JP2735134B2 - Control device and mounting system for turret type mounting machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control device for a turret type mounting device including a turret table having a plurality of work holding mechanisms for holding a work at a supply position. In the mounting apparatus targeted by the control device of the present invention, particularly, the holding mechanism grips and holds a work such as an IC device from an external work supply device or the like. This is a turret-type mounting apparatus having a mechanism for releasing the holding of a work held thereon in order to mount the work on a substrate.

More specifically, the present invention essentially eliminates the need for teaching, is not affected by the order of mounting, the type of work, the number of work holding mechanisms, etc., and flexibly responds to these changes. The present invention relates to a control device for a turret type mounting device that can be used.

[Prior Art] For example, in order to mass-produce electronic / electric products in high quality, an advanced mounting system is indispensable.
In order to insert standard components such as ICs and resistors into the printed circuit board of the electronic / electrical products at the proper positions on the board, it is impossible for the mounting machine alone to supply components to this mounting machine externally. And a device for moving the printed circuit board are required. An apparatus for this movement usually uses, for example, an XY table.

For example, Japanese Patent Application Laid-Open No. 61-136298 discloses a technique in which a plurality of suction heads are arranged around a rotary table, and suction and mounting of a work is performed by rotating the rotary table. That is, Japanese Unexamined Patent Application Publication No. 61-136298 discloses an XY table for positioning a printed circuit board, a component shelf arranged near the XY table and movable in the lateral direction, A rotating turntable disposed between the Y-table, a rotating head mounted at a position equally divided on the turntable, and a rotating head having a shape disposed at the tip of the mounting head. A plurality of different mounting chucks and a plurality of cams arranged around the turntable, wherein the plurality of mounting chucks are driven by electronic component type data in the plurality of mounting chucks. One mounting chuck selected by driving the mounting head with the chuck selection cam operates, and this mounting chuck is driven by the polarity selection cam driven by the data of the polarity direction of the electronic component. , The electronic component is sucked from the component shelf, and the mounting direction of the mounting chuck is selected by the mounting direction selection cam driven by the data of the type of the electronic component during rotation of the turntable. An electronic component automatic mounting apparatus, which mounts electronic components on the printed circuit board on a Y table, is disclosed.

However, in the above-described conventional example, the head mechanism stops after being fed by one pitch, and the following drawbacks are pointed out.

That is, for example, when mounting 10 types and 20 types of components with ten head mechanisms, the shapes of the components to be mounted are usually different for each head mechanism. For this reason, the head mechanism on which components have already been mounted does not need to stop at the pickup position and the insert position.

However, in the intermittent feed turret table with one pitch, the head mechanism is always stopped once at the pickup position / insert position, and the number of unnecessary stops increases. As described above, in the conventional turret type mounting machine, there is a problem that the tact time is extended and the workability is poor.

Further, in such a conventional turret mounting system, a plurality of work holding mechanisms are configured to rotate, and a position for receiving a component from the external component supply device is fixed. Also, the position where the component held from the turret table of the mounting machine is transferred to the circuit board, that is, the position where the component is inserted (or the release position) is fixed. This is because there are various types of components to be transferred from the component supply device to the mounting machine, so that the positions where these components are waiting must be spatially expanded, and a circuit board on which components are to be inserted. Considering that the upper position is also spatially expanded, the supply position where components should be passed from the component supply device to the turret mounting machine and the release position where components should be inserted from the turret mounting machine to the board should be fixed. Is efficient.
Therefore, it is up to the component supply device to transfer the necessary components to the fixed supply position on the turret table, and the insert position on the circuit board is moved to the fixed release position on the turret table. That is up to the XY table above.

By the way, on the component supply device side, since the operation of moving the necessary components to the fixed supply position is a monotonous linear motion or a rotary motion, the operation can be accelerated. Is not a problem because it is properly maintained. Also, in the mounting machine, the components before mounting are firmly gripped, and the turret table is also suitable for high-speed rotation because the movement of the turret table is also monotonous rotation.

However, on a circuit board where components are being inserted one after another from the mounting machine, it is difficult to move the XY table at high speed because the components are merely inserted even though they are clinched. is there. Therefore, the movement of the XY table must be suppressed to a relatively low speed.To improve the efficiency of the entire mounting system, the movement of the XY table that moves around the insertion position of all components in the shortest time at that low speed is required. It is important to find the order, in other words, the order in which the components are inserted into the circuit board.

Such an optimal mounting order can be found in advance for each board.

[Problems to be solved by the invention] The problems are as follows.

: This optimal mounting order, that is, the insertion order, must be maintained because it is optimal, but if you try to protect it, the order of the parts passed from the mounting machine to the XY table is also saved as this insertion order. It must be.

A: However, such an optimal mounting order varies from product to product. : Therefore, in order to maintain the optimal mounting order for all products, the operation of the component supply device, the rotation operation of the turret table in the mounting machine from the component supply device to the optimal mounting order obtained for each product, It is necessary to teach the pickup operation at the supply position of each holding mechanism, the release operation of the holding mechanism at the release position (insert position), and the like. However, this is not practically possible when there are many types of products.

Therefore, in the case of a wide variety of products, conventionally,
In particular, the rotation operation of the turret table from the component supply device to the mounting machine, the pick-up operation at the supply position of each holding mechanism, and the release operation of the holding mechanism at the release position (insert position) in the mounting machine are performed by simple one-by-one operations. Have been dealt with.

This one-by-one operation means, for example, that the turret table rotates and stops for each unit rotation amount, and in the stopped state, if there is a component to be picked at the supply position, the holding mechanism performs a gripping operation to perform the gripping operation. On the other hand, at the release position (insert position), the parts that have come to the release position are sequentially released from holding and inserted. If the next component to be passed to the mounting machine in the mounting order is, for example, component A,
If the holding mechanism that happens to come to the supply position cannot hold the part A, the holding mechanism performs an imaginary picking operation (so-called idling), and then holds the part by the subsequent holding mechanism. I leave it to you.

That is, in a case where there are various types of products, in order to keep the optimal mounting order for all products, as described above, the turret table is stopped every time the holding mechanism (gripping head) comes to the supply position.

: If the holding mechanism that happens to come to the supply position cannot grip the component that must be delivered to the mounting machine, the emptying is performed.

Conventionally, this is a factor that hinders the efficiency of the mounting operation of the entire system.

[Means and Actions for Solving the Problems] The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a method for mounting a work regardless of the order in which the work is set in advance. An object of the present invention is to provide a control device for a turret type mounting device that can flexibly cope with the order and does not reduce mounting efficiency.

In order to solve the above-described problems and achieve the object, a control device of a turret type mounting device according to the present invention includes a plurality of work holding mechanisms for holding a work at a supply position,
A control device for a turret type mounting machine including a turret table for holding the substrate in order to mount the work held by the work holding mechanism on the substrate at a mounting position, and describes a mounting order of the work. A process program table and, for each of the work holding mechanisms, a memory for storing a holding status table indicating whether or not each holding mechanism holds a work, and searching the process program table and the holding status table, For one holding mechanism to come to the supply position,
It is determined whether or not the process to supply the work is in the process program table, and the other one of the other holding mechanisms that comes to the release position at the same time when the one holding mechanism comes to the supply position. Determining means for determining whether or not the workpiece is held; and, if at least one of the two determination results is affirmative, rotating the turret table to stop the turret table. Command means for commanding an operation for holding a work and / or an operation for releasing a work for one of the two holding mechanisms that have come to the position and the release position, for which the above determination is positive; It is characterized by having done.

In the control device of the turret type mounting machine according to the present invention configured as described above, it is determined whether or not the process for supplying the work is included in the process program table for one holding mechanism that comes to the supply position. You. At the same time, when this one holding mechanism comes to the supply position and the other one comes to the release position at the same time.
It is determined whether or not the work is held by one of the holding mechanisms.

If at least one of these two determinations is affirmative, the turret table is rotated and stopped, and then the two holding mechanisms that have come to the supply position and the release position. Of the above, the operation for holding the work and / or the operation for canceling the work are instructed for those whose judgment is affirmative. Thus, at a certain position on the turret, it can be reliably determined whether only the supply operation should be performed, only the release operation should be performed, or both operations can be performed. When neither of the operations is required, there is no needless movement of stopping the turret table, which is conventionally inevitable, and the efficiency is improved.

In particular, if the process program table is searched in the order of mounting, the previously set mounting order will not be broken.

Hereinafter, an electronic component mounting system according to the present invention will be described in detail with reference to the accompanying drawings.

(Explanation of Overall Configuration) As shown in FIGS. 1 to 3, in this embodiment, the mounting system 10 selects one component W at a pickup position from, for example, 20 electronic components W having 10 shapes. Component supply device 100 and a turret table device for picking up a component W supplied from the component supply device 100 to a pickup position, transporting the component W to an insert position, and inserting the component W into the circuit board 20 at the insert position.
200 and the turret table device 200
The clinch device 300 for clinching the electronic component W inserted into the circuit board 20, and the circuit board 20 in the X-axis and the Y-axis in order to arbitrarily set the position of the component W with respect to the circuit board 20 at the insert position and the rotation posture. And a substrate rotation positioning device 400 for linearly moving along the axis and rotating around a vertical axis. here,
In this embodiment, the electronic component W is composed of, for example, a package type IC.

(Description of Component Feeding Apparatus) As shown in FIG.
In a state in which a predetermined number of workpieces W having a shape of 20 parts are stored in the stick S, the work supply units 124 provided in a state where the sticks S of each part are stacked are indicated by arrows A, respectively.
Are arranged in a line along the direction indicated by. The component supply device 100 includes a work supply unit 124
And through the pickup position Q _1, and a moving mechanism 114 for reciprocating the straight line along the direction A mentioned above. That is, in the component supply device 100, the moving mechanism 114
A result, the desired component type of the workpiece W is selectively brought to the pickup position Q _1.

Here, the component supply device 10 in the mounting system 10
0, as shown in FIG. 4, shows a gantry 126 which is disposed in front and rear at a predetermined angle with respect to a horizontal plane, and each is attached so as to extend along the direction shown by arrow A. It is provided fixed on a base that does not. Each stand 126
On the top, a guide rail 128 extending along the arrow A direction
Has been fixed. A sliding member 130 is fitted to each guide rail 128 so as to be slidable along the direction indicated by the arrow A so as to extend along the direction of the arrow A. Each sliding member 13
Above 0, receiving stands 132 are formed at predetermined intervals along the arrow A direction.

On the other hand, each work supply is a shot table extending along the direction indicated by arrow B so as to be inclined by the above-mentioned predetermined angle.
134, and a pair of front and rear mounting bases 136 fixed to the lower surface of the short base 134 and detachably locked to the corresponding receiving base 132.

Further, each workpiece supply is located at a substantially central portion of the shot table 134 and has a cassette 138 provided with a plurality of stacks of corresponding sticks S, and a direction indicated by an arrow B from the lowermost stick S in the cassette 138. And a work separation mechanism 140 for separating the works W taken out onto the shunt table 134 one by one (separate from the next work), and an empty stick discharge mechanism for discharging the empty stick. 142 and.

With such a configuration, each workpiece supply is performed by attaching and detaching the mounting base 136 to and from the corresponding receiving base 132.
It will be attached to and detached from the gantry 126 as a fixed part independently.

Here, in the middle portion of the above-mentioned short table 134, 1
An opening 13 large enough for the book S to be inserted
4a is formed. Then, the above-described cassette 138 is attached in a state positioned above the opening 134a.

In this manner, in the cassette 138 for supplying each work, the work W slides down and is taken out from the stick S provided at the lowest stage along the inclination direction of the shot table 134 as shown by the arrow B. The stop is set by abutting on a stopper 134b formed at the front end of the shunt table 134 to maintain the position. Incidentally, in the contact position in this a stop 134b, separating position P ₁ of the workpiece W is defined.

Here, a ball screw 144 constituting the moving mechanism 114 extends along the direction of the arrow A behind each of the sliding members 130 located at the rear of the pair of sliding members 130 before and after the above. It is arranged in a state. Each of the rear sliding members 130 is screwed to the ball screw 144, and the ball screw 144 is rotationally driven by a driving motor 145 (shown in FIG. 3), so that the sliding screw that is screwed thereto is screwed. The moving member 130 (accordingly, a work supply mounted on the sliding member 130 via the engagement between the receiving table 132 and the mounting table 136) is provided with a guide rail 128.
It will move upward along the direction of arrow A.

On the other hand, the work separating mechanism 140 described above is arranged on the short table 134 on the arrow B side of the cassette 138. This work separation mechanism 140 is configured to operate by pneumatic as pneumatic operation means,
A pneumatic cylinder 148 is connected to an electromagnetic switching valve (not shown) via an air supply mechanism 146.

The pneumatic cylinder 148 projects downward when air from a pneumatic source (not shown) is supplied to the upper portion by an electromagnetic switching valve, and is protruded upward when supplied to the lower portion. It has.

Further, the work separating mechanism 140 includes a swing stay 154 whose center portion is rotatably supported by a short shaft 134 via a support shaft 152. This swing stay 1
The lower end of the above-described pneumatic cylinder 148 is attached to a portion deviated to the arrow B side from the shaft support portion of the 54 with the piston rod protruding downward. Also, this swing stay
One end of the arrow 154 on the arrow B side is bent 90 degrees so that the piston rod 150 is pushed downward, and can be substantially brought into contact with the upper surface of the shot table 134. At the other end of the swing stay 154, a pressing mechanism 156 that presses and locks the upper surface of the work W sliding down on the short table 134 is attached.

As shown in detail in FIG. 3, the holding mechanism 156 is fixed to the other end of the swing stay 154, and has a substantially cylindrical housing 158 having an open lower surface, and is vertically movable so as to protrude downward from the housing 158. A holding member 160 movably arranged,
The pressing member 160 is constituted by a coil spring 162 which constantly urges the pressing member 160 downward.

As described above, since the work separating mechanism 140 is configured, in a state where the air is supplied to the pneumatic cylinder 148 and the piston rod 150 is pushed downward, as shown in FIG. Rotates clockwise around the support shaft 152, and the locking portion 154a defined at the bent one end of the swing stay 154 is brought to a position separated from the upper surface of the shunt table 134. Become. As a result, the workpiece W in a locked position P ₂ is released locked state by the locking portion 154a, and passes below the engaging portion 154a, so that the slipping off the separating position P _1.

In this unlocking state, pressing mechanism 156, by the other end of the swinging stay 154 which is mounted is biased downward, the standby position P defined immediately side of the locking position P _{2 The} work W that has slid down to ₃ is pressed down and stopped.

In this state, when the supply of air to the pneumatic cylinder 148 is stopped in the work separation mechanism 140, the piston rod 150 is pulled upward by the urging force of a return spring (not shown), and the swing stay 154 1
Based on the weight of the pneumatic cylinder 148, the cylinder rotates counterclockwise around 54. As a result, the presser mechanism 15
6 is a state that does not presses the work W are in a waiting position P _3, the standby position P ₃ Nii was workpiece W would slide down toward the locking position P _2.

On the other hand, according to the counterclockwise rotation of the swing stay 154,
This locking portion 154a is biased downward, as a result, the locked state by the locking part 154a is achieved, the workpiece W that has slid down from the standby position P ₃ is locked in the locking position P ₂ Will be.

Incidentally, by the workpiece W from the standby position P ₃ from sliding toward the locking position P _2, the standby position P ₃ is the work W from Suteitsuku S in the work supply position has slid down by its own weight, the locking position by abutting the rear end of the locked work W to P _2, it will be held at the standby position P _3.

In this manner, the separating position P ₁ is one of the workpiece W
Only will be brought in isolation.

In this way, by supplying to the separation position P ₁ of the next workpiece W is completed, a series of separation operations ends.

Here, in this way each workpiece supply, in a state in which one of the workpiece W to the separating position P ₁ is kept separate, by the moving mechanism 114 described above, along connexion mobile component supplying device 100 in the direction indicated by arrow A By doing so, the workpiece W held at the separation position P ₁ in the supply of the workpiece W containing the workpiece W of the desired component type is brought to the pickup position Q ₁ .

As shown in FIG. 4, so as to cross the rear portion of the workpiece W in the standby position P ₃ just above and below, the standby position P ₃
Detection mechanism for detecting whether or not a workpiece W exists in the vehicle
164 are provided. The detection mechanism 164 includes a photocoupler, and includes a light emitting element 164a located above and a light receiving element 164b located below and receiving light emitted from the light emitting element 164a. That is, the detection mechanism 16
In 4, in a state for receiving the light from the light emitting element 164a in the light receiving element 164b, the workpiece W to the standby position P ₃
There detecting the presence and such that, in a state which does not receive light from the light emitting element 164a, is configured to detect that the workpiece W is present at the standby position P _3.

