JP2020113802A - Picking device of bulk component and picking method of bulk component - Google Patents

Abstract

To ensure good pickup of multiple components in loose conditions.SOLUTION: In a picking device of bulk components, a component holding device for picking up a component is changed, on the basis of an upward face acquired based on captured image data. When the components cross each other at a right angle, and having multiple faces of different shapes from each other, shapes of the upward faces may be different from each other, if a posture of the component is different. More components can be picked up by changing the component holding device for each of multiple components, on the basis of the upward face acquired based on the captured image data.SELECTED DRAWING: Figure 19

Description

The present invention relates to a picking device and a picking method for picking up at least one of a plurality of parts in a loose state one by one.

In the loose component picking device described in Patent Document 1, a plurality of loose components supported on a component support surface are imaged by an imaging device to obtain image data. Then, based on the image data, a pickup target component that can be picked up from a plurality of components is extracted, and the position of the pickup target component is acquired. The robot is moved to that position and the pickup target component is picked up.

JP, 10-202569, A

An object of the present invention is to make it possible to favorably pick up each of a plurality of parts in a loose state.

Means and effects for solving the problems

The present invention changes the pickup height, which is the height of a component holder when a component is picked up, based on imaged image data obtained by imaging a plurality of components in the same type in a loose state. Is. The component has a plurality of planes that intersect each other at right angles and have different shapes. Therefore, for example, when the postures of the components are different, the heights to the upward surface as the specific plane may be different from each other. On the other hand, for each of the plurality of parts, if the pickup height is changed based on the specific plane acquired based on the captured image data, damage to the component holder or damage to the pickup target component can be prevented. It can be well prevented.
The loose state means a state in which each posture is arbitrary, and the plurality of parts of the same type mean a plurality of parts each having the same shape, size, mass, structure, and the like. .. Each of the plurality of parts includes a plurality of surfaces having different shapes. Even if the shapes of all the plurality of surfaces are different from each other, some of the plurality of surfaces have the same shape. May be

It is a perspective view showing a component mounting apparatus according to a first embodiment of the present invention. The component mounting apparatus includes the loose component picking apparatus according to the first exemplary embodiment of the present invention. Further, in this component mounting apparatus, the loose component picking method according to the first embodiment of the present invention is implemented. It is a perspective view which shows the component mounting apparatus of the said component mounting apparatus. It is a perspective view which shows the said bulk component supply apparatus. It is a perspective view which shows the component supply unit of the said bulk component supply apparatus. It is a side sectional view showing a component feeder of the component supply unit. It is a perspective view showing the state where the component support member is in the retracted end position in the component supply unit. It is a perspective view which shows the feeder vibrating device of the component scattered state realization apparatus of the said component supply unit. It is a perspective view showing the above-mentioned feeder vibrating device and the parts return device of the above-mentioned parts supply unit. It is a side view explaining operation|movement of the said feeder vibration device. (a)-(c) It is a figure explaining operation|movement at the time of returning a component to a component supply device by the said component return device. It is a perspective view showing a state where a parts collection container of the above-mentioned parts returning device returns a part to a part feeder. It is a perspective view which shows the component holding head of the said component delivery apparatus, and a component holding head moving device. (a) It is a perspective view of the component holding head when the suction nozzle is in a non-turning position. FIG. 6B is a perspective view of the component holding head when the suction nozzle is at the turning position. (c) It is a figure which shows notionally the nozzle mounting apparatus contained in the said component holding head. It is a perspective view which shows the component carrier of the shuttle apparatus of the said component delivery apparatus. (a) It is a front sectional view showing a component receiving member of the component carrier. (b) It is a front sectional view showing a state where lead components are accommodated in the component carrier. It is a perspective view which shows an example of the components supplied by the said bulk component supply apparatus. FIG. 3A is a perspective view of a component whose front is in an upward posture. (b) It is a perspective view of a component with its rear surface facing upward. It is a block diagram which shows notionally the control apparatus of the said component mounting apparatus. (a) ~ (f) is a view showing a shape in plan view of a component in a loose state supported by the component support portion. It is a figure which shows notionally the part data memorize|stored in the memory|storage part of the said control apparatus. It is a figure which shows captured image data notionally. 6 is a flowchart showing an image processing program stored in a storage unit of the control device. 5 is a flowchart showing a control program for a pickup or the like stored in a storage unit of the control device. It is a side view which shows the relationship between the component return device at the time of component return in one of five component supply units, and the component holding head of the component delivery device of another component supply unit. (a) It is a front view which shows the chuck which can be attached or detached to the holder holding member of the component holding head of the loose component supply apparatus which concerns on Example 2 of this invention. (b) It is a figure which shows notionally the part data memorize|stored in the memory|storage part of the control apparatus of the component mounting apparatus which concerns on Example 2 of this invention. It is a perspective view which shows a part of bulk component supply apparatus which concerns on Example 3 of this invention.

Hereinafter, examples as one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows a component mounting apparatus (an example of an electronic circuit assembling apparatus) according to a first embodiment of the present invention. The component mounting apparatus according to the first embodiment of the present invention includes a device main body 10, a substrate transport holding device 14 that transports and holds a circuit substrate 12 (hereinafter abbreviated as substrate 12) as a circuit substrate, and a component supply device 16. It includes a bulk component supply device 18, a component mounting device 20, imaging devices 22 and 24, a control device 26 (see FIG. 17), and the like. The circuit base material includes a printed wiring board, a printed circuit board, a base material having a three-dimensional shape, and the like. The circuit board is a general term for a printed wiring board and a printed circuit board. This component mounting apparatus is configured similarly to the electronic circuit assembly apparatus described in Japanese Patent Application Laid-Open No. 2011-253869, except for the portions related to the present invention, and the similar portions will be briefly described.

The board carrying/holding device 14 is located at the center of the component mounting device in the front-rear direction, and includes a carrying device 30 for carrying the board 12, a clamping device 32 as a holding device for holding the board 12, and the like. The substrate transfer/holding device 14 horizontally transfers the substrate 12 in a horizontal posture and holds it at a predetermined position. In this embodiment, the transport direction of the substrate 12 (hereinafter abbreviated as the substrate transport direction) is the X direction, the width direction of the substrate 12 is the Y direction, and the vertical direction or the vertical direction is the Z direction. The X direction, the Y direction, and the Z direction are orthogonal to each other. The width direction or the lateral direction of the component mounting apparatus is the X direction, and the front-back direction is the Y direction.

The component supply device 16 is provided in front of the substrate transfer/holding device 14, and a tray-type component supply device 42 for supplying electronic circuit components (hereinafter abbreviated as components) by a tray 40 and a tape feeder (not shown) for supplying components. It includes a feeder type component supplying device for supplying. The bulk component supply device 18 is provided at the rear of the substrate transport holding device 14, and will be described in detail later. The components supplied by the component supply device 16 and the bulk component supply device 18 include electronic circuit components, solar cell components, power module components, and the like. Some electronic circuit parts have leads and some do not have leads.

The component mounting device 20 includes work heads 50 and 52 and a work head moving device 54. The work head moving device 54 includes an X-direction moving device 60 (see FIG. 2), a Y-direction moving device 62, and Z-direction moving devices 64 and 66. The work heads 50 and 52 are integrally moved to an arbitrary position in the horizontal plane by the X-direction moving device 60 and the Y-direction moving device 62, and the Z-direction moving devices 64 and 66 respectively individually and independently move the Z-axis. Can be moved in the direction. The work head moving device 54 is configured to move the work heads 50 and 52 within a region from the tray 40 or the like of the component supply device 16 to the component delivery position of the bulk component supply device 18. The work heads 50 and 52 each include a component holder 70 (see FIG. 2) such as a chuck and a suction nozzle, and are mounting heads that pick up components and mount them on the substrate 12.
The image pickup device 22 is moved in the X direction, the Y direction, and the Z direction together with the work head (hereinafter, referred to as a mounting head) 50. The image pickup device 24 is fixedly provided in a portion of the apparatus main body 10 between the substrate transport holding device 14 and the component supply portion of the component supply device 16.

The bulk component supply device 18 is in a loose state, in other words, a state in which a plurality of components in arbitrary postures are aligned in a predetermined posture and can be delivered to the component mounting device 20, in other words, the component mounting device 20. Is ready to be received. As shown in FIG. 1, a part or the whole of the bulk component supply device 18 is detachably provided in the rear part of the device main body 10 behind the substrate transfer/holding device 14. As shown in FIG. 3, the bulk component supply device 18 includes a main body 80, a component supply device 82, a component scattered state realizing device 84, a component delivery device 86, a component returning device 88, and an imaging device 90. The component feeder 82, the component scattered state realizing device 84, and the component returning device 88 are attached to a common frame 94 to form a set. Hereinafter, this set is referred to as a component supply unit 96. A plurality of (five in the present embodiment) component supply units 96 are provided, and they are provided in the main body 80 side by side in a row in the lateral direction (X direction).

