mouth incorporating section 81 of storage status data Dn setting for performing this movement content.

In step s 110, the master control part 110 Z axis cylinder 712 respective to four mouth storage apptss 8 via drive control part 120 exports decline instruction, and whole mouth storage appts 8 is positioned down position Pd.Further, in " decline state confirmation entirely " of step S120, master control part 110 confirms that four mouth storage apptss 8 are in full decline state.Figure 15 is the flow chart of the example representing " decline state confirmation entirely " as subroutine that performed by the flow chart of Figure 14.In step S121, confirm whether the light-receiving device Sb of upper level sensor 762 and lower both level sensors 763 receives light, namely whether is in ON state.Further, when the jacking condition that the light-receiving device Sb both confirming is in ON state and mouth storage appts 8 is in full decline state (in step S121 "Yes"), the main routine of Figure 16 is turned back to.On the other hand, when confirming entirely to decline state (in step S121 when "No"), although the decline instruction of S110 in steps, master control part 110 is judged as that mouth storage appts 8 is uncertain at least partially and is positioned at down position Pd and there occurs certain extremely.Further, in step S122, extremely operator is reported to, after in step S123, the action of element fixing apparatus 1 stops, termination process.In addition, the notification of the exception in step S122 performs via user interface 69, such as, by the display being undertaken specifying by display or make notification buzzer blow a whistle to perform.Thereby, it is possible to prompting operator safeguards.

When confirming as full decline state in the step s 120, the movement in the XY plane of head unit 4 is licensed.The shooting of overall labeling M1 is performed in the step S130 of ensuing Figure 14.Specifically, master control part 110 makes head unit 4 move in XY face, under the state making camera 49 be positioned at above overall labeling M1, by camera 49 shot mark M1.In step S140, based on the photographic images of overall labeling M1, the position of the camera 49 taken when being located at the separate marking M2 of each mouth storage appts 8 is corrected, take separate marking M2 by camera 49, the positional information of shooting results to the separate marking M2 being located at each mouth storage appts 8 according to this separate marking M2 corrects.Namely, the relative position relation of overall labeling M1 and each separate marking M2 is previously stored with in storage part 150, and each flag member 41 of head unit 3 is fixed in shooting, carry out location recognition to the reference position of the head unit 3 that the not shown base station relative to element fixing apparatus 1 moves up in XY side, the physical location relative to reference position of the mark M1 that master control part 110 extracts according to the photographic images from mark M1 and each separate marking M2 obtain the physical location relative to reference position of each separate marking M2 relative to the physical location sum of overall labeling M1.

In step S150, be confirmed whether to perform the mouth installation portion 51 of object perform arbitrary action in the installation of mouth N, storage, replacing to forming.Further, when performing the installation of mouth N, step S160 ~ S200 is performed.Figure 16 is the action specification figure of the example representing the action performed by the step S160 of Figure 14 ~ S200 partly.In figure 16, whole mouth installation portion 51 of mounting head 5 is not installed on exemplified with mouth N and the mouth storage appts 8 of left end performs the situation of the installation of mouth N to these mouth installation portions 51.

First, in " head unit moves " of step S160, head unit 4 moves in XY face, the contraposition of Executive Head unit 4 and mouth storage appts 8.Namely, based on the positional information being located at the separate marking M2 of each mouth storage appts 8 obtained in step S140, position in the XY face of adjustment head unit 4, with make the mouth installation portion 51 not installing mouth N of the mouth axle 50 of mounting head 5 be accommodated with mounting object mouth N mouth storage appts 8 mouth incorporating section 81 in opposite directions.

In the hurdle of the uppermost of Figure 16, show the state after the movement of head unit 4.Be performed under the full decline state that the movement of head unit 4 is in down position Pd at whole mouth storage appts 8.Therefore, as shown in this hurdle, be accommodated in each mouth storage appts 8 mouth N and be installed on be provided with space △ d between the lower end of the camera 43 of head unit 4 state under, the movement (step S160) of the head unit 4 before execution.So, prevent the camera 43 of the movement with head unit 4 and be accommodated in the interference of the mouth N in each mouth storage appts 8 and the movement of Executive Head unit 4.

