JP2017191889A - Component supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a convenient and highly practical component supply device capable of supplying various components, while reducing worker's burden.SOLUTION: Multiple types of lead components are scattered on a component support member, and imaged by means of an imaging device 290. From the imaging data captured by the imaging device, identification information for identifying the type each of the multiple types of components, and positional information indicating the component position on a component support member 220 are acquired. On the basis of the identification information and positional information, an arbitrary type of component is grasped from the multiple types of components on the component support member, by a grasping tool.SELECTED DRAWING: Figure 3

Description

The present invention relates to a component supply apparatus including a component support portion that supports a plurality of components in a scattered state.

In the component supply device, there is a device in which a plurality of components are scattered on the component support portion, and the components scattered on the component support portion are picked up by operation of a component holding robot or the like. The following patent document describes an example of such a component supply apparatus.

Japanese Patent Laid-Open No. 10-202569

In the component supply apparatus described in the above-mentioned patent document, a plurality of one type of components are scattered on the component support portion, and an arbitrary component is picked up from the plurality of one type of components. For this reason, many types of parts cannot be supplied, and convenience is low. In addition, it is necessary for the operator to pay attention so that other types of components are not mixed on the component support portion, which places a heavy burden on the operator. As described above, there is a lot of room for improvement in the component supply device having the component support portion, and it is considered that the practicality of the component supply device is improved by making various improvements. The present invention has been made in view of such a situation, and an object thereof is to provide a highly practical component supply apparatus.

In order to solve the above-described problem, a component supply device according to the present invention includes a component support unit that supports a plurality of types of components in a scattered state, and an imaging device that captures an image of the component supported by the component support unit. A gripping tool that grips a component supported by the component support portion, a moving device that moves the gripping tool to an arbitrary position above the component support portion, and the gripping tool and the moving device. A control device that controls the operation, and the control device identifies identification information for identifying each type of the plurality of types of components based on imaging data captured by the imaging device, and the plurality of types An information acquisition unit that acquires position information indicating the position of each component at the component support unit, and an arbitrary type of component from a plurality of types of components supported by the component support unit is gripped by the gripping tool. The , Based on the obtained the identification information and the position information by the information acquisition section, and having an actuating control unit for controlling the operation of said gripper the mobile device.

In the component supply device according to the present invention, a plurality of types of components are interspersed on the component support portion, and the plurality of types of components are imaged by the imaging device. Identification information for identifying each type of the plurality of types of components and position information indicating the positions of the plurality of types of components at the component support unit are acquired from the imaging data captured by the imaging device. . Based on the identification information and the position information, an arbitrary type of component is gripped by the gripping tool from a plurality of types of components supported by the component support unit. Thus, in the component supply apparatus of the present invention, it is possible to pick up any type of component from a plurality of types of components scattered on the component support section. Accordingly, it is possible to supply many types of components in the component supply apparatus. In addition, the operator does not need to check the components on the component support portion, and the burden on the operator can be reduced.

It is a perspective view which shows a component mounting apparatus. It is a perspective view which shows the component mounting apparatus of a component mounting apparatus. It is a perspective view which shows a bulk parts supply apparatus. It is a top view which shows a bulk parts supply apparatus. It is a perspective view which shows a components supply unit. It is a perspective view which shows the components supply unit of the state which the components collection container raised to the raise end position. It is a top view which shows the loose component supply apparatus of the state with which the component supply unit from which width differs was mounted | worn. It is a top view which shows the loose component supply apparatus of the state with which the component supply unit from which width differs was mounted | worn. It is a top view which shows the bulk component supply apparatus of the state with which the component support unit was mounted | worn. It is a side view of a component support unit. It is a perspective view which shows a component holding head. It is a figure which shows a component receiving member. It is a block diagram which shows a control apparatus. It is a perspective view which shows a component scattered state implementation | achievement apparatus. It is a figure which shows identification information notionally. It is a perspective view showing a component scattered state realization device and a component return device.

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

<Configuration of component mounting device>
FIG. 1 shows a component mounting apparatus 10. The component mounting apparatus 10 is an apparatus for executing a component mounting operation on the circuit substrate 12. The component mounting apparatus 10 includes an apparatus main body 20, a base material conveyance holding device 22, a component mounting device 24, imaging devices 26 and 28, a component supply device 30, a loose component supply device 32, and a control device (see FIG. 13) 34. Yes. The circuit substrate 12 includes a circuit board, a three-dimensional structure substrate, and the like, and the circuit board includes a printed wiring board and a printed circuit board.