<Parts feeder 82>
As shown in FIG. 4, the component supplier 82 includes a component container 100 and a component supplier 102. The component accommodating portion 100 is provided on the upper part of the component supplier 82, has a container shape opened upward, and has a bottom surface formed by a pair of inclined surfaces 104 and 106. As shown in FIG. 5, the inclined surfaces 104 and 106 are inclined toward each other toward the lower side, and an opening 108 penetrating in the up-down direction and extending in the lateral direction is provided between the lower end portions thereof. Of the inclined surfaces 104 and 106, the inclined surface 104 provided on the front side of the component supply device 82 has a gentler inclination than the inclined surface 106, and the opening 108 is located at the rear portion of the component housing portion 100. The component supply unit 102 includes a component supply surface 110 provided below the component storage unit 100. The component supply surface 110 is an inclined surface that is inclined downward in the forward direction, and a front end portion that is a tip end portion thereof constitutes a component discharge portion 112. The inclination of the component supply surface 110 is gentler than that of the inclined surface 104. Further, at the front end of the component supply surface 110, a plate-shaped scraping member 114 extending downward from the component supply surface 110 is provided. The dimension of the opening 108 in the front-rear direction is slightly larger than the size of the components to be housed.

As shown in FIG. 4, the component feeder 82 has a pair of hooks 120 (one hook 120 is shown in FIG. 4) provided at both ends in the lateral direction at the upper rear end of the component housing 100. Is hung from above on a support shaft 122 provided at the upper end of the rear part of the frame 94, and is rotatably and detachably supported about a horizontal axis parallel to the lateral direction (X direction). As shown in FIG. 6, the component feeder 82 is also provided with a plate-shaped supported portion 124 that horizontally protrudes from the lower portion of each front portion of a pair of outer surfaces parallel to the front-rear direction, and is provided on the frame 94. It is placed on a horizontal plate-like support portion 126 so as to be movable relative to each other in the vertical direction, and is supported from below. When the component supplier 82 is supported by the frame 94, the inclined surface 104 and the component supply surface 110 are inclined at preset angles with respect to the horizontal plane, in the present embodiment, about 15 degrees and about 10 degrees. Then, the scraping member 114 is positioned within the vertical plane. There are a plurality of types of component feeders 82 in which at least one of the inclined surfaces 104 and 106 and the component feed surface 110 and the size of the opening 108 are different from each other. The types of components supplied by the component supply unit 96 can be changed only by exchanging them.

<Parts scattered state realization device 84>
As shown in FIG. 4, the component scattered state realizing device 84 includes a component support member 150, a component support member moving device 152 that is a relative movement device that relatively moves the component support member 150 and the component supply device 82, and a supply device. And a vibration device 154.
The component support member 150 includes a component support portion 156 having a plate shape having a long shape and a pair of legs 158. The leg portion 158 has a plate shape, and is protruded from the one-sided upper surface 160 of the component support portion 156 to both upper and lower sides. The component support member moving device 152 includes a slide 164 and a slide driving device 166 (see FIG. 17). The slide drive device 166 is configured by a rodless cylinder in this embodiment.

The component supporting member 150 is fixed to the slide 164 at the pair of legs 158, and the slide 164 is guided by the pair of guide rails 168 by the slide driving device 166, and slightly above the lower end of the scraping member 114, the upper surface 160 is provided. , That is, horizontally, in the front-back direction. Further, the component support member 150 has a component supply position where the entire upper surface 160 is located in front of the component supply device 82 as shown in FIG. 4, and a front portion thereof is below the component supply device 82 as shown in FIG. The front end of the upper surface 160 is moved to and from the retracted position located at the front end of the component feeder 82.

As shown in FIG. 7, the feeder vibrating device 154 of this embodiment includes a cam member 180, a cam follower 182, and a stopper 184 serving as a rotation limit defining member. The cam member 180 has a plate shape and is fixed to one outer surface of the pair of leg portions 158 in parallel with the front-rear direction. Many teeth 190 are provided on the cam member 180 at equal intervals in a direction parallel to the front-rear direction. Each of the plurality of teeth 190 is defined by an inclined surface 192 that is inclined upward in the rearward direction and a vertical surface 194 that extends vertically downward from the upper end of the inclined surface 192. And the vertical surface 194 constitutes a cam surface 196 in which a large number of irregularities are arranged along a straight line parallel to the front-rear direction. In the present embodiment, as shown in FIG. 4, the cam member 180 is provided in a part of the component support member 150 in the front-rear direction, and a portion of the upper surface 160 corresponding to the cam member 180 in the front-rear direction is the component support surface 198. Function as.

As shown in FIG. 8, the cam follower 182 includes a lever 202 rotatably attached to the outer surface of the component feeder 82 by a bracket 200 about an axis parallel to the lateral direction, and a free end portion of the lever 202 in the lateral direction. A roller 204 rotatably mounted about an axis parallel to the. The lever 202 is biased toward the front by the torsion coil spring 206 (see FIG. 9) which is a spring member which is a kind of biasing means. The stopper 184 is provided on the bracket 200, has a protruding shape, and defines the rotation limit of the lever 202 by the bias of the torsion coil spring 206. In the state where the rotation limit is defined, as shown in FIG. 7, the cam follower 182 is in a posture protruding downward from the component feeder 82 in the vertical direction.

<Parts returning device 88>
As shown in FIG. 11, the component returning device 88 includes the scraping member 114, the component collecting container 220, a component collecting container lifting device 222 that is a relative lifting device, and a motion converting mechanism 224. The component collection container lifting device 222 includes a lifting member 226 that is a movable member, and an air cylinder 228 that is a lifting member driving device. The air cylinder 228 is disposed upward at a position between the pair of guide rails 168, and the elevating member 226 is moved up and down with respect to the component feeder 82 by the expansion and contraction of the piston rod 230. The air cylinder 228 is fixed to the front end portion of the slide 164, and the elevating member 226 is moved together with the component support member 150 in the front-rear direction.

The component collection container 220 is attached to the elevating member 226 by a shaft 232 so as to be rotatable about a horizontal rotation axis that is parallel to the lateral direction (X direction), and is provided at the front end of the component supporting member 150 so as to be capable of elevating. Has been. The component recovery container 220 is moved up and down by the elevating member 226 to move the component collection container 220 downward from the upper surface 160 of the component support member 150 as shown in FIG. 10A and above the component feeder 82 as shown in FIG. It is raised and lowered to the ascending end position located at.

Further, the component collection container 220 has a component receiving position where the bottom surface of the component collection container 220 is horizontally opened on the elevating member 226 and a component receiving position where the component collection container 220 is vertically oriented and the component is discharged to the component feeder 82. It is turned to and. The component collection container 220 is biased by a twisting coil spring (not shown) serving as a biasing means in a direction to rotate to the component receiving position side. The rotation limit of the component collection container 220 due to this urging is defined by the pair of stoppers 234, and the component collection container 220 is always positioned at the component receiving position. Further, the rear wall 236 of the component collection container 220 is inclined in such a direction that the rearward direction is downward toward the rear at the component discharge position.

As shown in FIG. 11, the motion conversion mechanism 224 includes a pair of rollers 240 provided in the component collection container 220 and forming an engaged portion, and a pair of engagements provided in the frame 94 and forming an engaging portion. Surface 242. In FIG. 11, one roller 240 and the engagement surface 242 are illustrated. As shown in FIG. 8, the roller 240 is rotatably attached to a projecting end of a support member 244 that is fixed by projecting rearward from the component collection container 220 at the component receiving position so as to be rotatable about an axis parallel to the lateral direction. There is. The engagement surface 242 is provided in a portion of the frame 94 corresponding to the upper end portion of the component housing portion 100, and is a downward horizontal surface.

At the front end, which is the front end of the component support member 150, a shutter 250 is disposed so as to be able to move up and down between it and the component collection container 220. The shutter 250 is moved up and down as the component collection container 220 is moved up and down. As shown in FIG. 10C, the shutter 250 is installed at the tip of the slide 164 in the pair of elongated holes 252. The protruding portion 254 is guided by being fitted so as to be relatively movable. The shutter 250 is also biased upward by a compression coil spring 255 as a biasing means that is fitted to a pair of rods 253 erected on the slide 164.
As shown in FIG. 10A, a projecting engagement portion 256 provided at the rear end of the elevating member 226 at the lower end position of the component collection container 220 has a projecting engagement portion provided at the lower end of the shutter 250. The engaged portion 258 is engaged from above. As a result, the shutter 250 is prevented from rising due to the biasing force of the compression coil spring 255, and the shutter 250 is held at the non-shielding position below the upper surface 160 of the component support member 150.
As shown in FIG. 10B, the upward movement of the shutter 250 is allowed along with the upward movement of the component collection container 220. The shutter 250 is also moved upward with the upward movement of the component collection container 220. The upper limit of the shutter 250 is defined by the lower end of the elongated hole 252 contacting the protrusion 254. The shutter 250 projects upward from the component supply surface 110 of the component supply unit 96 and is in a shielding position that prevents the component from falling from the component supply surface 110.