When the movement of head unit 4 is complete, in the step S170 of Figure 14, master control part 110 via drive control part 120 to the mouth storage appts 8(forming the executive agent that mouth is installed is, mounting head mouth storage appts 8 in opposite directions) Z axis cylinder 712 export climb command, only this mouth storage appts 8 is positioned lifting position Pu.In the hurdle of the central sections of Figure 18, show and the mouth storage appts 8 of mounting head 5 mouth storage appts 8(in opposite directions with the left end on hurdle) rising after state.As described later, mouth storage appts 8 at the lifting position Pu close to mounting head 5, perform to the mouth of mounting head 5 in opposite directions install.Incidentally, as shown in this hurdle, the top of the mouth N that the mouth storage appts 8 being in lifting position Pu is received is more upwardly projecting than the lower end of camera 43.But, these mouths N owing to departing from along Y-direction relative to camera 43, so can not disturb with camera 43.On the other hand, the mouth N that each mouth storage appts 8 being in down position Pd is received is positioned at the below of camera 43, and between the lower end of camera 43, vacate space △ d.Can understand according to this hurdle: when these mouth storage apptss 8 are positioned lifting position Pu, the mouth N and the camera 43 that are accommodated in these mouth storage apptss 8 disturb.In contrast, by only to make mounting head 5 mouth storage appts 8 in opposite directions be optionally positioned at lifting position Pu, and make other mouth storage apptss 8 be positioned at down position Pd, thus the generation of above-mentioned interference can be prevented.

In " a part of propradation confirmation " of the step S180 of Figure 14, master control part 110 confirms that four mouth storage apptss 8 are in a part of propradation.Figure 17 is the flow chart of the example representing " a part of propradation confirmation " as subroutine that performed by the flow chart of Figure 14.In step S181, be confirmed whether light-receiving device Sb reception light (i.e. ON state) of upper level sensor 762 and the light-receiving device Sb of lower level sensor 763 does not receive light (i.e. OFF state).Its result is, when the jacking condition confirming as mouth storage appts 8 is in a part of propradation (in step S181 "Yes"), turns back to the main routine of Figure 14.On the other hand, when confirming a part of propradation (in step S181 when "No"), although the climb command of S170 in steps, master control part 110 is judged as that mouth storage appts 8 is uncertain and is positioned at lifting position Pu and there occurs that certain is abnormal.Further, step S182,183 is performed in the same manner as above-mentioned steps S122, S123, successively the termination of the notification of execute exception, the stopping of action and flow process.In the subroutine of Figure 20, under having carried out the content of elevating control and the unmatched situation of testing result of optical sensor 762,763 to multiple mouth storage appts 8, master control part 110 also reports exception.That is, creating above-mentioned coupling refers to that the elevating control to multiple mouth storage appts 8 has carried out is not duly executed because of certain reason.Therefore, it is preferred for reporting exception and such as point out operator to carry out maintenance.