The apparatus main body 20 includes a frame portion 40 and a beam portion 42 that is overlaid on the frame portion 40. The substrate conveyance holding device 22 is disposed in the center of the frame portion 40 in the front-rear direction, and includes a conveyance device 50 and a clamp device 52. The conveyance device 50 is a device that conveys the circuit substrate 12, and the clamp device 52 is a device that holds the circuit substrate 12. Thereby, the base material transport and holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the conveyance direction of the circuit substrate 12 is referred to as an X direction, a horizontal direction perpendicular to the direction is referred to as a Y direction, and a vertical direction is referred to as a Z direction. That is, the width direction of the component mounting apparatus 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is disposed in the beam portion 42 and includes two work heads 60 and 62 and a work head moving device 64. Each work head 60, 62 has a component holder 66 (see FIG. 2) 66 such as a chuck and a suction nozzle, and holds the component by the component holder 66. The work head moving device 64 includes an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72. Then, the two working heads 60 and 62 are integrally moved to arbitrary positions on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG. 2, each work head 60, 62 is detachably attached to the sliders 74, 76, and the Z-direction moving device 72 individually moves the sliders 74, 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

The imaging device 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. Thereby, the imaging device 26 images an arbitrary position on the frame unit 40. As shown in FIG. 1, the imaging device 28 is disposed between the base material conveyance holding device 22 and the component supply device 30 on the frame portion 40 so as to face upward. Thereby, the imaging device 28 images the components held by the component holder 66 of the work heads 60 and 62.

The component supply device 30 is disposed at one end of the frame portion 40 in the front-rear direction. The component supply device 30 includes a tray-type component supply device 78 and a feeder-type component supply device (not shown). The tray-type component supply device 78 is a device that supplies components placed on the tray. The feeder-type component supply device is a device that supplies components by a tape feeder (not shown).

The bulk component supply device 32 is disposed at the other end of the frame portion 40 in the front-rear direction. The separated component supply device 32 is a device for aligning a plurality of components scattered in a separated state and supplying the components in an aligned state. That is, it is an apparatus that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in a predetermined posture. Below, the structure of the component supply apparatus 32 is demonstrated in detail. Note that examples of the components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, and power module components. Electronic circuit components include components having leads and components not having leads.

As shown in FIGS. 3 and 4, the bulk component supply device 32 includes a main body 80, a component supply unit 82, an imaging device 84, and a component delivery device 86.

(A) Component Supply Unit The component supply unit 82 includes a component supplier 88, a component scattered state realization device 90, and a component return device 92. The component supplier 88, the component scattered state realization device 90, and the component return device 92 Are integrally configured. The component supply unit 82 is detachably assembled to the base 96 of the main body 80. In the bulk component supply device 32, five component supply units 82 are arranged in a line in the X direction.

(I) Component supplier The component supplier 88 includes a component container 100, a housing 102, and a grip 104 as shown in FIG. The component container 100 has a generally rectangular parallelepiped shape, and an upper surface and a front surface are open. The bottom surface of the component container 100 is an inclined surface 116, which is inclined toward the front surface where the component container 100 is opened.

The housing 102 has a pair of side walls 120. The pair of side walls 120 are generally rectangular and are disposed to face each other so as to sandwich the component container 100. A pair of projecting portions 122 and 124 projecting in a U-shape are formed at the rear end portion of each side wall 120. The pair of side walls 120 are connected by connecting members 126 and 128 at the protrusions 122 and 124. In addition, the pair of side walls 120 are connected at the upper end by a connecting rod 130 and are connected at the lower end by a connecting rod (not shown). The dimension between the pair of side walls 120 is slightly longer than the width of the component container 100 sandwiched between the pair of side walls 120.

A support shaft 134 is bridged between the pair of side walls 120 at the base end portion of the protruding portion 122, and the component container 100 is swingably supported by the support shaft 134. That is, the component container 100 swings around the support shaft 134 inside the housing 102. In addition, a component discharge member 150 is fixedly disposed between the pair of side walls 120 so as to be positioned in front of the lower end portion of the front surface of the component container 100. The component discharge member 150 includes an inclined plate 152 and a pair of side plates (only one side plate is shown in the drawing) 154 provided upright at both ends in the width direction of the inclined plate 152. The inclined plate 152 is inclined so as to descend toward the front.

The grip 104 is composed of a fixed grip member 170 and a movable grip member 172. The fixed gripping member 170 has a rectangular tube shape, and one side surface is open. The fixed gripping member 170 is fixed to the connecting member 128 at the upper end portion and fixed to the connecting member 126 at the lower end portion with the side surface that opens between the pair of side walls 120. In addition, the movable gripping member 172 has a rectangular tube shape, and is fitted into the fixed gripping member 170 from the side surface where the fixed gripping member 170 is opened. The movable gripping member 172 is supported by the connecting member 126 at the lower end so as to be swingable. As a result, the movable gripping member 172 swings around the lower end, and the upper end of the movable gripping member 172 approaches and separates from the fixed gripping member 170.