<Imaging device 90>
As shown in FIG. 3, the image pickup device 90 includes, for example, a CCD camera or a CMOS camera as an image pickup device. The imaging device moving device 270 that moves the imaging device 90 includes a slide 272 and a slide driving device 274 (see FIG. 17). The slide driving device 274 includes an electric motor (not shown) and a feed screw mechanism 278. The feed screw mechanism 278 includes a nut 280 and a feed screw 282. When the feed screw 282 is rotated by an electric motor, the slide 272 is guided by the guide rail 284 and moved to an arbitrary position in the lateral direction. The slide driving device 274 is provided on the main body 80 so that the imaging device 90 provided on the slide 272 is located above the component support surface 198 of the component support member 150 at the component supply position. Further, the imaging device 90 is in a posture in which the lens faces downward and faces the component support surface 198.
The image pickup device 90 is moved by the image pickup device moving device 270, and selectively faces each of the component support surfaces 198 of the five sets of component supply units 96, and on each component support surface 198 at each of the five image pickup positions. Of a plurality of parts are imaged.
The image pickup area of the image pickup device 90 is determined by the characteristics of the lens, the distance to the image pickup object, and the like, but in the present embodiment, it is set to the area including the entire component support surface 198. Therefore, the imaged image data of the entire component support surface 198 can be obtained by the imaging of the imaging device 90 once.
It is not essential that the imaging region is a region including the entire component support surface 198, and it may be a part of the component support surface 198. Further, when the image pickup area is a part of the component support surface 198 and image data of the entire component support surface 198 is required, the component support surface 198 is imaged in plural times. In this case, it is desirable that the image pickup device moving device 270 be a device that can move the image pickup device 90 in the front-back direction.

<Parts delivery device>
As shown in FIG. 12, the component delivery device 86 includes a component holding head 300, a component holding head moving device 302, and a plurality (two in the present embodiment) of shuttle devices 304 and 306 (see FIG. 3). Including.

{Parts holding head moving device}
The component holding head moving device 302 includes an X direction moving device 320, a Y direction moving device 322 and a Z direction moving device 324, and moves the component holding head 300 in each of the X, Y and Z directions. The Y-direction moving device 322 is provided on the main body 80 and includes a Y slide 326 and a Y slide driving device 328. The Y slide drive device 328 includes an electric motor 330y and a feed screw mechanism 336y including a feed screw 332y and a nut 334y, and a Y slide 326 provided integrally with the nut 334y so as to be movable on a pair of guide rails 338y. While guiding, it is moved to an arbitrary position in the Y-axis direction.
The X-direction moving device 320 is provided on the Y slide 326 and includes an X slide 340 and an X slide driving device 342. The Z-direction moving device 324 is provided on the X slide 340 and includes a Z slide 344 and a Z slide driving device 346. The X-slide driving device 342 and the Z-slide driving device 346 are configured similarly to the Y-slide driving device 328, and components having the same function are denoted by the same reference numerals and suffixes x and z to indicate the corresponding relationship. , Description is omitted.

{Parts holding head}
The component holding head 300 is provided on the Z-axis slide 344. The component holding head 300 is moved by the component holding head moving device 302 together with the Z-direction moving device 324 in the height region between the imaging device 90 and the component supporting surface 198. The component holding head 300 is moved to any position in the horizontal direction and the vertical direction within this height region. Therefore, the imaging device 90 and the component holding head 300 can be simultaneously positioned on the component support surface 198 of the same component supply unit 96, and the component holding head 300 can move in at least one of the X direction and the Y direction. Therefore, by moving in the horizontal direction, it is moved to a functional position located above the component supporting surface 198 and capable of holding the component on the component supporting surface 198, and a retracted position retracted from the functional position. As shown in FIGS. 13A, 13B, and 13C, the component holding head 300 includes (1) a head main body 360 integrally provided with the Z slide 344, and (2) a suction nozzle as a component holder. 362 (3) Nozzle rotating device 364 serving as a holder rotating device, (4) Nozzle rotating device 366 serving as a holder rotating device, and (5) Nozzle mounting device 368 serving as a holder mounting device.

The nozzle swivel device 366 is a device that swivels the suction nozzle 362 around an axis extending in the horizontal direction, and includes a link mechanism 370 and a link mechanism drive device 372. The link mechanism driving device 372 includes a lifting member 374 that is a driving member and a lifting member driving device 376. The lifting member driving device 376 includes an electric motor 378 and a feed screw mechanism 384 including a feed screw 380 and a nut 382. The rotation of the electric motor 378 is transmitted to the feed screw 380 by the timing pulleys 386 and 388 and the timing belt 390. The elevating member 374 is moved up and down. A spline shaft 392 is attached to the elevating member 374 so as to extend vertically downward. One end of a lever 394 is attached to the lower end of the spline shaft 392 so as to be rotatable around a horizontal axis by a shaft 395, and the suction nozzle 362 is attached/detached by a nozzle holding member 396 which is a component holder holding member provided on the lever 394. Held possible.

An arm 400 is provided on the lever 394 so as to project in a direction that intersects the rotation axis of the lever 394 at right angles, and a pair of rollers 402 (only one roller is shown) is provided at the projecting end portion of the lever 394. The cam follower is mounted rotatably around an axis parallel to the rotation axis of the. Each of the pair of rollers 402 is fitted into a pair of horizontal elongated holes 406 (only one of the elongated holes 406 is shown) of the cam member 404 provided in the head main body 360 so as to be immovable in the vertical direction. As shown in FIG. 13A, when the elevating member 374 is at the rising end position, the suction nozzle 362 is at the non-turning position where its axis is concentric with the spline shaft 392. When the elevating member 374 is lowered, the cam member 404 prevents the roller 402 from descending, whereby the lever 394 is rotated, and the suction nozzle 362 is swung about a horizontal swivel axis. When the elevating member 374 is lowered to the lower end position, as shown in FIG. 13B, the suction nozzle 362 is swung 90 degrees, and its axis line is horizontal. The non-turning position and the 90-degree turning position are determined by the position control of the elevating member 374 under the control of the electric motor 378. The suction nozzle 362 may be held in any swiveling position between the non-swiveling position and the 90-degree swiveling position.

The nozzle rotation device 364 includes an electric motor 410 and a rotation transmission device 412 attached to the head body 360 via an attachment member (not shown). The rotation transmission device 412 includes a gear 414 attached to the output shaft of the electric motor 410, and a gear 418 fixed to a spline member 416 fitted to the spline shaft 392 so as to be relatively non-rotatable and relatively movable in the axial direction. , The spline shaft 392 is rotated about the vertical axis in both forward and reverse directions by an arbitrary angle. Rotation is transmitted to the spline shaft 392 at any position in the vertical direction, and the suction nozzle 362 can be rotated at an arbitrary angle around a vertical axis that is an axis perpendicular to the horizontal component support surface 198. The cam member 404 is fixed to the spline member 416, is rotated together with the spline shaft 392 and the suction nozzle 362, and the suction nozzle 362 can be swung at any rotation position.

The nozzle attachment device 368 detachably attaches the suction nozzle 362 to the nozzle holding member 396. As shown in FIG. 13C, the nozzle mounting device 368 includes (1) a concave portion 420 provided on the contact surface of the nozzle holding member 396 with the suction nozzle 362, (2) a negative pressure source 422v and a positive pressure source. 422p, (3) includes solenoid valves (in this embodiment, solenoid on-off valves) 424c, d, etc. provided between the recess 420 and the negative pressure source 422v, and between the recess 420 and the positive pressure source 422p, respectively. By controlling the solenoid valves 424c and 424d, negative pressure and positive pressure are selectively supplied to the recess 420. When negative pressure is supplied in a state where the suction nozzle 362 abuts the abutting surface of the nozzle holding member 396 and the opening of the recess 420 is closed, a negative pressure chamber is formed by the recess 420 and the like. The suction nozzle 362 is attached to the nozzle holding member 396 with the negative pressure chamber kept at a negative pressure, and the suction nozzle 362 is removed by supplying positive pressure to the recess 420.

The suction nozzle 362 picks up and holds a component by negative pressure, and the suction nozzle 362 can be represented by the size of the suction surface of the suction pipe (for example, a nozzle diameter that is the diameter of the suction pipe). There are multiple types of different). Since the strength of the negative pressure supplied to the suction nozzle 362 is substantially constant, the larger the nozzle diameter, the greater the force with which the component can be held (hereinafter sometimes referred to as the holding force).
On the other hand, as shown in FIG. 3, the main body 80 is provided with a nozzle accommodating device 430 accommodating a plurality of types of suction nozzles 362 having different nozzle diameters. The nozzle accommodating device 430 moves a nozzle holding member 432 having a plurality of recesses capable of accommodating the suction nozzles 362, and a shutter (not shown) provided on the upper surface of the nozzle holding member 432 between the separation prevention position and the extraction permission position. A shutter moving device 434 (see FIG. 17) and the like are included. The component holding head 300 is moved to the nozzle housing device 430 as necessary, and the suction nozzle 362 is automatically replaced.