When confirming as a part of propradation, advance to " the mouth installation " of the step S190 of Figure 14, mounting head 5 performs mouth collaboratively close to the mouth storage appts 8 of the lifting position Pu of mounting head 5 and installs with being in.Figure 18 is the flow chart of the example representing " the mouth installation " as subroutine that performed by the flow chart of Figure 14.In step S191, master control part 110 makes X-axis cylinder 732 action via drive control part 120, makes clutch part 731 to the opposite side Xr(of X-direction with reference to Figure 10) mobile.Thus, each baffle plate 82 being in the mouth storage appts 8 of lifting position Pu takes out illegal state from insertion in the lump and switches to insertion to take out License Status (baffle plate is opened).In step S192, the mouth axle 50 of mounting head 5 is declined.Thus, the mouth installation portion 51 of mouth axle 50 declines and chimeric with the mouth N of mouth incorporating section 581 of the mouth storage appts 8 being in lifting position Pu, performs mouth and installs.So, when mouth installs, rise in step S193 axis 50, the mouth N being installed on mouth installation site 51 extracts from mouth incorporating section 81.In the hurdle of the lowermost of Figure 16, show above-mentioned state.In addition, as illustrated in Figure 16, when performing mouth to multiple mouth axles 50 of mounting head 5 and installing, decline and the rising (step S192, S193) of axle 50 can be performed by multiple axle 50 simultaneously, also can carry out successively.In step S194, master control part 110 makes X-axis cylinder 732 action via drive control part 120, and clutch part 731 is moved to the side Xl of X-direction.Thus, each baffle plate 82 being in the mouth storage appts 8 of lifting position Pu takes out License Status from insertion in the lump and switches to insertion to take out illegal state (baffle plate closes).

Incidentally, in the example of Figure 16, in step S190, relative to whole eight mouth installation portions 51 of rotary type mounting head 5, the eight mouth axles 50 being provided with these mouth installation portions 51 declined and perform mouth installation.In this case, eight mouth installation portions that can possess mounting head 5 perform mouth efficiently and install.But, in step S190, can certainly the mouth axle 50 being provided with this mouth installation portion 51 be made to decline and carry out mouth installation relative to a part of mouth installation portion 51 in eight of a mounting head 5 mouth installation portion 51.Or, owing to making three mouth housing unit 81U opposite to each other in opposite directions with three mounting heads 5, so in step S190, also can perform mouth to each mouth installation portion 81 of three mounting heads 5 and install.In this case, mouth can be performed efficiently to each mouth installation portion 51 of three mounting heads 5 to install.But, only can certainly carry out mouth installation to one or two mounting head 5.

In the step S200 of ensuing Figure 14, the mouth storage appts 8 finishing mouth installation drops to down position Pd, and leaves downwards from mounting head 5.So, the jacking condition of mouth storage appts 8 switches to full decline state from a part of propradation, and the movement in the XY face of license head unit 4, makes head unit 4 move in XY face in the flow process that can perform afterwards.Further, in step S210, whether the installation confirming to set in the step s 100, storage, replacing be all complete.When having confirmed complete (in step S210 when "Yes"), stop the flow process of Figure 14.On the other hand, when confirming not complete when (in step S210 "No"), step S150 is turned back to.Be more than be judged as in step S150 " installation " and when action.

On the other hand, in step S150, when being judged as carrying out storage or the replacing of mouth N to the mouth installation portion 51 forming execution object, perform step S220 ~ S270.Incidentally, mouth storage is performed by following: perform step S220 ~ S270, the mouth N being installed on mouth installation portion 51 is accommodated in mouth incorporating section 81.On the other hand, mouth is changed and is performed by following: perform step S220 ~ S270, the mouth N being installed on mouth installation portion 51 be accommodated in mouth incorporating section 81 and after pulling down from mouth installation portion 81, perform aforesaid step S160 ~ S200, at this mouth installation portion 51, new mouth N being installed.

First, in " head unit moves " of step S220, based on the positional information being located at the separate marking M2 of each mouth storage appts 8 obtained in step S140, position in the XY face of adjustment head unit 4 with make the mouth installation portion 51 being provided with mouth N of the three mouth axles 50 carrying out the storage of mouth N or the mounting head 5 of replacing respectively with determine three mouth incorporating sections 81 of mouth storage appts 8 that the mouth N carrying out receiving is sky in opposite directions, and head unit 4 is moved in XY face.In addition, in step S220, under the full decline state that whole mouth storage appts 8 is in down position Pd, head unit 4 moves in XY face, so the mouth N also preventing the camera 43 of the movement with head unit 4 and mouth storage appts 8 from receiving disturbs.