Next, in each work W supply, the cassette 13 described above is used.
The structure for supporting the stake S in FIG. 8 and the configuration of the empty stake discharging mechanism 142 will be described in detail below with reference to FIGS. 4, 6, and 7. FIG.

First, the above-described opening 134a is formed in the range of the shot table 134 located below the cassette 138, and the four corners of the opening 134a maintain a state in which the sticks S are stacked in multiple stages in the vertical direction. In other words, each status S
Regulating plate 16 for regulating the front and rear sides on both sides
6a, 166b, 166c, 166d are provided in an upright state.
Here, each of the stakes S is formed in a front trapezoidal shape, and the left and right ends of the bottom of each of the stakes S can be locked from below.

In the cassette 138, a stick locking mechanism 168 for releasably locking the _second and higher stages S ₂ , S _3, ... From the bottom, and the lowermost stage S ₁ are locked. , this case Suteitsuku S ₁ is has decreased to the sky, it is provided with air Suteitsuku discharging mechanism 142 for discharging the air Suteitsuku S 'downward.

Here, the stake locking mechanism 168 is configured in a symmetrical shape as shown in FIGS. 6 and 7, and in the following description, the configuration on the left side in FIG. 6 (on the near side in FIG. 6). Only the configuration will be described, and description of the configuration on the right side will be omitted.

The stick locking mechanism 168 is a stick S _{2 of the second} lowermost stage among the sticks S stacked vertically.
A first L-shaped first locking piece 170a, 170b for locking the front and rear bottom portions from below, respectively, is rotatably supported at the upper end. That is, as shown in FIG. 6, (in the figure, the front side) left Suteitsuku S ₂ of the second stage from the bottom the bottom of the front and rear of the first locking pieces 170a, are sealed respectively engaged by 170b .

Here, the upper ends of the first locking pieces 170a and 170b are both fixed to a common first transmission shaft 172 extending along the arrow B direction. Both ends of the first transmission shaft 172 are rotatably supported by the first and second restriction plates 166a and 166b located on the left side, respectively.

In order to rotate the first transmission shaft 172, a second transmission shaft 174 is disposed outside the center of the first transmission shaft 172 so as to extend along a direction perpendicular to the first transmission shaft 172. . As shown in FIGS. 6 and 7, the second transmission shaft 174 is supported via a shaft guide 76 so as to be movable along this extending direction. This second transmission shaft 174
, A connecting member 178 is slidably fitted along the axial direction in a portion intersecting with the first transmission shaft 172, and the distal end of the connecting member 178 is fixed to the first transmission shaft 172. I have. Here, although not shown, the upper end of the second transmission shaft 174 is connected to a piston rod of a drive cylinder, and is set so as to move up and down in accordance with the drive of the drive cylinder.

Note that a stopper 180 is fixed to a portion of the second transmission shaft 174 located between the connecting member 178 and the shaft guide 176. A coil spring 1 is provided on the second transmission shaft 174 between the stopper 180 and the connecting member 178.
82 are ringed. That is, when the second transmission shaft 174 is driven to be pushed down, the downward driving force is applied to the connecting member 1 via the coil spring 182.
It is set to be transmitted to 78.

That is, in a state where the above-described drive cylinder is not activated, the second transmission shaft 174 is biased upward by an urging member (not shown), and the first locking pieces 170a and 170b are
It is set to a state that does not support the second Suteitsuku S ₂ from below. Then, when the drive cylinder starts, the second
The transmission shaft 174 is pushed down, and this pushing-down force is transmitted to the connecting member 178 and the first transmission shaft 172 via the coil spring 182, and the first transmission shaft 174 is fixed to the first transmission shaft 172. The stop pieces 170a and 170b rotate inward to support the _second lower stick S2 from below.

On the other hand, air Suteitsuku discharging mechanism 142 and second locking pieces 184a for supporting the lower surface in front and rear end portions of Suteitsuku S ₁ of the lowermost respectively from below, while journaled 184b to rotatably at the outer end Have. Here, both second locking pieces 184a, 1
84b are both fixed to a common third transmission shaft 186 extending along the arrow B direction. Both ends of the third transmission shaft 186 are connected to the first and second regulating plates 16 located on the left side.
The shafts 6a and 166b are rotatably supported respectively.

Here, the lower end of the above-mentioned second transmission shaft 174 terminates at a position separated from the third transmission shaft 186 by a predetermined distance upward in a state where the drive cylinder is not started, as shown in FIG. I have. At the lower end of the second transmission shaft 174, a pressing member 188 is integrally formed so as to protrude inward. Further, the central portion of the third transmission shaft 186, which is located immediately below the second transmission shaft 174, is pushed downward by the above-described pressing member 188, so that the third transmission shaft 186 is pressed. Driven member 1
90 is fixed with it extended outward. Although not shown, the driven member 190 has an elongated hole extending in the front-rear direction.

On the other hand, on the lower surface of the pressing member 188, a rod 188a that is inserted from above into the above-described elongated hole is fixed, and at the upper end of the rod 188a, a large-diameter portion formed to be larger than the elongated hole. 188b are integrally formed.

The third transmission shaft 186 is connected to the lowermost stake S ₁ by a torsion spring (not shown).
a, 184b are urged to the supporting position. Further, as shown in FIG. 6, below the above-mentioned opening 134a, there is provided a discharge shutter 192 for guiding the empty stick S 'discharged therefrom to a waste box (not shown).

Since the empty stick discharging mechanism 142 is configured as described above, the drive cylinder is activated and the first locking piece 170 is activated.
After pushing down the second transmission shaft 174 so as to support the _second stick S2 from the bottom by a and 170b,
By pressing down the transmission shaft 174, the large diameter portion 188b of the pressing member 188 fixed to the lower end of the transmission shaft
Of the driven member 190 rotates pushing this contact, will release the locked state of Suteitsuku S ₁ of the lowermost of the second locking pieces 184a, 184b. In this way, the lowermost stick S ₁ falls downward through the opening 134 a as an empty stick S ′, and is guided into the waste box through the discharge shot 192.

The second transmission shaft 174, that each first locking pieces 170a, by rotating the 170b inwardly, after the locked second the Suteitsuku S ₂ from the bottom, is further pushed downward However, if attention is paid to the relationship with the connection member 178, the first
After the locking operation by the locking pieces 170a and 170b,
Only the coil spring 182 contracts in response to the lowering of the transmission shaft 174, and does not affect the locked state of the first locking pieces 170a and 170b.

After the empty stick S 'is discharged, the drive cylinder operates to lift the second transmission shaft 174. As a result, first, the second locking pieces 184a, 184b
It will return the Suteitsuku S ₁ of the bottom to the locking state. However, at this point, the lowermost status S
_{Since 1} is discharged after the empty stick S ', the operation of the second locking pieces 184a and 184b is an empty operation.

Further, when the second transmission shaft 174 is further raised, the contracted coil spring 182 starts to expand, and the connecting member 178 is biased upward. As a result, the first transmission shaft 1
72 rotates the first locking pieces 170a and 170b outward. Thus, the first locking pieces 170a, 170b
The second locked state of Suteitsuku S ₂ from below by is canceled, the first locking pieces 170a ever locked Suteitsuku S ₂ have, S ₃ ... to 170b to fall, the second engagement Stop piece 184a, 184
It will be locked to b.

Therefore, the statuses that have been the second or higher from the bottom until now are the statuses S ₁ , S ₂ ,.
From Suteitsuku S ₁ the lowermost, so that the workpiece W is taken out by falling by along connexion its own weight on the inclined surface.

In this way, a series of empty sticks S 'are discharged,
The supplying operation of Suteitsuku S ₁ to the bottom is completed.

As described in detail above, the mounting system 10 of this embodiment is
In, by disposing to detect the presence or absence of the workpiece W to one of the detection mechanism 164 in the standby position P _3, and empty detection of the workpiece W in Suteitsuku S, cassette 138
Detecting discharge (absence) in all the stakes S can be performed. As described above, only one detection mechanism (sensor) is required as a whole, as compared with the conventional number of detection mechanisms (sensors) of two.
It is possible to greatly reduce the number of the components, simplify the wiring, and reduce the work of wiring and the like at the time of function switching.

It is needless to say that the present invention is not limited to the configuration of the above-described embodiment, but can be variously modified without departing from the gist of the present invention.

For example, in one embodiment described above, the discharge chute 192, the gantry 126 in the lower pickup position Q ₁
To discharge the empty stick S '.
Although it has been described that the pick-up operation is performed during the work W pick-up operation, the present invention is not limited to such a configuration, and the discharge work 192 is fixed to the work table 134 in each work supply so that the corresponding work can be performed. While the supply is moving, the empty stick S 'can be discharged. In this manner, in the case of the embodiment described above, must be performed discharge empty Suteitsuku S 'during which Tometsu the pickup position Q _1,
Although the tact time may be increased due to the discharging operation, it is also possible to reduce the tact by discharging the empty stake while the work supply is moving.

Further, in one embodiment described above has been configured to position the workpiece to be detected by the detection mechanism 164 to a standby position P _3, the invention is not limited to such a configuration, the locking position in P ₂ may be configured to detect the presence or absence of work.

(Description of Turret Table Apparatus) Next, the configuration of the turret table apparatus 200 will be described in detail.

As shown in FIG. 9, the turret table device 200 is attached via a mounting stay 50 to a portion of a base 40 (shown in FIG. 2) located above the circuit board 20 on which the work W is mounted. A first rotation table (head turret table) 217 rotatably supported by the rotation support member 216 on a rotation axis C ₀ inclined by an angle α with respect to a vertical axis. A plurality of units mounted at equal intervals on the outer periphery of the first turntable 217;
In this embodiment, ten head units 218 _{1 to} 21
8 ₁₀ (numbered first, second,..., Tenth along the clockwise direction), and the first turntable 217 is rotated in one rotation direction, for example, 36 degrees in the clockwise direction. And a head turret motor 219 for intermittent rotation drive.

Here, each of the head units 218 _{1 to} 218 ₁₀ is basically configured in the same manner, and in the following description, in the case of a common configuration, reference numerals (21
It described 8), only if for each of Heddoyunitsuto, and be described in reference numerals bearing the suffix (218 _{1 to 218 10).}

The head turret motor 219 is set to be driven and controlled by the control unit 30 via the first motor driver 220a.
In the head unit 218 located next to the pickup position or the insert position (upstream in the rotation direction, in other words, the counterclockwise direction), if the pickup operation or the insert operation is not performed, the next rotation stop is skipped. Then, the rotation operation is set to continue until the head unit 218 where the pickup operation or the insertion operation is performed is located at the pickup position or the insertion position.

Further, the workpiece W described above, 10 shape 20 is composed of a part, only in a state workpiece holding portion of each Heddoyunitsuto 218 _{1-218 10,} respectively corresponding to the 10 types of shaped workpieces W ₁ to _W-10 of Is set to For example, the first Heddoyunitsuto 218 ₁ of workpiece holding portion is set so that it is able to grip only the work W ₁ formed on a first type of shape. Further, the work holding portion of the _second head unit 2182 is provided with a work W ₂ formed in a second type of shape.
It is set so that only the user can grasp it. still,
The work holding portion of each head unit 218 is arbitrarily detachably fixed to the head main body 225 to which the first rotary table 217 is fixed, that is, is replaceably fixed.

Here, the center axis C ₁ of each head unit 218 is, as shown, the rotation axis C ₀ of the turret table device 200.
Is set to incline by an angle α with respect to. Then, the head unit (corresponding to
Indicated by 218A. ) Is the central axis C ₁ of the just are set along the vertical axis, indicated by Heddoyunitsuto (sign 218B which is located 180-degree opposite side of Heddoyunitsuto 218A in the insert position.) Is on the vertical axis It is set so as to be brought to the pickup position in the component supply device 100 in a state where it is inclined by the angle 2α.

That is, the pickup surface in the component supply device 100 is inclined by an angle 2α with respect to the horizontal plane. As a result, at the pickup position, the central axis of the head unit 218B intersects the pickup surface at 90 degrees. In other words, in other words, the head unit 218B accesses the pick-up surface perpendicularly.

As shown in FIG. 10, each head unit 218 includes a mounting body 222 fixed to a corresponding side surface of the first rotary table 217. The mounting body 222 has a through hole 222a formed along the center axis.
A hollow cylindrical thick shaft 223 is inserted through 222a so as to be movable in the axial direction. Also, in this thick axis 223,
A solid thin shaft 224 is movably inserted along the axial direction.

At the lower end of the thick shaft 223, a hollow cylindrical head body 225 having an open lower surface is detachably attached.
Further, the lower end of the fine shaft 224 protrudes above the head body 225 while penetrating the upper surface of the head main body 225.
Is a large-diameter portion 224a inserted through the thick shaft 223, and the large-diameter portion 2
A tapered portion connected to the lower end of 24a and having a tapered surface set to decrease its diameter as it goes downward
224b and the lower end of the tapered portion 224b.
It is integrally formed with a small-diameter portion 224c having a smaller diameter than 4a.

Here, a detachable ring 2 is provided at the lower part of the head body 225.
26 is detachably screwed. A pair of mounting pieces 226a and 226b that are separated from each other are fixed to both sides of the attachment / detachment ring 226 so as to extend downward from each.
At the lower ends of the mounting pieces 226a and 226b of each pair, horizontally extending support shafts 227a and 227b are provided in a state of being bridged. And, on these spindles 227a, 227b, gripping pieces 228a, 228b are provided.
Each intermediate portion is rotatably supported in the same vertical plane.

Then, the both holding pieces 228a, the lower end of 228b is defined as a gripping claw 228a _1, 228b ₁ for gripping the workpiece W from both sides, the upper end is bent so as to face each other,
Passing through the lower side of the thin shaft 224, the gripping pieces 228b on the other side,
Bent portions 228a ₂ and 228b ₂ extending to the upper portion of 228a are formed integrally. Further, a coil spring 229 biasing the upper ends of the two gripping pieces 228a and 228b in a direction in which the upper ends are separated from each other.
Is stretched. Further, at the tip of each of the bent portions 228a ₂ and 228b ₂ , rollers 230a and 230b that are in rolling contact with the outer peripheral surface of the above-described thin shaft 224 from the opposite side are attached rotatably around their own central axes. .

Here, in the pick-up operation or the insert operation to be described later, when the work W is gripped, the small shaft 224 projects downward from the head body 225 such that the small-diameter portion 224c is held between the rollers 230a and 230b. When the gripping of the workpiece W is released, the large diameter portion 224a of the fine shaft 224 is formed by the two rollers 230a, 230b.
It is set so as to further protrude downward from the head body 225 in a state of being clamped by the head.

Thus, in a state where the rollers 230a and 230b hold the small diameter portion 224c of the thin shaft 224 from opposite sides by the urging force of the coil spring 229, the two gripping claws 228a ₁ and 228b
₁ is such that the corresponding workpieces W are closely spaced from each other by an appropriate distance so as to be clamped from both sides, and the fine shaft 224 further projects downward, and both rollers 230a and 230b move the large diameter portion 224a on the opposite side. From the coil spring
Against the urging force of 229, both gripping pieces 228a and 228b
8a ₁ and 228b ₁ are set so as to be separated from both sides of the corresponding work W to release the gripping state.

That is, in this embodiment, each head unit 21
In FIG. 8, the portion below the attachment / detachment ring 226 is set as a grip portion configured to have a shape and a size corresponding to the corresponding work W.
By detaching the head 6 from the lower end of the head main body 225, the gripper can be exchanged for the head main body 225 so as to correspond exclusively to a work W of another shape.

Specifically, when the shape of the workpiece W is different, basically, the grip width, that is, the opening width of both grip pieces 228a and 228b is different. Here, in this embodiment,
This opening width keeps the contact positions of the rollers 230a and 230b with the thin shaft 224 constant, and if the length of the gripping pieces 228a and 228b is constant, the arrangement position of the support shafts 227a and 227b is appropriately changed. By doing so, it will change. That is, in this embodiment, the work gripping portion constituted by a portion located below the detachable ring 226 of the head unit 218 shown in FIG.
When the head unit 218C shown in FIG. 12 is set so as to be optimal for gripping a work of the first type, the head unit 218C shown in FIG. It is set to be the best to do.

In particular, in this embodiment, each head unit 21
8 is provided with a work gripping part set according to the corresponding work, the mounting position,
This is uniquely defined by the attachment position of the detachable ring 226 to the head main body 225. Here, the attachment position of the attachment / detachment ring 226 to the head main body 225 is set to be constant over all the head units 218. As a result, according to this embodiment, even if the workpiece gripper is replaced, the positioning of the replaced workpiece gripper is automatically performed by attaching the detachable ring 226 to the head main body 225. Will be.