{Shuttle device}
As shown in FIG. 3, the shuttle devices 304 and 306 respectively include the component carriers 450 and 452 and the component carrier moving devices 454 and 456, and are provided side by side in the lateral direction on the front side of the component supply unit 96 of the main body 80. .. In the present embodiment, a plurality of component receiving members 460 (five in the present embodiment) are attached to the component carriers 450 and 452, respectively, and are detachably held in a state of being aligned in a row in the lateral direction. As shown in FIG. 14, the component receiving member 460 is fitted in the recesses 462 of the component carriers 450 and 452, and is positioned in the front-rear direction and the lateral direction by the protrusions 464 and 466, respectively.

In this embodiment, the bulk component supply device 18 supplies an electronic circuit component (hereinafter, abbreviated as a lead component) 480 having leads shown in FIGS. 16(a) and 16(b). The lead component 480 includes a component body 482 having a block shape and two leads 484 protruding from the bottom surface of the component body 482.

The component receiving member 460 is provided with a component receiving recess 500 as shown in FIG. The component receiving recess 500 is provided according to the shape and size of the component to be received, and the component receiving recess 500 of the component receiving member 460 in which the lead component is inserted has a stepped shape as shown in FIG. 15A, for example. However, the main body receiving recess 502 opening on the upper surface of the component receiving member 460 and the lead receiving recess 504 opening on the bottom surface of the main body receiving recess 502 are included. The open end of the main body receiving recess 502 is chamfered to form a guide surface 506 that guides the fitting of components, which constitutes a guide portion. As shown in FIG. 15B, the lead component 480 is accommodated in the lead receiving recess 504 by the component receiving member 460 in a downward posture, and the component main body 482 is fitted in the main body receiving recess 502 to be horizontally oriented. And is supported from below by the upward component support surface 508 formed by the bottom surface of the main body receiving recess 502, and is received in the state of being vertically positioned.
As illustrated in FIG. 14, the component receiving member 460 includes a plurality of types having different sizes and shapes of the component receiving recess 500, which are replaced by an operator. The component carriers 450 and 452 can also hold component receiving members having a plurality of dimensions of the component receiving member 460.

As shown in FIG. 3, the component carrier moving devices 454 and 456 have the same configuration. One of the components will be described, and the other components will be denoted by the same reference numerals and description thereof will be omitted.
The moving device main body 520 of the component carrier moving device 454 is provided parallel to the main body 80 in the front-rear direction, and is provided with an endless belt 522 and a belt circulating device 524 (see FIG. 17). The belt 522 is wound around a plurality of pulleys (not shown) rotatably provided on the moving device main body 520 about an axis parallel to the lateral direction, and is also locked to the component carrier 450. The belt 522 is rotated by rotating a pulley by an electric motor (not shown), and the component carrier 450 is guided by a pair of guide rails 530 (one guide rail 530 is shown in FIG. 3). While moving in the front-back direction. The component carrier 450 is located in the front part of the moving region of the component holding head 300, is near the component holding head moving device 302, is adjacent to the component supply unit 96, and is in the moving region of the mounting heads 50 and 52. And is moved independently of each other with respect to the component delivery position, which is located at the rear of the component mounting device 20. The component carrier 450 is positioned at the component receiving position and the component delivering position by a stopper (not shown) provided on the moving device body 520.

<Control device>
As shown in FIG. 17, the control device 26 is provided in each of the (a) integrated control device 26a, (b) substrate transfer holding device 14, component supply device 16, bulk component supply device 18, component mounting device 20, and the like. In addition, an individual control device (only the individual control device 550 of the bulk component supply device 18 is described), (c) an image processing device 552 as a captured image data processing device, and the like are included. The integrated control device 26a, the individual control device 550, etc., the image processing device 552, etc. are each mainly composed of a computer, and are communicably connected to each other. The centralized control device 26a centrally controls the board transfer/holding device 14, the component supply device 16, the bulk component supply device 18, the component mounting device 20 and the like via the individual control device 550 and the like.
In the bulk component supply device 18, the individual control device 550 includes an execution unit 550c, an input/output unit 550i, and a storage unit 550m, and the individual control device 550 includes the imaging device moving device 270 and the component holding head 300 of the component delivery device 86. The component holding head moving device 302, the nozzle housing device 430, the shuttle devices 304 and 306, the image processing device 552, etc. are connected.
The configuration of the control device 26 is not limited to this embodiment. For example, without providing the integrated control device 26a, each device 14, 16, 18, 20, etc. is controlled by the individual control device 550 (the individual control devices are preferably connected in a communicable state). Alternatively, the respective control devices 14, 16, 18, 20 and the like can be controlled by the integrated control device 26a without providing the individual control device 550 and the like. Further, the image processing device 552 may be configured as a part of the individual control device 550 or a part of the overall control device 26a.

<Operation>
The board 12 is carried into the component mounting apparatus by the board carrying/holding device 14, stopped at a predetermined position, and clamped. Then, the mounting heads 50 and 52 are moved to assemble the components supplied by the component supply device 16 and the bulk component supply device 18 onto the board 12.
In the bulk component supply device 18, the lead components 480 are supplied by the five component supply units 96. Since the component supply operation by the five component supply units 96 is the same, the operation of one of the five component supply units 96 will be described.
A plurality of lead components 480 of the same type are put into the component housing portion 100 of the component supplier 82 by an operator. When the component is loaded, the component support member 150 is located at the retracted position as shown in FIG. A part of the input component drops onto the component supply surface 110 through the opening 108, moves to the component discharge portion 112 side due to the inclination of the component supply surface 110, and spreads on the component supply surface 110. When the lead component 480 is clogged and the opening 108 is closed, the component is prevented from falling onto the component supply surface 110, and a plurality of lead components 480 are piled up in the component accommodating portion 100 in an arbitrary posture in bulk. It will be stored. Even if the lead component 480 that has dropped onto the component supply surface 110 moves beyond the component discharge portion 112, it is housed in the component collection container 220. The component collection container 220 is in the retracted position together with the component support member 150, and is in the lower end position, in other words, the component receiving position.

After the components are loaded, the component support member 150 is moved forward and is pulled out from the bottom of the component feeder 82 to the front. When the cam member 180 reaches the cam follower 182, the roller 204 moves up along the inclined surface 192 of the tooth 190, and when it reaches the vertical surface 194, it descends and rides over the tooth 190. The cam follower 182 is biased by a torsion coil spring in a direction to engage with the tooth 190 and has a rotation limit defined by a stopper 184. When the component support member 150 is advanced, the roller 204 is kept in the state of engaging with the tooth 190. As shown in FIG. 7, the lever 202 is not rotated and the cam follower 182 rides over the tooth 190 together with the component feeder 82 as shown in FIG. The cam follower 182 rides over the plurality of teeth 190 one by one and repeats raising and lowering, whereby the front portion of the component feeder 82 is raised and lowered, and is vibrated in the vertical direction. At this time, the lifting of the component supplier 82 from the support shaft 122 is avoided by its own weight.

The components on the component supply surface 110 move forward due to vibration and inclination of the component supply surface 110, and are discharged from the component discharge section 112 onto the component support surface 198 as shown in FIG. 7. At this time, the pair of legs 158 protruding upward from the upper surface 160 prevents the lead component 480 from falling. Further, due to the vibration of the component supplier 82, the lead component 480 that closes the opening 108 is separated and drops onto the component supply surface 110, and the lead component 480 in the component housing portion 100 passes through the opening 108 and the component supply surface 110. It falls on and is discharged. As the component support member 150 advances, different parts of the component support surface 198 sequentially correspond to the component discharge portion 112, the area of the component support surface 198 increases, and the lead components 480 are sequentially supported. The forward direction of the component support member 150 is the forward direction and the backward direction is the reverse direction. During the forward movement of the component support member 160, the component feeder 82 is vibrated only when the cam follower 204 passes over the cam member 180, and the component discharge is performed. The lead component 480 is ejected from the portion 112. The cam member 180 is disengaged from the cam follower 182 before the component support member 150 reaches the component supply position and the component support member 150 is advanced, but the component feeder 82 is not vibrated and the component is not ejected. Therefore, when the component support member 150 reaches the component supply position, a plurality of lead components 480 of the same type are supported in a scattered state on the component support surface 198 of the upper surface 160.

After the component support member 150 is stopped, the imaging device 90 is moved to image the lead components 480 on the component support surface 198. The plurality of lead components 480 are of the same type and are in a loose state. In the present embodiment, the pickup target component is determined based on the picked-up image data which is the image data obtained by the image pickup by the image pickup apparatus 90 described above. Further, the pickup target components are picked up and held by the suction nozzle 362 according to the parameters (conditions) acquired based on the captured image data, the component holding head 300 is moved by the holding head moving device 302, and the lead component is moved. 480 is held by the component receiving members 460 of the component carriers 450 and 452. A plurality of lead components 480, which were loose on the component support surface 198, are aligned on the component carriers 450, 452.