When the movement of head unit 4 is complete, in step S230, master control part 110 via drive control part 120 to the mouth storage appts 8(of the executive agent forming mouth storage/replacing is, mounting head 4 mouth storage appts 8 in opposite directions) Z axis cylinder 712 export climb command, only this mouth storage appts 8 is positioned lifting position Pu.At this moment, such as, a part of mouth incorporating section 81 possessed at the mouth storage appts 8 of lifting position Pu is accommodated with mouth N, the top of this mouth N is more upwardly projecting than the bottom of camera 43.But in the same manner as using the above-mentioned explanation of Figure 18, in step S230, this mouth N also departs from along Y-direction relative to camera 43, so can not disturb with camera 43.In addition, the mouth N that each mouth storage appts 8 being in down position Pd is received is positioned at the below of camera 43, and sky opens space △ d between the lower end of camera 43.In the same manner as using the above-mentioned explanation of Figure 18, when these mouth storage apptss 8 are positioned lifting position Pu, the mouth N and the camera 43 that are accommodated in these mouth storage apptss 8 disturb.In contrast, in step S230, by only make mounting head 5 mouth storage appts 8 in opposite directions be optionally positioned at lifting position Pu and make other mouth storage apptss 8 be positioned at down position Pd, thus also can prevent above-mentioned interference.

In " a part of propradation confirmation " of step S240, perform the subroutine shown in Figure 17, confirm whether the jacking condition of four mouth storage apptss 8 is in a part of propradation.Further, in " the mouth storage " of step S250, the mouth N of the mouth installation portion 51 being installed on mounting head 5 is accommodated in mouth incorporating section 81 with at lifting position Pu close to the mouth storage appts 8 of mounting head 5 by mounting head 5 collaboratively.Figure 19 is the flow chart of the example representing " the mouth storage " as subroutine that performed by the flow chart of Figure 14.In step S251, each baffle plate 82 being in the mouth storage appts 8 of lifting position Pu takes out illegal state from insertion in the lump and switches to insertion to take out License Status (baffle plate is opened).So, under mouth can insert the state of taking out relative to mouth incorporating section 51, in step S252, the mouth axle 50 being provided with the mounting head 5 of the mouth installation portion 51 having installed the mouth N carrying out receiving or changing declines.Thus, the mouth N of the mouth axle 50 of decline is taken in mouth incorporating section 81 by the mouth storage appts 8 being in lifting position Pu, performs mouth storage.So, when mouth storage is complete, in step S253, each baffle plate 82 being in the mouth storage appts 8 of lifting position Pu takes out License Status from insertion in the lump and takes out illegal state switching (baffle plate closes) to insertion, and the taking-up being accommodated in the mouth N of mouth incorporating section 81 is limited.In step S254, the mouth axle 50 being in down position of mounting head 5 rises.Thus, under the confined state of the taking-up of mouth incorporating section 81, the mouth N being accommodated in mouth incorporating section 81 departs from from the mouth axle 50 risen.

Incidentally, in step s 250, when the mouth axle 50 being provided with the mouth installation portion 51 having installed the mouth N carrying out receiving or changing is eight, mouths storage can be performed to whole eight mouth N of rotary type mounting head 5, mouth storage can be performed efficiently.But, in step s 250, mouth storage can certainly be carried out to the mouth N of a part of mouth installation portion 51 in eight of a mounting head 5 mouth installation portion 51.Or, in step s 250, also can to the mouth N determining to receive be three positions of empty mouth storage appts 8 mouth incorporating section 81 respectively the mouth N of each mouth installation portion 81 of three mounting heads 5 in opposite directions perform mouth and receive.In this case, each mouth axle 50 being provided with each mouth installation portion 51 at three positions becoming object of mounting head 5 is made to decline together.But, only can certainly carry out mouth storage to one or two mounting head 5.