The movable gripping member 172 is connected to the rear surface of the component container 100 at the upper end portion by a connecting arm (not shown). For this reason, as the movable gripping member 172 swings, the component container 100 also swings. That is, when the upper end portion of the movable gripping member 172 swings in a direction away from the fixed gripping member 170, the component container 100 swings downward. On the other hand, when the upper end portion of the movable gripping member 172 swings in a direction approaching the fixed gripping member 170, the component container 100 swings upward.

A spring (not shown) is compressed between the fixed gripping member 170 and the movable gripping member 172. For this reason, the movable gripping member 172 is biased in a direction away from the fixed gripping member 170 by the elastic force of the spring. That is, at the normal time, the upper end portion of the movable gripping member 172 swings in a direction away from the fixed gripping member 170, and the component container 100 swings downward. At this time, the end portion on the front side of the inclined surface 116 of the component container 100 faces the end portion on the rear side of the inclined plate 152 with almost no gap.

The component supplier 88 is detachably attached to a pair of side frame portions 190 assembled to the base 96. Specifically, the pair of side frame portions 190 are generally plate-shaped, and are disposed so as to face each other at a predetermined distance. The distance between the pair of side frame portions 190 is slightly longer than the dimension in the width direction of the component feeder 88, that is, the distance between the pair of side walls 120. For this reason, the component feeder 88 is inserted between the pair of side frame portions 190.

A lock mechanism (not shown) is provided at the lower end of the movable gripping member 172 of the grip 104, and the movable gripping member 172 is urged away from the fixed gripping member 170 by the elastic force of the spring. In a state, that is, in a normal state, the component supplier 88 is locked between the pair of side frame portions 190 by the lock mechanism. On the other hand, when the operator grips the grip 104, the movable gripping member 172 approaches the fixed gripping member 170 against the elastic force of the spring. At this time, the lock mechanism provided at the lower end of the movable gripping member 172 is released. Accordingly, the component supplier 88 is removed from between the pair of side frame portions 190 by lifting the component supplier 88 in a state where the operator holds the grip 104 of the component supplier 88.

(Ii) Component scattered state realization device The component scattered state realization device 90 includes a component support member 220, a component support member moving device 222, and a feeder vibration device 224. The component support member 220 has a generally longitudinal plate shape and is disposed so as to extend forward from below the inclined plate 152 of the component feeder 88. Side wall portions 228 are formed on both side edges in the longitudinal direction of the component support member 220.

The component support member moving device 222 is a device that moves the component support member 220 in the front-rear direction by driving an electromagnetic motor (see FIG. 13) 236. As a result, the component support member 220 moves in the front-rear direction slightly below the lower end of the inclined plate 152 of the component supplier 88 with the upper surface of the component support member 220 being horizontal. The component support member 220 moves between a component supply position where substantially the entire component support member 220 is exposed and a retracted position where substantially the entire component support member 220 is positioned below the component feeder 88.

The feeder vibration device 224 includes a cam member 240, a cam follower 242, and a stopper 244. The cam member 240 has a plate shape and is fixed to the outer side surface of the side wall portion 228 so as to extend in the front-rear direction. At the upper end of the cam member 240, a plurality of teeth 245 are formed at equal intervals in the front-rear direction. The cam follower 242 includes a lever 252 and a roller 254. The lever 252 is disposed at the lower end of the side wall 120 of the component supplier 88 so as to extend in the vertical direction, and can swing around an axis parallel to the width direction of the component supplier 88 at the upper end. It is held by the side wall 120. The roller 254 is held by the lower end of the lever 252 so as to be rotatable about an axis parallel to the width direction of the component supplier 88. The lever 252 is biased in the forward direction by the elastic force of a coil spring (not shown).

The stopper 244 is provided in a protruding shape on the side wall 120, and a lever 252 biased by the elastic force of the coil spring is in contact with the stopper 244. The lever 252 is in a posture of extending downward in the vertical direction in a state in which the lever 252 is in contact with the stopper 244.

(Iii) Component Return Device The component return device 92 includes a container lifting device 260 and a component collection container 262 as shown in FIG. The container elevating device 260 includes an air cylinder 266 and an elevating member 268, and the elevating member 268 moves up and down by the operation of the air cylinder 266. The air cylinder 266 is fixed to the front end of the component support member 220. Thus, the air cylinder 266 moves in the front-rear direction together with the component support member 220 by the operation of the component support member moving device 222.

The component collection container 262 is disposed on the upper surface of the elevating member 268 and moves up and down by the operation of the air cylinder 266. At this time, the component collection container 262 moves between a rising end position positioned above the component feeder 88 and a falling end position positioned below the component support member 220.

