CN210444746U

CN210444746U - Holding tool, storage device, and work machine

Info

Publication number: CN210444746U
Application number: CN201920716785.0U
Authority: CN
Inventors: 井村仁哉
Original assignee: Fuji Machine Manufacturing Co Ltd
Current assignee: Fuji Corp
Priority date: 2018-05-18
Filing date: 2019-05-17
Publication date: 2020-05-01
Anticipated expiration: 2029-05-17
Also published as: JP7099869B2; JP2019201151A

Abstract

The utility model provides a holding tool, storage device and operation machine. The object is to properly replace a holding tool between a receiver and a working head. The work machine is provided with: a working head having a plurality of mounting surfaces and a plurality of projections formed on each of the plurality of mounting surfaces; a plurality of holding tools, each of which has a mounted surface to be mounted on the mounting surface and a plurality of recesses into which the plurality of projections are inserted, and which are mounted on the working head by negative pressure; a container provided with two or more storage sections for storing two or more holding tools among the plurality of holding tools; and a control device for controlling the operation of the work head so as to execute at least one of the operation of simultaneously mounting the two or more holding tools stored in the two or more storage sections to the work head and the operation of simultaneously storing the two or more holding tools mounted to the work head in the two or more storage sections.

Description

Holding tool, storage device, and work machine

Technical Field

The present invention relates to a holding tool detachably attached to a work head, a storage device for storing the holding tool, a work machine including the work head and the storage device, and a method of attaching the holding tool stored in the storage device to the work head.

Background

The following patent documents describe techniques for replacing the holding tool between the container and the work head.

Prior art documents

Patent document 1: japanese patent laid-open publication No. 2001-191288

SUMMERY OF THE UTILITY MODEL

Problem to be solved by utility model

In the present specification, the problem is to appropriately replace the holding tool between the container and the work head.

Means for solving the problems

In order to solve the above problem, the present specification discloses a holding tool detachably attached to an attachment surface of a work head for holding an electronic component, the holding tool including: a mounted surface mounted to the mounting surface; and a plurality of recesses into which the plurality of protrusions formed on the mounting surface are inserted.

In addition to the holding tool, the mounted surface may be a flat surface.

In addition to the holding tool, the holding tool may be a suction nozzle, and the suction nozzle may include: an adsorption tube; and a flange portion protruding from an outer peripheral surface of the suction pipe, an upper surface of the flange portion being the mounted surface.

The present specification also discloses a storage device including two or more storage portions for storing two or more holding tools out of a plurality of holding tools detachably attached to a work head, wherein a clearance when the holding tools are stored in the storage portions is greater than or equal to a sum of a mounting position tolerance of the two or more holding tools to the work head and a position tolerance of the two or more storage portions.

Further, the present specification discloses a work machine including: a working head having a plurality of mounting surfaces and a plurality of projections formed on each of the plurality of mounting surfaces; a plurality of holding tools, each of which has a mounted surface to be mounted on the mounting surface and a plurality of recesses into which the plurality of projections are inserted, and is mounted on the working head by negative pressure; a container having two or more storage portions for storing two or more holding tools among the plurality of holding tools; and a control device that controls an operation of the work head so as to perform at least one of an operation of simultaneously mounting the two or more holding tools stored in the two or more storage portions to the work head and an operation of simultaneously storing the two or more holding tools mounted to the work head to the two or more storage portions.

Effect of the utility model

According to the present disclosure, for example, the holding tool can be appropriately replaced between the receiver and the work head by inserting the plurality of convex portions of the work head into the plurality of concave portions of the holding tool. Further, for example, the holding tool can be appropriately replaced between the container and the work head through a gap in the container portion of the container.

Drawings

Fig. 1 is a perspective view showing an electronic component mounting apparatus.

Fig. 2 is a side view showing the mounting head.

Fig. 3 is a perspective view showing the suction nozzle.

Fig. 4 is a cross-sectional view of the AA line in fig. 2.

Fig. 5 is a view showing the stent from a lower viewpoint.