In the step 260 of ensuing Figure 14, the mouth storage appts 8 finishing mouth storage drops to down position Pd, leaves downwards from mounting head 5.So, the jacking condition of mouth storage appts 8 switches to full decline state from a part of propradation, and the movement in the XY face of license head unit 4, can make head unit 4 move in XY face in the flow process performed afterwards.Further, in step S270, confirm the execution content confirmed in step S150 be mouth storage and mouth replacing any.When performing content and being mouth storage, advance to step S210, and when performing content and being mouth replacing, advance to step S160, the mouth installation portion 51 be removed to mouth N in the mouth storage of step S250 installs new mouth N, performs mouth and changes.

As described above, in this embodiment, be arranged with three and eight mouth incorporating sections 81 be arranged in circle-shaped and mouth housing unit 81U that is that form, corresponding each mouth housing unit 81U is provided with baffle plate 82(limiting part).That is, three baffle plates 82 are provided with accordingly with three mouth housing unit 81U.Further, three baffle plates 82 are optionally in respectively: any one state in the insertion taking-up License Status that the insertion each mouth incorporating section 81 of corresponding formation mouth housing unit 81U being limited together to the insertion taking-up of mouth N is taken out restriction state and permitted the insertion of mouth N to take out together.At this moment, in this embodiment, owing to possessing mobile with each baffle plate 82 thus the state of each baffle plate 81 can be switched in the lump the sliding part 84(switching part inserting and take out restriction state and insert any one state of taking out in License Status), so the X-axis cylinder 732(driving mechanism of baffle plate operating mechanism 73) sliding part 84 can be made to move and switch the state of three baffle plates 82 in the lump.Therefore, without the need to individually arranging X-axis cylinder 732 to three baffle plates 82, the suppression that also can realize cost increase to the increase of the driving mechanism that restriction mouth drives relative to the baffle plate 82 that taking-up is inserted in mouth incorporating section 81 can be suppressed.

In addition, in this embodiment, the arrangement center of eight the mouth incorporating sections 81 of baffle plate 82 in corresponding mouth housing unit 81U is rotated with the movement of sliding part 84, thus takes out restriction state in insertion and insert and take out between License Status and switch.In such a configuration, by means of only sliding part 84, each baffle plate 82 is rotated, just can switch the state of three baffle plates 82 in the lump.

In addition, in this embodiment, baffle plate 82 has eight juts 822, and these eight juts 822 and eight mouth incorporating sections 81 arrange accordingly and are arranged in circle-shaped around arrangement center.Further, these juts 822 are positioned at any position that the insertion outstanding relative to the insertion taking-up path of corresponding mouth incorporating section 81 to mouth N is taken out restriction site Pr and taken out the insertion taking-up license position Pe that path departs from from insertion respectively with the rotation of baffle plate 82.Therefore, baffle plate 82 can by counterclockwise Rb(side) rotate and be in and eight juts 822 are positioned to insert the insertion of taking out restriction site Pe in the lump take out restriction state, and by clockwise Rf(opposite side) rotate and be in and eight juts 822 are positioned to insert the insertion of taking out license position Pe in the lump take out License Status.In the structure shown here, make to be located at jut 822 displacement of baffle plate 82 by means of only sliding part 84 makes baffle plate 82 rotate, just can switch the state of three baffle plates 82 in the lump.

In addition, in this embodiment, between lifting position Pu and down position Pd, the storage appts elevating mechanism 71 that mouth storage appts 8 is elevated is provided with.In addition, the function of the clutch part 731 possessed by the sliding part operating mechanism 73 operating sliding part 84, the power transfer path from X-axis cylinder 732 to sliding part 84 transferring power is connected according to the lifting of mouth storage appts 8/cuts off.That is, between the sliding part 84 of mouth storage appts 8 being in lifting position Pu and X-axis cylinder 732, form power transfer path, and cut off power transfer path being between the mouth storage appts 8 of down position Pd and sliding part 84.In such a configuration, by making mouth storage appts 8 be elevated, can power transfer path between connection/disconnection sliding part 84 and X-axis cylinder 732.Therefore, it is possible to carry out controlling to make to form power transfer path when needing the state switching baffle plate 82, and cutting off power transfer path when not needing the state switching baffle plate 82, the state of baffle plate 82 can not be switched by mistake.