On the other hand, as shown in FIG. 9 and FIG.
The upper end of the 223 is provided with a driven portion 223a to which a thick shaft drive roller 231a or 238a to be described later selectively engages in order to push it down. Further, the upper end of the thin shaft 224 terminates in a state of extending further upward than the upper end of the thick shaft 223, and the upper end of the thin shaft 224 has a thin-shaft drive roller 231b, which will be described later, in order to push it down. Alternatively, a driven portion 224d with which the 238b is selectively engaged is provided.

Further, as shown in FIG. 9, an insert drive mechanism 232 for performing an insert operation is provided adjacent to the head unit 218A only in the head unit 218A rotated to the insert position. .

The insert drive mechanism 232 includes a thick shaft drive roller 231a and a thin shaft drive roller 231b that respectively engage with driven portions 223a and 224d formed on the thick shaft 223 and the thin shaft 224 of the head unit 218A at the insert position. And drive roller for thick shaft
A connecting rod 234a, 234b is attached to the lower end of the driving roller 231a and the driving roller 231b for the fine shaft, and is supported to be vertically movable via supporting members 233a, 233b.

Here, insert drive cam mechanisms 235a and 235b are connected to these two connecting rods 234a and 234b, respectively, and these drive cam mechanisms 235a and 235b rotate a cam member (not shown) by one rotation (360 degrees). Thus, the gripping portion of the head unit 218A is entirely held (that is, the two connecting rods) while holding the work W via the connecting rods 234a and 234b.
The gripping state is released by descending along the vertical axis (without changing the relative distance between 234a and 234b), inserting the work W into the circuit board 20, and then driving the thin shaft 224 to project only downward. And then head unit 21
8A is slightly raised as a whole, and then only the thin shaft 224 is pulled up again to return to the gripping state, while being entirely raised to the upper standby position.

The drive cam mechanisms 235a and 235b are set so as to be driven in synchronization with each other by a head insert motor 236 for an insert common to both.
The head insert motor 236 is configured to be capable of reversible rotation, and by rotating forward in a counterclockwise direction,
By performing the above-described insert operation and rotating in the clockwise direction, a return operation is performed in the reverse direction. The head insert motor 236 is set to be driven and controlled by the control unit 30 via the second motor driver 220b. In addition, this control unit 30
Although the details will be described later, the drive cam mechanisms 235a and 235b are simultaneously driven by one rotation so that one insert operation is completed.

Since the insert drive mechanism 232 is configured in this manner, the head unit rotated to the insert position is
The 218A can insert the work W held by the 218A onto the circuit board 20.

Further, only in the head unit 218B that has been rotated to the pickup position, a pickup drive mechanism 237 for executing the pickup operation is provided adjacent to the head unit 218B.

The pick-up driving mechanism 237 includes a thick-shaft driving roller 238a and a thin-shaft driving roller 238b that respectively engage with driven portions 223a and 224d formed on the thick shaft 223 and the thin shaft 224 of the head unit 218B at the pick-up position. And connecting rods 290a and 290b, which are attached to the lower end of the driving roller 238a for the thick shaft and the driving roller 238b for the thin shaft, respectively, and are supported to be vertically movable via supporting members 239a and 239b.

Here, drive cam mechanisms 291a and 291b are connected to these two connecting rods 290a and 290b, respectively. These drive cam mechanisms 291a and 291b rotate a connecting member 290a and 290b by rotating a cam member (not shown) once (360 degrees).
Through the head unit with the gripping state released.
The gripper of the 218B is entirely (ie, both connecting rods 290a, 290
(without changing the relative distance b), descends along an axis inclined by an angle 2α with respect to the vertical axis,
After the workpiece W is gripped and picked up from 0, the whole is raised to the upper standby position while maintaining the gripped state.

These drive cam mechanisms 291a and 291b are set so as to be driven in synchronization with each other by a pickup head pickup motor 292 common to both the drive cam mechanisms. The head pickup motor 292 is configured to be reversibly rotatable. The head pickup motor 292 performs the above-described pick-up operation by rotating clockwise in the forward direction, and performs the returning operation in the reverse direction by rotating in the counterclockwise direction. Will be. The head pickup motor 292 is set to be driven and controlled by the control unit 30 via the third motor driver 220c. The control unit 30 includes a double drive cam mechanism 291, which will be described in detail later.
By driving a and 291b one rotation at the same time, one pickup operation is completed.

Since the pickup drive mechanism 237 is configured as described above, the head unit 218B that has been rotated to the pickup position is moved by the pickup drive mechanism 237.
The work W can be picked up from the component supply mechanism 11.

Here, in each head unit 218, the corresponding thick shaft 223 and thin shaft 224 are set to be elastically urged to the upper standby position by the upper urging mechanism 293 as shown in FIG. Have been.

Here, the configuration of the upward biasing mechanism 293 will be described with reference to FIG.

First, as shown in the figure, the inner peripheral surface that defines the peripheral surface of the through hole 222a of the mounting main body 222 extends in all axial directions except the lower part,
A recess 222b is formed. On the other hand, on the outer peripheral surface of the portion of the thick shaft 223 located in the concave portion 222b,
23b is attached. The first coil spring 298 is fitted over the bottom surface of the concave portion 222b and the bottom surface of the stopper ring 223b. The first coil spring 298 is connected to the thick shaft 223 via the stopper ring 223b.
Is urged upward. Here, the thick shaft 223 is urged upward by the urging force of the first coil spring 298. The upper limit position is determined by the upper surface of the head body 225 connected to the lower end of the thick shaft 223. , Are defined in a state of contacting the lower surface of the mounting body 222. That is, at the upper limit position, the upper standby position of the thick shaft 223 described above is defined in a state of being elastically held.

On the other hand, a second coil spring 299 is fitted between the lower surface of the driven portion 224d formed at the upper end of the thin shaft 224 and the upper surface of the driven portion 223a formed at the upper end of the thick shaft 223. . The second coil spring 299 urges the thin shaft 224 upward. Here, this second coil spring
By the urging force of 229, the thin shaft 224 will be urged to project further upward from the thick shaft 223, but the upper limit position is
The upper surface of the step 224e defined below the thin shaft 224 is
Is defined in a state of contacting the lower end surface of the. That is, at the upper limit position, the above-described upper standby position of the fine shaft 224 is defined while being elastically held.

Note that the outer periphery of the thick shaft 223 penetrates in the thickness direction thereof,
While extending along the axial direction, the through groove 22
3c is formed. Further, a blind groove 224f is formed on the outer periphery of the fine shaft in a state of extending along the axial direction in a similar manner. Then, a locking pin 222c is integrally attached to the attachment main body 222 in a state of being fitted into both the through groove 223c and the blind groove 224f. The engagement of the locking pin 222c causes the thick shaft 223
The fine shaft 224 is maintained in a state in which the rotation about the center axis with respect to the mounting body 222 is prohibited, that is, in a state in which the rotation is stopped.

As described above, the thick shaft 223 and the thin shaft 224 are
Is always biased upward by
In the turret table device 200 described above, all the head units 218 have the head turret motor with the thick shaft 223 and the thin shaft 224 held at the upper standby position.
The head units 218A and 218B driven to rotate to the insert position or the pickup position by this rotation are engaged with the corresponding insert drive mechanism 232 or the pickup drive mechanism 237, respectively, and are driven according to the respective drives. It is set so that an insert operation or a pickup operation is performed.

Here, it is determined whether or not the thick shaft 223 and the thin shaft 224 are at the upper standby position in the head unit 218 to be brought to the insert position or the pickup position by the next 36-degree rotation drive by the head turret motor 219. Detection mechanisms 294 and 295 for detecting are provided.

As shown in FIG. 14, these detection mechanisms 294 and 295 are provided on the side surface of the rotary support member 216 fixed to the mounting stay 50, from the portions opposed to the insert position and the pickup position, respectively. A pair of support stays 294a, 295a disposed at positions deviated by 36 degrees upstream of the rotation direction with respect to the rotation direction;
a, 295a, and proximity sensors 294b, 295b for detecting a driven portion 223a of the thick shaft 223 connected to the head unit 225 brought to the upper standby position.

In FIG. 14, the detection is provided on the side surface of the first rotary table 217 at a position deviated by 36 degrees to the upstream side of the head unit 218B at the pickup position along the rotation direction of the first rotary table 217. The mechanism 295 is not shown for the sake of illustration. This detection mechanism 295 is schematically shown in FIG.

Also, the drive cam mechanism 2 in the insert drive mechanism 232
When the corresponding cam members (not shown) have returned to the zero-degree position in the standby state of 35a and 235b, in other words, the continuous rods 234a and 234b driven up and down by the cam members.
There is provided a detection mechanism 296 for the insert cam which detects that is waiting at the uppermost position. Similarly, the drive cam mechanisms 291a and 291b of the pickup drive mechanism 237
In the standby state, the corresponding cam member (not shown)
A detection mechanism 297 for the insert cam is provided for detecting that the rods 290a and 290b driven vertically by the cam member are waiting at the uppermost position to return to the zero-degree position. ing.

Here, although respective cam members in the insert drive mechanism 232 and the pickup drive mechanism 237 are not shown, a cam member 381 in a clinch drive mechanism 371 described later.
a, 381b. Therefore, if the configuration of the clinch drive mechanism 321 shown in FIG. 20 is applied mutatis mutandis, the detection mechanisms 296 and 297 are both cam members (3
81a, 381b) and detection sensors 296a, 297b formed so as to protrude from the outer peripheral surface, and a proximity sensor 296b capable of detecting the presence of the corresponding dog when these cam members are only at the zero-degree position. , 297b.
In the insert drive mechanism 232, there are two proximity sensors 296b. However, the detection mechanism 296 for the insert controls the dogs 296a corresponding to the two sensors 296b at the detection timing when the rotation angle is zero degree. Only when it is detected, the drive rollers 231a and 231b for the insert are detected as being at the uppermost position, and both the drive rollers 231a and 231b are both
Only when it is at the uppermost position, the detection mechanism 296 is set so as to determine that the insert drive mechanism 232 is at the uppermost position as a whole. In this regard, the same applies to the detection mechanism 297 for pickup.

Thus, in this embodiment, the detection mechanism 294,
295, 296, 297, when the head unit 218 rotates just before the insert position or the pickup position, the detection mechanism 294, 295 causes the thick shaft 2 to rotate.
Whether or not 23 and the thin shaft 224 are in the upper standby position,
The drive rollers 231 for inserts are detected by the detection mechanisms 294 and 297.
a, 231b, or drive rollers 238a, 238 for pickup
Whether or not b is at the uppermost position is surely detected. Only when the thick shaft 223 and the thin shaft 224 are at the upper standby position and all the driving rollers 231a, 231b, 238a, and 238b are detected at the uppermost position, the driving of the head turret motor 219 is allowed. And the thick axis 223 and the thin axis 224
Unit that is detected to be in the upper standby position
Only 218 will be pivoted to the insert or pickup position.

On the other hand, if for some reason, for example, the coil spring of the upper biasing mechanism 293 is damaged, a situation may occur in which the thick shaft 223 and the thin shaft 224 do not ascend to the upper position. As described above, in the head unit 218 at a rotational position other than the insert position or the pickup position, when a state occurs in which the thick shaft 223 and the thin shaft 224 take at least a slightly lowered position other than the upper standby position, Thus, the head unit 218 having the thick shaft 223 and the thin shaft 224 lowered to positions other than the upper standby position.
However, when it has just rotated before the insert position or the pickup position, the detection mechanisms 294 and 295 detect the thick shaft 223 and the thin shaft 223.
224 is not in the upper standby position, and the control unit 3
Reference numeral 0 indicates that the drive of the head turret motor 219 is stopped in response to this, and that an operator is notified of the occurrence of an abnormal operation state via an alarm mechanism (not shown).

Thus, in this embodiment, the detection mechanism 294,
By providing 295, 296, 297, even if for some reason the thick shaft 223 and the thin shaft 224 are not at the upper standby position, that is, a situation in which the thick shaft 223 and the thin shaft 224 have been lowered from the upper standby position, or a drive for the insert, Roller 231
a, 231b, or drive rollers 238a, 238 for pickup
Even if a situation occurs where b is not at the uppermost position, these situations are reliably detected, and the state in which the thick shaft 223 and the thin shaft 224 remain lower from the upper standby position, or the drive for insert With the rollers 231a and 231b or the pickup drive rollers 238a and 238b kept lowered from the uppermost position, it is possible to prevent the head unit 218 from being rotated to the insert position or the pickup position beforehand. Become.

In other words, in a state where the thick shaft 223 and the thin shaft 224 remain lower from the upper standby position, or when the drive rollers 231a and 231b for insert or the drive roller 2 for pickup are used.
If the head unit 218 is rotated to the insert position or the pickup position with the 38a and 238b still lowering from the uppermost position, if the thick shaft 223 and the thin shaft 224 are lowered to the lowermost position, In addition, the gripping pieces 228a and 228b located at the lower end of the thick shaft 223 collide with the circuit board 20 and the component supply surface of the component supply device 100, and the head unit 218 is damaged. Is small, the driven portion 223a of the thick shaft 223 in the head unit 218 is small.
And the driven portion 224d of the thin shaft 224, the thick shaft drive roller 231a and the thin shaft drive roller 231b of the insert drive mechanism 232.
Are not engaged with each other, or the drive roller 231a for the thick shaft and the drive roller 231b for the thin shaft of the pickup drive mechanism 237.
Are not engaged with each other.

However, in this embodiment, since the detection mechanism 294, 295, 296, 297 described above is provided, when the thick shaft 223 and the thin shaft 224 are not at the upper standby position, or, the drive rollers 231a, 231b for insert, or When the pickup drive rollers 238a, 238b are not at the uppermost position, regardless of the descending amount, it is immediately determined to be in an abnormal state, and the drive of all drive motors is urgently stopped,
Damage to the alarm unit 218, empty insert operation or empty pick-up operation can be reliably avoided.

(Description of Clinch Device) Next, the configuration of the clinch device 300 will be described in detail with reference to FIG. 15 to FIG. 27 (E).

As shown in FIG. 15, the clinch device 300 is mounted on a second base (not shown) disposed below the circuit board 20 on which the workpiece W is mounted, via a second mounting stay 340. and second rotation supporting member 341, to the second rotary support member 341, a second rotary table which is rotatably supported on the rotation axis C ₂ around which issued along connexion extending in the vertical axis (clinch Thale bracts table) 342 and, the plurality of mounted at equal intervals on the outer periphery of the second rotary table 342, clinch units - 343 _{1-343 10} of ten in this embodiment
(Conversely to the case of the head unit 218 described above, numbers are assigned in the clockwise direction as first, second,..., Tenth.) Along with the direction, that is, in the counterclockwise direction, there is provided a clinch turret motor 344 for intermittently rotating by 36 degrees in synchronization with the first drive motor 219 described above.

Here, each of the clinch units 343 _{1 to} 343 ₁₀ are basically configured in the same manner, and in the following description, in the case of a common configuration, description will be made using reference numerals without a suffix, and Only for clinch units,
The description will be made with reference numerals with subscripts. And
The first to tenth clinch units 343 _{1 to} 343 ₁₀ correspond to the first to _tenth head units 218 _{1 to} 218 10 described above, respectively, and store the first to tenth types of works W _{1 to} W ₁₀ . Each is configured to clinch exclusively. The clinch unit at the clinch position is denoted by reference numeral 343A.

Here, each work W is temporarily extended laterally from both sides of the work body Wa and the work body Wa, and then,
And a plurality of lead wires Wb bent downward. Further, among these lead wires Wb, the lead wires located at the four corners, that is, after insertion into the circuit board 20,
Wb ₁ , Wb ₂ , Wb ₃ , and Wb ₄ are specially attached to the lead wire clinched by the clinch device 300.

The clinch turret motor 344 is set so as to be driven and controlled by the control unit 30 via the fourth motor driver 220d. The control unit 30 is operated via the fourth motor driver 220d so that the corresponding clinch unit 343 is always located at the clinch position defined at a position aligned with the insert position in the vertical direction. The drive of the let motor 344 is controlled.

Next, the configuration of each clinch unit 343 will be described in detail with reference to FIGS. 16A to 27E.

It has a second mounting body 346 secured to the corresponding side surface of the second turntable 342. This second mounting body 3
The 46, as shown in 16A diagram along connexion through hole 346a in the moving axis C ₃ which is set along the vertical axis and is formed through the through hole 346a, the hollow cylindrical first 3 thick axis
347 is along connexion movably inserted in the axial C _3. Further, this third thick shaft 347, a third thin shaft 348 of the solid is along connexion movably inserted in the axial C ₃ as well.