Fig. 6 is a plan view showing the nozzle tray.

Fig. 7 is a cross-sectional view taken along line BB in fig. 6.

Fig. 8 is a block diagram showing the control device.

Fig. 9 is a view showing the diamond pin before insertion into the sleeve.

Fig. 10 is a view showing the diamond pin after being inserted into the sleeve.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as a mode for carrying out the present invention.

(A) Structure of electronic component mounting device

Fig. 1 shows an electronic component mounting apparatus 10. The electronic component mounting apparatus 10 has one system base 12 and two electronic component mounting machines (hereinafter, sometimes simply referred to as "mounting machines") 14 adjacent to each other on the system base 12. The arrangement direction of the mounting machines 14 is referred to as an X-axis direction, and a horizontal direction perpendicular to the X-axis direction is referred to as a Y-axis direction.

Each mounting machine 14 mainly includes: a mounting machine body 20, a conveying device 22, a head moving device (hereinafter, sometimes simply referred to as "moving device") 24, a mounting head 26, a supply device 27, a marking camera (see fig. 8)28, a component camera 29, a nozzle stage 30, and a control device (see fig. 8) 31. The mounting machine body 20 includes a frame portion 32 and a beam portion 34 extending from the frame portion 32.

The conveyor 22 includes two

conveyor devices

40 and 42. The two

conveyor devices

40 and 42 are disposed on the frame portion 32 so as to be parallel to each other and extend in the X-axis direction. The two

conveyor devices

40 and 42 convey the circuit boards supported by the

conveyor devices

40 and 42 in the X-axis direction by electromagnetic motors (see fig. 8)46, respectively. The circuit board is held at a predetermined position by a board holding device (see fig. 8) 48.

The moving device 24 is an XY robot type moving device. The moving device 24 includes an electromagnetic motor (see fig. 8)52 that slides the slider 50 in the X-axis direction and an electromagnetic motor (see fig. 8)54 that slides the slider 50 in the Y-axis direction. A mounting head 26 is mounted on the slider 50, and the mounting head 26 is moved to an arbitrary position on the frame portion 32 by the operation of the two electromagnetic motors.

The mounting head 26 is configured to mount electronic components on a circuit board, and as shown in fig. 2, two suction nozzles 60 are detachably mounted on a lower end surface of the mounting head 26. Specifically, as shown in fig. 3, the suction nozzle 60 is composed of a suction pipe 62 and a flange portion 64. The suction pipe 62 is formed in a thin tubular shape, and a through hole 66 is formed inside the suction pipe 62 so as to extend in the axial direction. The flange 64 is fixed to the outer peripheral surface of the upper end of the suction pipe 62 so as to protrude therefrom.

A through hole 66 of the suction pipe 62 is opened in a central portion of the upper surface of the flange portion 64, and a pair of sleeves 68 are embedded at bisected positions across the opening of the through hole 66. Further, a pair of iron plates 70 is also embedded in the upper surface of the flange portion 64 at bisected positions with the opening of the through hole 66 interposed therebetween. The upper end of the sleeve 68 is flush with the upper surface of the flange 64, but the upper end of the iron plate 70 slightly protrudes from the upper surface of the flange 64. Further, a notch 72 cut in a substantially U shape is formed on the outer peripheral edge of the flange portion 64.

In addition, as shown in fig. 2, the mounting head 26 is constituted by a head main body 76 and two brackets 78. The holder 78 has a substantially cylindrical shape, and is held by the head main body 76 so as to be slidable in the vertical direction with a lower end portion extending downward from the lower end surface of the head main body 76. Then, the two brackets 78 are moved to arbitrary positions in the vertical direction by the operation of the lifting device (see fig. 8) 80.