And, be configured to, form power transfer path when mouth storage appts 8 is in lifting position Pu, and cut off power transfer path when mouth storage appts 8 is in down position Pd.Therefore, when mouth replacing storage machine 7 makes mouth storage appts 8 rise to lifting position Pu to perform the installation/storage of mouth N to the mounting head 5 being positioned at upside, owing to forming power transfer path, so the state of sliding part 8 suitably can be switched.On the other hand, during the installation/storage not performing mouth N, if make mouth storage appts 8 drop to down position Pd, then power transfer path is cut off, so can not switch the state of baffle plate 82 by mistake.So, according to the opportunity of the installation/storage of execution mouth N, the formation/cut-out of power transfer path can suitably be controlled, so said structure is preferred.In addition, when mouth storage appts 8 is in lifting position Pu, comparatively near between mouth storage appts 8 and mounting head 5, so the disengaging action after the storage action of mouth N, installation action and installation can be carried out at short notice, the installation/storage of mouth N can be carried out efficiently.

At this moment, the direction that sliding part 84 becomes insertion taking-up restriction state to each baffle plate 82 is biased.In such a configuration, during power transfer path is cut-off, baffle plate 82 becomes insertion and takes out restriction state, is limited so mouth takes out relative to the insertion of mouth incorporating section 81.Therefore, be cut off due to power transfer path thus cannot from X-axis cylinder 732 to the state of baffle plate 82 transferring power, can prevent the mouth be such as accommodated in mouth incorporating section 81 to come off this situation by mistake.

In addition, in this embodiment, a mouth storage appts 8 in four mouth storage apptss 8 is made optionally to rise to lifting position Pu.In such a configuration, optionally power transfer path can be formed relative to the baffle plate 82 of the mouth storage appts 8 needing the state of carrying out baffle plate 82 to switch in four mouth storage apptss 8.

In addition, in this embodiment, three mounting heads 5 in head unit 4 in X direction (head orientation) with arrangement pitches Lh(head arrangement pitches) be arranged in a straight line shape, three mouth housing unit 81U to be arranged in a straight line shape with the arrangement pitches equal with head arrangement pitches Lh along the direction identical with head orientation at mouth storage appts 8.In addition, belong to different mouth housing unit 81U adjacent on the direction identical from head orientation X respectively and on the direction identical with head orientation X the arrangement pitches of two mouth incorporating sections 81 of alinement shape equal with head arrangement pitches Lh.In such a configuration, the mouth incorporating section 81 belonging to adjacent different mouth housing unit 81U can be used for mouth simultaneously and change, mouth replacing can be carried out efficiently.

In addition, in this embodiment, the diameter Ro arranging the circumference O51 of eight mouth installation portions 81 in mounting head 5 is equal with the diameter Ro of the circumference O81 arranging multiple mouth incorporating section 81 in mouth housing unit 81U.In addition, the arrangement pitches Lo arranged in mounting head 5 in the circumference of eight mouth installation portions 81 is equal with the arrangement pitches Lo arranged in the circumference of eight mouth incorporating sections 81 in mouth housing unit 81U.In such a configuration, can install simultaneously/receive multiple mouth N between eight of a mounting head 5 mouth installation portion 51 and eight mouth incorporating sections 81 of mouth housing unit 81U, mouth replacing can be carried out efficiently.

In addition, the invention is not restricted to above-mentioned execution mode, only otherwise depart from its purport, various change can be applied to said structure.Such as, in the above-described embodiment, a mouth storage appts 8 in four mouth storage apptss 8 is made optionally to rise to lifting position Pu.But, four mouth storage apptss 8 also can be made to rise to lifting position Pu in the lump.In such a configuration, lifting position Pu is risen to by making four mouth storage apptss 8, power transfer path can be formed between the respective sliding part 84 of four mouth storage apptss 8 and X-axis cylinder 732, can the state that four mouth storage apptss 8 perform baffle plate 82 in the lump be switched.