The component collection container 262 has a box shape with an upper surface opened, and is held on the upper surface of the elevating member 268 so as to be rotatable around an axis parallel to the width direction of the component feeder 88. Thereby, the bottom of the parts collection container 262 is horizontal, the parts receiving attitude (the attitude of the parts collection container 262 in FIG. 14) that can receive the parts from the opening, and the bottom of the parts collection container 262 are vertical, and the parts can be removed from the opening. It rotates between the dischargeable component discharge posture (the posture of the component collection container 262 in FIG. 6). The component collection container 262 is urged by a coil spring (not shown) in the direction of the component receiving posture.

As shown in FIG. 5, a projecting pin 272 is disposed at the rear end of the component collection container 262. The protruding pin 272 protrudes outward on the side of the component collection container 262. Further, an engagement block 274 is fixed inside the upper end portion on the front side of the side frame portion 190. As shown in FIG. 6, when the component collection container 262 is raised to the rising end position by the operation of the air cylinder 266, the protruding pin 272 is engaged with the engagement block 274. As a result, the component collection container 262 rotates and assumes a component discharge posture.

In the bulk component supply device 32, a component supply unit having a width different from that of the component supply unit 82 configured by the component supplier 88, the component scattered state realization device 90, and the component return device 92 is prepared. Specifically, the component supply unit (see FIG. 7) 280 expanded twice in the width direction of the component supply unit 82 shown in FIGS. 3 to 6 and the component supply unit 82 expanded three times in the width direction. A component supply unit (see FIG. 8) 282 is prepared. Similarly to the component supply unit 82, the component supply units 280 and 282 are configured by a component supplier, a component scattered state realization device, and a component return device, but the component supply units 280 and 282 include Since the component scattered state realization device and the component return device are obtained by extending the component feeder 88, the component scattered state realization device 90, and the component return device 92 of the component supply unit 82 in the width direction, description thereof will be omitted.

As described above, the component supply unit 82 is detachable from the base 96 of the main body 80. Therefore, for example, it is possible to remove two adjacent component supply units 82 from the base 96 and mount the component supply unit 280 at that position as shown in FIG. Further, for example, it is possible to remove three adjacent component supply units 82 from the base 96 and mount the component supply unit 282 at that position, as shown in FIG.

Further, in the bulk component supply device 32, a component support unit 284 can be mounted on the base 96 as shown in FIG. 9 instead of the component supply units 82, 280, 282. Specifically, the component support unit 284 includes a component support member 285 and an inclined plate 286 as shown in FIGS. 9 and 10. The component support member 285 is a generally rectangular plate-like member, and the width of the component support member 285 is about five times the width of the component supply unit 82. A rail 287 is formed on the lower surface of the component support member 285 so as to extend in the front-rear direction, and a groove 288 is formed on the base 96 of the main body 80 so as to extend in the front-rear direction. The rail 287 of the component support member 285 is fitted in the groove 288, and the component support member 285 is slidable in the front-rear direction. Thereby, the component support unit 284 is detachably attached to the base 96.

The inclined plate 286 is supported by a support mechanism (not shown) above the rear end of the component support member 285. The inclined plate 286 is inclined so as to descend toward the front. Further, when the component support member 285 slides, the lower end portion of the inclined plate 286 and the upper surface of the component support member 285 are separated by a predetermined distance so that the component on the component support member 285 and the inclined plate 286 do not interfere with each other. ing.

(B) Imaging Device As shown in FIG. 3, the imaging device 84 includes a camera 290 and a camera moving device 292. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 so as to extend in the width direction of the loose component supply device 32 above the component supplier 88. The slider 298 is slidably attached to the guide rail 296, and slides to an arbitrary position by the operation of the electromagnetic motor (see FIG. 13) 299. The camera 290 is attached to the slider 298 so as to face downward.

(C) Component Delivery Device The component delivery device 86 includes a component holding head moving device 300, a component holding head 302, and two shuttle devices 304 as shown in FIG.

The component holding head moving device 300 includes an X direction moving device 310, a Y direction moving device 312, and a Z direction moving device 314. The Y-direction moving device 312 has a Y slider 316 disposed above the component supply unit 82 so as to extend in the X direction. The Y slider 316 is driven by an electromagnetic motor (see FIG. 13) 319. , Move to any position in the Y direction. The X-direction moving device 310 has an X-slider 320 disposed on the side surface of the Y-slider 316, and the X-slider 320 is moved to an arbitrary position in the X-direction by driving an electromagnetic motor (see FIG. 13) 321. Moving. The Z-direction moving device 314 has a Z-slider 322 disposed on the side surface of the X-slider 320. The Z-slider 322 is moved to an arbitrary position in the Z-direction by driving an electromagnetic motor (see FIG. 13) 323. Moving.