As shown in fig. 4 and 5, an outer edge convex portion 82 that protrudes downward over the entire outer peripheral edge and a central convex portion 84 that protrudes downward at the central portion are formed on the lower end surface of the holder 78. The projecting amount of the outer edge projection 82 is the same as the projecting amount of the center projection 84. The outer diameter of the lower end surface of the holder 78 is substantially the same as the outer diameter of the flange portion 64 of the suction nozzle 60. Fig. 4 is a cross-sectional view taken along line AA in fig. 2, and fig. 5 is a view showing the holder 78 from a lower perspective.

Further, an annular concave portion 86 having an annular shape is provided between the outer edge convex portion 82 and the central convex portion 84 so as to be recessed upward from the outer edge convex portion 82 and the central convex portion 84. A pair of diamond pins 88 are erected at bisected positions in the annular concave portion 86 with the central convex portion 84 interposed therebetween. Further, a pair of magnets 90 is embedded in the annular concave portion 86 at positions bisected through the central convex portion 84.

Further, a first air passage 92 is formed in the holder 78 so as to extend in the axial direction, and the lower end of the first air passage 92 opens at the center of the central protrusion 84 on the lower end surface of the holder 78. Further, a second air passage 96 is formed in the holder 78 so as to extend in the axial direction, and the lower end of the second air passage 96 opens in the annular recess 86 of the lower end surface of the holder 78. The first air passage 92 and the second air passage 96 are connected to a positive/negative pressure supply device (see fig. 8)97, and positive pressure or negative pressure is supplied to the first air passage 92 and the second air passage 96 by the operation of the positive/negative pressure supply device 97.

With this configuration, the suction nozzle 60 is detachably attached to the lower end surface of the holder 78. Specifically, the pair of diamond pins 88 of the holder 78 are inserted into the pair of sleeves 68 of the suction nozzle 60, whereby the pair of iron plates 70 of the suction nozzle 60 are held by the magnetic force of the pair of magnets 90 of the holder 78. At this time, the outer edge convex portion 82 and the central convex portion 84 of the holder 78 are closely attached to the upper surface of the flange portion 64 of the suction nozzle 60, and the first air passage 92 opened in the outer edge convex portion 82 communicates with the through hole 66 opened in the upper surface of the flange portion 64. Thus, the negative pressure is supplied to the first air passage 92, whereby the component is sucked and held at the tip of the suction pipe 62 of the suction nozzle 60. After the supply of the negative pressure is stopped, the element held by suction is released by supplying a slight positive pressure to the first air passage 92.

Further, the outer edge convex portion 82 and the central convex portion 84 of the holder 78 are brought into close contact with the upper surface of the flange portion 64 of the suction nozzle 60, and the annular concave portion 86 of the holder 78 is sealed by the upper surface of the flange portion 64. Then, negative pressure is supplied from the second air passage 96 that opens in the annular recess 86, that is, air is sucked from the annular recess 86 through the second air passage 96, whereby the flange portion 64 of the suction nozzle 60 is held on the lower surface of the holder 78. In this way, in the mounting head 26, the suction nozzle 60 is mounted to the lower surface of the bracket 78 by negative pressure. Even when the supply of the negative pressure is stopped, the suction nozzle 60 can be maintained attached to the lower surface of the holder 78 by the magnetic force of the magnet 90.

As shown in fig. 1, supply device 27 is a feeder-type supply device and includes a plurality of tape feeders 100. The tape feeder 100 stores the braid elements in a wound state. The taping device is formed by taping the electronic component. Tape feeder 100 feeds out the tape elements by feeding device (see fig. 8) 102. Thereby, the feeder type supply device 27 supplies the electronic components at the supply position by the feeding out of the braid component.

The marker camera (see fig. 8)28 is fixed to the slider 50 of the moving device 24 in a downward state, and is moved to an arbitrary position by the operation of the moving device 24. Thereby, the marker camera 28 photographs an arbitrary position of the frame portion 32. The component camera 29 is disposed between the conveying device 22 and the feeding device 27 in an upward state on the upper surface of the frame portion 32. Thereby, the component camera 29 images the suction nozzles 60 mounted to the mounting head 26, the components held by the suction nozzles 60, and the like.