<Determination of parts to be picked up and determination of pickup and transport conditions>
{Determination of parts to be picked up}
In the lead component 480, as shown in FIGS. 16A and 16B, four side surfaces 486 forming the component body 482 intersect each other at a right angle. Therefore, when the lead component 480 is placed on the component support surface 198 on one of the four side surfaces 486, the upward surface facing the side surface is parallel to the component support surface 198, and the lead 484 is provided. Is parallel to the component support surface 198. In addition, three of the four side surfaces 486 (486a, b, c) close the opening of the suction pipe of the suction nozzle 362 to prevent negative pressure from leaking and form a suction surface having an area capable of suction. To do. However, since one side surface (486d) is provided with the depression 488 as shown in FIG. 16(b), it is difficult to adsorb even if an adsorption nozzle having a small nozzle diameter is used.
From the above, the lead 484 is isolated from the other lead component 480 in the posture extending in parallel to the component support surface 198, and as shown in FIGS. , A in a posture in which a is turned up is a pickup target component 480t (hereinafter, the pickup target component of the lead components 480 is denoted by a subscript t). On the other hand, as shown in FIGS. 18D to 18F, although the lead component 480 or the lead 484 in the inclined posture is parallel to the component support surface 198, the side surface 486d which is difficult to attract is directed upward. The lead component 480 in the posture is a non-pickup target component 480s (the non-pickup target component of the lead component 480 is represented by adding a subscript s). Hereinafter, the side surface 486a may be referred to as the front surface and the side surface 486d may be referred to as the back surface.

{Selection of suction nozzle}
For example, the area of the part that can be adsorbed by the adsorption nozzle 362 is different for each of the adsorbable side surfaces 486a to 486c. The area of the side surface (front surface) 486a that can be adsorbed is large, and the area of the side surface 486b, c that can be adsorbed is small. Therefore, as shown in FIG. 18C, the suction nozzle 362 having a large nozzle diameter is selected for the pickup target component 480t in which the upward surface is the side surface (front surface) 486a, and FIGS. ), the suction nozzle 362 having a small nozzle diameter is selected for the pickup target component 480t in which the upward surface is the side surfaces 486b and 486c.

{Pickup height}
Even for the same lead component 480, the height {the height from the component supporting surface 198 to the upward surface (held surface), which will be abbreviated as height below} varies depending on the posture, and the pickup depends on the posture. The height of the opening, which is the lower end of the suction pipe of the suction nozzle 362, is determined. As shown in FIGS. 16(a) and 19, the height of the lead component 480 in which the front surface 486a is the upward surface is Lb, and the height of the lead component 480 in which the side surfaces 486b and c are the upward surface. That is La. Regarding the lead component 480, La is larger than Lb (La>Lb).

{Maximum acceleration value}
As described above, when the nozzle diameter is large, the holding force of the lead component 480 by the suction nozzle 362 is larger than when the nozzle diameter is small. Further, when the mass of the lead component 480 held by the suction nozzle 362 is the same, when the holding force is large, the inertial force, in other words, even when the acceleration is large, the lead component 480 is sucked by the suction force. It is difficult for the nozzle 362 to shift. Therefore, when the nozzle diameter is large, the conveyance acceleration of the component holding head 300 can be increased compared to when the nozzle diameter is small. From the above, when the suction nozzle with the large nozzle diameter is selected, the maximum value of the transport acceleration that can be output (allowed) is increased as compared with the case where the suction nozzle with the small nozzle diameter is selected.

<Parts data>
The part data 570(n) {n=1,2,3} is defined for each of the pickup target parts 480t shown in FIGS. 18(a) to 18(c), which is a part of the plurality of lead parts 480. This is data and is determined based on the posture of the lead component 480. These parts data 570(n) are stored in the storage unit 550m of the individual control device 550.
The part data 570(1) is represented by a pickup target part 480t(1) in a posture in which the front surface 486a faces upward {corresponding to the part data with a subscript (1) attached. The same applies to the following pickup target parts}, and the parts data 570(2) and (3) are the pickup target parts 480t(2) and (3) whose side surfaces 486b and 486 are facing upward, respectively. ).
As shown in FIG. 19, each of the part data 570(n) includes [1] shape data 572(n) representing a shape in plan view (including a shape of an upward surface), and [2] pickup of a pickup target component 480t. , And data representing conditions (parameters) relating to the conveyance of the component holding head 300. The data representing the parameter [2] (hereinafter, abbreviated as a parameter relating to pickup of the pip-up target component 480t, etc.) includes (i) the nozzle diameter of the suction nozzle 362 used when picking up the pickup target component 480t (suction nozzle Diameter (representing an example of holder type specification data) 574(n), (ii) the component holding head 300 holding the lead component, and the component receiving member 460 at the component receiving position. Maximum acceleration data 576(n) representing the maximum value (limit value) of the acceleration (including the absolute value of deceleration) at the time of transporting up to [iii] the pickup height when the suction nozzle 362 picks up the pickup target component 480t. One or more of pickup height data 578(n) and the like indicating the height (the height of the opening which is the lower end surface of the suction tube of the suction nozzle 362) are included.

<Captured image data>
An example of the captured image data is conceptually shown in FIG. As shown in FIG. 20, in the captured image data 580, individual image data 582(k) {k=1,2,3...} which is a plurality of image data corresponding to each of the plurality of lead components 480. Is included. The individual image data 582(k) is image data representing the shape of each of the lead components 480 in plan view. Based on the individual image data 582(k), it is possible to know whether or not the corresponding lead component is the pickup target component.

<Image processing>
[I] The captured image data 580 is processed based on the parts data 570(1). The shape data 572(1) of the part data 570(1) and the individual image data 582(k) {k=1,2,3...} are respectively compared, and the individual image data 582(k) of the individual image data 582(k) are compared. Those that match the shape data 572(1) of the part data 570(1) are extracted. Then, the lead component 480 corresponding to the matching individual image data 582(k) is set as the pickup target component 480t(1). For comparison, at least one of the shape data 572(1) and the individual image data 582(1) is rotated. Then, the attitude (inclination θ) of the pickup target component 480t(1) is obtained based on at least one of the rotation angles when they match. The inclination θ is parallel to the reference line A (for example, a line parallel to the X direction or the Y direction) on the XY coordinates and the reference line B (for example, the lead wire 484) of the individual image data 572(k). Angle (which can be a line) (for example, the clockwise direction can be defined as a positive angle). Further, the position on the XY coordinates of the individual image data 572(k) is based on image data or the like corresponding to a predetermined reference position mark (for example, it can be formed on the component support surface 198 or the like). That is, the position on the XY coordinates of the pickup target component 480t(1) corresponding to the individual image data 572(k) is acquired. The data representing the position on the XY coordinates of the pick-up target component 480t and the data representing the inclination θ (hereinafter collectively referred to as position/tilt data) are stored.
The part number 570(1) includes nozzle diameter data 574(1), pickup height data 578(1), maximum acceleration data 576(1), etc. Decided.

[II] The captured image data 580 is processed based on the parts data 570(2). The shape data 572(2) and the individual image data 582(k) of the part data 570(2) {or the individual image data 582(k) except those determined as the pickup target part 480t(1) are excluded. And the shape data 572(2) are extracted. The lead component 480 corresponding to the extracted individual image data 582(k) is set as the pickup target component 480t(2), and the position on the XY coordinates and the inclination θ of each pickup target component 480t(2) are acquired. Then, the position/tilt data is stored. Further, the patterner for picking up the pickup target component 480t(2) is determined by the nozzle diameter data 574(2) of the part data 570(2), the pickup height data 578(2), the maximum acceleration data 576(2), and the like.
[III] The captured image data 580 is processed based on the parts data 570(3). Similarly, the part corresponding to the individual image data 582(k) that matches the shape data 572(3) of the part data 570(3) is set as the pickup target part 480t(3), and the position/tilt data is acquired. Be remembered. In addition, the patterner for picking up the pickup target component 480t(3) and the like is determined based on the parts data 570(3).

Since the image processing is performed a plurality of times as described above, in the present embodiment, the shape data 572(n) of the part data 570(n) and each of the individual image data 582(k) are compared to each other. The process of acquiring the posture of the lead component corresponding to the image data 582(k) and determining the pickup target component 480t(n) is one image process. The image processing can also include acquisition and storage of position/tilt data of the pickup target component 480t(n). Also, the number of times of image processing is determined by the number of parts data 570(n), and is determined by the shape of the lead component 480.