As shown in FIG. 16A, a hollow cylindrical clinch body 349 having upper and lower ends opened respectively is fixed to the upper part of the third thick shaft 347, and the entire upper end surface of the clinch body 349 is fixed. Female screw on the inner surface of the opening
349a is threaded. On the other hand, a disc-shaped detachable base 350 is detachably attached to the upper end opening of the clinch body 349. That is, the detachable base 350 has, on its outer peripheral surface, a male screw 350a that is screwed to the female screw 349a of the clinch body 349, and the above-described third fine shaft 348 is provided at the center.
Upper end and a pair of push-down member attaching members 351 described later.
Through holes 350b (shown in FIG. 18) into which the lower ends of a and 351b are loosely inserted are formed.

Note that the upper end of the third thin shaft 348 projects above the detachable base 350 in a state of penetrating the through hole 350b.
As shown in FIGS. 17 and 18, the small shaft 348 has a large diameter portion 348a inserted through the third large shaft 347, and the large diameter portion 348a.
And a first tapered portion 348b having a first tapered surface set to decrease its diameter as going upward, and connected to the upper end of the first tapered portion 348b to have a large diameter. First small diameter portion 34 having a smaller diameter than portion 348a
8c, formed in the middle of the first small diameter portion 348c,
A second small diameter portion 348d set to be larger than the diameter of the small diameter portion 348c and smaller than the diameter of the large diameter portion 348a, and the first tapered surface formed at the upper end of the second small diameter portion 348d. And a second tapered portion 348e having a second tapered surface set in the same tapered state as that of.

As shown in FIG. 16C, a pair of support blocks 352a, 352b are integrally attached to the upper surface of the above-described detachable base 350, with the through-hole 350b formed therebetween being sandwiched therebetween, as shown in FIG. 16C. I have. And both support blocks 352a, 352b
, A pair of rotating shafts 353a and 353b are stretched in parallel at the same height.

The rotary support shafts 353a and 353b are rotatably supported at the intermediate portions of the above-described press-down member mounting members 351a and 351b, respectively, as shown in FIG. , 354b are pivotally supported, as shown in FIG. That is, in this embodiment, the two rotation support shafts 353a and 353b are provided with the attachment members 351a and 351b for the pressing member and the attachment members 354a and 354 for the clinch member.
It is set to function as a common support shaft of 4b.

As shown in FIG. 19, a connecting member 355 is stretched over the pair of support blocks 352a and 352b so as to extend along these horizontal center lines. The in the center of the coupling member 355, along the vertical axis connexion, i.e., the axis of movement S ₃ along connexion first guide rod 356 is fixed in a standing state described above. This first guide rod 356
The upper part is taken out upward through a through-hole 357a (shown in FIG. 17) formed in a state penetrating along the vertical direction from the center of a detection unit 357 described later. Has a circuit board on which a workpiece W is inserted from above.
A substantially flat circular support member 358 that supports the lower surface of the portion 20 from below is integrally attached.

That is, the detection unit 357 is composed of four second
Guide rods 359a to 359d
Supported. Here, the detection unit 357 includes a detection body 357b, which is guided by the first guide rod 356 and is formed in a substantially rectangular parallelepiped shape, which is located at the center, and a 16B-th detection unit.
As is apparent from the figure, the detection main body 357b is composed of guide blocks 357c to 357f integrally connected to both ends on both sides, respectively.

Here, the above-mentioned second guide rods 359a to 359d are fixed to a pair of support blocks 352a and 352b so as to stand at both ends thereof, and the upper ends of the respective guide blocks are formed in the above-mentioned guide blocks 357c to 357f. It is set so as to penetrate through holes (not shown). In this manner, as described above, the detection unit 357 is guided and supported by the four second guide rods 359a to 359d so as to be vertically movable.

Note that coil springs 360a to 360d are installed between the corresponding guide blocks 357c to 357f of the second guide rods 359a to 359b and the support blocks 352a and 352b. , Detection unit
The 357 is constantly receiving an upward urging force as a whole. Then, as shown in FIG. 17, the pressing members 366a, 366b; 366c, 366d, which will be described later, abut against the locking rods 365a, 365b from below, whereby the upper position thereof is regulated.

Here, the above-described detection main body 357b is the same as FIG. 16A and FIG.
As shown in the figure, the upper and lower three-layer structure, specifically,
A first conductive block 357b ₁ of the upper layer, the insulating block 357b ₂ of the middle, and a second conductive block 357b ₃ Metropolitan underlying. As a result, directly, the first conductive block
357b ₁ and the second conductive block 357b ₃ are connected to the insulating block 35
Through 7b _2, it is set in a state of being electrically insulated from each other.

On the other hand, the detection unit 357 is provided with a plurality of detection pins 357g arranged in two horizontal rows in a state corresponding to all the lead wires Wb of the corresponding work W, respectively. That is, the detection pins 357g are disposed so as to be located directly below the lead wires Wb of the corresponding work W inserted into the circuit board 20, respectively. Then, as shown in FIG. 20, these detection pins 357g are inserted through through holes 357h formed in a state of vertically penetrating the detection main body 357b, respectively, in a state of protruding up and down, respectively. , Each of which is vertically movably supported.

Here, as shown in FIG. 20, each detection pin 357g includes a pin body 357g ₁ inserted into the through hole 357h, and a pin body 3
The upper and lower ends of the 57 g _1, in a state having a pin body 357 g ₁ respectively formed head 357 g ₂ and bottom 357 g ₃ in large diameter than,
It is formed integrally from a conductive material. The coil spring 357g ₄ in the portion between the lower surface of the head portion 357g ₂ of the pin body 357g ₁ and the upper surface of the sensing body 357b is for urging the detection pin 357g upward is installed circumferentially.

Also, the second conductive block 357b as the lower layer described above.
_3, the through hole 357h ₁ is
It is set to be larger diameter than the diameter of 7 g _1. That is, the outer peripheral surface of the pin body 357g ₁ detection pin 357g, the state not in contact with the second conductive block 357b _3, in other words, is set to a state that is not electrically connected.

In this way, as shown in FIG.
In a state but not pushed by a lead wire Wb corresponding from above, the outer peripheral surface of the pin body 357g ₁ detection pin 357g, although not in contact with the second conductive block 357b _3,
By the upper surface of the bottom portion 357 g ₃ and the lower surface of the second conductive block 357b ₃ are in contact, via the detection pin 357 g, the first
And the second conductive blocks 357b ₁ and 357b ₃ are set in a state of being electrically connected to each other (conductive state).

On the other hand, as shown in FIG. 21, when the detection pin 357g is pushed in from above by the corresponding lead wire Wb,
By the upper surface of the bottom portion 357 g ₃ and the lower surface of the second conductive block 357b ₃ are separated, through the detection pin 357 g, the first
And the second conductive blocks 357b ₁ and 357b ₃ are set in a state where they are not electrically connected to each other (non-conductive state).

In this manner, when the work W is inserted into the circuit board 20, whether the lead wire Wb of the work W has penetrated the circuit board 20 and protruded downward therefrom is determined by the detection unit 35.
7, electrical detection is performed based on the conductive / non-conductive state of the first and second conductive blocks 357b ₁ and 357b ₃ . Specifically, at least one lead wire Wb is connected to a circuit board.
If it does not penetrate through 20 and does not push down the corresponding detection pin 357g, the state of FIG. 20 is achieved, and the first and second conductive blocks 357b ₁ and 357b ₃ are maintained in the conductive state. Will be.

On the other hand, in a state where all the lead wires Wb satisfactorily penetrate the circuit board 20 and push all the detection pins 357g downward,
The state shown in the figure is achieved and the first and second conductive blocks
357b ₁ and 357b ₃ will be brought into a non-conductive state.

Thus, the detection pin 357 of this detection unit 357 is
g functions as a kind of detection switch DS driven to open and close by the lead wire Wb. Here, as is clear from the above description, the detection switch DS is set so as to be closed due to the insertion failure of at least one lead wire Wb, and to be opened when the insertion of all the lead wires Wb is completed. I have. Note that both terminals DS ₁ and DS ₂ of the detection switch DS are
As shown in FIG. 16A, the first and second conductive blocks 357
b ₁ and 357b ₃ are respectively composed of connection terminals 357b ₄ and 357b ₅ which are mounted upright on the respective surfaces.

Here, as shown in FIG. 15 again, on the outer peripheral surface of each second mounting body 346, the light emitting element is exposed in an outwardly exposed state.
For example, one light receiving element, for example, a phototransistor 362 is provided with an LED 361 attached thereto and facing only the LED 361 of the clinch unit 343 at the crunch position.
Are arranged. As shown in FIG. 9, the LED 361 has one terminal grounded via the above-described detection switch DS and connected to a power supply V _CC via a predetermined resistor R _1. Is grounded. In this manner, the detection switch DS is opened when the insertion of all the lead wires Wb is completed, so that the LED 361 is turned on, and is turned off when the detection switch DS is closed due to the poor insertion of at least one lead wire Wb. Is set.

On the other hand, on the side of the phototransistor 362, as shown in FIG. 9, its base is disposed so as to face the LED 361, its emitter is connected to the power supply V _CC , and its collector is connected to the latch circuit 363. while being, via a predetermined resistance R _2, it is grounded. In this way, the LED
When the light is emitted by 361, the phototransistor 362 is turned on by receiving light from this, the input potential to the latch circuit 363 is increased, and in the latch circuit 363, when the input potential exceeds a predetermined threshold, the It is configured to latch values. This latch signal is sent to the control unit 30
And is set to be a permission signal (start signal) for starting a pushing operation of the detecting unit 357 below, which will be described later, and for a clinch operation to be executed subsequently after the pushing operation.

The latch state is set so as to be released as the clinch body 349 of the clinch unit 343A is executed after the clinch operation.

Thus, in this embodiment, the detection unit
The detection result at 357 is transmitted to the control unit 30 via the LED 361 and the phototransistor 362 disposed so as to face the LED 361 while being separated from the LED 361. As a result, even if the second rotary table 342 is rotated and the clinch units 343 _{1 to} 343 ₁₀ are sequentially positioned at the clinch positions, the control unit 30 and the detection unit 357 are located.
Is not directly connected with the connection cable, the second turntable 342 can freely rotate without drawing the connection cable, and the wiring state is greatly simplified. become.

In this embodiment, the above-mentioned phototransistor 362 is connected to the clinch unit 343 at the clinch position.
Since the LED 361 is arranged so as to face only the LED 361 in A, the LED 361 needs to be attached to each clinch unit 343 for one clinch device 300, but the phototransistor 362 is connected to one clinch device 300.
However, since only one transmission path is required from the phototransistor 362 to the control unit 30, a reduction in cost can be achieved.

Next, after the detection unit 357 described above is completed, before the clinch operation is performed after the detection operation is completed, the detection unit 357 is pressed downward to perform a press operation so that the detection pin 357g is not bent by the clinch operation. The configuration of the 364 will be described.

As shown in FIGS. 16A and 17, the pushing mechanism 364 includes a pair of guide blocks 357c, 357 located on both sides.
c; 357d and 357e are provided with a pair of locking rods 365a and 365b, respectively, which are laid horizontally and in parallel with each other. Here, as shown in FIG. 17, the mounting members 351a and 351b for the pressing-down members described above are each formed in a crank shape so as to be bent twice outward and upward, and a bent portion below (up and down) As for the length in the direction, as described above, it is rotatably supported at the substantially middle portion) via the above-described rotation support shafts 353a and 353b. As shown in FIG.16C, a pair of pressing members 366a, 366b; 366c, 366d are fixed to both sides of each of the pressing member mounting members 351a, 351b via a pair of upper and lower bolts 367a, 367b, respectively. I have.

That is, both push-down members 366a, 366b; 366c, 3 on each side
As is clear from FIG. 19, a gap is formed between 66d, and in this gap, the above-mentioned clinch member mounting members 354a, 354b are respectively connected via a pair of upper and lower bolts 368a, 368b. The fixed clinch members 369a and 369b are set to be fitted respectively.

Here, each depressing member 366a, 366b;
As shown in FIG. 8, the inner surfaces engaging with the corresponding locking rods 365a and 365b on both the left and right sides are set so as to be defined by the slope. In addition, these pressing members 366
a, 366b, 366c, and 366d are attached to the lower ends of the attachment members 351a and 351b for the down members, respectively.
A first contact roller 370a, which is in contact with the outer peripheral surface of the upper end of 348;
370b is rotatably mounted. The rolling contact position of the first transfer rollers 370a and 370b with the third small shaft 348 is such that the first small diameter portion 348c is not protruded from the first large shaft 347 of the third small shaft 348. It is defined at the lower end, in other words, at the portion of the first small diameter portion 348c located immediately above the first tapered portion 348b.

As a result, a clinch drive mechanism 371 described later is activated, and the third thin shaft 348 projects from the third thick shaft 347 by the first protrusion amount, so that the first rolling contact rollers 370a and 370b The position of the third roller 348 in contact with the small shaft 348 moves from the first small diameter portion 348c to the large diameter portion 348a via the first tapered portion 348b. In this manner, the four pressing members 36 described above are used.
6a, 366b; 366c, 366d are pivoted so as to fall inward around the corresponding rotating support shafts 353a, 353b, and the corresponding locking rods 36 are provided.
5a; 365b, the four guide blocks 357c to 357f, that is, the entire detection unit 357 are coil springs 360a to 360a.
It will be pushed down against the bias of 60d.

As the detection unit 357 descends, the detection pin 3
As a result, the work W inserted into the circuit board 20 by the lead wire Wb is relatively released. In this way, the detection switch DS described above is opened, but the phototransistor DS is opened.
Since the detection potential at 362 (that is, the input potential increased by the light emission of the LED 361) is latched by the latch circuit 363, no problem occurs in the subsequent control operation.

Moreover, not accompanied the lowering of the detection Yunitsuto 357, the detection pin 357g also be lowered, in the clinch operation to be described later, clinch members 369a, clinch nails 369a ₃ to be described later _{369b, 369a 4; 369b 3,} 369b 4 There even rotated people inwardly respectively, these clinch nails 369a _3, 369a _4; it 369b _3, 369b ₄ is to bend bending them inwardly to engage the detection pin 357 g, it is reliably prevented become.

Thus, in this embodiment, prior to the clinching operation, the detection Yunitsuto 357 pushing mechanism 364, clinch nails _{369a 3, 369a 4; 369b 3} , 369b 4 detection pin 357
Since it is pushed down to a position where it does not engage with g, the detection operation in the detection unit 357 is always performed stably, and the reliability is improved.

On the other hand, as shown in FIG. 17, the clinch members 369a and 369b described above are clinch member mounting members 354a and 354b, respectively.
Mounted on the upper end is provided with a corresponding body portion extends up to just below the side 369a _1, 369b ₁ of the support member 358. At the upper end of each of these main body parts 369a ₁ and 369b ₁ ,
As shown in FIG. 16C, the workpiece W to be clinched
The side edges along connexion horizontally, both ends of the horizontal portion 369a _2, 369b ₂ which terminates in a state of being positioned in a straight outward of each of the lead wire _{Wb 1, Wb 2, Wb 3} , Wb 4 are clinched the above The central part is connected. Further, as shown in FIG. 16B, corresponding ends of the horizontal portions 369a ₂ and 369b _{2 have} lead wires Wb ₁ , Wb ₂ and W
clinch claws 369a ₃ , 369a _{4 that} engage only from b ₃ and Wb ₄ from outside;
369b ₃ and 369b ₄ are formed.

On the other hand, the clinch members 369a, 369b thus configured
Mounting members 354a, 354 for clinch members, respectively attached
b is formed in the shape of a crank similarly to the attachment members 351a, 351b for the push-down members, and each lower end is terminated above the corresponding lower end of the attachment members 351a, 351b for the push-down members. Then, the mounting members 351a, 3
A coil spring 372 is stretched below the lower portion 51b, and these lower portions receive an urging force in a direction approaching each other. Then, these clinch member attachment members 354a, 354
At the lower end of b, second rolling contact rollers 373a and 373b rotatably mounted on the upper end of the third thin shaft 348 from both sides are rotatably attached.

The rolling contact positions of the second rolling rollers 373a and 373b with the third small shaft 348 are determined when the third small shaft 348 does not protrude from the first large shaft 47. , In other words, the portion of the first small-diameter portion 348c located a predetermined distance above the second tapered portion 348e. Here, the predetermined distance is changed by the above-described movement of the third thin shaft 348 by the first protrusion amount, and the second rolling contact rollers 373a and 373b are moved.
Is set to a value sufficient to move from the upper end of the first small-diameter portion 348c to the portion directly above the second tapered portion 348e.