In addition, in the above-described embodiment, the example that camera 43 is arranged as head circumferential component is illustrated.But, as head circumferential component, realize preventing the parts occurring to disturb with mouth storage appts 8, mouth N to be not limited thereto.Specifically, also can be configured to, when flag member 41 is located at the Y-direction side of mouth storage appts 8, flag member 41 be processed as head circumferential component, realize preventing from disturbing with mouth storage appts 8, mouth N.

In addition, in the above-described embodiment, axle 50 is declined, and makes mouth storage appts 8 increase, make mouth incorporating section 81 and mouth installation portion 51 close.But, also can not make axle 50 action and only make mouth storage appts 8 increase, thus make mouth incorporating section 81 and mouth installation portion 51 close.

In addition, suitably can change the number of the mouth storage appts 8 that mouth replacing storage machine 7 possesses, the number of mouth housing unit 81U that mouth storage appts 8 possesses or form the number etc. of mouth incorporating section 81 of mouth housing unit 81U.Equally also suitably can change the number of the mounting head 5 that head unit 4 possesses, the number etc. of mouth installation portion 51 that mounting head 5 possesses.

In addition, the structure that mouth storage appts 8 is elevated, the structure switching baffle plate 82 can also suitably be changed.

In addition, in the above-described embodiment, exemplified with the situation using rotary type baffle plate 82.But, also can be configured to, baffle plate 82 be moved linearly in X direction limit/permit mouth N to take out relative to the insertion of mouth incorporating section 81.

In addition, in the above-described embodiment, by the elastic force of leaf spring 52, mouth N is held in mouth installation portion 51.But, be not limited thereto for structure mouth N being held in mouth installation portion 51.

In addition, in the above-described embodiment, the jacking condition of mouth storage appts 8 is detected by optical sensor 762,763.But, also can be configured to, optical sensor 762,763 be not set, and grasp the jacking condition of mouth storage appts 8 according to the resume of the lifting instruction of master control part 110 output.

In addition, in the above-described embodiment, the location of mounting head 5 and mouth storage appts 8 is controlled based on the result of taking overall labeling M1 and separate marking M2 gained.But, also can not take overall labeling M1 and separate marking M2, and according to teaching content shown in advance, head unit 4 be moved, carry out the location of mounting head 5 and mouth storage appts 8.In this case, do not need to arrange overall labeling M1 and separate marking M2.

Description of reference numerals

1 element fixing apparatus

2 transport roads (trucking department)

5 mounting heads

51 mouth installation portions

7 mouths are changed and are used storage machine

71 storage appts elevating mechanisms (elevating mechanism)

731 clutch parts (clutch)

732 X-axis cylinders (driving mechanism)

76 jacking condition testing agencies

8 mouth storage apptss

80 storage appts main bodys

81 mouth incorporating sections

81U mouth housing unit

82 baffle plates (limiting part)

84 sliding parts (switching part)

N mouth

Pu lifting position

Pd down position

X board carrying direction

Y orientation

Claims

1. mouth is changed and is used a storage machine, possesses:

Storage appts main body, is arranged with multiple mouth housing unit, and the multiple mouth incorporating sections can inserting taking-up ground housing nozzle are respectively arranged in circle-shaped and form by described mouth housing unit;

Multiple limiting part, corresponding each described mouth housing unit is arranged respectively, and is optionally in separately: any state in License Status is taken out in the insertion taking-up restriction state described each mouth incorporating section of corresponding described mouth housing unit being limited together to the insertion taking-up of described mouth and the insertion of permitting the insertion of described mouth to take out together;

Switching part, moves with described each limiting part, thus the state of described each limiting part is switched to together the described any state inserted in taking-up restriction state and described insertion taking-up License Status; And

Driving mechanism, drives described switching part.

2. mouth replacing storage machine according to claim 1, wherein,

The arrangement center of the described multiple mouth incorporating sections of described limiting part in corresponding described mouth housing unit, rotates with the movement of described switching part, thus takes out between License Status at described insertions taking-up restriction state and described insertion and switch.