The image processing is performed by executing the image processing program represented by the flowchart of FIG.
In step 1 (hereinafter, abbreviated as S1; the same applies to other steps), the plurality of lead components 480 in a loose state supported by the component supporting surface 198 by the image capturing device 90 are captured, and the image capturing is performed. Image data is obtained. In S2, the count value n of the counter that counts the number of times of image processing is set to the initial value 1, and in S3, the part data 570(1) used in the first image processing is read. In S4, the shape data 572(1) and the individual image data 582(k) are compared one by one, and it is determined whether or not they match. If it is determined that they coincide with each other, the position on the XY coordinates and the inclination θ of the individual image data 582(k) are acquired. Then, the lead component corresponding to the individual image data 582(k) is set as the pickup target component 480t(1), and the position/tilt data is stored.

In S6, it is determined whether or not all the individual image data 582(k) included in the captured image data 580 have been compared with the shape data 572(1). If the determination is NO, S4 to S6 are repeatedly executed to determine whether or not each of the individual image data 582(k) and the shape data 572(1) match, and when it is determined that they match. The position and inclination of the individual image data 582(k) are acquired.
For example, in FIG. 20, since it is determined that the individual image data 582(1) matches the shape data 572(1), the position on the XY coordinates of the individual image data 582(1) and the inclination θ1 are acquired. The lead component 480 corresponding to the individual image data 582(1) is set as the pickup target component 480t(1), and the position/inclination of the pickup target component 480t(1) is acquired and stored. Since the individual image data 582(2) does not match the shape data 572(1), the determination in S4 is NO, and the position/tilt is not acquired. The individual image data 582(3) also do not match. Then, for all the individual image data 582(k), when the determination as to whether they match the shape data 572(1), the acquisition of the position and the inclination when they match, the storage, etc. are complete, the determination at S6 is YES. The first image processing ends.

Next, in S7, the count value is incremented by 1. In S8, the count value n is determined from a predetermined number Nc (which is a preset number of times of image processing and corresponds to the number of parts data 570(n). In the present embodiment, Nc=3). It is determined whether or not it is larger. If Nc or less, the count value 2 is read in S3, that is, the part data 570(2) used in the second image processing is read, and similarly, in S4 to 6, the shape data 572(2) is read. And individual image data 582(k) {excluding those determined to match the shape data 572(1)} are determined, and the individual image data when it is determined to match The position and the inclination of the pickup target component 480t(2) corresponding to are acquired and stored.
For example, it is determined that the individual image data 582(2) matches the shape data 572(2), and the lead component corresponding to the individual image data 582(2) is set as the pickup target component 480t(2). Further, the position/tilt θ2 is acquired, and the position/tilt data is stored. It is determined that the individual image data 582(3) and 582(4) do not match. When the processing for all individual image data 582(k) is completed, the determination in S6 is YES, and the second image processing is completed.
Next, after the execution of S7 and S8, the third image processing is performed in the same manner, the part data 570(3) used for the third image processing is read, and the shape data 572(3) is obtained. It is determined whether or not each of the individual image data 582(k) matches, and if determined to match, the position and the tilt are acquired and stored. For example, since it is determined that the individual image data 582(5) matches the shape data 572(3), the lead component corresponding to the individual image data 582(5) is the pickup target component 480t(3), and the pickup target component is 480t(3). The position/inclination θ5 of 480t(3) is acquired and stored. In S7, when the count value n is incremented by 1 and becomes 4, the determination in S8 becomes YES, the present program is terminated, and the image processing for three times is terminated.
In the individual image data 582(k) included in the captured image data 580, the lead component 480 corresponding to the individual image data 582(k) that does not match any of the shape data 572(1) to (3) is , The non-pickup target component 480s.

Next, for each of the pick-up target parts 480t(1) to (3), the suction nozzle 362 is replaced, the pick-up target part 480t is picked up, conveyed, etc. under the conditions determined by the part data 570(1) to (3). The component holding head 300, the holding head moving device 302, and the like are controlled by executing the pickup or the like control program shown in the flowchart of FIG.
In S21, the count value m of the counter that counts the parts data 570(n) is set to the initial value 1, and in S22, the nozzle diameter data 574(1) and the pickup height data 578(1) of the parts data 570(1). The maximum acceleration data 576(1) is read, and the position/tilt data of each pickup target component 480t(1) stored by executing S5 of the image processing program or the like is read.
Then, in S23, it is determined based on the nozzle diameter data 574(1) whether or not the suction nozzle 362 needs to be replaced. When it is necessary to replace the nozzle, the determination is YES, and the nozzle is replaced in S24. The component holding head 300 is moved to a predetermined position of the nozzle housing device 430, the suction nozzle 362 attached at that time is removed, and the suction nozzle determined by the nozzle diameter data 574(1) is attached. In the nozzle accommodating device 430, the shutter moving device 434 moves the shutter to the extraction allowable position, and in the component holding head 300, the suction nozzle 362 is attached/detached by controlling the solenoid valves 424c and 424d. If it is not necessary to replace the suction nozzle 362, the step S24 is not executed.
In the present embodiment, since there is one suction nozzle as the component holder held by the component holding head 300, the suction nozzle after replacement corresponds to the specific component holder when the determination in S23 is YES. If the determination in S23 is NO, the suction nozzle currently held corresponds to the specific component holder.

In S25, the component holding head 300 is moved to the position determined by the position/tilt data, and the pickup target component 480t(1) is picked up at the height determined by the pickup height data 578(1). When the suction nozzle 362 is moved to the pickup height and a negative pressure is supplied, the pickup target component 480t(1) is sucked and held.
Further, at the time of picking up a component, the suction nozzle 362 is located at the non-pivoting position, is swung to the 90° swivel position during the movement to the component carrier, and the lead 484 is directed downward. However, since the turning direction is fixed in one direction, the suction nozzle 362 is rotated around its own axis line in a state of being positioned at the non-turning position by an angle determined based on the inclination θ before picking up the suction nozzle 362. The vertical pivot plane is parallel to the vertical plane parallel to the longitudinal direction of the lead 484 of the component 480 mounted on the component support surface 198, and pivoting causes the lead 484 to rotate in a downward phase.
The suction nozzle 362 is also rotated about the axis of the spline shaft 392 after the pickup target component 480t(1) is sucked, and the rotational phase of the component main body 482 about the vertical line is matched with the rotational phase of the main body receiving recess 502. ..

After picking up and holding the pickup target component, the suction nozzle 362 (component holding head 300) is conveyed to the component receiving member 460 at the component receiving position in S26. The component holding head 300 is accelerated and then moved at a constant speed and then decelerated, but the magnitudes of acceleration and deceleration are limited, which is represented by maximum acceleration data 576(1). Transported so as not to exceed acceleration (deceleration). Thereby, the inertial force acting on the lead component 480 held by the suction nozzle 362 is limited, and the lead component 480 can be made less likely to shift. By lowering the component holding head 300 at the component receiving position, the lead component 480 is guided by the guide surface 506 and received in the component receiving recess 500. Thereafter, the supply of the negative pressure to the suction nozzle 362 is cut off, the lead component 480 is released, the component holding head 300 is raised, and the suction nozzle 362 is swung back to the non-swiveling position.

In S27, it is determined whether or not all of the pickup target parts 480t(1) corresponding to the parts data 570(1) have been received by the component receiving members 460 of the component carriers 450, 452. When the determination is NO, S25 to S27 are repeatedly executed. The component holding head 300 is moved to the position of the next pickup target component 480t(1) determined by the position/tilt data, picks up the pickup target component 480t(1), and then is conveyed to the component receiving member 460. When there are a plurality of pickup target components 480t(1), they are picked up one by one according to a preset order.
When all the pickup target components 480t(1) are moved to the component receiving member 460, the determination in S27 is YES, the count value m is incremented by 1 in S28, and the count value is increased in S29. It is determined whether or not it is larger than (Nd=3). If the movement of all the pickup target parts 480t(1) to (3) to the part receiving member 460 is not completed, the determination in S29 becomes NO, the process returns to S22, and the part data 570(2) of the count value 2 is obtained. ) Is read, and each position/tilt data of the pickup target component 480t(2) is read.

Thereafter, S23 to 27 are similarly executed. Since the nozzle diameter data 574(2) is different from the nozzle diameter data 574(1), the determination in S23 is YES, and in S24, the suction nozzle 362 is replaced. Further, in S25 and S26, the pickup target component 480t(2) is moved to the component receiving member 460. When S25 to 27 are repeatedly executed and all the pickup target components 480t(2) are moved to the component receiving member 460, the determination in S27 is YES, and the count value m is incremented by 1 in S28. When the same execution is performed for the part data 570(3) and all the pickup target parts 480t(3) are moved to the part receiving member 460, the determinations in S27 and S29 are YES, and this program ends. To be made. The pickup target components 480t(1) to 480t(3) supported by the component supporting surface 198 are moved to and held by the component receiving member 460, so that the component carriers 450 and 452 have the same predetermined posture. Be aligned.