The nozzle stage 30 houses a plurality of nozzles 60 and has a nozzle tray 110. As shown in fig. 6 and 7, the nozzle tray 110 has a plate-shaped mounting plate 112, and a plurality of mounting holes 114 are formed in the mounting plate 112. Fig. 6 is a view showing the nozzle tray 110 from an upper viewpoint, and fig. 7 is a cross-sectional view taken along line BB in fig. 6.

The mounting hole 114 is a stepped through-hole, and is composed of a large diameter portion 11 opened on the upper surface of the mounting plate 112, a small diameter portion 118 opened on the lower surface of the mounting plate 112, and a stepped surface 120 located between the large diameter portion 116 and the small diameter portion 118. The large-diameter portion 116 has an inner diameter larger than the outer diameter of the flange portion 64 of the suction nozzle 60, and the small-diameter portion 118 has an inner diameter smaller than the outer diameter of the flange portion 64 of the suction nozzle 60 and larger than the outer diameter of the suction pipe 62.

Therefore, the suction pipe 62 of the suction nozzle 60 is inserted into the small diameter portion 118 of the mounting hole 114, and the flange portion 64 of the suction nozzle 60 is supported by the stepped surface 120 of the mounting hole 114. Thus, the nozzles 60 are placed in the placement holes 114 and are accommodated in the nozzle tray 110. Further, a pin 122 stands on the stepped surface 120 of the mounting hole 114. Therefore, when the suction nozzle 60 is placed in the placement hole 114, the notch portion 72 of the flange portion 64 of the suction nozzle 60 engages with the pin 122. Thereby, the rotation of the suction nozzle 60 placed in the placement hole 114 around the axis is prohibited.

The nozzle tray 110 is provided with a lock mechanism (not shown) for locking the nozzles 60 placed in the placement holes 114. This ensures the storage of the nozzles 60 in the nozzle tray 110. The locking mechanism is configured to press a portion of the flange portion 64 of the mouthpiece 60 placed in the placement hole 114, other than the iron plate 70. Therefore, the lower surface of the lock mechanism is located above the portion of the flange portion 64 of the mouthpiece 60 placed in the placement hole 114 other than the iron plate 70, but below the portion of the flange portion 64 located on the iron plate 70. However, the upper end of the lock mechanism is located above the iron plate 70 of the flange portion 64 of the mouthpiece 60 placed in the placement hole 114. That is, the iron plate 70 of the flange portion 64 of the suction nozzle 60 placed in the placement hole 114 is positioned below the upper end of the lock mechanism, and the suction nozzle 60 placed in the placement hole 114 does not protrude above the lock mechanism. The nozzle tray 110 is detachable from the nozzle table 30, and the nozzles 60 stored in the nozzle tray 110 can be collected and the nozzles 60 can be replenished to the nozzle tray 110 outside the mounting machine 14.

As shown in fig. 8, the control device 31 has a controller 130 and a plurality of drive circuits 132. The plurality of drive circuits 132 are connected to the

electromagnetic motors

46, 52, 54, the substrate holding device 48, the elevating device 80, the positive/negative pressure supply device 97, and the feeding device 102. The controller 130 includes a CPU, a ROM, a RAM, and the like, mainly includes a computer, and is connected to a plurality of drive circuits 132. Thus, the operations of the transport apparatus 22, the moving apparatus 24, and the like are controlled by the controller 130. In addition, the controller 130 is also connected to the image processing apparatus 136. The image processing device 136 is a device for processing the shot data shot by the marking camera 28 and the part camera 29. Thereby, the controller 130 acquires various information from the shot data.

