JP2019057744A - Component-holding device - Google Patents

Abstract

To appropriately hold components scattered on a component-supporting face.SOLUTION: A component-holding device for holding a plurality of components of one kind scattered on a component-supporting face comprises: a holding tool for holding one component of the plurality of components scattered on the component-supporting face by flat faces of the one component; a moving unit for moving the holding tool to an appropriate position over the component-supporting face; and a controller for controlling operations of the holding tool and moving unit. When holding, by the holding tool, one component of the plurality of components scattered on the component-supporting face by operating the holding tool and moving unit on the basis of two dimensional image data of the plurality of components of one kind scattered on the component-supporting face, taken by an imaging device from above, the controller determines whether or not a component other than the one component to hold interferes with the holding tool. The controller controls operations of the holding tool and moving unit so that the holding tool holds the component determined not to interfere.SELECTED DRAWING: Figure 23

Description

  The present invention relates to a component holding device that holds a plurality of components of one type scattered on a component support surface.

  Some component holding devices pick up components scattered on a component support portion by operation of a component holding robot or the like. In the following patent document, an example of such a component holding device is described.

Japanese Patent Laid-Open No. 10-202569

  An object of the present invention is to appropriately hold components scattered on a component support surface.

  In order to solve the above problems, a component holding device according to the present invention is a component holding device that holds a plurality of components of one type scattered on a component support surface, and is scattered on the component support surface. A holder that holds a plane of one of the plurality of parts, a moving device that moves the holder to an arbitrary position above the component support surface, and an operation of the holder and the moving device. A control device for controlling, based on two-dimensional image data obtained by imaging the plurality of components of the one type scattered on the component support surface from above with an imaging device, When the holding device holds one component among a plurality of components scattered on the component support surface by operating the moving device, the holding device interferes with a component other than the one component to be held. Whether or not Te, the determined components and do not interfere, so that the holder holds, and controls the operation of the mobile device and the holder.

  According to the component holding device described in the present invention, it is possible to hold components appropriately scattered from the component support surface.

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 perspective view which shows a components feeder. It is a perspective view which shows a components supply unit. It is sectional drawing which shows a component feeder. It is an enlarged view which shows the lower end part of the grip of a components feeder. It is a perspective view which shows the component supply unit of the state which the component support member moved to the retracted position. It is an enlarged view of a cam member and a cam follower. 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 perspective view which shows the components return apparatus of the state which the components collection container fell to the descent | fall position. It is a perspective view which shows the components return apparatus of the state which the components collection container has raised from the falling end position. It is a perspective view which shows the components return apparatus of the state which the components collection container raised further from the falling end position. It is a perspective view which shows a components delivery apparatus. It is a perspective view which shows the component holding head of the state in which the component holder is located in a non-rotation position. It is a figure which shows a component holder. It is a perspective view which shows the component holding head of the state in which the component holder is located in the turning position. It is a conceptual diagram which shows a holder attachment apparatus. It is a perspective view which shows the components carrier of a shuttle apparatus. It is sectional drawing which shows the component receiving member of a component carrier. 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 the lead component of the state scattered on the component support member. It is a perspective view showing a component scattered state realization device and a component return device. It is a figure which shows the positional relationship of a component return apparatus and a component holding head. It is a perspective view which shows a components feeder. It is sectional drawing which shows a component feeder.

  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 substrate 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. 21) 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 substrate conveyance holding device 22 conveys the circuit substrate 12 and holds the circuit substrate 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 FIG. 3, the bulk component supply device 32 includes a main body 80, a component supply device 82, a component scattered state realization device 84, a component return device 86, an imaging device 88, and a component delivery device 90. doing. The component supplier 82, the component scattered state realizing device 84, and the component returning device 86 are assembled to a frame 96 fixed to the main body 80, and the component supplier 82, the component scattered state realizing device 84, and the component returning device 86 are assembled. Thus, a component supply unit 98 is configured. In the bulk component supply device 32, five component supply units 98 are arranged, and these five component supply units 98 are arranged in a line in the X direction. FIG. 3 is a diagram showing an internal structure of the bulk component supply device 32.

(A) Component supplier The component supplier 82 includes a component container 100, a housing 102, and a grip 104, as shown in FIGS.

(I) Component container The component container 100 has a generally rectangular parallelepiped shape, and an upper surface and a front surface are open. As shown in FIG. 6, the interior of the component container 100 is divided into a loading part 110 and a storage part 112 by a pair of inclined surfaces 106 and 108. Specifically, the inclined surfaces 106 and 108 are disposed so that the ends of the inclined surfaces 106 and 108 face each other, and the inclined surfaces 106 and 108 are inclined so that the opposite ends of each other are positioned below. Further, the end portions of the inclined surfaces 106 and 108 facing each other are separated from each other, and an opening 114 is formed between the end portions of the inclined surfaces 106 and 108 facing each other. It should be noted that the slope of the inclined surface 106 located on the front side where the component container 100 opens is gentler than the inclination of the inclined surface 108, and the end of the inclined surface 106 on the opening 114 side is the opening of the inclined surface 108. It is located above the end on the 114 side. Further, the opening 114 is larger than the component accommodated in the component container 100.

  With such a structure, when a plurality of parts are put into the loading unit 110 from the upper surface where the parts container 100 opens, the plurality of parts roll on the inclined surfaces 106 and 108, and from the opening 114 to the housing part 112. Stored. Note that the bottom surface of the storage portion 112, that is, the bottom surface of the component storage device 100 is an inclined surface 116, which is inclined toward the front surface of the component storage device 100 that opens.

(Ii) Housing As shown in FIGS. 4 and 5, 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. The pair of side walls 120 are connected by a connecting rod 130 at the front end and connected by a connecting rod 132 at the lower end. 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 projecting portion 122, and the component container 100 is slidably supported by the support shaft 134 at the lower end portion on the rear side. Yes. That is, the component container 100 swings around the support shaft 134 inside the housing 102. Further, a bar-shaped stopper 136 is bridged between the pair of side walls 120 at the upper end, and a bar-shaped stopper 138 is bridged at the lower end. In the parts container 100, the stopper 136 is restricted from swinging upward, and the stopper 138 is restricted from swinging downward.

  A notch 140 is formed on the front side of the side wall of the component container 100, and the brush holding member 142 is bridged between the pair of side walls 120 so as to be positioned in the notch 140. As a result, the component container 100 swings inside the housing 102 without contacting the brush holding member 142. The brush 144 is fixed to the lower end portion of the brush holding member 142 so as to extend downward. The brush 144 is formed in a plate shape, and the size of the brush 144 formed in the plate shape in the width direction is slightly smaller than the size in the width direction inside the component container 100. Thereby, when the component storage device 100 swings upward, the brush 144 relatively moves toward the inside of the component storage device 100.

  Further, as shown in FIG. 5, 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 provided upright at both ends in the width direction of the inclined plate 152 (however, only one of the pair of side plates is shown in FIG. 5). 154. The inclined plate 152 is composed of three different inclined surfaces. First, the first inclined surface 156 closest to the component container 100 is inclined in the same direction as the inclined surface 116 of the component container 100, and is inclined to the same extent as the inclined surface 116. The second inclined surface 158 that is continuous with the first inclined surface 156 is inclined in the same direction as the first inclined surface 156, and is inclined at a steeper angle than the first inclined surface 156. The third inclined surface 160 continuing to the second inclined surface 158 is inclined in the same direction as the second inclined surface 158, and is substantially inclined in the vertical direction.