As a result, a clinch drive mechanism 371 described later is activated, and the third thin shaft 348 projects further from the third thick shaft 347 from the above-described first protrusion amount by a second protrusion amount.
The rolling contact position of the second rolling contact rollers 373a, 373b with the third small shaft 348 shifts from the first small diameter portion 348c to the second small diameter portion 348d via the second tapered portion 348e. Become. In this way, the two clinch members 369a and 369b described above rotate around the corresponding rotary support shafts 353a and 353b so as to fall inward against the biasing force of the coil spring 372, and Through the clinch nails 369a ₃ , 369a ₄ ; 369b ₃ , 369b ₄ , the four lead wires Wb ₁ , Wb ₂ , Wb ₃ , Wb ₄ located at the four corners are respectively bent inward, That is, it is clinched.

Here, as shown in FIG. 22, each of the clinch members 369a, 3
In 69b, the lower portions of the main body portions 369a ₁ and 369b ₁ are respectively attached to the clinch member attachment members 354a and 354b, and the lower hole of the pair of upper and lower bolts 368a and 368b is inserted in the lower hole 369a ₅ , 369b ₅ are formed extending in the longitudinal direction. Since such a configuration is adopted, by loosening the pair of upper and lower bolts 368a, 368b,
Each clinch member 369a, 369b is movable along the vertical direction from the corresponding clinch member mounting member 354a, 354b, and accurately adjusts and regulates the vertical position of the clinch claws 369a ₃ , 369a ₄ ; 369b ₃ , 369b _4. You can do it.

Next, the configuration of the clinch drive mechanism 371 will be described in detail with reference to FIG. 15 and FIGS.

As shown in FIG. 15, a lower end of the third thick shaft 347 is provided with a driven portion 347a with which a thick-shaft drive roller 347a described later engages to push the third thick shaft 347 upward. Further, the lower end of the third thin shaft 348 terminates in a state of extending further below the lower end of the third thick shaft 347, and this lower end is described later in order to push it upward. A driven portion 348f with which the fine shaft drive roller 374b is engaged is provided.

Only in the clinch unit 343A rotated to the clinch position, a clinch drive mechanism 371 for executing the clinch operation is provided adjacent to the clinch unit 343A stopped in the clinch position. The clinch drive mechanism 371 includes a large-shaft drive roller 374a and a thick-shaft drive roller 374a that respectively engage with driven portions 347a and 347f formed on the third thick shaft 347 and the third thin shaft 348 of the clinch unit 343A at the clinch position. A driving roller 374b for the thin shaft, and connecting rods 376a, 376b, which are mounted on the upper end of the driving roller 374a for the thick shaft and the driving roller 374b for the thin shaft, respectively, and supported movably up and down via supporting members 375a, 375b. Have.

Here, at the lower ends of these two connecting rods 376a, 376b, swinging levers 377a, 377 are pivotally supported at an intermediate portion.
The other end of the swing lever 377a, 377b is connected to the drive cam mechanism 378a, 37
Connected to 8b. Then, these drive cam mechanisms 378
a, 378b, clinch unit 343
Is moved up and down as a whole, and the clinch operation is executed after the detection unit 357 is depressed.

Further, to the other ends of the above-mentioned swing levers 377a, 377b, tom followers 379a, 379b are attached. Have cam members 381a and 381b formed as one continuous annular groove, respectively. The two cam members 381a and 381b are integrally rotated in a counterclockwise direction (forward rotation direction) in FIG. 26A in a state synchronized with each other by a clincher cam motor 382 for clinch which is common to both. They are connected to each other so as to be driven.

The clincher cam motor 382 is configured to be reversible. This clincher cam motor 382
Control unit 30 via the motor driver 220e
It is set so that the driving is controlled by. The control unit 30 includes two cam members 38, which will be described in detail later.
By making one rotation of 1a and 381b simultaneously, one clinch operation is completed.

Here, as shown in FIG. 23, the two cam members 381a, 381b are disposed in parallel on the same axis so as to face each other, and include swinging levers 377a, 377b and connecting rods 376a, 376b.
Are arranged adjacent to each other. on the other hand,
As described above, the third thick shaft 347 and the third thin shaft 348 are arranged coaxially. Therefore, the connecting rod 376a that connects the swing lever 377a and the third thick shaft 347 to each other is
4 As shown in FIG.
To the center of this along the tangent of the thick axis 347 of the
A bent portion is provided, and the above-described thick shaft driving roller 374a is provided at the tip of the bent portion.

On the other hand, a connecting rod 376b for connecting the swing lever 377b and the third fine shaft 348 to each other is provided at its upper end on the right side in the drawing (that is, the tangent line of the third fine shaft 348) as shown in FIG. (Toward the center of the bent portion), and the above-described thin shaft driving roller 374b is provided at the tip of the bent portion.

Here, these cam grooves 380a and 380b correspond to (A) in FIG. 26A.
(E) as shown in FIG. In detail, FIG. 26A (A) shows the clinch unit 343.
26A (B) shows the uppermost standby position which is rotated 90 degrees counterclockwise from FIG. 26A (A), and FIG. 26A (C) shows the lowermost standby position from FIG. 26A (B). 26A (D) shows the clinch position which has been rotated 45 degrees counterclockwise from FIG. 26A (C), and FIG.
Fig. A (E) shows the lowermost position rotated 90 degrees counterclockwise from Fig. 26A (D), respectively.

FIGS. 27 (A) to 27 (E) show operating states of the head unit 218A and the clinch unit 343A in a state corresponding to (A) to (E) of FIG. 26A, respectively. .

Then, both cam grooves 380a and 380b are formed as shown in FIG. 26A (A).
In the ascending step I (0 to 90 degrees) leading to FIG. 26A (B), the clinch body 349 of the clinch unit 343A at the clinch position is entirely, that is, from the lowest position shown in FIG. The third thick shaft 347 and the third thin shaft 348 are formed to have the same cam shape so that the distance from the center of rotation is gradually increased so as to rise without changing the relative distance between them. In the uppermost position shown in FIG. 27 (B), the support member 358 is set so as to contact from below the lower surface of the portion of the circuit board 20 into which the work W is inserted.

After the support member 358 supports the lower surface of the circuit board 20 as described above, as shown in FIG. 27 (B), the grip portion of the head unit 218A is lowered to the lowest position,
In detail, a plurality of through holes formed in the circuit board 20 are inserted so that the work W held by the holding portion is inserted into the circuit board 20.
The lead wires Wb are set so as to be inserted from above in 12a.

In the pressing step II (90 degrees to 135 degrees) from FIG. 26A (B) to FIG. 26A (C), the cam groove 380a that regulates the operation of the third thick shaft 347 is moved from the rotation center thereof. Is set not to change, while the third fine axis 348
The cam groove 380b, which regulates the operation of the above, gradually changes the distance from the rotation center within a rotation angle range of 95 degrees or more without changing the distance from the rotation center until the rotation angle of 95 degrees. And the lift of the cam (ie,
The rising distance of the cam follower 379b from FIG. 26A (B) to FIG. 26A (C) is set to be the first protrusion amount described above.

That is, the range of the rotation angle from 90 degrees to 95 degrees is set so as to be defined as a detection step. In this detection step, the work W is inserted into the circuit board 20 by the head unit 218A as described above. And the inserted work W
The detection pin 357g of the detection unit 357 by the lead wire Wb of
Is set to be depressed.

Then, as a result of the rotation angle reaching 135 degrees, as shown in FIG. 27 (C), the third thin shaft 348 projects upward from the upper end of the third thick shaft 347 by the first projection amount. Will be. In this way, when the two cam members 381a and 381b rotate to the state shown in FIG. 26A (C), the push-down operation is completed.

In the clinch step III (135 to 180 degrees) from FIG. 26A (C) to FIG. 26A (D), the third thick axis 347 is used.
The cam groove 380a defining the operation of the third thin shaft 348 is set so as not to change the distance from the center of rotation, as in the pressing step II.
b is defined so that the distance from the center of rotation gradually increases, and the lift amount of the cam (ie, FIG. 26A (C)
26A (D) is set so as to be the above-described second protrusion amount.

As a result, as shown in FIG. 27 (D), the third thin shaft 348 further projects upward from the upper end of the third thick shaft 347 by the second amount of projection. Thus, the cam member
The clinching operation is completed by the rotation of 381a and 381b to the state shown in FIG. 26D. Therefore, in this embodiment, after the pressing operation is performed, the clinch operation is performed, and the connection pins Wb ₁ ,
Wb ₂ , Wb ₃ , Wb ₄ are four clinch claws 369a ₃ , 369a ₄ ; 369b ₃ , 3
69b ₄ causes each to be bent inward.

In the descending step IV (180 degrees to 270 degrees) from FIG. 26A (D) to FIG. 26A (E), both cam grooves 380a, 380b
Moves the clinch unit 343 in the ascending position as a whole,
That is, the third thick shaft 347 and the third thin shaft 348 are formed to have the same cam shape while gradually decreasing the distance from the rotation center so as to descend without changing the relative distance. In the lowermost position shown in FIG. 27 (E),
The clinch unit 343 holds the clinch posture while maintaining the second position.
7 It is set so as to be lowered to the same height position as the state shown in FIG.

Then, in the return step V (270 degrees to 3360 degrees, that is, 0 degrees) from FIG. 26A (E) to FIG. 26A (A), the cam groove 380a that regulates the operation of the third thick shaft 347 is It is set not to change the distance from the rotation center, while the third
The cam groove 380b that defines the operation of the fine shaft 348 is defined so that the distance from the center of rotation is gradually reduced, and the descent amount of the cam (that is, FIGS. 26A (E) to 26A (A) ), The descending distance of the cam follower 379b)
The value is set to be the sum of the first protrusion amount and the second protrusion amount described above. As a result, the second fine shaft 348
Protrudes from the upper end of the second thick shaft 347 by a predetermined amount as shown in FIG. 27 (A). In this way, the two cam members 381a and 381b return to the state shown in FIG. 26A (A).

(Description of Clinch Control Procedure) Next, a clinch control procedure in the control unit 30 will be described with reference to FIG. 26B.

That is, when the operation start signal is detected in step S58, in step S60, the clincher turret motor 344 is rotated by the same amount of rotation as the head turret motor 219 in the control procedure of the turret table device 200 described above. A drive signal is output to the fourth motor driver 220d so as to rotate the turntable 342.

By performing this step S60, in the clinch device 300, the clinch unit 343 is rotationally driven in synchronization with the rotational drive of the head unit 218 of the turret table device 200, and the work W to be inserted is removed. When the gripped head unit 218 is rotated to the insert position, the clinch unit 343 corresponding to the workpiece W to be inserted is also rotated to the clinch position in the clinch device 300. Then, when the clinch unit 343 is rotated to the clinch position, in step S62,
A drive stop signal for the clincher turret motor 344 is output to the fourth motor driver 220d.

Thereafter, in step S64, a clincher turret signal is output to the fifth motor driver 220d so that the clincher cam motor 382 rotates forward (rotates counterclockwise). Based on this clincher turret signal,
As described from FIG. 27 (A) to FIG. 27 (B), the ascending step is executed, and subsequently the detecting step is executed.

Then, in step S66, the clinch drive mechanism 371
It is determined that the amount of rotation of both cam members 381a and 381b reaches 95 degrees. In this step S66, both cam members 381a,
If it is determined that the amount of rotation of the 381b is 95 degrees, that is, if it is determined that the detection process has been completed, at step S68, the latch circuit 363 at that time similarly to the above-described step S344. It is determined whether a signal is being output.

When YES is determined in this step S68, that is, when it is determined that the LED 361 is turned on and the latch signal is output in the latch circuit 363, the process proceeds to the fifth motor driver 220d in step S64 described above. Will continue to output the clincher turret signal,
As described above, following the step of pressing down the detection unit 57, the step of clinching the lead wire Wb of the work W is executed, and finally, the clinch body 49 is lowered to the initial position.

Then, in step S70, the clinch drive mechanism 371
When it is detected that the amount of rotation of both cam members 381a and 381b has reached 360 degrees in step S72, a drive stop signal for the clincher cam motor 82 is output to the fifth motor driver 220d in step S72. In the state where the clinch operation is completed in the clinch unit 343A and returned to the lowermost position,
The driving of the clinch drive mechanism 371 is stopped, and the second control procedure in the normal state in the series of clinch devices 300 ends.

On the other hand, if NO is determined in step S68 described above,
That is, even when the detection process is completed, the LED 361 is turned off, and if it is determined that the latch signal is not output in the latch circuit 363, at least one lead wire Wb is placed below the circuit board 20. Since it is determined that it has not been removed, the fifth step is performed in step S74.
A clincher cam signal for rotating the clincher cam motor 82 in the reverse direction is output to the motor driver 220d. As a result, the clinch body 49 in the clinch unit 343A is formed.
Is moved in the opposite direction to the operation up to now, and this reverse rotation drive is continued until it is detected in step S76 that the amount of rotation of both cam members 381a, 381b in the clinch drive mechanism 371 returns to 0 degrees. You.

Then, in step S76, both cam members 381a, 381b
When it is detected that the amount of rotation has returned to 0 degrees, step
In S78, a stop signal of the clincher cam motor 82 is output to the fifth motor driver 220d, and the clinch unit 343A returns to the lowermost position before executing the clinch operation. Is stopped. In this way, the second control procedure is terminated after taking measures against the insertion failure.

As described above, in the second control procedure, the control unit 30 basically performs one clinch operation by simultaneously driving (forward rotation) both cam members 381a and 381b by one rotation. If the insertion failure of the inserted work W is detected in the detection process performed before the clinch process, the two cam members 381a, 381 are detected at the time of the detection.
b is reversed, the clinch main body 349 is lowered without clinching the workpiece W determined to be poorly inserted, and the original position,
That is, the cam members 381a and 381b are configured to return to the 0-degree rotation position.

As a result, according to this embodiment, even if a work W with a poor insertion occurs, the work W is before the clinch operation. By doing so, the lead wire Wb can be easily and automatically removed by the head unit 218A without clinching.

(Description of Board Rotation Positioning Apparatus) As described in detail above, the work W supplied from the component supply mechanism 100 is mounted at a predetermined position on the board 20. The overall configuration of the substrate rotation positioning device 400 for positioning will be described with reference to FIG.

The substrate rotation positioning device 400 is configured such that the rotation table 438 on which the substrate 20 is directly mounted is placed on the base 210 described above.
It is provided so as to be relatively movable along the axis and the y-axis and rotatable around its own central axis. That is, the substrate rotation positioning device 400 includes a pair of parallel bases 440a and 440b fixed to the base 210 and set to extend along the x-axis direction. And one stand 440a
An x-axis frame 442 formed in an elongated frame along the y-axis direction has a first side (upper side in the figure) 442a on a pair of guide members 444a and 444b. And is movably supported along the x-axis direction.

The x-axis frame 442 is formed in a hollow shape over the entire length of the substantially U-shaped portion excluding the third side 442c opposed to the first side 442a. Ball screw
446 is extended along the x-axis direction, and both ends thereof are rotatably supported. Also, this second ball screw
A second nut member 4448 is screwed to 446, and the second nut member 448 is fixed on the one of the above-mentioned frames 440a. One end of the second ball screw 446 is connected to the drive shaft of the x-axis drive motor 450 housed in the first side 442a of the x-axis frame 442.

In this way, when the x-axis drive motor 450 is activated, the x-axis frame 442 as a whole is connected to the second ball screw 446 via the screwing of the second nut member 448.
It is driven to move along the axial direction.

The third side 442c of the x-axis frame 442 is configured to slide on the upper surface of the other frame 440b of the pair of frames 440a and 440b via a cam follower (not shown).

On the other hand, in the space surrounded by the x-axis frame 442,
A y-axis frame 452 formed in a substantially square frame shape is housed movably along the y-axis direction. From the second side (right side in the figure) 452b of this y-axis frame 452,
A pair of connection stays 454a and 454b protrude rightward in the drawing, and a distal end of each of the connection stays 454a and 454b is integrally connected to a y-axis guide member 456 extending along the y-axis direction. I have.

Also, the above-described y-axis guide member 456 has a second piece 442.
An engaging member 458 protruding inward of b is integrally attached. On the other hand, on the second side 442b of the x-axis frame 442, both ends thereof are rotatably supported with a third ball screw 460 extending along the y-axis direction. Further, a third nut member 462 is screwed into the third ball screw 460, and the third nut member 462 is fixed to the above-described engaging member 458. One end of the third ball screw 460 is connected to a drive shaft of a y-axis drive motor 464 housed in the second side 442b of the x-axis frame 442.

In this manner, when the y-axis drive motor 464 is activated, the y-axis frame 452 is entirely moved through the screwing of the third ball screw 460 and the third nut member 462.
It is driven to move along the axial direction.

The fourth side (left side in the figure) of this y-axis frame 452
52d is configured to be slidably supported by the above-described fourth piece 442d of the x-axis frame 442 via a cam follower (not shown).