(B) Mounting work by mounting machine

In the mounting machine 14, with the above configuration, the mounting head 26 can perform mounting work on the circuit board held by the transport device 22. Specifically, the circuit substrate is conveyed to a working position where the circuit substrate is fixedly held by the substrate holding device 48, in accordance with an instruction of the controller 130. Next, the mark camera 28 moves upward of the circuit board in accordance with an instruction from the controller 130, and images the circuit board. Thereby, information on the holding position of the circuit board and the like is obtained. Tape feeder 100 sends out a tape component in accordance with a command from controller 130, and supplies an electronic component at a supply position. The mounting head 26 moves above the supply position of the electronic component in response to an instruction from the controller 130, and holds the electronic component by suction by the suction nozzle 60. Next, the mounting head 26 moves above the part camera 29, and the electronic component held by the suction nozzle 60 is imaged by the part camera 29. This makes it possible to obtain information on the holding posture of the device. The mounting head 26 moves above the circuit board, and mounts the electronic component on the circuit board based on the holding position of the circuit board, the holding posture of the electronic component, and the like.

(C) Suction nozzle replacement work

In the mounting machine 14, since the electronic component is sucked and held by the suction nozzle 60 and the held electronic component is mounted on the circuit board, the suction nozzle 60 mounted on the mounting head 26 is replaced according to the size, shape, and the like of the electronic component to be held. Specifically, for example, in the mounting work of a small electronic component, a small nozzle diameter, that is, a small-diameter nozzle 60 is used, and in the mounting work of a large electronic component, a large nozzle diameter, that is, a large-diameter nozzle 60 is used. Therefore, the small-diameter suction nozzle 60 is mounted on the mounting head 26, and when the mounting operation by the small-diameter suction nozzle 60 is completed, the mounting head 26 moves above the suction nozzle table 30. In the nozzle tray 110 of the nozzle stage 30, the large-diameter nozzles 60 are accommodated in one of the plurality of mounting holes 114, and the other mounting hole 114 is empty, that is, the nozzles 60 are not accommodated.

The mounting head 26 moves above the empty mounting hole 114 of the nozzle tray 110, and the holder 78 to which the nozzle 60 is mounted moves down. Thereby, the suction pipe 62 of the suction nozzle 60 is inserted into the small diameter portion 118 of the mounting hole 114, and the flange portion 64 of the suction nozzle 60 is mounted on the stepped surface 120 of the mounting hole 114. At this time, in the mounting head 26, the supply of the negative pressure to the second air passage 96 is stopped. Thereby, the holding force of the holder 78 to the suction nozzle 60 by the negative pressure is released. In the nozzle tray 110, the nozzles 60 placed in the placement holes 114 are locked by a locking mechanism. Then, the holder 78 is lifted to release the holding force of the holder 78 on the suction nozzle 60 by the magnetic force, and the suction nozzle 60 is detached from the holder 78. Thus, the suction nozzle 60 attached to the holder 78 is accommodated in the mounting hole 114, and the holder 78 is in a state where the suction nozzle 60 is not attached.

Next, the holder 78 with the suction nozzle 60 not attached moves upward of the component camera 29, and the component camera 29 captures an image. Then, the controller 130 calculates the position of an alignment mark (see fig. 5)140 marked on the lower surface of the carriage 78 based on the imaging data, and corrects the position of the carriage 78. Next, the mounting head 26 moves above the mounting holes 114 of the nozzle tray 110 in which the nozzles 60 to be mounted are accommodated. At this time, the mounting head 26 moves so that the XY-directional position of the corrected holder 78 coincides with the XY-directional position of the mounting hole 114 for accommodating the nozzle 60 to be mounted. Then, the pair of diamond pins 88 of the holder 78 are inserted into the pair of sleeves 68 of the suction nozzle 60 received in the placement hole 114 by the lowering of the holder 78, and the pair of iron plates 70 of the suction nozzle 60 are held by the pair of magnets 90 of the holder 78. In addition, in the mounting head 26, negative pressure is supplied to the second air passage 96, and the suction nozzle 60 accommodated in the mounting hole 114 is held by the negative pressure. Thereby, the suction nozzle 60 accommodated in the mounting hole 114 is attached to the bracket 78. Further, the lock mechanism is released during the mounting operation of the suction nozzle 60 accommodated in the mounting hole 114 to the holder 78. This completes the replacement operation of the suction nozzles 60 of the suction nozzle stage 30.