(Iii) Grip The grip 104 includes a fixed holding member 170 and a movable holding member 172, as shown in FIG. 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. Further, the movable gripping member 172 also has a square cylindrical shape, and one side surface is open. The dimension in the width direction of the movable gripping member 172 is slightly smaller than the dimension in the width direction of the fixed gripping member 170. The movable gripping member 172 is fitted into the fixed gripping member 170 so that the side surface of the movable gripping member 172 faces the side surface of the fixed gripping member 170 opened.

  Further, a support shaft 174 is bridged between the pair of side walls 120 at the projecting portion 122, and the movable gripping member 172 is supported by the support shaft 174 at the lower end portion so as to be slidable. That is, the movable gripping member 172 swings around the lower end portion, and the upper end portion 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 by a connecting arm 176 at the upper end. For this reason, as the movable gripping member 172 swings, the parts 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.

  Further, a notch 178 is formed on the side surface of the fixed gripping member 170. The notch 178 includes a first notch 180 that is notched in a horizontal direction from the open side of the fixed gripping member 170 toward the inside, and a downward notch from the inner end of the first notch 180. A second cutout portion 182 is formed. On the other hand, an engaging member 184 that engages with the notch 178 is fixed to the side surface of the movable gripping member 172. 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. At this time, the engaging member 184 of the movable gripping member 172 is engaged with the first notch portion 180 of the notch portion 178.

  That is, in a normal state, the movable gripping member 172 is biased in a direction away from the fixed gripping member 170, and the upper end portion of the movable gripping member 172 is swinging in a direction away from the fixed gripping member 170. The component container 100 swings downward, and the component container 100 contacts the stopper 138 as shown in FIG. At this time, the front end portion of the inclined surface 116 of the component container 100 faces the rear end portion of the first inclined surface 156 of the inclined plate 152 with almost no gap. Further, when the parts container 100 is swinging downward, the brush 144 does not move relatively toward the inside of the parts container 100, so that the lower end portion of the brush 144 and the parts container 100 are not moved. A large opening is formed between the inclined surface 116 and the inclined surface 116. For this reason, normally, the components stored in the storage portion 112 of the component storage device 100 roll down on the upper surface of the inclined plate 152.

  The component supplier 82 is detachably attached to the frame 96. Specifically, the frame 96 has a pair of side frame portions 190 as shown in FIG. The pair of side frame portions 190 are generally plate-shaped and are arranged 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 82, that is, the distance between the pair of side walls 120. For this reason, the component supplier 82 is inserted between the pair of side frame portions 190.

  An engagement pin 192 that protrudes toward the inside of the frame 96 is fixed to the inner wall surface of each side frame portion 190. On the other hand, a notch 196 is formed at the lower edge of each side wall 120 of the component supplier 82. Further, as shown in FIG. 5, a longitudinal support member 200 is fixed to the inner wall surface of each side frame portion 190 so as to extend in the front-rear direction. An inclined surface 202 that is inclined downward as it goes forward is formed at the front end of the support member 200. On the other hand, an engagement pin 206 is erected on the outer wall surface of each side wall 120 of the component supplier 82. When the component feeder 82 is inserted between the pair of side frame portions 190, the engagement pin 192 engages with the notch portion 196, and the engagement pin 206 is on the inclined surface 202 of the support member 200. Supported. Thereby, the component supplier 82 is positioned between the pair of side frame portions 190.

  Also, as shown in FIG. 4, a frame main body 210 is disposed below the connecting member 126 of the component supplier 82 positioned between the pair of side frame portions 190. As shown in FIG. 7, a pair of support blocks 212 are fixed to the upper surface of the frame main body 210 side by side in the width direction of the frame 96. An engagement rod 214 is bridged between the pair of support blocks 212. A claw member 216 is fixed to the lower end portion of the movable gripping member 172 of the grip 104 of the component supplier 82. The claw member 216 is generally L-shaped, and a bent tip portion extends toward the engagement rod 214. Then, the movable gripping member 172 is biased in the direction away from the fixed gripping member 170 by the elastic force of the spring, that is, in a normal state, the tip of the claw member 216 is engaged with the engagement rod 214. Yes. As a result, the component supplier 82 is locked to the frame 96 while being positioned between the pair of side frame portions 190.

  When the operator grips the grip 104 of the component supplier 82, the movable grip member 172 approaches the fixed grip member 170 against the elastic force of the spring. At this time, the claw member 216 fixed to the lower end portion of the movable gripping member 172 swings in a direction away from the engagement rod 214. Thereby, the engagement of the claw member 216 with the engagement rod 214 is released. For this reason, the component supplier 82 is removed from the frame 96 by lifting the component supplier 82 while the operator holds the grip 104 of the component supplier 82.

  An RFID (abbreviation for radio frequency identifier) 217 is disposed inside the lower end of the fixed gripping member 170 of the grip 104. The RFID 217 transmits ID information by short-range wireless communication using radio waves, and information on components supplied by the component supplier 82 is transmitted as ID information. On the other hand, a receiver 218 capable of receiving ID information transmitted from the RFID 217 is disposed on the upper surface of the frame main body 210. Thereby, in the bulk component supply device 32, when the component feeder 82 is attached to the frame 96, the ID information is received by the receiver 218, and is supplied by the component feeder 82 based on the ID information. Parts are verified.

(B) Component Scattering State Realization Device The component scattering state realization device 84 includes a component support member 220, a component support member moving device 222, and a feeder vibration device 224, as shown in FIG. The component support member 220 includes a component support plate 226 and a pair of side wall portions 228. The component support plate 226 has a generally longitudinal plate shape and is disposed so as to extend forward from below the inclined plate 152 of the component feeder 82. The pair of side wall portions 228 are also plate-shaped and face each other in a state of being fixed to both side edges in the longitudinal direction of the component support plate 226. Each side wall portion 228 is fixed to a side edge in the longitudinal direction of the component support plate 226 so as to protrude in the vertical direction of the component support plate 226.

  The component support member moving device 222 includes a slider 230 and a slide mechanism 232. The slider 230 is fixed to the lower end of the side wall 228 of the component support member 220. The slide mechanism 232 is a mechanism for moving the slider 230 in the front-rear direction by driving an electromagnetic motor (see FIG. 21) 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 82 with the upper surface of the component support plate 226 being horizontal. As shown in FIG. 5, the component support member 220 has a component supply position where substantially the entire component support plate 226 is exposed, and the entire component support plate 226 is located below the component feeder 82 as shown in FIG. Move between the retracted position.

  As shown in FIG. 5, 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. As shown in FIG. 9, each of the plurality of teeth 245 is defined by an inclined surface 246 that extends upward toward the rear, and a vertical surface 248 that extends downward in the vertical direction from the upper end of the inclined surface 246.