Further, in the space surrounded by the y-axis frame 452,
The above-mentioned rotary table 438 is supported via a plurality of guide rollers 466 so as to be rotatable around its own central axis. The turntable 438 is formed in a circular frame shape as shown in FIG.
A pair of guide rod mounting stays 468a and 468b are extended in a state of being parallel to each other while extending along the axial direction.
A pair of guide rods 470 extend in the axial direction.
a, 470b are mounted in parallel with each other.

Thus, these two guide rods 470a, 470
The substrate 20 described above is mounted on the turntable 438 while being sandwiched by b.

Here, these pair of guide rods 470a, 470b are y
It is movable along the axial direction, and is moved according to the size of the substrate 20 to be mounted (particularly, the length along the y-axis direction), so that the substrate 20 can be securely clamped from both sides. Have been. Note that these guide rods 47
The reference numerals 0a and 470b are configured to be fixed at set positions by set screws (not shown).

And one side of this rotary table 438 (the lower side in the figure)
A friction drive mechanism 472 for rotating the y-axis frame 452 is disposed on the y-axis frame 452.

According to the above-described configuration, the rotation table 438 of the substrate 20 is x
By moving independently along the axis and the y-axis direction, and rotating along the θ direction, any point on the
Thus, the work W can be aligned with the insert position of the work W in the turret table device 200.

Finally, using FIG. 29 and FIG.
The configuration of the friction drive mechanism 472 as a substrate rotation mechanism for rotating the drive 8 will be described in detail.

The friction drive mechanism 472 includes a leaf spring mechanism 474 fixed on the y-axis frame 452. This leaf spring mechanism 474
Has a push lever 474a radially inward in the radial direction of the rotary table 438 and capable of moving back and forth.
4a is set so as to be advanced and retracted in the radial direction by rotating the adjusting screw 474b attached radially outward. That is, the pressing force can be adjusted by rotating the adjusting screw 474b. Further, both ends of a flat U-shaped pressing stay 476 are integrally attached to the leaf spring mechanism 474, and a holding roller 478 is provided radially inward of the pressing stay 476 around a vertical axis. It is rotatably supported.

On the other hand, both ends of a flat U-shaped guide stay 480 are integrally attached to the y-axis frame 452 described above. At the base end side of the guide stay 480, the middle of an upright supporting stay 482 is slidably supported along the radial direction of the turntable 438. That is, this support stay 48
The guide grooves 482a and 482b are formed in the middle of both side edges of the guide stay 480, and the guide grooves 482a and 482b are fitted in the guide grooves 482a and 482b. Are fitted to each other, so that the support stay 482 is slidable,
In addition, it is supported in a state where it is prevented from falling downward.

A mounting stay 484 is attached to the upper end of the support stay 482 in a state of extending inward in the radial direction. The mounting stay 484 has an upper end of a driving shaft 488 to which a driving roller 486 is coaxially fixed. It is rotatably supported. The height position of the drive roller 486 is set so as to be the same height as the above-described holding roller 478. That is, the driving roller 486 is in rolling contact with the outer peripheral surface of the rotary table 438 described above, and the nipping roller 478 is in rolling contact with the inner peripheral surface.
Is set so that the frictional engagement force between the drive roller 486 and the rotary table 438 is regulated.

At the lower end of the support stay 482, a rotation drive motor 490 for rotating the drive shaft 488 is attached, and the rotation drive motor 490 and the drive shaft 488 are aligned via a coupling mechanism 492. It is connected in the state where it was done. The support stay 482 has a rear surface (that is, a surface outward in the radial direction) whose push lever 474 of the leaf spring mechanism 474 described above.
It is set to be pressed by a.

In the friction drive mechanism 472 configured as described above, in the state shown in FIG. 30, by rotating the adjustment screw 474b of the leaf spring mechanism 474, the push lever 474a biases the support stay 482 inward in the radial direction. Then, it operates to move the driving roller 486 attached thereto radially inward. On the other hand, the movement of the support stay 480 inward in the radial direction causes the leaf spring mechanism 474 itself to have the opposite effect.
A radially outward reaction force is received, and as a result, the holding roller 478 attached to the pressing stay 476 is received.
Will relatively move outward in the radial direction.

As a result, the rotary table 438 receives the pressing force inward in the radial direction by the driving roller 486, and
8 receives the pressing force outward in the radial direction.
It will be strongly pinched by 78. Here, since the rotary table 438 receives the pressing force in a balanced state by the rollers 486 and 478, the rolling contact force (friction engagement force) is increased by the drive roller 486, but the rotary table 438 is No deviation of the center of rotation will occur.

As described above, when the rotary drive motor 490 is started in a state where the rolling contact force of the drive roller 486 on the rotary table 438 is set to a predetermined value, the drive shaft is driven via the coupling mechanism 492 in response to the start. 488 is driven to rotate, and therefore the drive roller 4 is integrally mounted on the drive shaft 488.
86 is likewise driven to rotate, so that this drive roller 48
The rotary table 438 that rolls into contact with 6 is also rotated.

Note that a rotary encoder 494 is attached to the rotary drive motor 490, and the amount of drive by the rotary drive motor 490, that is, the amount of rotation of the drive roller 486, is always
The rotation table 438 is numerically detected, and is driven to rotate to a desired rotation position based on the detection result.

As described in detail above, in the substrate rotation positioning device 400 of this embodiment, the x-axis frame 442 is moved along the x-axis via the x-axis drive motor 450, and the y-axis drive motor 4
Y-axis frame 4 supported on x-axis frame 442 via 64
By rotating the rotary table 52 along the y-axis and rotating the rotary table 438 supported by the y-axis frame 452 along the θ through a friction drive mechanism 472 provided with a rotary drive motor 490, the rotary table is rotated. An arbitrary position of the substrate 20 fixed to 438 is the work W in the turret table device 200.
The workpiece W can be moved to a position precisely aligned with the insert position, and the rotational positional relationship between the work W and the substrate 20 can be set freely.

Further, in the substrate rotation positioning device 400 of this embodiment, the rotation table is used without using belts and gears.
Since the 438 is driven to rotate via the friction drive mechanism 472, the point that the conventional method has a problem with the gear, such as a large backlash, a noisy point, or a belt, has been used. Thus, the point that the rotation cannot be performed at a high speed and the point that the control is complicated are surely eliminated.

With the configuration of the friction drive mechanism 472 as the above-described rotary drive mechanism, the rotary table 438 and the substrate 20 placed on the rotary table 438 are rotated. If any friction or abrasion occurs on a frictional joint surface (hereinafter, simply referred to as a P surface) with the outer peripheral surface of the roller 486, the error is accumulated every time the rotary table 438 rotates, and the encoder 494 is rotated. Is different from the actual angle of the rotary table 438.

Therefore, in this embodiment, an error absorbing mechanism 496 for absorbing this error is provided at a position adjacent to the above-described friction drive mechanism 472. On the other hand, on the turntable 438,
The stop positions are set at every 90 degrees, and in accordance with these stop positions, in this embodiment, a total of four positions (that is, the rotation angles are 90 °, 180 °, 270 °, 360 ° ( 0
°) are formed with restriction holes 498a, 498b, 498c, 498d, respectively.

As shown in FIG. 28, the error absorbing mechanism 496 has a connecting side 452e connecting the first and fourth sides 452a and 452d of the y-axis frame 452 to each other as shown in FIGS. 31A and 31B. ,
An attachment member 500 attached in a standing state is attached so as to extend along the vertical direction. A plunger rod 504 is supported by the mounting member 500 via a sliding guide member 502 so as to be vertically movable. At the top of this plunger rod 504, plunger 5
06 is fixed. A hemispherical positioning pin 508 is fixed to the upper surface of the plunger 506 so as to fit into one of the restriction holes 498 from below.

On the other hand, below the plunger rod 504, a pneumatic cylinder 512 is fixed to a mounting member 500 via a mounting stay 514 so that the piston rod 510 can move forward and backward along the vertical direction. The upper end of the piston rod 510 and the lower end of the plunger rod 504 are connected to the connecting rod 516.
Are connected to each other.

Here, the arrangement position of the positioning pins 508 described above is, as a rotation angle, the rotation table 438 is 90 °, 180 °, 270 °, 36 °.
When accurately positioned at each of the four positions of 0 ° (0 °), they are fitted into the four restriction holes 498a, 498b, 498c, and 498d from below, respectively, to accurately define the rotational position of the rotary table 438. It is defined as a location where you can do things.

By configuring the error absorbing mechanism 496 in this manner,
For example, even if there is a small amount of slippage or wear on the P surface, the error is eliminated each time the rotary table 438 stops at the target position, and the error is not accumulated as described above.
The angle detected at 494 and the actual angle of the rotary table 438 will be exactly the same.

As described in detail above, in this embodiment, each time the rotary table 438 is stopped at the target rotation position, the detection position is determined based on the slip generated on the P surface between the drive roller 486 and the rotary table 438. And the error between the actual position
The error is eliminated mechanically by the error absorbing mechanism 496, and this error is reliably prevented from being accumulated, and the rotation operation of the rotary table 438, that is, the circuit mounted on the rotary table 438, is accurately performed. Circuit positioning of the substrate 20 is achieved.

Further, in this embodiment, the error absorbing mechanism 496 is provided as a mechanism for correcting slippage on the P surface, so that the rotary table 438 can be surely rotated by friction drive, and low noise and backlash. Thus, a compact positioning mechanism for the substrate 20 can be realized.

Here, for example, in the above-described embodiment, the rotation table 438 is set so as to be stopped at every integral multiple of 90 °, so that four restriction holes are formed in the rotation table 438 every 90 °. However, the present invention is not limited to such a configuration. For example, when the rotary table 438 is stopped at every integral multiple of 45 °,
The restriction holes may be formed in the rotary table 438 at a total of eight positions every 45 °. In short, the restriction hole may be formed in the rotary table 438 in accordance with the stop angle of the rotation table.

In the above-described embodiment, the error absorbing mechanism 49 is used.
6 is described as being performed for each stop operation of the rotary table 438. However, the present invention is not limited to such a configuration, and a plurality of stop operations, such as two or three stop operations, are performed. May be set to be performed every time,
It may be set to be executed in the first stop operation after a lapse of a predetermined time, or may be set to be executed in the first stop operation after a lapse of a predetermined rotation amount.

In the embodiment described above, the x-axis frame 44
Although it has been described that the components are stacked in the order of 2 → Y-axis frame 452 → rotary table 438, the present invention is not limited to such a configuration. For example, the rotary table 438 → Y
It may be configured so that the axis frame 452 and the X-axis frame 442 are stacked in this order.

Further, when the plunger member 506 is fitted into the regulating hole and the rotational position of the rotary table 438 is rewritten, if the slip per rotation is small, the servo system of the rotary drive motor 490 is set after the fitting operation. May be performed before the lock operation.

In the above-described embodiment, the rotary table 43
Drive roller 486 from side to side (ie, along the radial direction)
Although a description has been given of pressing, the present invention is not limited to such a configuration, and it is also possible to adopt a configuration in which the drive roller 486 is pressed from above the rotary table 438.

<Control of System> As described above, mainly as individual devices of the mounting system 10,
The configuration and operation of the component supply device 100, the turret table device 200, the clinch device 300, the positioning device 400 (so-called X, Y, θ table), and the like and the single control thereof have been described. Next, the outline of the control of the entire system will be described by describing what operations the individual devices perform as a whole and how they interfere with each other. Control of the entire system is performed by the control device 21.

A main motor device as a control target shown in the range of FIGS. 1 to 31 will be described with reference to FIG. In the turret table device 200, a turret table drive motor 219, a pickup cam drive motor 292, and an insert cam drive motor 236 are provided. In the clinch device 300, there are a motor 344 for rotating a table provided with the clinch head and a motor 382 for driving a cam for moving the clinch head up and down. In the positioning device 400, a motor 450 for driving in the X-axis direction, a motor 464 for driving in the Y-axis direction, a motor 464, and
There is a θ-direction drive motor 490. Further, in the component supply device 100, there is a drive motor 145 for integrally moving and driving a plurality (up to 20 types) of sticks S loaded with components in the Z-axis direction.

FIG. 33 shows the relationship between the stick moving direction Z of the component supply device 100 and the positioning directions X, Y, θ by the positioning device 400 with respect to each head of the turret table device 200. In the figure, the so-called pickup position at which the supply device 100 transfers the work to the turret table device 200 is fixed. Therefore, the component supply device 100 moves the stick containing the requested work in accordance with the command received from the control device 21 toward the pickup position. On the other hand, in the turret table device 200, ten heads are rotated in the β direction (FIG. 33). If the head that has arrived at the pickup position is required to grip the work requested by the control device 21, the head grips the work.

As shown in FIG. 33, in the turret table device 200, when the work held by the head is mounted on the circuit board 20, the position of the head on the turret table 217 (insert position) is also fixed. The positioning device 400 moves the substrate 20 in the X direction, the Y direction, and the θ direction, and the position of a through hole of a work (for example, an IC chip) to be mounted on the substrate 20 comes directly below the “insert position”. Adjust as follows.

Control Functions The main functions of the control device 21 of the mounting system shown in FIG. 1 are as follows: The pick operation, the clinch operation, and the substrate positioning operation by the turret table device 200 are organically coupled and synchronized. Operate.

That is, in the turret table device 200, the work from the component supply device 100 is transferred to one head of the turret table device 200 at the pickup position. Further, in synchronization with the rotation of the turret table 217 and the work gripped by the head reaching the “insert position”, the positioning device 400 moves the table 438 in the X, Y, and θ directions, so that the work is Substrate to be mounted
The position above 20 should be directly below the “insert position”. After that, the work is inserted. First
In the figure, the clinch device 300 is not shown, but as described above, the turret table 217 of the turret table device 200 and the turret table 342 of the clinch device 300 are rotated in synchronization, and the After that, the clinch operation is performed.

-1: Another feature of the embodiment system is that the work mounting order specified by the operator is based on the turret table device.
The mission 200 is to protect the work even when inserting the work into the substrate 20.

For this purpose, a table storing a program describing the mounting procedure (in this embodiment, as described later,
A "process table PT" is provided, and a table for managing information on all heads on the turret table 217 (in this embodiment, "insert information table IT" is provided). Observing the mounting order should produce the following effects.

What requires the most precision is the positioning operation of the substrate 20 by the positioning device 400. It is the time required for this positioning that occupies a large factor in the tact time. If the mounting (mounting) order is maintained, the same accuracy and takt time as expected when the mounting order is planned and determined should be obtained. That is, in this case, what the operator has to do for the purpose of improving the throughput of the entire mounting system is to focus only on designing an efficient mounting order. , You should not need to consider the effects of other factors. In other words, an improvement in the throughput of the entire mounting system can be easily obtained.

-2: Another feature of the present embodiment is that by managing the two tables as described above, it becomes unnecessary to perform an unnecessary empty pick operation, and it becomes more efficient.

In other words, the system of this embodiment has a function of solving the drawbacks that are common in the conventional turret type mounting apparatus in which the "pickup position" and the "insert position" are fixed. According to this function, in the “pickup position” or “insert position”, the operation of stopping the turret table 217, which was indispensable in the past, is no longer required, and therefore, the picking operation is much more efficient than the conventional turret device. / Insert operation should be possible.

-3: Also, by having and managing the table PT and IT, the control device 21 autonomously controls the system control in accordance with the mounting order designed for the specific circuit board 20. This eliminates the need for the teaching work conventionally required.

: In the system of this embodiment, an emergency stop function is added. Its function is the head turret device 20
When the head unit 218 or the mechanism for raising and lowering the head unit is likely to be destroyed at 0,
At 100, all the stakes of a work are empty.

Outline of Pickup / Insert Operation Hereinafter, an outline of a control operation by the control device 21 for the pickup / insert operation in the turret table device 200 will be described with reference to FIGS. 34 to 37.

FIG. 34 shows a configuration of a process table (hereinafter abbreviated as PT) that stores mounting procedures input by a program by an operator. This table is stored in the memory 21a of the control device 21. In the figure, S ₁ , S _2, ... Represent the mounting order. The maximum value of the number representing the order is represented by S _MAX. X, Y, and θ indicate the positions on the substrate where the workpieces in the process order S are to be inserted, and are transmitted to the positioning device 400. Further, Z is a stick number in the component supply device 100, and a unique work is designated by Z. The information Z is transmitted to the component supply device 100, and in response, the supply device 100 moves the designated stick to the pickup position.

HD is a number assigned to each head unit 218 in the turret table device 200. Each head unit 218 is pre-configured with a 16-pin DIP, a 22-pin DIP
And QUIP heads are mounted, and which type of work can be gripped on which head unit
The operator who has entered the procedure shown in FIG. 34 is known in advance.

Each entry point of the table PT is specified by a pointer SP (sequence pointer).