3. mouth replacing storage machine according to claim 2, wherein,

Described limiting part has multiple jut, and described multiple jut and described multiple mouth incorporating section are arranged accordingly, and are arranged in circle-shaped around described arrangement center,

Described multiple jut is arranged in any position of to described mouth, the insertion that the insertion taking-up path of corresponding described mouth incorporating section is outstanding being taken out to restriction site and the insertion taking-up license position from described insertion taking-up path disengaging respectively with the rotation of described limiting part

Described limiting part is in by rotating to side and is positioned together by described multiple jut describedly to insert described insertions of taking out restriction site and take out restriction state, and pass through to the opposite side contrary with described side rotate and be in described multiple jut is positioned together described insert to take out permit that described insertion of position takes out License Status.

4. the mouth replacing storage machine according to any one of claims 1 to 3, also possesses:

Elevating mechanism, makes the mouth storage appts be made up of described storage appts main body, described limiting part and described switching part be elevated between lifting position and down position; And

Clutch, being formed to transmit between the described switching part and described driving mechanism of the described mouth storage appts in described lifting position makes described switching part with described limiting part and the power transfer path of the actuating force of movement, and cuts off described power transfer path between the described switching part and described driving mechanism of the described mouth storage appts at described down position.

5. mouth replacing storage machine according to claim 4, wherein,

Described switching part becomes the described direction of taking out restriction state of inserting to described each limiting part and is biased.

6. mouth is changed and is used a storage machine, and be the mouth replacing storage machine described in claim 4 or 5 with multiple described mouth storage appts, wherein, described elevating mechanism makes described multiple mouth storage appts rise to described lifting position together.

7. mouth is changed and is used a storage machine, and be the mouth replacing storage machine described in claim 4 or 5 with multiple described mouth storage appts, wherein, described elevating mechanism makes a mouth storage appts in described multiple mouth storage appts optionally rise to described lifting position.

8. an element fixing apparatus, possesses:

Head unit, is arranged with multiple rotary type mounting head, and the multiple mouth installation portions detachably installing mouth are respectively arranged in circle-shaped and form by described rotary type mounting head; And

Mouth storage appts, is arranged with multiple mouth housing unit accordingly with the arrangement of described multiple mounting head, and the multiple mouth incorporating sections can inserting taking-up ground housing nozzle are respectively arranged in circle-shaped and form by described mouth housing unit,

Between the described mounting head corresponded to each other and described mouth housing unit, the arrangement of described multiple mouth installation portion is corresponding with the arrangement of described multiple mouth incorporating section,

Described mouth storage appts has:

Driving mechanism, drives described switching part.

9. element fixing apparatus according to claim 8, wherein,

Described multiple mounting head to be arranged in a straight line shape with head arrangement pitches in described head unit in head orientation,

Described multiple mouth housing unit to be arranged in a straight line shape with the arrangement pitches equal with described head arrangement pitches in described mouth storage appts on the direction identical with described head orientation,

Belong to different described mouth housing unit adjacent on the direction identical from described head orientation respectively and on the direction identical with described head orientation the arrangement pitches of two described mouth incorporating sections of alinement shape equal with described head arrangement pitches.

10. element fixing apparatus according to claim 8, wherein,

Also possess the trucking department to board carrying direction carrying substrate,

Described multiple mounting head is arranged in a straight line shape in described head unit on described board carrying direction,

Described multiple mouth housing unit is arranged in a straight line shape in described mouth storage appts on described board carrying direction,

The equal diameters arranging the circumference of described multiple mouth incorporating section in the diameter of the circumference of described multiple mouth installation portion and described mouth housing unit is arranged in described mounting head,

The arrangement pitches arranged in described mounting head in the circumference of described multiple mouth installation portion is equal with the arrangement pitches in the circumference arranging described multiple mouth incorporating section in described mouth housing unit.