  The cam follower 242 includes a bracket 250, a lever 252, and a roller 254. The bracket 250 is fixed to the lower end portion on the front side of the side wall 120 of the component supplier 82. The lever 252 is disposed so as to extend in the vertical direction, and is held by the bracket 250 at the upper end portion so as to be swingable around an axis parallel to the width direction of the component feeder 82. The roller 254 is held by the lower end of the lever 252 so as to be rotatable around an axis parallel to the width direction of the component supplier 82. 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 bracket 250, and a lever 252 urged by the elastic force of the coil spring is in contact with the stopper 244. That is, the stopper 244 restricts the forward movement of the lever 252. Note that the lever 252 has a posture of extending downward in the vertical direction as shown in FIG. 5 in a state in which the forward swing is restricted.

(C) Component Return Device The component return device 86 includes a container lifting / lowering device 260, a component recovery container 262, a motion conversion mechanism 264, and a shutter 265, as shown in FIG. The container lifting device 260 includes an air cylinder 266 and a lifting member 268. The air cylinder 266 has a piston rod 270, and is disposed on the front side of the component support member 220 so that the piston rod 270 expands and contracts in the vertical direction. The air cylinder 266 is fixed to the end portion on the front side of the slider 230. 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 elevating member 268 is fixed to the tip of the piston rod 270, and a component collection container 262 is disposed on the upper surface of the elevating member 268. Thereby, the parts collection container 262 moves in the vertical direction by the operation of the air cylinder 266. At this time, the component collection container 262 is positioned at a rising end position above the component feeder 82 as shown in FIG. 10 and below the component support plate 226 of the component support member 220 as shown in FIG. It moves between the descending end position.

  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 about an axis parallel to the width direction of the component feeder 82. Accordingly, the bottom of the parts collection container 262 is horizontal, the parts receiving attitude (the attitude of the parts collection container 262 in FIG. 11) 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 a component discharge posture (the posture of the component collection container 262 in FIG. 10) that can be discharged. The component collection container 262 is urged by a coil spring (not shown) in the direction of the component receiving posture. Thereby, the parts collection container 262 is maintained in the parts receiving posture in the normal time. In addition, the rear wall of the component collection container 262 is an inclined wall that is directed downward toward the rear in the component discharge posture.

  As shown in FIG. 5, the motion conversion mechanism 264 includes a projecting pin 272 and an engagement block 274. The protruding pin 272 is disposed at the rear end of the component collection container 262 in the component receiving posture, and protrudes outward on the side of the component collection container 262. On the other hand, the engagement block 274 is fixed to the inside of the upper end portion on the front side of the side frame portion 190. As shown in FIG. 10, 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.

  The shutter 265 is generally plate-shaped, and the width direction dimension thereof is approximately the same as the width direction dimension of the component support member 220. A long hole 278 is formed in the shutter 265 so as to extend in the vertical direction, and a protrusion 280 fixed to the front end of the slider 230 is inserted into the long hole 278 with a clearance. ing. Thereby, the shutter 265 slides between the component support member 220 and the component return device 86 in the direction along the elongated hole 278, that is, in the vertical direction. Note that the shutter 265 is biased upward by a coil spring 282.

  Further, as shown in FIG. 11, a protruding portion 284 that protrudes rearward is formed at the rear end portion of the elevating member 268. On the other hand, a bent portion 286 bent toward the front is formed at the lower end portion of the shutter 265. In a state where the component collection container 262 is lowered to the lower end position, the protruding portion 284 of the elevating member 268 is engaged with the bent portion 286 of the shutter 265 from above. Thereby, the shutter 265 is prevented from moving upward by the coil spring 282. At this time, the upper end of the shutter 265 is positioned below the component support plate 226 of the component support member 220. As shown in FIG. 12, when the component collection container 262 is raised by the operation of the air cylinder 266, the elevating member 268 is also raised. At this time, the shutter 265 is lifted together with the lifting member 268 by the elastic force of the coil spring 282. Further, when the component collection container 262 is raised by the operation of the air cylinder 266 and the elevating member 268 is also raised, the shutter 265 is also raised, but as shown in FIG. 13, the protrusion 280 comes into contact with the lower end of the long hole 278. As a result, the rise of the shutter 265 is restricted. Note that the upper end of the shutter 265 in a state where the ascent is restricted is located above the inclined plate 152 of the component supplier 82.

(D) Imaging Device As shown in FIG. 3, the imaging device 88 includes a camera 290 and a camera moving device 292. The camera moving device 292 includes a guide rail 296, a slider 298, and an electromagnetic motor (see FIG. 21) 299. The guide rail 296 is fixed to the main body 80 so as to extend in the width direction of the bulk component supply device 32 above the component scattered state realization device 84. The slider 298 is attached to the guide rail 296 so as to be slidable along the guide rail 296, and slides to an arbitrary position by the operation of the electromagnetic motor 299. The camera 290 is attached to the slider 298 so as to face downward. A component support member 220 at the component supply position is located below the camera 290 mounted on the slider 298. As a result, the camera 290 moves above the component support member 220 of any component supply unit 98 of the five sets of component supply units 98 and images a plurality of components on the component support plate 226 of the component support member 220. To do.

(E) Component Delivery Device As shown in FIGS. 3 and 14, the component delivery device 90 includes a component holding head moving device 300, a component holding head 302, and two shuttle devices 304.

(I) Component Holding Head Moving Device 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 includes a Y slider 316, a pair of guide rails 318, and an electromagnetic motor (see FIG. 21) 319. The pair of guide rails 318 are provided on the main body 80 so as to extend in the Y direction with the five sets of component supply units 98 interposed therebetween. The Y slider 316 is supported at both ends by a pair of guide rails 318 so as to be slidable in the Y direction, and is moved to an arbitrary position in the Y direction by driving of the electromagnetic motor 319. The X-direction moving device 310 includes an X slider 320 and an electromagnetic motor (see FIG. 21) 321. The X slider 320 is slidably held in the X direction on the side surface of the Y slider 316, and moves to an arbitrary position in the X direction by driving the electromagnetic motor 321. The Z direction moving device 314 includes a Z slider 322 and an electromagnetic motor (see FIG. 21) 323. The Z slider 322 is held on the side surface of the X slider 320 so as to be slidable in the Z direction, and is moved to an arbitrary position in the Z direction by driving of the electromagnetic motor 323.

  A component holding head 302 is mounted on the Z slider 322. Thereby, the component holding head 302 is moved to an arbitrary position in the horizontal direction and moved in the vertical direction above the component support members 220 of the five sets of component supply units 98 by the operation of the component holding head moving device 300. Is possible. For this reason, the component holding head 302 is located between a holding position at which a component can be held from the component support member 220 of an arbitrary component supply unit 98 of the five sets of component supply units 98 and a retracted position retracted from the holding position. Move with. The vertical movement range of the component holding head 302 by the component holding head moving device 300 is between the upper surface of the component support plate 226 of the component support member 220 and the imaging device 88. That is, the moving range of the component holding head 302 by the component holding head moving device 300 is different from the moving range of the camera 290 by the camera moving device 292. Therefore, the camera 290 and the component holding head 302 of the imaging device 88 can be simultaneously moved above the component support member 220 of the same component supply unit 98 among the five sets of component supply units 98.