FIG. 35 shows the configuration of an insertion table (hereinafter abbreviated as IT). This table IT contains information indicating whether the head unit 218 is gripping a work and the work
Information indicating where on the 20 should be inserted (X,
Y, θ). Further, the storage position of the above information on the head in the table IT is represented, for example, by P (1), which means the position of the head information of the head number 1. This table IT is stored in the control table 21 according to the control program shown in FIG.
Create based on.

As will be apparent from the following description, information indicating the mounting order is not explicitly set in the table IT.
However, the position of the information itself in the table IT implies the mounting order. This is a technical proof that the implementation order intended by the operator is maintained by this embodiment.

Each entry point of the table IT is a pointer IP.
(Insertion pointer).

Next, when the turret table device 200 operates according to the mounting procedure shown in FIG.
FIG. 36 and FIG. 37 will be described with reference to FIG. 36 and FIG. 37.

First, Fuetsuchi implementation instruction S ₁ of table PT.
This command requests that the work of Z = 1 be held by the head of head number 1. FIG. 36A (a)
And FIG. 37A (a). In FIG. 36A and the like, a “•” attached to the symbol representing each head means that the head is gripping the work.

The control device 21 instructs the supply device 100 so that the stick specified by Z = 1 comes to the pickup position. When the turret table 217 rotates and the head 1 reaches the “pickup position”, the turret table device
The first head of 200 grips the work of Z = 1. number 3
6 See FIG. In (a) of FIG. 37A, the table
Insertion position information X, Y, θ of the work with Z = 1 is stored in P (1) of IT. Thus, in order to step S ₁ the workpiece is gripped in the first head, the pointer SP table PT 1
Is incremented by one.

Next Fuetsuchi the instruction of S ₂ from the table PT. This command is a command for gripping the work of Z = 2 with the second head. Since the first next head is the second head, the second head picks and grips the work of Z = 2 after the turret table 217 rotates by one pitch. This state is shown in FIG. 36A (b) and FIG. 37A (b).

Next Fuetsuchi a command of S _3. This command is: Z = 3
This is a command to cause the fifth head to grip the work. In order to execute this command, the turret table 217 needs to be rotated until the fifth head comes to the “pickup position”, that is, by three pitches (= 36 degrees × 3 = 108 degrees). And, during this three pitch rotation,
There should be no head that comes to the “insert position” and is gripping the work. For example, if the third head is at the “pickup position”, the “insert position”
Is the eighth head, and when the fourth head is at the "pickup position", the head at the "insert position" is the ninth. Neither the eighth head nor the ninth head grips the workpiece in the example of FIG. In other words, three pitches (= 108) from the state shown in FIG.
In other words, it is only necessary to perform an operation of gripping the work of Z = 3 at the fifth head that has come to the “pickup position” at the point of time when it is rotated by (degree). The state after this three pitch rotation is
This is shown in FIG. 36 (a) and FIG. 37 (c).

Turning now Fuetsuchi implementation instruction S _4, it is, Z =
This is a command to cause the work No. 4 to be gripped by the sixth head.
In such a case, the operation of picking up the work by the sixth head and the operation of inserting the work held by the first head are performed in parallel. In addition, 36A
(D) of FIG. 36 and (e) of FIG. 36B show that the work is first gripped by the sixth head, and then
It was shown as if the workpiece held in the third head was inserted.

Next, Fuetsuchi the command S ₅ of FIG. 34. This command is a command for causing the ninth head to grip the work of Z = 5. Since the work is supplied to the sixth head in FIG. 36 (e), the turret table is further moved by three pitches until the ninth head reaches the "pickup position".
217 must rotate. That is, the picking operation must be postponed until the ninth head reaches the “pickup position” even if the supply device 100 has finished preparing the work of Z = 5. In other words, between the time when the sixth head is at the “pickup position” and the time when the ninth head reaches the “pickup position”, the “insert position” is the second, third, and fourth positions.
The heads arrive in order.

Therefore, when the second head reaches the "insert position", the work held by the second head is inserted into the substrate. This state is shown in FIG. 36B (f), 37A
This is shown in FIG.

Then, when the ninth head comes to the “pickup position” after the second pitch rotation, the work of Z = 5 is gripped by the ninth head. This state is shown in (g) of FIG. 36B and (g) of FIG. 37B.

Next Fuetsuchi a command of S _6. This command is a command for holding the work of Z = 6 by the tenth head. Then, after one further rotation of the pitch, the work is gripped by the tenth head. This state is shown in (h) of FIG. 36B and (h) of FIG. 37B.

Turning now Fuetsuchi the command S _7, head state, third
From FIG. 6B (h), FIG. 36C changes from (i) to (j),
Also, the table IT changes from FIG. 37B (h) to (i) → (j) in FIG. 37B.

In the pick-up operation and the insert operation described above, it is important to determine the necessity of the pick-up operation corresponding to the mounting instruction S and the necessity of the insert operation. The summary of those judgments is as follows.

Now, it is assumed that the turret table 217 is stopped at a certain position. In the control of FIGS. 36 and 37, the turret table
Before rotating 217, it is assumed that it is rotated by a unit rotation angle (= 36 degrees). The determination of the necessity of the pick-up operation corresponding to the mounting command S is a determination as to whether or not a mounting command for gripping the work with respect to the head that should come to the “pickup position” exists in the table PT. The above-mentioned determination of the necessity of the insert operation is to determine whether or not the work to be inserted into the head coming to the “insert position” is gripped by the mounting. These decisions are made in parallel.

If both of these determinations are negative, the head turret table 217 is further rotated by a unit rotation angle (= 36 degrees).
Is assumed to be rotated. Then, the above two determinations are made.

Such an operation is determined by determining that the mounting command S for causing the head to come to the “pickup position” to grip the work exists or that the work to be inserted into the head to come to the “insert position” is actually Is repeated until it is determined that the user is grasped. Then, as long as the judgment is not made, the number of times judged as such is held each time. As will become clear in the description below,
The number of times of this determination is held in the counter n.

Consider a case where one of the above determinations is positive. Until then, if n decisions have been made, 36
If the table 217 is rotated by × n degrees, the head for holding the work comes to the “pickup position” or the head for actually holding the work to be inserted comes to the “insert position”. become. Therefore, the pickup is rotated by 36 × n degrees and the pickup operation (the
Perform the insert operation (FIG. 40A), or both operations (FIG. 40C).

Multitask control Head turret table device 200 by control device 21,
Clinch device 300, positioning device 400, component supply device 100
Is controlled by a multitask method. No.
FIG. 38 illustrates the relationship between tasks for controlling the entire system, that is, which task controls which device (motor). However, in FIG. 38, sensors, actuators, and the like as control targets are omitted. No.
As can be seen by comparing FIG. 38 with FIG. 35, each task and each device do not correspond one-to-one. This is because there are devices that must be controlled in parallel even in the same apparatus, and it is more efficient to control devices that need to be controlled in parallel by different tasks.

As shown in Fig. 38, four tasks are multitask OS
It operates in parallel under (operating system).

Task (TASK) 1 is the X-axis motor 4 of the positioning device 400
50, a Y-axis motor 464, a θ-axis motor 490, a stick moving motor 145 (Z-axis motor) of the supply device 100, a motor 219 for rotating the turret table 217, and a table provided with a clinch head A motor 344 for rotating 342 is controlled. The details of the task 1 (TASK1) are shown in FIG. 39, and the insert processing (40A
(FIG. 40), pick processing (FIG. 40B), and pick & insert processing (FIG. 40C).

Task (TASK) 2 is the drive motor for the insert cam 23.
6 and the drive motor 382 for the clinch cam.

Task 3 (TASK3) controls the drive motor 292 of the cam for pickup operation. Task 4 (TASK4)
The motor (not shown) of the substrate transfer mechanism is controlled.

Task 1 performs a master operation for other tasks. In other words, the configuration is such that another task is started, and if necessary, the process waits until a result from the started task is received, and when the task is received, the self-control is continued again. In other words, the parallel operation between tasks is provided with a flag indicating whether or not the task can be executed for each task,
Only the tasks whose flags are executable
The OS (operating system) allows it. When a plurality of tasks can be executed at the same time, the tasks that can be executed are executed in sequence, and when all such tasks are completed, the execution order of the tasks that can be executed is determined according to a so-called round-robin method. In order. Also, a task is controlled so as to wait for the result of another task and execute it after receiving the result. That is, the synchronization operation between tasks has a common mailbox between tasks, and It is realized by examining the information in the so-called TEST & WAIT method.

TASK1 The operation of task 1 will be described with reference to FIG. This task 1 is started by pressing a run button on the operation panel 250 shown in FIG. It is assumed that the program of the mounting command shown in FIG. 34 has already been stored in the table PT.

First, in step S200, the head turret table 21
Check the start position 7 and the start position of the clinch turret table 342. In this embodiment, at the start of the program, the tenth head of the head device 200 is at the "pickup position", and the fifth clinch head is at the "insert position".

In step S202, the process table PT is cleared. In step S204, by starting TASK4,
A command is sent to the transfer device (loader) so that the circuit board 20 on which the work is to be mounted will be brought above the board positioning table 438. Although the TASK4 program procedure is not specifically shown, the table on which the board 20 is placed is moved to the board positioning table 438, and the board 20 is moved to the table 4.
Includes moving to 38 and placing it in the specified place. TASK4 sets a flag (in the memory of the control device 21) indicating that the substrate is placed on the table 438.

In step S206, initialization is performed. In this initial setting, the order pointer SP indicating the entry point of the process table and the counter PP indicating the head number at the "pickup position" are set to "1", and the insertion data table is set.
Pointer IP that points to the IT entry point (this pointer also indicates the head number at the "insert position")
Is set to “6”, and the counter n is set to “1”. This is because the counter PP and the pointer IP each store the head number that would have come if the turret table 217 was rotated by one pitch, and as described in step S200, at the start time, This is because the tenth head is at the “pickup position” and the fifth clinch head is at the “insert position”.

In step S208, it is checked whether or not the pointer SP points to the last row of the mounting order program table PT. Now, since the determination here is NO, the process proceeds to step S210, and one command is fetched from the table PT. The command to be fetched is specified by the pointer SP. The pointer SP has been initialized to "1" in step S206.

In step S212, the pointer SP of the process table PT
Then, the HD information of the entry point specified by the above is compared with the counter PP indicating the head number coming to the next “pickup position”. Note that this HD information is expressed as HD: PT [SP] for convenience. [SP] means that the table PT is indexed by SP.

In step S212, it is determined that they match, which means that the type of head (defined by the HD number) requested by the mounting instruction will be at the "pickup position" (defined by the PP counter). Means that the type matches. In the example of FIG. 34, the mounting command _{S 1, HD: PT [SP} ] = 1, the PP = 1.

In such a case, the commanded work should be gripped by the head unit. Therefore, in step S213, the X, Y, and θ data portions of the mounting command are stored in the table IT. That is, IT [PP] = PT [SP]. Then, proceeding to step S214, the insertion table
It checks whether valid data is contained in the entry specified by the insertion pointer IP among the IT entries. An entry containing valid data is, for example, an entry in which all data is not zero in the IT shown in FIG.
The pointer IP has been initialized to "6" in step S206.
In the example of FIG. 34, until executes an instruction S _4, in other words, IP = 1 and until the in step S214 YES decision is not output. Accordingly, the process proceeds to step S216, where a pick process is performed. As will be described later in detail, the picking process proceeds from step S216 to step S217, and the pointer SP is counted up. That is, SP = SP + 1.

Pickup Processing Details of the pickup processing are shown in FIG. 40B. In the pick-up process, in the supply device 100, the head device 200 can pick up the requested work.
Move the Suteitsuku which houses the workpiece to the pickup position, the separation position a workpiece P ₁ in the standby position P ₂
It is necessary to perform the operation of dropping it. On the head turret device 200 side, an operation of rotating the turret table 217 is required to move the head determined to grip the separated work to the pickup position.

To this end, in step S270 of FIG.
A start signal is sent to the Z-axis motor 145 of 00. This causes the motor 145 to start rotating.

Information Z is passed to the servo control circuit of the motor 145 of the supply device 100. Z is the position of the number of the stick holding the work requested to be picked up, which is easy for the operator (programmer) to understand. The stick number Z has been converted to the rotation stop position Z of the motor 145 at the time of creating the program.

In step S272, the turret point is reset. This is for calculating the rotation amount (36 degrees × n) prior to the rotation of the motor 219. Here, as described above, n is the number of times that it is determined that neither the insert operation nor the pickup operation is performed between the last rotation of the turret table 217 and the current rotation. . In the case of the example of FIG.
Contains “1” set in S206. In step S274, the head turret motor 219 is activated.
As a result, the turret motor 219 starts rotating.

With the above control, the motor 145 starts rotating in the supply device 100, and the motor 219 starts rotating in the head turret device 200. That is, parallel processing is realized by the two motors rotating in parallel.

In step S276, the stop of the turret motor 219 is checked. The details of this check control are shown in FIG. 46A, but the control of FIG. 46A will be described later in connection with the emergency stop control.

If the stop of the motor 219 is confirmed in step S276,
In step S277, the supply device 100 is checked.
Details of this check control are shown in FIG.

Control of the supply device Based on the flow chart of FIG. 44, the supply device 10
The control procedure at 0 will be described.

First, in step S410 in FIG. 44, air is supplied to the air cylinder 148 corresponding to the stake having the requested work. Thus, as described in Figure 4, one work which was in standby position P ₂ drops into separating position P _1.

Motor 145 activated in step S270 of FIG. 40B
Is to rotate the ball screw 144 to move the work supply unit 124 containing the desired type of work W in the direction of arrow A. In step S412, when the separating position P ₁ in the workpiece supply Yunitsuto 124 it is detected that matches the pickup position Q _1,
In step S414, this movement is stopped.

Next, in step S416, via the detection mechanism 164, it is determined whether the workpiece W at the standby position P _3. If it is judged as YES in the step S416, i.e., when the light from the light emitting element 164a to the light receiving element 164b in the detection mechanism 164 without being received, it is determined that the workpiece W is present in the standby position P _3, the Since there is no obstacle to the pick-up operation of the work, that is, two more works W are waiting, the process returns to the original caller's step. That is, in the control procedure of TASK1 of the caller, if the requested head is already at the pickup position Q ₁ (that is, the separation position P ₁ ).
, The pick-up operation of the separated work W is executed. On the other hand, if it has not arrived, it waits for its arrival.

On the other hand, if NO is determined in step S416, that is, the light-emitting element 164a is
And light is received from, if it is determined that no workpiece W is present at the standby position P _3, it is determined that Suteitsuku S ₁ of the lowermost has decreased to empty, in step S422,
A supply operation of Suteitsuku S ₁ in the ejecting operation and the bottom of the empty Suteitsuku S 'to run as described above.

When the supply operation of Suteitsuku S ₁ in the ejecting operation and the lowermost empty Suteitsuku S 'in the step S422 is completed, or in step S424, via the detection mechanism 164 again, the workpiece W is present in the standby position P ₃ It is determined whether or not it is.

If YES is determined in this step S424,
That is, when it is determined that the workpiece W is present in the standby position P _3, since the work in the locked position P ₂ and the standby position P ₃ is that it is waiting for the return of the control operation.

On the other hand, if it is determined NO in step S424,
That is, when it is determined that no workpiece W is present at the standby position P ₃ is Suteitsuku S of cassette 38, it is judged that all has been emptied, such connexion discharge, in step S26, the signal of the cassette exchange Is issued to prompt the exchange of the cassette 38, and all the control operations are ended.

Thus, by arranging to detect the presence or absence of the workpiece W to one of the detection mechanism 164 in the standby position P _3, and empty detection of the workpiece W in Suteitsuku S, cassette 13
Ejection (absence) detection in all the stakes S in 8 can be performed. As described above, only one detection mechanism (sensor) is required as a whole, compared with two conventional detection mechanisms (sensors) required for each unit 124, and the number of arrangements is greatly reduced. In addition to this, it is possible to simplify the wiring and reduce the work of wiring and the like when switching functions.

Continuation of Pickup Processing Return to the description of the pickup processing in FIG. 40B.

In step S280, TASK3 is started to drive the cam for picking the workpiece.

TASK3 The description of TASK3 launched by step S272 is
Description will be made based on the drawings.

In order for the head unit 218 to start the work pickup operation, the pickup cam must be at the zero-degree position as described with reference to FIG.
Therefore, in step S350 in FIG. 42, a zero position check is performed. Details of the control of this check are shown in FIG. 46B, and the description thereof will be made later in connection with the emergency stop control.

When it is confirmed in step S350 that the cam is at the zero position, in step S352, the motor 292 for driving the pickup cam by one rotation is driven. In step S354, the sensor provided on the gripping head
Check whether the work was actually picked. If the pick has failed, if a button for retrying the pick-up operation (provided on the operation panel 250 in FIG. 1) has been pressed, retry is performed until the pick succeeds.