When the lead components 480 are held by all the component receiving members 460 of the component carrier located at the component receiving position, the component carrier is moved to the component delivering position. The mounting heads 50 and 52 of the component mounting device 20 are moved to the component carrier located at the component delivery position, and the lead holder 480 held by the component receiving member 460 is picked up by the component holder 70. The lead components 480 are all housed in the component receiving member 460 in the same posture, in other words, with the lead 484 facing downward and the top surface facing the bottom surface to which the lead 484 is connected facing upward, and the component holding member 460. 70 (eg, a chuck) can pick up all lead components 480 well.

As described above, in this embodiment, the postures of the lead components 480 in the loose state are separately obtained by the process based on the part data 570(n) of the captured image data 300, and the pickup target component 480t( n) is determined, and the nozzle diameter, pickup height, maximum value of transport acceleration, etc. are acquired. As a result, it is possible to favorably pick up a plurality of lead components 480 in a loose state and to favorably move them to the component receiving member 460.
For example, the suction nozzle 362 has a nozzle diameter of a size suitable for the shape of the upward surface of the pickup target component 480t and the like. If the suction nozzle 362 having a large nozzle diameter is used for all the pickup target components 480t, the lead component 480 in the posture shown in FIGS. 18(a) and 18(b) has an upwardly adsorbable portion. Since it has a small area, it is a non-pickup target component. In other words, the pickup target component is only the lead component 480 in the posture of FIG. 18C. On the other hand, if a suction nozzle having a nozzle diameter suitable for the shape of the upward surface is selected, the lead component 480 in the posture shown in FIGS. 18(a) and 18(b) is also a pickup target component. As a result, it is possible to increase the number of lead components 480 that can be picked up by supplying the loose components once, and it is possible to reduce the number of returned lead components 480 (the number of non-pickup target components 480s).

Further, when the suction nozzle 362 having a small nozzle diameter is used for all the pickup target components 480t (1) to (3), the exchange time of the suction nozzle 362 becomes unnecessary, but the transportation time becomes long. .. In particular, when the pickup height is high, the posture during transportation of the component is unstable, so that the maximum acceleration is usually set to a small value, and as a result, the transportation time becomes long. On the other hand, if a suction nozzle having a large nozzle diameter is used for the pickup target component 480t(1), the maximum acceleration when the pickup target component 480t(1) is conveyed can be increased. Therefore, the transport time can be shortened.

Although the non-pickup target component 480s remains on the component support surface 198, the non-pickup target component 480s is returned to the component feeder 82 by the component returning device 88. As shown in FIG. 8, the non-pickup target component 480s is prevented from moving backward by the scraping member 114, is moved forward with respect to the component supporting member 150, and is scraped into the component collecting container 220. When the component support member 150 is retracted, a force is applied from the cam member 180 to the cam follower 182 in the same direction as the component support member 150 is retracted, but the stopper 234 allows the cam follower 182 to freely rotate in this direction. As a result, as shown in FIGS. 8 and 9, the cam follower 182 rotates with respect to the component feeder 82 against the biasing force of the torsion coil spring 206, gets over the teeth 190, and vibrates the component feeder 82. Instead, the component support member 150 is retracted. Therefore, the component does not drop from the component housing portion 100 onto the component supply surface 110 and is not discharged to the component support surface 198.

After the component support member 150 is moved to the retracted position as shown in FIG. 10A, the component collection container 220 is raised with respect to the component feeder 82 as shown in FIG. 10B. As the component collection container 220 rises, the shutter 250 is raised by the bias of the compression coil spring 255, and closes the component discharge part 112 at the shield position as shown in FIG. 10(c). The roller 240 is raised along with the outer surface of the component feeder 82 together with the component collection container 220. The component collection container 220 is further raised after the shutter 250 is moved to the blocking position, and at the end of the ascending/descending movement raised to the vicinity of the rising end position, the roller 240 is engaged with the engaging surface 242 as shown in FIG. And is prevented from rising. As a result, the component collection container 220 is rotated to the component discharge position against the biasing force of the torsion coil spring while being further raised to the rising end position, and the collected component 480 is collected. Is discharged inside. In the state where the component collection container 220 is rotated to the component discharge position, the bottom surface is vertical, and the rear wall 236 is in a state of heading toward the component housing portion 100 as it goes downward, and the lead component 480 is guided by the rear wall 236. All the components are discharged to the component storage unit 100.

Even while the component is returned to the component supplier 82 in any of the five component supply units 96, the imaging device 90 and the component holding head 300 image and pick up the component 480 of another component supply unit 96. And so on. As shown in FIG. 23, the component is returned while the component support member 150 is returned to the retracted position, whereas the component support surface 198 is provided on the front side of the component support member 150 and the component recovery is performed. The component 480 on the component support surface 198 is imaged and held without interfering with the container 220.
Further, by removing the parts of the bulk component supply device 18 excluding the shuttle devices 304 and 306 from the device body 10, the maintenance of the bulk component supply device 18 can be easily performed.

Before picking up the pickup target component 480t, the position of the pickup target component 480t can be confirmed based on the captured image data obtained by capturing the image of the component support surface 198 of the image capturing device 90. Thereby, the pickup target component 480t can be picked up more accurately.
The image pickup by the image pickup device 90 is performed before each pickup of the lead component 480 by the component holding head 300, and the suction nozzle 362 (component holding head 300) holds the lead component 480 on the component support surface 198. After that, it is carried out in parallel with the transportation to the component receiving member 460. Since the component holding head 300 can be moved in the height region between the imaging device 90 and the component support surface 198, the imaging device 90 and the component holding head 300 do not interfere with each other. Therefore, the imaging device 90 is left positioned on the component supporting surface 198, and the imaging is performed after the component holding head 300 holding the lead component 480 retracts. Thereby, for example, even if the position and orientation of the pickup target component 480t to be picked up next time may change due to the pickup operation of the lead component 480 in the one component supply unit 96, the change is acquired. It

Further, the component holding head 300 is not limited to that in the above embodiment. For example, various types of heads can be used, such as a head that can hold a plurality of suction nozzles having different nozzle diameters in an annular shape, or a head that can hold a plurality of suction nozzles described above in a straight line shape with a predetermined spacing. be able to. Further, the component holding head 300 can be changed to each of the above-mentioned heads automatically or manually. Then, when the component holding head 300 is a head capable of holding a plurality of suction nozzles, the suction nozzle determined according to the nozzle diameter data 574 is positioned at the predetermined pickup position. The suction nozzle for picking up the pickup target component is changed. In this embodiment, the positioned suction nozzle corresponds to the specific component holder.
Further, the component supported on the component support surface 198 can be picked up by the suction nozzle 362 and directly supplied to the substrate 12. In that case, the moving range of the component holding head 300 by the component holding head moving device 302 is set to the range including the held substrate 12.

In this embodiment, (1) the bulk component support portion is constituted by the component support surface 198 and the like. (2) The component delivery section is composed of the component carriers 450, 452 and the like. (3) The holder changing device is considered to be configured by the nozzle mounting device 368 or the like, or stores S24 of the nozzle mounting device 368 and the control device 26 such as the pickup control program represented by the flowchart of FIG. It can be considered to be composed of parts, execution parts, and the like. The holder changing device is also a holder exchange unit. (4) The changing moving unit is configured by a part of the holding head moving device 302 that moves the component holding head 300 between the component supporting surface 198 and the nozzle accommodating device 430. (5) The pickup moving unit is configured by a portion of the holding head moving device 302 that raises and lowers the suction nozzle 362 to the pickup height. (6) The acceleration limiting moving unit is configured by a part that moves the component holding head 300 without exceeding the acceleration determined by the maximum acceleration data of the holding head moving device 302. (7) The parts data storage unit includes the storage unit 550m of the control device 26 and the like. The parts data storage unit may be provided in the integrated control device 26a. (8) Bulk component supply device The control device is composed of a part of the control device 26 that stores a control program such as a pickup, a part that executes the control program, and a part data storage part. In addition, the pickup height acquisition unit is configured to be a part data storage unit, a portion that stores S22, a portion that executes S22, and the like of the bulk component supply device control device, and the pickup height control unit that stores S25, It is composed of parts to be executed. (9) The next step is a "step of mounting a component on the board 12" performed by the component mounting apparatus 20, or a component mounted on the board 12 or a board 12 on which the component is mounted. Processing step" (for example, a cut and clinch step of cutting and bending the leads, a soldering step of soldering the lead components, a step of heat-treating the substrate 12, a step of unloading from the component mounting device, etc.) You can

A chuck 580 shown in FIG. 24A can be attached to the holder holding member of the component holding head. The chuck 580 includes a pair of claw portions 582p and q held by the chuck body, a slide-type drive device 584 that moves the pair of claw portions 582p and q toward and away from each other, and the like. The width of the pickup target component that can be gripped by the chuck 580 is predetermined.
In the present embodiment, since the component holder is the chuck 580, as shown in FIG. 18(d), the lead component 480 in a posture in which the side face 486d that is difficult to adsorb is the upward face is also the pickup target component 480t(4). It is said that Even if the upward surface is a surface that has a difficult shape to attract, the side surfaces 486b and 486 that face each other can be gripped by the pair of claw portions 582p and q. For example, the lead component 480 corresponding to the individual image data 582(4) included in the captured image data 580 shown in FIG. 20 is the pickup target component 480t(4).