(Ii) Component Holding Head As shown in FIG. 15, the component holding head 302 includes a head main body 330, a component holder 332, a holder turning device 334, a holder rotating device 335, and a holder attaching device (see FIG. 18) 336. Including. The head body 330 is formed integrally with the Z slider 322. As shown in FIG. 16, the component holder 332 includes a main body portion 337, a pair of claw portions 338, and a claw portion sliding device 339. The pair of claw portions 338 are disposed so as to extend downward from the lower surface of the main body portion 337, and slide so as to be able to approach and separate from each other. Further, the claw part sliding device 339 slides the pair of claw parts 338 in a direction to approach and separate. With such a structure, the component holder 332 holds the component by the pair of claw portions 338 by bringing the pair of claw portions 338 closer to each other. Further, the component holder 332 separates the component from between the pair of claws 338 by separating the pair of claws 338.

  The holder turning device 334 is a device for turning the component holder 332. Specifically, as shown in FIG. 15, the electromagnetic motor 340 is fixed to the head body 330 such that the output shaft 341 thereof extends in the vertical direction. Further, the screw rod 342 is disposed so as to extend in the vertical direction so as to be rotatable around the axis. Then, the rotational force of the electromagnetic motor 340 is transmitted to the screw rod 342 via the timing pulleys 344 and 346 and the timing belt 348. A nut 350 is engaged with the screw rod 342, and a slider 352 is fixed to the nut 350. As a result, the slider 352 slides up and down by the rotation of the screw rod 342, that is, by driving the electromagnetic motor 340.

  A spline shaft 354 is fixed to the slider 352 so as to extend downward, and a lever 356 is attached to a lower end portion of the spline shaft 354 so as to be rotatable around a horizontal axis line by a shaft 357 at one end portion. It has been. A holding member 358 is fixed to the other end portion of the lever 356, and the component holder 332 is held by the holding member 358. An arm 360 is fixed to the side surface of the lever 356 so as to protrude in a direction perpendicular to the rotation axis of the lever 356. A roller 362 is attached to the distal end side of the arm 360, and the roller 362 is rotatable around an axis parallel to the rotation axis of the lever 356. A cam member 364 is fixed to the head main body 330, and a long hole 366 extending in the horizontal direction is formed in the cam member 364. A roller 362 that functions as a cam follower is fitted in the elongated hole 366 and moves along the elongated hole 366.

  With such a structure, when the slider 352 is slid to the rising end position, as shown in FIG. 15, the spline shaft 354 and the lever 356 are coaxially positioned, and the component holder 332 It is located in a non-turning position without turning. When the slider 352 is lowered by driving the electromagnetic motor 340, the roller 362 moves in the long hole 366 in a direction away from the spline shaft 354. As a result, the lever 356 rotates about the shaft 357, and the component holder 332 rotates. At this time, when the slider 352 slides to the lower end position, as shown in FIG. 17, the component holder 332 turns 90 degrees together with the lever 356 and is located at the turning position. In this way, the component holder 332 is turned between the non-turning position and the turning position by driving the electromagnetic motor 340.

  The holder rotation device 335 is a device that rotates the component holder 332 around its axis. Specifically, the electromagnetic motor 370 is fixed to the head body 330 such that its output shaft (not shown) extends in the vertical direction, and a gear 372 is attached to the output shaft of the electromagnetic motor 370. Further, the spline shaft 354 is fitted with a gear 374 that is relatively movable in the axial direction but is not relatively rotatable. The gear 372 and the gear 374 are engaged with each other. As a result, the spline shaft 354 rotates around the axis by driving the electromagnetic motor 370. The spline shaft 354 and the gear 374 can move relative to each other in the axial direction of the spline shaft 354. Therefore, even when the spline shaft 354 moves up and down when the component holder 332 turns, the rotation of the electromagnetic motor 370 can be performed. The force is transmitted to the spline shaft 354. Note that a transmission mechanism (not shown) for transmitting the rotational force of the spline shaft 354 to the component holder 332 is built in the lever 356. As the spline shaft 354 rotates, the component holder 332 Rotate around its axis.

  The holder mounting device 336 is a device for detachably mounting the component holder 332 to the holding member 358. As shown in FIG. 18, the holder mounting device 336 includes a recess 376, a negative pressure source 378, an electromagnetic valve 380, a positive pressure source 382, and an electromagnetic valve 384. The recess 376 is formed on the contact surface of the holding member 358 with the component holder 332 and functions as a negative pressure chamber. A negative pressure source 378 and a positive pressure source 382 are connected to the concave portion 376, and an electromagnetic valve 380 is disposed in a path between the concave portion 376 and the negative pressure source 378, and the concave portion 376 and the positive pressure source 382 are connected. An electromagnetic valve 384 is disposed in the path. As a result, the component holder 332 comes into contact with the contact surface of the holding member 358, and negative pressure is supplied to the recess 376 by the operation of the electromagnetic valve 380 in a state where the recess 376 is closed by the component holder 332. Thus, the component holder 332 is held by the holding member 358. Then, by operating the electromagnetic valve 384, positive pressure is supplied to the concave portion 376, whereby the component holder 332 held by the holding member 358 is released.

  As described above, the component holder 332 grips a component by the pair of claw portions 338. The component holder 332 has a size of the claw portion 338 and a distance between the pair of claw portions 338. There are several types with different distances. For this reason, as shown in FIG. 3, the loose component supply device 32 is provided with a holder accommodating device 386 in the main body 80. A plurality of types of component holders 332 having different distances between the pair of claw portions 338 and the like are stored in the holder storage device 386, and the component holding head 302 is replaced with a component holding head moving device as necessary. The component holder 332 mounted on the component holding head 302 and the component holder 332 stored in the holder storage device 386 are automatically exchanged.

(Iii) Shuttle device Each of the two shuttle devices 304 includes a component carrier 388 and a component carrier moving device 390, as shown in FIG. It is fixed to 80. 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. 19, the component receiving member 392 is detachably fitted into the concave portion 396 of the component carrier 388 and is positioned by the convex portions 398 and 400 in the front-rear direction and the lateral direction, respectively. Further, as shown in FIG. 20, the parts supplied by the bulk parts supply device 32 are electronic circuit parts 410 having leads (hereinafter may be abbreviated as “lead parts”) 410, and the lead parts 410 are parts. It is composed of a main body 412 and two leads 414. The component main body 412 has a generally block shape, and the two leads 414 protrude vertically from the bottom surface 415 of the component main body 412.

  A component receiving recess 416 is formed in the component receiving member 392. 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. Note that the opening of the lead receiving recess 420 is smaller than the opening of the main body receiving recess 418, and a step surface 422 is formed between the lead receiving recess 420 and the main body receiving recess 418. The edge of the opening of the lead receiving recess 420 is chamfered to form a guide surface 426. Then, along the guide surface 426, the component main body 412 of the lead component 410 is inserted into the main body receiving recess 418 of the component receiving recess 416. At this time, the lead component 410 is configured such that the lead 414 faces downward, and the lead 414 is inserted into the lead receiving recess 420. That is, the lead component 410 is inserted into the main body receiving recess 418 with the side surface 428 perpendicular to the bottom surface 415 of the component main body 412 extending along the guide surface 426 of the component receiving member 392, and the lead 414 is connected to the lead receiving recess. 420 is inserted. Note that the depth dimension of the lead receiving recess 420 is deeper than the length dimension of the lead 414. For this reason, the lead component 410 is placed inside the component receiving recess 416 with the bottom surface 415 of the component body 412 supported from below by the step surface 422. Incidentally, each of the body receiving recess 418 and the lead receiving recess 420 of the component receiving recess 416 has a shape corresponding to the shape, dimensions, etc. of the lead component 410 placed in the component receiving recess 416, and there are a plurality of types. A component receiving member 392 is present. Therefore, the component receiving member 392 mounted on the component carrier 388 can be replaced in accordance with the lead component 410 placed in the component receiving recess 416.