As shown in FIG. 11, the component holding head 302 includes a head main body 330, a suction nozzle 332, a nozzle turning device 334, and a nozzle rotating device 335. The head body 330 is formed integrally with the Z slider 322. The suction nozzle 332 is for sucking and holding components by negative pressure, and is attached to the lower end of the nozzle holder 340. The nozzle holder 340 can be bent at the support shaft 344, and the nozzle holder 340 is bent 90 degrees by the operation of the nozzle turning device 334. Thereby, the suction nozzle 332 attached to the lower end of the nozzle holder 340 turns 90 degrees and is located at the turning position. That is, the suction nozzle 332 turns between the non-turning position and the turning position by the operation of the nozzle turning device 334. In addition, the nozzle rotating device 335 rotates the suction nozzle 332 around its axis.

As shown in FIG. 3, each of the two shuttle devices 304 includes a component carrier 388 and a component carrier moving device 390, and is fixed to the main body 80 side by side in front of the component supply unit 82. Yes. Five component receiving members 392 are mounted on the component carrier 388 in a row in the horizontal direction, and the components are placed on each component receiving member 392.

Specifically, as shown in FIG. 12, the component supplied by the bulk component supply device 32 is an electronic circuit component (hereinafter, may be abbreviated as “lead component”) 410 having a lead. The block-shaped component main body 412 and two leads 414 protruding from the bottom surface of the component main body 412 are configured. The component receiving member 392 is formed with a component receiving recess 416. The component receiving recess 416 is a stepped recess, and includes a main body receiving recess 418 that opens to the top surface of the component receiving member 392 and a lead receiving recess 420 that opens to the bottom surface of the main body receiving recess 418. Yes. The lead component 410 is inserted into the component receiving recess 416 with the lead 414 facing downward. As a result, the lead 414 is inserted into the lead receiving recess 420 and the lead component 410 is placed inside the component receiving recess 416 with the component main body 412 inserted into the main body receiving recess 418.

As shown in FIG. 3, the component carrier moving device 390 is a plate-like longitudinal member, and is disposed on the front side of the component supply unit 82 so as to extend in the front-rear direction. On the upper surface of the component carrier moving device 390, a component carrier 388 is slidably arranged in the front-rear direction, and is slid to an arbitrary position in the front-rear direction by driving an electromagnetic motor (see FIG. 13) 438. When the component carrier 388 slides in a direction approaching the component supply unit 82, the component carrier 388 slides to a component receiving position located within the movement range of the component holding head 302 by the component holding head moving device 300. On the other hand, when the component carrier 388 slides in the direction away from the component supply unit 82, the component carrier 388 slides to the component supply position located within the movement range of the work heads 60 and 62 by the work head moving device 64.

As shown in FIG. 13, the control device 34 includes an overall control device 450, a plurality of individual control devices (only one is shown in the figure) 452, and an image processing device 454. The overall control device 450 is configured mainly by a computer, and is connected to the base material conveyance holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32. ing. Thereby, the overall control device 450 controls the base material conveyance holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32 in an integrated manner. The plurality of individual control devices 452 are configured mainly by a computer, and are provided in the base material conveyance holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the bulk component supply device 32. (In the figure, only the individual control device 452 corresponding to the bulk component supply device 32 is shown). The individual control device 452 of the bulk component supply device 32 is connected to a component scattered state realization device 90, a component return device 92, a camera moving device 292, a component holding head moving device 300, a component holding head 302, and a shuttle device 304. Thereby, the individual control device 452 of the bulk component supply device 32 controls the component scattered state realization device 90, the component return device 92, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. . In addition, the image processing device 454 is connected to the imaging device 84 and processes imaging data captured by the imaging device 84. Further, the image processing device 454 is connected to the individual control device 452 of the bulk component supply device 32. As a result, the individual control device 452 of the bulk component supply device 32 acquires the imaging data captured by the imaging device 84.

<Operation of component mounting device>
In the component mounting apparatus 10, the component mounting operation is performed on the circuit substrate 12 held by the substrate conveyance holding device 22 with the above-described configuration. Specifically, the circuit substrate 12 is transported to the work position, and is fixedly held by the clamp device 52 at that position. Next, the imaging device 26 moves above the circuit substrate 12 and images the circuit substrate 12. Thereby, the information regarding the error of the holding position of the circuit base material 12 is obtained. In addition, the component supply device 30 or the bulk component supply device 32 supplies components at a predetermined supply position. It should be noted that the supply of components by the bulk component supply device 32 will be described in detail later. Then, one of the work heads 60 and 62 moves above the component supply position, and the component holder 66 holds the component. Subsequently, the work heads 60 and 62 holding the components move above the imaging device 28, and the components held by the component holder 66 are imaged by the imaging device 28. As a result, information on the error of the component holding position can be obtained. Then, the work heads 60 and 62 holding the components move above the circuit substrate 12 and correct the held components for errors in the holding position of the circuit substrate 12, errors in the holding position of the components, and the like. And mounted on the circuit substrate 12.