In this way, the replacement work of the suction nozzles 60 in the suction nozzle table 30 is performed, but in the case of the conventional technique, the replacement work of the suction nozzles 60 is performed for each holder 78. That is, in the case where the mounting head 26 has two holders 78 and the replacement work of the suction nozzles 60 is performed in the two holders 78, after the replacement work of the suction nozzles 60 is performed in one holder 78, the replacement work of the suction nozzles 60 is performed in a holder 78 different from the holder 78 for which the replacement work is completed. However, if the suction nozzle 60 is replaced for each holder 78, the time required for the replacement operation becomes long, and the productivity is low.

Therefore, it is desirable to perform the replacement work of the suction nozzle 60 in both the brackets 78 at the same time. That is, it is desirable to perform the work of lowering the two brackets 78 simultaneously to store the two suction nozzles 60 mounted on the two brackets 78 in the two mounting holes 114 simultaneously and the work of mounting the two suction nozzles 60 stored in the two mounting holes 114 to the two brackets 78 simultaneously. Therefore, in the mounting machine 14, a distance L1 (see fig. 2) between the two brackets 78 of the mounting head 26 (hereinafter referred to as "inter-bracket distance") is the same as a distance L2 (see fig. 6) between the two adjacent mounting holes 114 of the nozzle tray 110 (hereinafter referred to as "inter-mounting hole distance"). Thus, it seems that the suction nozzle 60 can be replaced at the same time by the two holders 78, but the suction nozzle 60 cannot be replaced at the same time by the two holders 78 due to the tolerance of the inter-holder distance L1, the tolerance of the inter-mounting hole distance L2, and the like.

Specifically, if the inter-holder distance L1 is substantially the same as the inter-mounting hole distance L2 with little error, the replacement work of the suction nozzles 60 can be performed simultaneously on the two holders 78. However, in order to make the inter-holder distance L1 and the inter-mounting-hole distance L2 almost the same without an error, it is necessary to manufacture the mounting head 26, the nozzle tray 110, and the like with very high accuracy, which increases the manufacturing cost. Therefore, a tolerance is set for the manufacture of the mounting head 26, the nozzle tray 110, and the like, and manufacture within the tolerance is allowed. Therefore, the inter-holder distance L1 and the inter-placement-hole distance L2 may differ depending on the tolerances of the positions of the holder 78 and the placement hole 114, and if the difference between these distances becomes large, the suction nozzle 60 may not be replaced in both the holders 78 at the same time. That is, for example, during the mounting work of the suction nozzle 60 to the holder 78, the pair of diamond pins 88 of the holder 78 may not be inserted into the pair of bushes 68 of the suction nozzle 60 housed in the mounting hole 114 in at least one of the two holders 78.

In view of such circumstances, in the nozzle tray 110, the clearance CL (see fig. 7) of the large-diameter portion 116 of the mounting hole 114 is set to be equal to or greater than the total value of the maximum value α of the tolerance of the inter-holder distance L1 and the maximum value β of the tolerance of the inter-mounting hole distance L2 (CL ≧ α + β). in addition, the clearance CL of the large-diameter portion 116 is a distance between the outer peripheral surface of the flange portion 64 of the nozzle 60 and the inner wall surface of the large-diameter portion 116 when the nozzle 60 is mounted at the center of the mounting hole 114. that is, the clearance CL of the large-diameter portion 116 is 1/2 which is the difference between the inner diameter of the large-diameter portion 116 and the outer diameter of the flange portion 64.

As shown in fig. 9, the outer peripheral surface of the distal end portion of the diamond pin 88 is a tapered surface 150 that becomes narrower toward the distal end, and the inner peripheral surface of the opening edge of the sleeve 68 is a tapered surface 152 that becomes wider toward the opening. The angles, the length dimensions, and the like of the tapered surfaces 150 of the diamond pins 88 and the tapered surfaces 152 of the sleeve 68 are set so that the tapered surfaces 150 of the diamond pins 88 and the tapered surfaces 152 of the sleeve 68 contact each other even when the distance between the center of the sleeve 68 and the center of the diamond pins 88 is equal to the clearance CL of the large-diameter portion 116.