An example of the part data 590(n) of the lead part 480 in this embodiment is conceptually shown in FIG. 24(b). The part data 590(n){n=1,2,3,4} includes data representing parameters relating to, for example, [1] shape data 592(n) and [2] pickup of the pip-up target part 480t. The data representing the parameters includes (i) chuck width data 594(n) and (ii) representing the chuck width of the chuck for gripping the pickup target component (width of the component that can be gripped by the pair of claw portions 582p, q). ) Includes one or more of pickup height data 596(n), etc. A chuck having a large chuck width is selected for the pickup target components 480t(1) and (4), and a chuck having a small chuck width is selected for the pickup target components 480t(2) and (3). ..
On the other hand, when the holding force of the lead component 480 by the chuck 580 is substantially the same even when the width of the pickup target component 480t is different, the maximum acceleration can be the same magnitude even if the posture of the pickup target component 480t is changed. .. In that case, it is not always necessary to include the maximum acceleration data in the data representing the parameters relating to the pickup of the pip-up target component 480t and the like.
In the present embodiment, the image processing is performed four times by comparing each of the shape data 592(1) to (4) with the captured image data 580, and the pickup target components 480t(1) to 480t are determined. .. Further, these pickup target components 480t(1) to 480t are picked up by the chuck 580 and moved to the component receiving member 460 to be aligned with the component carriers 450 and 452.

As shown in FIG. 25, instead of the component supply unit 96, a hand-placed component tray 600 as a hand-placed component support member may be detachably provided. The hand-held component tray 600 includes a component support surface 602 having a flat surface, and the component support surface 602 supports a plurality of discrete components 604.
The hand-placed component tray 600 is placed by the operator after the attachment to the main body 80 or before the attachment, outside the bulk component supply device. The supply of parts using such a hand-placed parts tray is suitable for supplying parts in which leads are easily bent, parts in which it is not desirable to bring the parts into contact with each other, parts in which vibration is not desired, large parts, and the like. ..
The size of the hand-placed parts tray 600 does not matter. The width may be substantially the same as the width of the component supply unit 96, or may be larger than the width of the component supply unit 96.

Other examples

The present invention can be carried out in various forms other than the above-described embodiments, with various changes and improvements made on the basis of the knowledge of those skilled in the art. Further, the above-described plurality of embodiments can be implemented in a form combined with each other.
For example, when the component support member 150 or the hand-placed component tray 600 is disposed within the movement range of the mounting heads 50 and 52 of the work head moving device 54, the mounting heads 50 and 52 are in a loose state. The components 480 and 604 can be directly picked up and directly mounted on the substrate 12. In that case, the component support member 150 or the plurality of loose components 480 and 604 supported by the hand-placed component tray 600 are imaged by the imaging device 22 provided in the mounting head 50. be able to.
In addition, the component support members 150 or the components 480 and 604 in the loose state supported by the hand-placed component tray 600 are held by the mounting heads 50 and 52 such that the component holder 70 is rotatable about the horizontal axis. And can be held by the component holder 70 that is pivotable about its horizontal axis. Similar to the case of the first embodiment, the postures of the components 480 and 604 in the loose state are acquired based on the captured image data, the component holder 70 is replaced accordingly, or the height determined by the posture of the pickup target component is increased. It will be picked up by the height and transported without exceeding the maximum acceleration determined by the posture.

On the other hand, these component support members 150 or the components 480 and 604 supported by the hand-placed component tray 600 are held by the component holders 70 (non-rotatable component holders) of the mounting heads 50 and 52. You can also In this embodiment, based on the picked-up image data, the mounting heads 50 and 52 hold the mountable components, and the pickup height and the like are acquired. The mounting heads 50 and 52 are moved to the position of the pickup target component, and the pickup target component is picked up at the acquired height. The present embodiment is suitable for mounting components that do not have leads.
Note that at least one of the mounting heads 50 and 52 may be a head capable of holding a plurality of component holders arranged in a ring or linearly.
In the present embodiment, the hand-placed component tray 600 or the like corresponds to the mounting bulk component support portion, the image pickup device 22 corresponds to the mounting image pickup device, the component holder 70 corresponds to the mounting component holder, and the mounting is performed. The heads 50 and 52 correspond to the mounting component holding head, and the work head moving device 54 corresponds to the mounting holding head moving device. Further, the mounting holding head movement control device is configured by a portion of the control device 26 (including the individual control device of the mounting device 20) that controls the work head movement device 54. In the mounting holding head movement control device, a pickup height acquisition unit is configured by a portion that acquires the pickup height based on the captured image data, and a portion that controls the work head movement device 54 based on the pickup height. A pickup height movement control unit is configured by the above.

18: bulk component supply device 20: component mounting device 26: control device 82: component supply device 84: component scattered state realizing device 86: component delivery device 88 component return device 90: imaging device 198: component support surface 220: component collection container 364: Nozzle rotating device 366: Nozzle swiveling device 368: Nozzle mounting device 450, 452: Component carrier 550: Individual control device 550 m: Storage unit 552: Image processing device 570, 590: Parts data

Claims (3)

The loose state supported by a loose component support portion that supports a plurality of components of the same type having a plurality of flat surfaces different in shape and intersecting each other at right angles in a loose state in which the components are scattered in an arbitrary posture. An imaging device for imaging the plurality of components in
One selected from a plurality of different types of component holders capable of picking up and holding at least one of the plurality of components in the loose state supported by the loose component support unit one by one. A component holding head including a specific component holder,
A vertical movement device for linearly moving the component holding head in the vertical direction,
A horizontal movement device for moving the component holding head and the vertical movement device simultaneously in the horizontal direction,
At least one of specific plane data that is data representing the shape of a plurality of specific planes that respectively specify each of the plurality of postures of the scattered components, and at least one of the plurality of planes of each of the components of the plurality of postures. A storage unit that stores a plurality of association data that associates with a held surface data that is a data representing a certain held surface, the at least one of the plurality of components supported by the bulk component supporting unit. A picking device for loose parts that picks up one part at a time,
When the component holding head includes the specific component holder and picks up one of the plurality of components, the plurality of the plurality of components are picked up based on picked-up image data obtained by the image pickup of the image pickup apparatus. The held surface stored by being associated with specific plane data representing the specific plane based on the specific plane and the plurality of association data stored in the storage unit. The at least one to-be-held surface represented by surface data is specified, and the horizontal movement device causes the specific-component holder to hold the to-be-held surface so that the specific-component holder holds the held surface. The specific component holding unit is moved to a position above the one component to be picked up supported by the vertical movement device and moved to a pickup height which is a height at which the component can be picked up. A picking device for loose parts, comprising a pick-up height changing device for changing the pick-up height of the part of the tool. An imaging device for imaging the plurality of parts in the loose state supported by a loose part support portion that supports a plurality of parts of the same type in a loose state in a scattered state in an arbitrary posture,
A component holding head including one or more component holders capable of picking up and holding at least one of the plurality of components in the loose state supported by the loose component supporting unit one by one;
A vertical movement device for linearly moving the component holding head in the vertical direction,
A horizontal movement device for moving the component holding head and the vertical movement device simultaneously in the horizontal direction,
Specific plane data representing a specific plane that defines each of the plurality of postures of the component, holding tool type definition data that defines the type of the component holder that holds the component in each of the plurality of postures, and the plurality of A storage unit that stores a plurality of association data that associates with component data including pickup height data that represents the pickup height when holding a component in each of the postures, and is supported by the loose component support unit. A method for picking loose parts, wherein the at least one of the plurality of parts is picked up one by one,
The component has a plurality of planes that intersect each other at right angles and have mutually different shapes,
Based on the captured image data that is the image data obtained by the image capturing of the image capturing device, each of the plurality of components, of the plurality of planes determined by the posture of the component when scattered in the loose component support portion. Acquiring a specific plane, which is one of them,
Based on the acquired specific plane data representing the specific plane of each of the at least one component and the plurality of association data stored in the storage unit, the holder type associated with the specific plane data. The vertical movement device picks up a specific component holder, which is one of the one or more component holders determined by the holder type regulation data, by acquiring the regulation data and the pickup height data. The process of moving to the pickup height determined by height data,
A method of picking loose parts, including the step of causing the specific part holder to pick up the parts at the moved height. The step of causing the pickup to move the horizontal direction moving device to position the specific component holder above the one component to be picked up supported by the bulk component supporting portion; and the vertical movement device. 3. The picking method according to claim 2, further comprising the step of moving the component to a height at which it can be picked up after the step of positioning the component at a position above the component.

Images