<Operation of bulk parts supply device>
(A) Supply of lead parts by the bulk parts feeder In the bulk parts feeder 32, the lead parts 410 are thrown into the parts container 100 of the parts feeder 88 by the operator, and the lead parts 410 thus thrown are By the operation of the supply unit 82 and the component delivery device 86, the component is supplied while being placed on the component receiving member 392 of the component carrier 388. Specifically, the operator inputs a plurality of types of lead components 410 from the opening on the upper surface of the component container 100 of the component supplier 88. At this time, the component support member 220 is moved to a retracted position below the component supplier 88 by the operation of the component support member moving device 222, and the component collection container 262 is positioned in front of the component supplier 88. ing.

The lead component 410 introduced from the opening on the upper surface of the component container 100 falls on the inclined surface 116 of the component container 100 and spreads on the inclined surface 116. At this time, when the lead component 410 that has fallen on the inclined surface 116 rolls over the inclined plate 152, the lead component 410 is accommodated in the component collection container 262 located in front of the component supplier 88.

After the lead component 410 is inserted into the component container 100, the component support member 220 is moved from below the component feeder 88 toward the front by the operation of the component support member moving device 222. At this time, when the cam member 240 reaches the cam follower 242, the roller 254 of the cam follower 242 gets over the teeth 245 of the cam member 240 as shown in FIG. The lever 252 of the cam follower 242 is biased in the forward direction by the elastic force of the coil spring, and the forward bias of the lever 252 is restricted by the stopper 244. For this reason, when the component support member 220 moves forward, the roller 254 and the teeth 245 are maintained in mesh with each other, the lever 252 does not rotate forward, and the roller 254 has the teeth 245. Get over. At this time, the component feeder 88 moves up and down as the roller 254 gets over the teeth 245. That is, in a state where the roller 254 is engaged with the teeth 245, the component support member 220 moves forward, so that the roller 254 gets over the plurality of teeth 245, and the component feeder 88 continuously vibrates in the vertical direction. .

The lead component 410 spreading on the inclined surface 116 of the component container 100 moves forward due to the vibration of the component feeder 88 and the inclination of the inclined surface 116, and the upper surface of the component support member 220 via the inclined plate 152. To be discharged. At this time, the lead part 410 is prevented from dropping from the component support member 220 by the side wall portion 228 of the component support member 220. Then, when the component support member 220 moves to the component supply position, a plurality of types of lead components 410 are scattered on the upper surface of the component support member 220. However, since the width of the component support member 220 is relatively narrow, there is a possibility that large lead components 410 or a large number of lead components 410 cannot be appropriately scattered.

Therefore, when the size of the lead component 410 to be supplied is large, or when the number of lead components 410 to be supplied is considerably large, the component supply unit 280 or the component supply unit 282 is used instead of the component supply unit 82. Is attached to the base 96 of the main body 80. A plurality of types of lead components 410 are inserted into the component containers of the component supply units 280 and 282, and the component scattered state realization device of the component supply units 280 and 282 is the same as the component scattered state realization device 90 of the component supply unit 82. As a result, the lead components 410 are scattered on the component support members of the component supply units 280 and 282. As a result, even the large lead component 410 or a large number of lead components 410 can be appropriately scattered on a relatively wide component support member.

When it is desired to supply a larger lead component 410 or to supply a larger number of lead components 410, the component support unit 284 is replaced with the base of the main body 80 instead of the component supply units 82, 280, 282. 96. Then, the operator supplies a plurality of types of lead components 410 directly on the inclined plate 286 of the component support unit 284. That is, in the component support unit 284, unlike the component supply unit 88 of the component supply units 82, 280, and 282, the operator directly places the lead component 410 on the inclined plate 286 without using the component storage unit 100 or the like. Drop.

When the lead component 410 is supplied onto the inclined plate 286, the lead component 410 rolls on the inclined plate 286 and falls onto the component support member 285. As a result, as shown in FIGS. 9 and 10, the lead components 410 are scattered on the component support member 285. Thus, by attaching the component support unit 284 to the base 96 instead of the component supply units 82, 280, 282, even a large lead component 410 or a large number of lead components 410 is a relatively wide component. It becomes possible to be appropriately scattered on the support member 285. In addition, the component support unit 284 has a relatively simple structure as compared with the component supply units 82, 280, and 282, and thus is very advantageous in terms of cost. 9 and 10, when three types of lead components 410a, 410b, and 410c are supplied to the inclined plate 286, the component support in a state where the three types of lead components 410a, 410b, and 410c are interspersed. Member 285 is marked.