  As shown in FIG. 3, the component carrier moving device 390 includes a moving device main body 430 and a main body slide device 432. The moving device main body 430 is a plate-like longitudinal member, and is disposed on the front side of the component supply unit 98 so as to extend in the front-rear direction. A guide rail 434 is disposed on the upper surface of the moving device main body 430 so as to extend in the longitudinal direction of the moving device main body 430, and a component carrier 388 is engaged with the guide rail 434. As a result, the component carrier 388 slides along the guide rail 434 on the upper surface of the guide rail 434.

  The main body slide device 432 includes an endless belt 436 and an electromagnetic motor (see FIG. 21) 438. A plurality of pulleys (not shown) that can rotate around an axis parallel to the lateral direction are disposed at both ends in the longitudinal direction of the moving device main body 430, and the endless belt 436 is wound around the plurality of pulleys. ing. Then, the endless belt 436 circulates as the pulley rotates by driving the electromagnetic motor. A component carrier 388 is fixed to the endless belt 436. As a result, the component carrier 388 slides to an arbitrary position in the front-rear direction on the upper surface of the guide rail 434. When the component carrier 388 is slid in the direction approaching the component supply unit 98, the component carrier 388 is slid to the 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 away from the component supply unit 98, 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.

  Further, as shown in FIG. 21, 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 84, a component return device 86, 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 84, the component return device 86, the camera moving device 292, the component holding head moving device 300, the component holding head 302, and the shuttle device 304. . The image processing device 454 is connected to the imaging device 88 and processes imaging data captured by the imaging device 88. 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 88.

<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) Lead component supply by bulk component supply device In the bulk component supply device 32, the lead component 410 is put into the component container 100 of the component feeder 82 by the operator, and the lead component 410 that is put in is supplied as a component. By the operation of the supply unit 98 and the component delivery device 90, the component is supplied in a state of being placed on the component receiving member 392 of the component carrier 388. Specifically, the operator inputs a plurality of lead components 410 of the same type from the opening on the upper surface of the component container 100 of the component feeder 82 of an arbitrary component supply unit 98 among the five sets of component supply units 98. . At this time, as shown in FIG. 8, the component support member 220 is moved to a retracted position below the component feeder 82 by the operation of the component support member moving device 222, and in front of the component feeder 82, A parts collection container 262 is located.

  As shown in FIG. 6, the lead component 410 thrown from the opening on the upper surface of the component container 100 falls from the loading part 110 of the component container 100 to the storage part 112 through the opening 114. At this time, the dropped lead component 410 rolls on the inclined surface 116 and spreads on the inclined surface 116. When the lead component 410 is clogged in the opening 114 and the opening 114 is closed, a plurality of lead components 410 loaded from the opening on the upper surface of the component container 100 are stacked in the loading unit 110. It becomes a state. Even if 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 recovery container 262 located in front of the component supplier 82.

  After the lead component 410 is inserted into the component container 100, the component support member 220 is moved from below the component feeder 82 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 moves up along the inclined surface 246 of the teeth 245 of the cam member 240 as shown in FIG. Then, the roller 254 gets over the tooth 245 on the inclined surface 246 of the tooth 245. 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 supply device 82 moves up and down by getting over the teeth 245 of the roller 254. That is, when the component support member 220 moves forward while the roller 254 is engaged with the teeth 245, the roller 254 gets over the plurality of teeth 245, and the component supplier 82 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 supplier 82 and the inclination of the inclined surface 116, and the component of the component support member 220 via the inclined plate 152. It is discharged onto the upper surface of the support plate 226. At this time, the side wall portion 228 of the component support member 220 prevents the lead component 410 from falling from the upper surface of the component support plate 226. Further, the lead component 410 clogged in the opening 114 by the vibration of the component supplier 82 falls onto the inclined surface 116 through the opening 114 and is discharged onto the upper surface of the component support plate 226 through the inclined plate 152. Is done. As the component support member 220 moves forward, the area of the component support plate 226 exposed from below the component feeder 82 increases, and the lead component 410 is sequentially transferred to the component support plate 226 corresponding to the increased area. Is discharged. At the timing when the roller 254 gets over the teeth 245, the component supplier 82 vibrates, and the lead component 410 is discharged from the component supplier 82 onto the upper surface of the component support plate 226. Further, the cam member 240 is detached from the cam follower 242 before the component support member 220 reaches the component supply position. Therefore, when the cam member 240 is detached from the cam follower 242 and the component support member 220 moves to the component supply position, the component supplier 82 does not vibrate, and the lead component is placed on the upper surface of the component support plate 226 from the component supplier 82. 410 is not discharged. Thereby, in the component supply unit 98, when the component support member 220 has reached the component supply position, a plurality of lead components 410 are scattered on the upper surface of the component support plate 226 of the component support member 220 as shown in FIG. Is done.

  When the component support member 220 reaches the component supply position, the camera 290 of the imaging device 88 is moved above the component support plate 226 in which the lead components 410 are scattered by the operation of the camera moving device 292, and the lead component 410 is imaged. To do. A plurality of lead components 410 scattered on the upper surface of the component support plate 226 can be picked up by the component holder 332 based on the imaging data (hereinafter may be referred to as “pickup target component 410t”). And a lead component that cannot be picked up by the component holder 332 (hereinafter sometimes referred to as “non-pickup target component 410s”).

  Specifically, the lead component 410 includes a block-shaped component main body 412 and two leads 414 protruding from the bottom surface 415 of the component main body 412 as described above. On the other hand, the component holder 332 holds the component by holding the component between the pair of claw portions 338. For this reason, when the lead component 410 is held by the component holder 332, the pair of claw portions 338 must sandwich a surface other than the bottom surface 415 on which the lead 414 of the component body 412 is disposed. . That is, the pair of claws 338 needs to sandwich the pair of side surfaces 428 of the component main body 412. Therefore, the position of the pair of side surfaces 428 of the component main body 412 of the lead component 410 is detected based on the imaging data, and the pair of side surfaces 428 of the component main body 412 is sandwiched by the pair of claw portions 338.

  However, the component support plate 226 in which the lead components 410 are scattered is provided with a side wall portion 228 for preventing the lead component 410 from dropping off from the component support plate 226. For this reason, when the lead component 410 at a position close to the side wall portion 228 is held by the component holder 332, the component holder 332 and the side wall portion 228 may interfere with each other. Therefore, the lead component 410 at a position away from the side wall portion 228 is divided into pickup target components 410t. However, there are components that can be held by the component holder 332 without interfering with the side wall portion 228 even if the lead component 410 is located near the side wall portion 228.