By setting the clearance CL, the

tapered surfaces

150 and 152, and the like of the large diameter portion 116 in this manner, even if the inter-holder distance L1 and the inter-mounting hole distance L2 differ due to a tolerance in the positions of the holder 78 and the mounting hole 114, the replacement work of the suction nozzle 60 can be performed simultaneously in both the holders 78. Specifically, in the work of attaching the two suction nozzles 60 accommodated in the two mounting holes 114 to the two racks 78, the controller 130 calculates the midpoint a of the XY coordinates of the two mounting holes 114 and the midpoint B of the XY coordinates of the two racks 78. The operation of the moving device 24 is controlled so that the midpoint a of the two placement holes 114 coincides with the midpoint B of the two brackets 78.

Then, when the operation of the moving device 24 is completed, the two holders 78 are simultaneously lowered by the operation of the elevating device 80, and at this time, even if, for example, the inter-holder distance L1 is deviated by a distance corresponding to the maximum value α of the tolerance and the inter-mounting hole distance L2 is deviated by a distance corresponding to the maximum value β of the tolerance, as shown in fig. 9, the tapered surface 150 of the diamond pin 88 is in contact with the tapered surface 152 of the sleeve 68 because, as described above, the tapered surface 150 of the diamond pin 88 is in contact with the tapered surface 152 of the sleeve 68 even if the distance between the center of the sleeve 68 and the center of the diamond pin 88 is a distance corresponding to the clearance CL (≧ α + β) of the large-diameter portion 116.

Further, when the holder 78 is lowered in a state where the tapered surfaces 150 of the diamond pins 88 and the tapered surfaces 152 of the sleeves 68 are in contact with each other, the force of lowering the holder 78 is converted into a force of moving the suction nozzle 60 laterally inside the mounting hole 114 by the tapered

surfaces

150 and 152, and further, the large-diameter portion 116 of the mounting hole 114 has a clearance CL equal to or larger than the sum of the maximum values α and β of the tolerances, so that the suction nozzle 60 moves inside the two mounting holes 114 to a position where the diamond pins 88 can be inserted into the sleeves 68, and therefore, the two holders 78 are lowered simultaneously, the suction nozzle 60 moves inside the two mounting holes 114, and the diamond pins 88 are inserted into the sleeves 68 as shown in fig. 10, whereby the two suction nozzles 60 accommodated in the two mounting holes 114 can be attached to the two holders 78 simultaneously even when the tolerance of the inter-holder distance L1 and the tolerance of the inter-mounting hole distance L2 are provided.

In addition, even when the controller 130 calculates the mid-point a of the XY coordinates of the two mounting holes 114 and the mid-point B of the XY coordinates of the two supports 78 when the two suction nozzles 60 mounted on the two supports 78 are accommodated in the two mounting holes 114, and controls the operation of the moving device 24 so that the mid-point a of the two mounting holes 114 coincides with the mid-point B of the two supports 78, then, when the operation of the moving device 24 is completed, the two supports 78 are simultaneously lowered by the operation of the elevating device 80, for example, even when the inter-support distance L1 is shifted by a distance corresponding to the maximum value α of the tolerance and the inter-mounting hole distance L2 is shifted by a distance corresponding to the maximum value β of the tolerance, the flange portions 64 of the two suction nozzles 60 mounted on the two supports 78 are inserted into the large diameter portions 116 of the two mounting holes 114, because the clearance CL of the large diameter portions 116 is set to the maximum value of the distance 3875 between the maximum value of the inter-support distance L1 and the distance L3875, as described above, the two suction nozzles 60 can be simultaneously mounted on the two mounting holes 114, thereby, the two mounting holes 114 can be simultaneously.