When a plurality of types of lead components 410 are scattered on the component support member 220 of the component supply units 82, 280, and 282 or on the component support member 285 of the component support unit 284 by the above-described procedure, the imaging device 84 is scattered. The camera 290 is moved above the component support members 220 and 285 in which the lead components 410 are scattered by the operation of the camera moving device 292, and images the lead components 410. Based on the image data captured by the camera 290, a lead component to be picked up (hereinafter sometimes abbreviated as “pickup target component”) is held by the suction nozzle 332 of the component holding head 302. However, as described above, a plurality of types of lead components 410 are scattered on the component support member 220 of the component supply units 82, 280, and 282 or on the component support member 285 of the component support unit 284. . For this reason, a pickup target component is specified from a plurality of types of lead components 410.

Specifically, as shown in FIGS. 9 and 10, when three types of lead parts 410a, 410b, and 410c are scattered on the part support member 285 of the part support unit 284, the lead part 410a is a pickup target. The case where it is a part will be described. Information for identifying the lead component 410 (hereinafter sometimes referred to as “identification information”) is stored in the individual control device 452 of the bulk component supply device 32. The identification information is information regarding the shape of each lead component 410 supplied by the bulk component supply device 32, and is configured by information indicating the shapes of the four side surfaces of the lead component 410. As an example of the identification information of the lead component 410, the identification information 460 of the lead component 410a is conceptually shown in FIG.

The identification information 460 of the lead component 410a includes information 460a indicating the shape of the lead component 410a as viewed from a predetermined side surface 462a among the four side surfaces 462 of the component body 412 of the lead component 410a, and a side surface adjacent to the side surface 462a. Information 460b indicating the shape of the lead component 410a at the viewpoint from 462b, information 460c indicating the shape of the lead component 410a at the viewpoint from the side surface 462c opposite to the side surface 462b, and a viewpoint from the side surface 462d opposite to the side surface 462a Information 460d indicating the shape of the lead component 410a is included.

On the other hand, the imaging data of the camera 290 includes individual image data (hereinafter, “individual image data”) of each of the plurality of lead components 410 scattered on the component support member 285. For this reason, the plurality of individual image data included in the imaging data of the camera 290 and the identification information stored in the individual control device 452 are compared, and the identification information 460 of the lead component 410a is obtained from the plurality of individual image data. Matches are extracted. Then, the lead component 410 corresponding to the extracted individual image data is specified as the pickup target component.

When the pickup target component is specified, the position of the pickup target component and the posture of the pickup target component are calculated based on the imaging data of the camera 290. The operation of the component holding head moving device 300 is controlled based on the calculated position of the pickup target component and the posture of the pickup target component. As a result, the component holding head 302 moves above the pickup target component, and the pickup target component is sucked and held by the suction nozzle 332. Note that when the pickup target component is sucked and held by the suction nozzle 332, the suction nozzle 332 is located at the non-turning position.

Then, after the lead component 410 is held by the suction nozzle 332, the component holding head 302 is moved above the component carrier 388. At this time, the component carrier 388 is moved to receive the component by the operation of the component carrier moving device 390. Moved to position. Further, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is pivoted to the pivot position. The suction nozzle 332 is rotated by the operation of the nozzle rotating device 335 so that the lead 414 of the lead component 410 held by the suction nozzle 332 in the turning position faces downward in the vertical direction.

When the component holding head 302 moves above the component carrier 388, the lead component 410 with the lead 414 facing downward in the vertical direction is inserted into the component receiving member 392. As a result, the lead component 410 is placed on the component receiving member 392 with the lead 414 facing downward in the vertical direction. Then, the component carrier 388 moves to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388 moved to the component supply position is located in the movement range of the work heads 60 and 62, the lead component 410 is supplied at this position in the loose component supply device 32. Thus, in the loose component supply device 32, the lead component 410 is supplied in a state where the lead 414 faces downward and the surface facing the surface to which the lead 414 is connected faces upward. Therefore, the component holder 66 of the work heads 60 and 62 can appropriately hold the lead component 410.

Further, in the conventional bulk component supply apparatus, only one type of lead component 410 can be supplied by one component supply unit 82, 280, 282. That is, only one type of lead component 410 could be put into the component container 100 of one component supply unit 82, 280, 282. For this reason, even when five component supply units 82 are attached to the base 96, only five types of lead components 410 can be supplied at maximum, and the convenience is low. Moreover, it is necessary to distinguish the type of the lead component 410 for each of the component supply units 82, 280, and 282, and the burden on the operator is large. On the other hand, in the bulk component supply device 32, a plurality of types of lead components 410 are supplied to one component supply unit 82, 280, 282 and a component support unit 284, and any pickup target component can be selected from the plurality of types of lead components 410. Is picked up. As a result, the bulk component supply device 32 can supply five or more types of lead components 410, improving convenience. In addition, the operator does not need to distinguish the type of the lead component 410 for each of the component supply units 82, 280, 282 or the component support unit 284, thereby reducing the burden on the operator.