  Specifically, for example, as shown in FIG. 23, in the lead component 410 in which the side surface 428 is in contact with or close to the side wall portion 228 among the lead components 410 located near the side wall portion 228, the side surface 428 and the side wall The clearance with the portion 228 is 0 or almost does not exist. That is, the claw portion 338 of the component holder 332 cannot be inserted between the side surface 428 and the side wall portion 228. For this reason, the lead component 410 whose side surface 428 is in contact with or close to the side wall portion 228 cannot be held by the component holder 332.

  On the other hand, in the lead component 410 located near the side wall portion 228, the surface 460 facing the bottom surface 415 of the lead component 410 is in contact with or close to the side wall portion 228. There is a predetermined clearance between 228. Therefore, the claw portion 338 of the component holder 332 can be inserted between the side surface 428 and the side wall portion 228, and the lead component 410 can be held by the component holder 332. More specifically, the side surface 428 of the lead component 410 is clamped by the claw portion 338 of the component holder 332, but the entire side surface 428 is not clamped by the claw portion 338, and the central portion of the side surface 428 is clamped by the claw portion 338. It is pinched by. That is, the lead component 410 can be held by the component holder 332 if a predetermined clearance exists between the center portion of the side surface 428 and the side wall portion 228.

  In view of the above, when the lead components 410 scattered on the component support plate 226 are classified into the pickup target component 410t and the non-pickup target component 410s, the leads are read based on the imaging data of the imaging device 88. The position of the pair of side surfaces 428 of the component 410 is detected, and the separation distance between the center portion of each side surface 428 and the side wall portion 228 is calculated. Then, it is determined whether or not the separation distance is greater than or equal to the set distance, and the lead component 410 that is determined to be greater than or equal to the set distance is classified as a pickup target component 410t, and the separation distance is determined to be less than the set distance. The lead component 410 is divided into non-pickup target components 410s. The set distance may be any distance as long as the claw portion 338 can be inserted. For example, the set distance can be set slightly longer than the distance corresponding to the thickness of the claw portion 338.

  Further, even if the lead component 410 is located away from the wall surface, it may be classified as a non-pickup target component 410s when two or more lead components 410 are approaching. Specifically, as shown in FIG. 23, the two lead components 410 are located at the center of the component support plate 226, the side surface 428 of one lead component 410 of the two lead components 410, and the other The surface 460 facing the bottom surface 415 of the lead component 410 may be in contact with or in close proximity. In such a case, since the other lead component 410 is in contact with or close to the side surface 428 of one lead component 410 of the two lead components 410, the one lead component 410 can be gripped. Can not. However, since one lead component 410 is not in contact with or close to the side surface 428 of the other lead component 410 of the two lead components 410, the other lead component 410 can be gripped. .

  For this reason, based on the imaging data of the imaging device 88, the separation distance between the central portion of each side surface 428 of the component to be picked up and the component other than the component is calculated. Then, it is determined whether or not the separation distance is greater than or equal to the set distance, and the lead component 410 that is determined to be greater than or equal to the set distance is classified as a pickup target component 410t, and the separation distance is determined to be less than the set distance. The lead component 410 is divided into non-pickup target components 410s.

  Thus, based on the separation distance between the center portion of the side surface 428 of the lead component 410 and the side wall portion 228, the lead component 410 scattered on the component support plate 226 is changed into the pickup target component 410t and the non-pickup target component 410s. By sorting, it is possible to pick up many lead components 410 from the component support plate 226.

  Further, when the lead components 410 scattered on the component support plate 226 are classified into the pickup target component 410t and the non-pickup target component 410s, the component support plate 226 is compared with the pickup target component 410t based on the imaging data. Information such as the position above and the posture of the lead component 410 is acquired. The pickup target component 410t is gripped by the component holder 332 based on position information, posture information, and the like.

  Specifically, the position on the XY coordinate of the pickup target component 410t on the component support plate 226 is calculated based on the imaging data. At this time, the position on the XY coordinate of the pickup target component 410t is calculated with reference to a preset reference position mark (for example, written in advance on the component support plate 226). Based on the calculated position information of the pickup target component 410t, the operation of the component holding head moving device 300 is controlled, and the component holding head 302 is moved above the pickup target component 410t.

  Further, the posture of the pickup target component 410t on the component support plate 226 is calculated as an angle θ between the reference line A on the XY coordinates and the reference line B of the pickup target component 410t. Specifically, for example, the reference line A on the XY coordinates is set as a line parallel to the X direction or the Y direction, and the reference line B of the pickup target component 410t is set as a line parallel to the lead 414. In this case, an angle θ at which the reference line A and the reference line B intersect counterclockwise is calculated based on the imaging data. Then, based on the calculated angle θ, the operation of the holder rotating device 335 is controlled so that the pair of claws 338 of the component holder 332 and the pair of side surfaces 428 of the pickup target component 410t are opposed to each other. Then, the component holder 332 is rotated. Accordingly, the pickup target component 410t is gripped on the pair of side surfaces 428 by the pair of claw portions 338 of the component holder 332.

  Further, when the pickup target component 410 t is held by the component holder 332, the component holder 332 is located at the non-turning position. Then, after the pickup target component 410t is held by the component holder 332, the component holding head 302 is moved above the component carrier 388. At this time, the component carrier 388 is operated by the operation of the component carrier moving device 390. Moved to the parts receiving position. Then, when the component holding head 302 moves above the component carrier 388, the component holder 332 is turned to the turning position. However, since the turning direction of the component holder 332 is one direction, the lead 414 of the lead component 410 held by the component holder 332 at the turning position may not face downward in the vertical direction. For this reason, the holding posture by the component holder 332 is set to be picked up on the component support plate 226 so that the lead 414 of the lead component 410 held by the component holder 332 in the turning position faces downward in the vertical direction. Calculation is performed based on the posture information of the component 410t. The component holder 332 is rotated by the holder rotation device 335 before holding the pickup target component 410t so that the pickup target component 410t can be held in the calculated holding posture. That is, when the pickup target component 410t is held by the component holder 332, that is, when the pair of side surfaces 428 of the pickup target component 410t is gripped by the pair of claw portions 338, the reference line A and the reference line A Based on the angle θ formed with the line B and the holding posture by the component holder 332, the component holder 332 is rotated by the holder rotation device 335. Thereby, in the lead component 410 held by the component holder 332 in the turning position, the lead 414 is directed 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 along the guide surface 426. . 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. Next, 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. As a result, the lead component 410 placed on the component receiving member 392 of the component carrier 388 at the component supply position is held by the component holder 66 of the work heads 60 and 62. 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. For this reason, the lead component 410 can be appropriately held by the component holding head 302.