In this way, in the mounting machine 14, by setting the clearance CL, the

tapered surfaces

150 and 152, and the like of the large diameter portion 116, even when the inter-holder distance L1 and the inter-mounting hole distance L2 differ due to a tolerance in the positions of the holder 78 and the mounting hole 114, and the like, the replacement work of the suction nozzles 60 can be performed simultaneously in both the holders 78. This shortens the time required for the replacement operation of the suction nozzle 60, and improves the production efficiency.

In the above embodiment, the mounting machine 14 is an example of a working machine. The mounting head 26 is an example of a working head. The control device 31 is an example of a control device. The suction nozzle 60 is an example of a holding tool. The suction pipe 62 is an example of a suction pipe. The flange portion 64 is an example of a flange portion. The upper surface of the flange portion 64 is an example of a mounted surface. The sleeve 68 is an example of a recess. The lower surface of the bracket 78 is an example of a mounting surface. The diamond pins 88 are an example of a convex portion. The nozzle tray 110 is an example of a container. The mounting hole 114 is an example of a housing portion.

The present invention is not limited to the above-described embodiments, and can be implemented in various forms in which various changes and improvements are made based on knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the suction nozzle 60 is used as the holding tool, but a chuck, which is a holding tool for holding the component by a plurality of claw members, may be used.

In addition, in the above-described embodiment, the present invention is applied to the simultaneous replacement of two suction nozzles 60 for two brackets 78, but the present invention can also be applied to the simultaneous replacement of three or more suction nozzles 60 for three or more brackets 78.

In the above embodiment, the

tapered surfaces

150 and 152 are formed on both the diamond pin 88 and the sleeve 68, but the tapered

surfaces

150 and 152 may be formed on at least one of the diamond pin 88 and the sleeve 68.

In the above embodiment, the clearance CL of the large diameter portion 116 of the mounting hole 114 is set based on the tolerance of the inter-holder distance L1 and the tolerance of the inter-mounting hole distance L2, but the clearance CL of the large diameter portion 116 may be set in consideration of the tolerance of the mounting position of the nozzle tray 110 to the nozzle stage 30.

Description of the reference numerals

14: mounting machine (working machine) 26: mounting head (work head) 31: the control device 60: suction nozzle (holding tool) 62: the adsorption tube 64: flange portion (mounting surface) 68: sleeve (recess) 78: bracket (mounting surface) 88: diamond pin (convex portion) 110: nozzle tray (container) 114: a mounting hole (a housing section).

Claims

1. A holding tool detachably attached to an attachment surface of a work head and configured to be capable of holding an electronic component, the holding tool comprising:

a mounted surface mounted to the mounting surface; and

and a plurality of recesses into which the plurality of protrusions formed on the mounting surface are inserted.

2. The holding tool according to claim 1,

the mounted surface is a flat surface.

3. The holding tool according to claim 1 or 2,

the holding means is a suction nozzle,

the suction nozzle has: an adsorption tube; and a flange portion protruding from the outer peripheral surface of the adsorption tube,

the upper surface of the flange portion is the mounted surface.

4. A storage device having two or more storage sections for storing two or more holding tools detachably attached to a work head,

the clearance when the holding tool is accommodated in the accommodating portion is greater than or equal to a sum of a mounting position tolerance of the two or more holding tools to the work head and a position tolerance of the two or more accommodating portions.

5. A working machine is characterized by comprising:

a working head having a plurality of mounting surfaces and a plurality of projections formed on each of the plurality of mounting surfaces;

a plurality of holding tools, each of which has a mounting surface to be mounted on the mounting surface and a plurality of recesses into which the plurality of projections are inserted, and which are mounted on the working head by negative pressure;

a container having two or more storage portions for storing two or more holding tools of the plurality of holding tools; and

and a control device which has a controller and a plurality of drive circuits connected to the controller, and is configured to be capable of controlling the operation of the work head so that the work head performs at least one of a work of simultaneously mounting the two or more holding tools stored in the two or more storage portions to the work head and a work of simultaneously storing the two or more holding tools mounted to the work head in the two or more storage portions.