The individual control device 452 includes an information acquisition unit 470 and an operation control unit 472 as shown in FIG. The information acquisition unit 470 is a functional unit for acquiring individual image data and information regarding the position of the pickup target component based on the imaging data of the camera 290. The operation control unit 472 is a functional unit for controlling the operation of the component holding head moving device 300 and the component holding head 302 based on the individual image data and information on the position of the pickup target component.

(B) Collection of lead parts Further, the loose part supply apparatus 32 can collect the lead parts 410 scattered on the part support members 220 and 285. Specifically, when the component supply units 82, 280, and 282 are attached to the base 96, first, the component support member 220 is moved downward of the component feeder 88 by the operation of the component support member moving device 222. Moved. At this time, as shown in FIG. 16, the lead component 410 on the component support member 220 is blocked by the inclined plate 152 of the component supplier 88. As a result, the lead component 410 on the component support member 220 is scraped off into the component collection container 262.

When the component support member 220 moves below the component feeder 88, the component collection container 262 is raised by the operation of the container lifting device 260. At this time, as shown in FIG. 6, the projecting pin 272 disposed in the component collection container 262 engages with the engagement block 274 disposed inside the side frame portion 190. Thereby, the parts collection container 262 rotates, and the bottom face of the parts collection container 262 becomes vertical. For this reason, all the lead components 410 in the component collection container 262 are returned to the interior of the component container 100.

Then, as described above, the operator grasps the grip of the component supplier 88 to release the lock of the component supplier 88 and lifts the component supplier 88, so that the component supplier 88 is paired. It is removed from between the side frame portions 190. As a result, the lead component 410 is recovered by removing the lead component 410 from the component supplier 88 outside the bulk component supply device 32.

When the component support unit 284 is attached to the base 96, the operator slides the component support member 285 in a direction away from the base 96, so that the component support member 285 is removed from the base 96. As a result, the lead components 410 scattered on the component support member 285 are collected outside the bulk component supply device 32. Thus, in the component support unit 284, the lead component 410 can be collected by a mechanism with a very simple structure, which is very advantageous in terms of cost.

In addition, this invention is not limited to the said Example, It is possible to implement in the various aspect which gave various change and improvement based on the knowledge of those skilled in the art. Specifically, for example, in the above-described embodiment, the component supply units 280 and 282 that are twice and three times the width of the component supply unit 82 are employed, but a component supply unit having an arbitrary width is employed. Is possible. Further, although the component support unit 284 that is five times the width of the component supply unit 82 is employed, it is possible to employ a component support unit having an arbitrary width.

In the above embodiment, information regarding the shape of the lead component 410 is employed as information for identifying the lead component 410, but various identification information can be employed. For example, when an ID or the like is written on the lead component 410, the ID can be used as identification information.

32: Bulk component supply device (component supply device) 82: Component supply unit 84: Imaging device 88: Component supply device (storage portion) 96: Base (mounting portion) 220: Component support member (component support portion) 280: Component supply Unit 282: Component supply unit 285: Component support member (component support portion) 286: Inclined plate (inclined portion) 300: Component holding head moving device (moving device) 332: Suction nozzle (holding tool) 452: Individual control device (control) 470: Information acquisition unit 472: Operation control unit

Claims (4)

A component support part for supporting a plurality of types of components in a scattered state;
An imaging device for imaging a component supported by the component support unit;
A gripping tool for gripping a component supported by the component support portion;
A moving device for moving the gripping tool to an arbitrary position above the component support;
A control device for controlling the operation of the gripping tool and the moving device;
The control device is
Based on imaging data captured by the imaging device, identification information for identifying each type of the plurality of types of components, and position information indicating the position of each of the plurality of types of components at the component support unit An information acquisition unit for acquiring
Based on the identification information and the position information acquired by the information acquisition unit in order to grip any kind of component from the plurality of types of components supported by the component support unit by the gripping tool, A component supply device comprising: an operation control unit that controls operation of a gripping tool and the moving device. The component supply device is
Equipped with an inclined part that can supply multiple types of parts by the operator,
The component support part is
The component supply device according to claim 1, wherein a plurality of types of components dropped from the inclined portion are supported in a scattered state. The component supply device is
A storage section for storing multiple types of parts;
The component support portion for supporting a plurality of types of components discharged from the opening of the storage portion in a scattered state;
The component supply apparatus according to claim 1, further comprising a mounting portion on which a component supply unit configured integrally with the storage portion and the component support portion is detachably mounted. The component supply device is
A plurality of the component supply units having different widths;
The component supply apparatus according to claim 3, wherein each of the plurality of component supply units is detachably mounted on the mounting portion.

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