  Further, the moving range of the component holding head 302 by the component holding head moving device 300 and the moving range of the camera 290 by the camera moving device 292 are different as described above. For this reason, it is possible to obtain the position information of the pickup target component and the like with the camera 290 positioned on the component support member 220 for each pickup of the pickup target component by the component holding head 302. Specifically, the lead component 410 on the component support member 220 is imaged by the camera 290 located on the component support member 220. Then, based on the imaging data, a pickup operation by the component holding head 302 is performed, and the picked up pickup target component is placed on the component receiving member 392. At this time, the component holding head 302 has moved above the component carrier 388 of the shuttle device 304 and is not positioned above the component support member 220. Therefore, the lead component 410 on the component support member 220 is imaged by the camera 290 at the timing when the component holding head 302 is moved above the component carrier 388. Based on this imaging data, a new pickup target component is picked up by the component holding head 302. Thereby, it becomes possible to perform a pick-up work based on the latest information, and it is possible to ensure an appropriate pick-up work.

  As shown in FIG. 21, the individual control device 452 is a functional unit that determines whether the lead component 410 on the component support plate 226 is the pickup target component 410t or the non-pickup target component 410s. A determination unit 470 is included. In addition, the individual control device 452 is configured such that the component holding head moving device 300 and the component holding head 302 hold the lead component 410 determined by the determination unit 470 as the pickup target component 410t by the component holder 332. An operation control unit 472 is provided as a functional unit that controls the operation.

(B) Collection of lead parts into the parts container Further, when the pickup work of the parts to be picked up scattered on the part support member 220 proceeds, many non-pickup target parts remain on the part support member 220. In such a case, the lead component 410 on the component support member 220 is returned to the component container 100 by the operation of the component return device 86. Specifically, when the lead component 410 is returned to the component container 100, the component support member 220 is first moved downward of the component feeder 82 by the operation of the component support member moving device 222. At this time, as shown in FIG. 24, the lead component 410 on the component support member 220 is blocked by the third inclined surface 160 of the inclined plate 152 of the component supplier 82. For this reason, when the component support member 220 moves downward of the component feeder 82, the lead component 410 on the component support member 220 moves relatively forward with respect to the component support member 220, and the inside of the component collection container 262 It is scraped off.

  When the component support member 220 moves downward of the component feeder 82, a force in the same direction as the movement direction of the component support member 220 acts on the cam follower 242 from the cam member 240, but the lever of the cam follower 242 As shown in FIG. 9, 252 rotates against the elastic force of the coil spring. For this reason, when the roller 254 of the cam follower 242 gets over the teeth 245 of the cam member 240, the lever 252 rotates and the component feeder 82 does not vibrate. As a result, when the component support member 220 moves downward of the component supplier 82, the lead component 410 is not discharged from the component container 100 to the component support member 220.

  After the component support member 220 moves below the component feeder 82, that is, after the component support member 220 moves to the retracted position, the component collection container 262 is moved by the operation of the container lifting device 260 as shown in FIG. ,To rise. At this time, as the component collection container 262 is raised, the shutter 265 is raised by the elastic force of the coil spring 282 to block the front of the inclined plate 152 of the component feeder 82 as shown in FIG. As a result, discharge of the lead component 410 from the component supplier 82 is prevented.

  When the component collection container 262 further rises, the protruding pin 272 disposed in the component collection container 262 engages with the engagement block 274 disposed inside the side frame portion 190. Thereby, as shown in FIG. 10, the component collection container 262 rotates. At this time, the bottom surface of the component collection container 262 is vertical, and the wall surface of the component collection container 262 on the component container 100 side is an inclined surface toward the component container 100. For this reason, all the lead components 410 in the component collection container 262 are returned to the interior of the component container 100.

  In the loose component supply device 32, even when the lead components 410 scattered on the component support plate 226 are picked up by the component holder 332, even if the lead component 410 is close to the side wall 228, the component holder Picked up by 332. For this reason, the number of lead components 410 returned to the component container 100 can be reduced.

  Further, when the lead component 410 is returned to the inside of the component container 100, the lead component 410 is supplied by the component supply unit 98 that is different from the component supply unit 98 in which the lead component 410 is returned. It is possible. Specifically, when the cam follower 242 is engaged with the cam member 240 and the component feeder 82 is vibrating, the lead component 410 is discharged onto the component support member 220. Therefore, the lead components 410 are scattered on the side of the component support member 220 away from the component feeder 82, that is, on the upper surface on the front side. On the other hand, as shown in FIG. 25, the component collection container 262 rises at the position closest to the component supplier 82, and the lead component 410 in the component collection container 262 is returned to the component container 100. Therefore, even if the lead component 410 is picked up on the component support member 220 of another component supply unit 98 and the component supply unit 98 in which the lead component 410 is returned, the component holding head 302 It does not interfere with the parts collection container 262. Thereby, the return operation of the lead component 410 in the predetermined component supply unit 98 and the supply operation of the lead component 410 in the predetermined component supply unit 98 and another component supply unit 98 can be performed simultaneously. is there.

(C) Replacement of lead component When the circuit substrate 12 to be produced is changed, it is necessary to replace the lead component 410 to be supplied. In such a case, the component supplier 82 is removed from the frame 96, and the component supplier 82 corresponding to the new type of lead component 410 is attached to the frame 96. Specifically, after the lead component 410 on the component support member 220 is returned to the interior of the component container 100, the operator grips the grip 104 of the component feeder 82, and as shown in FIG. 172 is swung toward the fixed gripping member 170. At this time, the engaging member 184 of the movable gripping member 172 enters the first notch 180 of the fixed gripping member 170. When the engaging member 184 reaches the upper end of the second notch 182, the engaging member 184 falls to the lower end of the second notch 182 due to the weight of the component feeder 82. Thereby, the engagement of the claw member 216 attached to the lower end of the movable gripping member 172 with the engagement rod 214 is released, and the component feeder 82 is removed from the frame 96, that is, between the pair of side frame portions 190. It becomes possible.

  Further, when the grip 104 is gripped and the movable gripping member 172 is slid toward the fixed gripping member 170, the component container 100 swings upward around the support shaft 134 inside the housing 102. . At this time, as shown in FIG. 27, the end portion on the front side of the inclined surface 116 of the component container 100 approaches or contacts the tip portion of the brush 144. This makes it possible to prevent the lead component 410 from being discharged from the inside of the component container 100 when the component supplier 82 is removed from the frame 96. Further, even when the lead component 410 is sandwiched between the brush 144 and the inclined surface 116, the lead component 410 can be prevented from being damaged by the elastic deformation of the brush 144. Furthermore, since the engaging member 184 of the movable gripping member 172 has fallen into the lower end of the second notch 182 of the fixed gripping member 170, after the operator removes the component feeder 82 from the frame 96, Even if the hand is released, the movable gripping member 172 does not swing due to the elastic force of the spring, and the position of the component container 100 is maintained. For this reason, even if the operator removes the hand from the grip 104 after removing the parts supplier 82 from the frame 96, the inclined surface 116 of the parts container 100 and the tip of the brush 144 are close to each other. Or the lead component 410 is prevented from being discharged from the inside of the component container 100.

  When the component supplier 82 is removed from the frame 96, the component supplier 82 corresponding to the new type of lead component 410 is inserted between the pair of side frame portions 190. At this time, as shown in FIG. 26, the notch 196 formed at the lower end of the side wall 120 of the component feeder 82 is engaged with the engagement pin 192 of the side frame 190, and as shown in FIG. The engaging pin 206 provided at the front end portion of the side wall 120 is engaged with the inclined surface 202 of the support member 200 of the side frame portion 190. Thereby, the component supplier 82 is positioned between the pair of side frame portions 190. Then, when the operator moves the engaging member 184 of the grip 104 from the lower end of the second notch 182 to the upper end, the movable gripping member 172 swings away from the fixed gripping member 170 by the elastic force of the spring. . At this time, the claw member 216 attached to the lower end portion of the movable gripping member 172 engages with the engagement rod 214. As a result, the component supplier 82 is locked to the frame 96.

  Further, when the movable gripping member 172 swings in a direction away from the fixed gripping member 170, the component container 100 swings downward around the support shaft 134 inside the housing 102. At this time, as shown in FIG. 6, the front end portion of the inclined surface 116 of the component container 100 moves downward, and an opening is formed between the tip end portion of the brush 144 and the inclined surface 116. As a result, the lead component 410 put into the component container 100 can be discharged from the storage unit 112. In this way, in the bulk component supply device 32, the lead component 410 to be supplied can be easily replaced by replacing the component supplier 82.

  When the component supplier 82 is replaced, ID information is transmitted from the RFID 217 of the component supplier 82 newly attached to the frame 96, and the receiver 218 provided in the frame main body 210 of the frame 96. Receives the ID information. Based on the ID information, the lead component 410 supplied by the component supplier 82 newly attached to the frame 96 is collated.

  Incidentally, in the above-described embodiment, the bulk component supply device 32 is an example of a component supply system. The component supplier 82 is an example of a storage unit. The imaging device 88 is an example of an imaging device. The component support member 220 is an example of a component support portion. The component support plate 226 is an example of a component support surface. The side wall part 228 is an example of a wall surface. The component holding head moving device 300 is an example of a moving device. The component holder 332 is an example of a holder. The claw part 338 is an example of a claw part. The side surface 428 is an example of a gripping surface. The individual control device 452 is an example of a control device. The determination unit 470 is an example of a determination unit. The operation control unit 472 is an example of an operation control unit.

  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 embodiment, the lead component 410 having the lead 414 is employed as a component to be held by the component holder 332, but a component without a lead can be employed. Specifically, even in a component without a lead, a pair of surfaces sandwiched by a pair of claws 338 of the component holder 332 (hereinafter may be referred to as “planned clamping surface”) is set in advance. Yes. For this reason, for example, when parts without leads are scattered on the component support plate 226, if the planned holding surface of the parts without leads is in contact with or close to the side wall portion 228, The component cannot be held by the component holder 332. On the other hand, when a surface different from the planned clamping surface of the component without lead is in contact with or close to the side wall portion 228, there is a predetermined clearance between the planned clamping surface and the side wall portion 228. The tool 332 can hold the part. Therefore, even when a lead-free component is adopted as a component to be held by the component holder 332, a component whose distance between the planned clamping surface and the side wall portion 228 is equal to or larger than a set distance is a pickup target component. The part that is 410t and the distance between the planned clamping surface and the side wall part 228 is less than the set distance is the non-pickup target part 410s.

  In the above-described embodiment, a component holder 332 sandwiched by the claw portion 338, that is, a so-called chuck-type holder, is used as a holder for holding the component. It is possible to employ a suction nozzle to be held. The suction nozzle sucks and holds the surface facing upward of the component placed on the component support plate 226. When the component is located near the side wall portion 228, the suction nozzle approaches the component. Furthermore, there is a possibility that the suction nozzle and the side wall 228 come into contact with each other. For this reason, the part whose distance from the side wall part 228 is not less than the set distance is the pickup target part 410t, and the part whose distance from the side wall part 228 is less than the set distance is the non-pickup target part 410s. Is done. This makes it possible to prevent contact between the suction nozzle and the side wall portion 228. The set distance at this time can be set according to the size of the suction nozzle in the radial direction, the height of the side wall portion 228, and the like.

  In the above embodiment, the lead component 410 on the component support member 220 is picked up by the component holder 332 of the component holding head 302. However, the lead component 410 on the component support member 220 is used as the work heads 60 and 62. It can be picked up by the component holder 66. Specifically, for example, the lead component 410 on the component support member 220 can be imaged by the imaging device 26 by expanding the movable range of the work heads 60 and 62 above the component support member 220. is there. Thereby, based on the imaging data of the imaging device 26, position information, posture information, and the like of the lead component 410 are calculated. The lead component 410 on the component support member 220 can be picked up by the component holder 66 of the work heads 60 and 62 by controlling the operation of the work head moving device 64 based on the calculated information. It becomes. Incidentally, when the lead component 410 on the component support member 220 is picked up by the component holder 66 of the work heads 60 and 62, the component supplier 82 of the bulk component supply device 32, the component scattered state realization device 84, and the imaging. The device 26 and the component mounting device 24 constitute the “component supply system” of the present invention.

32: Bulk component supply device (component supply system) 82: Component supply device (storage portion) 88: Imaging device 220: Component support member (component support portion) 226: Component support plate (component support surface) 228: Side wall portion (wall surface) 300: Component holding head moving device (moving device) 332: Component holding device (holding device) 338: Claw portion 428: Side surface (gripping surface) 452: Individual control device (control device) 470: Determination unit 472: Operation control unit

Claims (8)

A component holding device for holding a plurality of components of one type scattered on a component support surface,
A holding tool for holding a plane of one of a plurality of components scattered on the component support surface;
A moving device for moving the holder to an arbitrary position above the component support surface;
A control device for controlling the operation of the holder and the moving device,
The control device is
Based on the two-dimensional image data obtained by imaging the plurality of components of the one type scattered on the component support surface from above with the imaging device, the holder and the moving device are operated to support the component. When holding one part of a plurality of parts scattered on the surface, determine whether the holder interferes with parts other than the one part to be held,
A component holding device that controls operations of the holding device and the moving device so that the holding device holds a component determined not to interfere. The imaging device is one imaging device disposed above the component support surface;
The component holding apparatus according to claim 1, wherein the two-dimensional image data is data obtained by imaging a plurality of components of one type scattered on the component support surface with a single view. The component support surface is provided with side wall portions fixedly on both side edges;
The control device is
Based on the two-dimensional image data, when the holding tool and the moving device are operated and the holding tool holds the one component, whether the holding tool interferes with the side wall portion or not is also determined. The operation of the holding device and the moving device is controlled so that the holding device holds a part that has been determined to be non-interfering, according to claim 1 or 2. Parts holding device. The component comprises a pair of opposed planes,
The component holding apparatus according to any one of claims 1 to 3, wherein the holding tool is a holding tool that holds the pair of planes with a pair of claws.   The component holding apparatus according to claim 4, wherein the gripping tool slides the pair of claw portions in a direction in which the pair of claw portions approach and separate from each other to grip a pair of opposed planes of the component. The component is a lead component,
6. The component holding apparatus according to claim 4, wherein the pair of planes is a plane other than a plane on which leads are disposed.   5. The component determined not to interfere with each other is a component in which a distance between the pair of planes of the component and the side wall portion and a component other than the component is a set distance or more. The component holding device according to any one of claims 6 to 6. The component holding device according to claim 7, wherein the set distance is a distance in which the claw portion can be inserted.

Images