Pickup is continued. When the pick is completed, TASK1 is started.

Then, the flow returns to step S280 in FIG. 40B to perform the end processing of the pickup processing. That is, an operation such as bleeding air from the cylinder is performed. Then, in step S282, the counter n is reset to "1".

When the pickup processing as a subroutine in FIG. 40B is completed, the control returns to step S217 in FIG. 39. In step S217, the position at which the mounting instruction S is fetched is incremented by one by the pointer SP. Procedure S
Work is picked. In step S226, the counter PP indicating the head number coming to the “pickup position” and the pointer IP showing the head number coming to the “insert position” are incremented. That is, PP = PP + 1 IP = IP + 1. Then, returning to step S208, the next mounting instruction is fetched, and the above operation is repeated.

Control of the counter n is then Fuetsuchi a command S ₂ from the table PT of FIG. 34, after the work specified in the command (Z = 2) holding the (state of the 36A Figure (b)), command S ₃ (Z = 5)
Is described below in step S210.

In the case of such an example, initially, the value of the counter PP indicating the head number that will come to the “pickup position” is “3”. Then, since HD: PT [HD] = 5, it is determined as NO in step S212, and the process proceeds to step S220. In step S220, as in step S214, it is checked whether the entry specified by the pointer IP in the insert table IT has significant information indicating that the work to be inserted is held. In our example, step S220
Is NO, the process proceeds to step S224. Here, if the turret table 217 does not rotate, neither the pickup operation nor the insert operation is performed. Then, the counter n indicating the number of times that it is determined that neither the insert process nor the pickup process is performed is incremented.

Then, the process proceeds to step S226 without incrementing the pointer SP, increments only the pointers PP and IP (PP = 4, IP = 9), and returns to step S208.

Next, at step S210, SP because not incremented to Fuetsuchi the same command S _3. Then, the process proceeds to step S212 → step S220 → step S224, and the counter n is incremented. Then, in step S226,
The pointers PP and IP are incremented, and the process returns to step S208.

What we should pay attention to here is this step S2
At 24, an operation of simply incrementing the counter n is performed. Proceeding to step S224 means that neither the pickup process, the insert process, nor the pick & insert process is performed. Then, in step S226, the process returns to step S208 only by incrementing the pointers PP and IP, and again returns to step S212.
Executing the following means that the counter n incremented in step S224 has a function of storing the number of times that the pickup process, the insert process, and the pick & insert process have not been performed. Therefore, for example, in step S232 in the insert processing subroutine (FIG. 40A) or in step S298 in the insert & pickup processing subroutine (FIG. 40C), the amount by which the turret motor 219 is rotated is an amount determined by 36 degrees × n. Becomes That is, the head turret motor 219 is rotated without stopping until the head that needs the next insert operation and / or pickup operation is moved to the “insert position” and / or the “pickup position”. In the conventional head turret mechanism,
The turret motor was temporarily stopped. The reasons for this suspension are as follows. Conventionally, as described above, as a result of giving versatility to the teaching sequence, an empty pickup operation (the cam motor is driven but no gripping is performed) without the need for the head to pick the work. I had to do it. If the motor is not stopped, the moving head collides with the component supply device in the process of the empty pickup operation, and the head mechanism is destroyed. According to the present embodiment, such an unnecessary pickup operation is not required, so that efficiency can be achieved.

The case of Fuetsuchi implementation instruction S ₄ parallel processing step S210 the pickup and the insert will be described. As described in relation to the first 36A Figure (d) and the 36B diagram (e), in this S ₄ command, so that the pickup operation and the insertion operation are performed in parallel. That is, the control proceeds to step S210 → step S212 → step S213 → step S214 → step S218 to perform the pick & insert processing.

The pick & insert process will be described with reference to FIG. 40C. In step S290, it is confirmed that TASK4 has reported that the circuit board 20 has been placed on the positioning table 438. If not, wait for the report from TASK4. This is because in order to perform insert processing,
This is because it is essential that the circuit board is on the table 438. It should be noted here that the above-described pickup processing (FIG. 40B) does not perform the check as in step S290. This is because when the insert is not performed, the work can be gripped by the head of the turret table 217 even if the substrate 20 is not on the table 438. Thus, the transfer of the circuit board 20 and the gripping of the work by the turret table device 200 can be performed in parallel.

Now, the control procedure of FIG. 40C has many similarities to the above-described pickup processing of FIG. 40B.

In step S292, it is checked whether or not the pickup process to be performed is a retry. If it is the first one, the process proceeds to step S294, in which the Z-axis motor 145 of the supply device 100 is started.
The motors (450, 464, 490) of three axes (X, Y, θ) at 0 are started. In steps S298 and S300, the turret motor 219 is started. Thus, the operation of moving the desired stake to the pickup position in the supply device 100, the operation of positioning the circuit board 20 in the positioning device 400, and the operation of rotating the head turret table 217 were started in parallel.

In step S302, a stop check of the X, Y, and θ axes is performed. The detailed control procedure of this check is shown in FIG.

Control for Positioning Device As described with reference to FIGS. 28 to 31, the positioning device 400 performs positioning in the X, Y and θ directions, and performs forced positioning of the circuit board 20 by the actuator 10.
8 (see FIG. 31A). This forced positioning is performed because the positioning in the θ direction in the positioning device 400 is performed by friction driving.

The X, Y, θ axis motors (450, 464, 490) are started in step S296 (FIG. 40C) or step S232 (40A).
Figure) has already been done. Therefore, in step S500, it is determined based on the detection result from rotary encoder 494 whether or not the requested work mounting position has reached just below the “insert position” in head turret table 217. Upon reaching the target position, in step S502, the servo is locked only for the X-axis motor 450 and the Y-axis motor 464. That is, the substrate 20 is moved in the X-axis direction
The servo operates even when a torque is generated to displace in the axial direction.

Here, the position of the rotary table 438 is
This rotary drive motor is based on the detection result of the rotary encoder 494 directly connected to 90 (Fig. 30).
If a slippage occurs on the P surface between the drive roller 486 and the rotary table 438 which are directly driven to rotate by the 490, the detection output value of the rotary encoder 494 becomes
Is not accurately represented. In other words, it is unknown whether the turntable 438 has actually reached the target position.

Therefore, the control of step S504 and subsequent steps is performed. That is,
In step S504, the servo system of the rotary drive motor 490 is set free so that the rotary table 438 can rotate freely. Then, in step S506, working compressed air is introduced into the pneumatic cylinder 512, and the piston rod 510 is introduced.
Extruded upward and formed on the rotary table 438,
The positioning pin 506 is fitted from below into the restriction hole 498a corresponding to the 40 ° rotation position among the restriction holes 498a to 498d corresponding to the predetermined rotation position described above.

As a result, even if a slip occurs on the P surface between the drive roller 486 and the rotary table 438 and an error occurs between the detection position and the actual position, the positioning pin 50
The rotation table 438 is forcibly rotated so that the above-described error is eliminated by the fitting operation between the rotation table 6 and the restriction hole 498a.
Will be accurately positioned at the rotational position defined by the fitting.

Thereafter, in step S508, the rotational drive motor 490
The servo system is locked, and the rotation position of the rotary table 438 is fixed. In step S24, the rotary encoder 4
The rotation detection position based on the detection result from 94 is updated to “90 °”.

Thus, a series of error absorbing operations in the error absorbing mechanism 496 is completed, and the rotation driving operation of the rotary table 438 to the 90 ° rotation position is completed.

By performing such control on the positioning device 400, each time the rotary table 438 is stopped at the target rotation position, the detected position is determined based on the slip generated on the P surface between the drive roller 486 and the rotary table 438. The error generated between the actual position and the actual position is mechanically eliminated by the error absorbing mechanism 496, and the accumulation of the error is reliably prevented, and the accurate rotation operation of the rotary table 438, that is, Rotational positioning of the rotary substrate 20 placed on the rotary table 438 is achieved.

Further, in the positioning device 400 of the present embodiment, the error absorbing mechanism 496 is provided as a mechanism for correcting slippage on the P surface, so that the rotary table 438 can be surely rotated by friction driving, and low noise and noise can be obtained. Crushers,
Thus, a compact positioning mechanism for the substrate 20 can be realized.

Parallel processing of pickup and insert (continued) Return to the description of the control in FIG. 40C. When the end of the operation in the positioning device is checked, in step S304, the stop of the turret motor 219 is checked (for details, see the 46th A).
Figure) is performed. When the stop of the turret motor is confirmed, the end of the operation in the supply device is checked in step S306. This checking operation has already been described with reference to FIG.

When the operation end of the supply device is confirmed,
In S308, when a clinch miss is detected, the latch (see 22B) that holds it is cleared. And step S
At 310, TASK2 is started.

TASK2 The outline of the procedure of TASK2 is shown in FIG. The control of TASK2 is to drive the cam motor 236 for insert and the cam motor 382 for clinch. That is, step S340
Then, the same check operation as the zero position check described in connection with step S350 of TASK3 is performed. The cam operation performed by driving these motors is as described in detail above. In step S342, these cam motors make one rotation. In step S344, the end of task 2 is notified.

Parallel Processing of Pickup and Insert (Continued) Return to step S310 in FIG. 40C and continue the description. At step S310, at the same time that TASK2 is started,
Continue to execute 312 and below. This is because it is multitask control.

Steps S312 to S316 are the activation of TASK3 necessary for picking up the work already described in detail.

In step S318, the end of the cam operation for the insert operation (end of TASK3) is confirmed. In step S320, end processing is performed.

In step S322, an insert error is checked. This is determined by the insert error information stored in the latch 63 of FIG. 22A. Step S3 if no error
Proceed to 32 or less.

If there is an error, an insert error process is performed in step S324. Steps S326 to S330 are steps for confirming an instruction from the operator as to whether or not a retry should be performed when a pick mistake or insert mistake is detected. The continuation button (the button on the operation panel in FIG. 1) in step S326 is a button for the operator to instruct to continue the work regardless of the insert error or the pick error. The retry button (the button on the operation panel in FIG. 1) in step S328 is a button for retrying the pick operation and the insert operation.

If the continuation button is pressed, no retry is performed, and the process proceeds to step S332 and subsequent steps. If the continue button has not been pressed and the retry button has been pressed, step S330
To perform a forced pickup process. Then, returning to step S292, a retry cycle of the insert process is performed.

In this forced pickup process, the head having the insert error is forcibly returned to the pickup position, the required work is gripped, and rotated again by 180 degrees,
The operation of moving the head to the insert position. In step S292 and step S312 in FIG. 40C, it is determined whether or not the operation is the first operation, because in the case of the second and subsequent retry cycles, the component supply, the work pick, and the substrate positioning operation become unnecessary. .

Thus, parallel processing of the insert operation and the pickup operation is performed.

Returning to FIG. 39, a case where only the insert operation is performed will be described. Such a case, after executing the implementation instruction S _4, occurs when Fuetsuchi implementation instruction S _5. number 3
See (e) and (f) of FIG. 6B. In such a case, NO is determined in step S212. This is because HD: PT [SP] = 9 and PP = 7. In step S220, the pointer
Since IP = 2, YES is determined. Therefore, an insert process of step S222 is performed. The details of this insert process are shown in FIG.
Since it is substantially the same as the insert process in the pickup & insert process of FIG.

In the end processing step S208, it is checked whether or not the pointer SP points to the last row of the mounting order table PT. If this determination is YES, it means that the operation of holding all the workpieces to be inserted into one substrate to the predetermined head is completed. Therefore,
In step S209, it is checked whether or not the head holding the work remains on the turret head table 217. This is because the fetch of the last mounting command ends earlier than the operation in which the last work is finally inserted into the substrate 20. If the head holding the workpiece remains, the process proceeds to step S212, and the mounting operation is continued. If not, proceed to step S228. Here, it is checked whether the end button has been pressed by the operator. This button is provided on the operation panel shown in FIG. If this button has not been pressed, the process returns to step S204 to start inserting the work into the next circuit board.

Emergency stop processing This stop processing protects the gripping mechanism and the insert mechanism in the head device. There are three types of stop reasons. The first is when the cam (381 etc.) that performs the insert operation or the pick-up operation is not at the zero position when the rotation starts, and the second is when the head 218 is inserted. When the insert operation or the pickup operation is performed at the position or the pickup position, when the driving member 224 or the like is not returned to the normal position at each position, the third is that the stake of a certain work is completely It is when it is empty. First
The second stop reason and the second stop cause destruction of the device, causing the system to perform an emergency stop (immediate stop of all motors). However, the third stop reason is that the stakes need only be changed, so that the control of the system is only temporarily interrupted instead of stopping all the motors.

FIG. 46C shows a circuit for generating a first stop signal (zero signal) and a second stop signal (EMRG).

First, the zero signal will be described. As described in connection with FIG. 26, if the cam is not in the zero position at the beginning of the circuit, as shown in FIG. 9, the member 234a will be in contact with the head member 224 on the cam side in the insert position. collide. Similarly, at the pickup position, the member 290b collides with the head. Therefore, in TASK2 and TASK3, in steps S340 and S350 before each cam is activated,
The check shown in FIG. 46B is performed. No. 46C
In the figure, when either the sensor 296 on the insert cam side or the sensor 297 on the pickup cam side detects that it is not at the zero position, the signal ZERO goes low.
46B, just before the cam is driven
If it is detected in step S650 that the ZERO signal is low, all motors are stopped in step S652, and the status latch is read in step S654. This latch is a latch that stores which of the four error conditions has occurred, as shown in FIG. 46C. In step S656, after displaying the error state, all controls are stopped.

FIGS. 8 and 14 illustrate the state of occurrence of the second stop reason. The sensors 294b (insert position side) and 295b (pickup position side) are photointerrupter type sensors, and are arranged at positions near the insert position and the pickup position, respectively, as shown in FIG. Turret table
When the 217 rotates and the member 224 blocks the sensor 294b near the insert position, or the head member 224 also blocks the sensor 295b at the pickup position, a signal EMRG is generated by the circuit of FIG. 46C. You. Since the sensors 294b and 295b are in the positional relationship shown in FIG. 8, no matter how the head member 224 moves up and down according to the insert operation or the pickup operation, the signal EMRG
Does not occur. In other words, when the EMRG signal goes high, this is the state. Therefore, this EMRG signal is an interrupt signal. When the EMRG signal is generated, the control shown in steps S606 to S610 is executed at any time.

FIG. 46A shows a procedure for performing a stop check of the turret motor 219. Since the emergency operation occurs in connection with the rotation of the turret table, an air emergency stop operation for the second reason will be described with reference to FIG. 46A. In step S600, the generation of the EMRG signal is checked. If it has occurred, the control shown in steps S606 to S610 is executed. This stop control is performed from step S652 to step S652.
As already explained in S656.

In step S620, the end of the rotation of the turret table motor 219 is known from an interrupt signal from a servo control circuit (not shown) of the motor 219. Thus, the stop of the turret motor 219 at the pick position or the insert position is detected.

Check of Motor Operation Completion Now, the standby operation of waiting for the rotation of the turret motor 219 or the like to finish before actually executing the pickup operation, the insert operation, or the like will be described again.

That is, in the insert processing, in step S236, the end of the rotation operation of the turret drive motor 219 for moving the requested head to the "insert position" is waited. In step S500, the control waits for the end of the positioning operation in the X, Y, and θ directions by the positioning motors 490, 450, and 464 of the positioning device 400. In the pickup process, in step S412, the rotation of the Z-axis motor 145 of the supply device 100 is waited for.

In this standby control, as shown in FIG. 43, each of the motors (these motors are servo motors, and is denoted by SM in FIG. 43) is an encoder that outputs a signal indicating its rotational position (see FIG. 43). In this, E is represented)
Based on these position signals, TASK1 can know that the motor has reached the target rotational position.

<Effects of Embodiment> According to the control of the embodiment described above, the following effects can be obtained.

: The pick-up operation, the clinch operation, and the positioning operation of the substrate by the turret table device 200 are organically coupled and operated synchronously.

That is, in the turret table device 200, the work from the component supply device 100 is placed at the “pickup position” (the component pickup position).
Delivered to one of the 200 heads. Further, as the turret table 217 rotates and the gripped work reaches the “insert position”, the positioning device 400 moves the table 438 in the XYθ direction, and the work is placed on the substrate to be inserted. The position should be just below the head that came to the "insert position". After that, the work is inserted. Also, the turret table 217 of the turret table device 200 and the turret table of the clinch device 300
It rotates in synchronization with 217, and performs a clinch operation after the work is inserted into the substrate.

: The work mounting order specified by the operator is also maintained when the turret table device 200 inserts the work into the substrate.

That is, in the control according to this embodiment, a table PT storing a program describing the mounting procedure and a table IT managing information on all heads on the turret table 217 are provided.
Are provided. As a result, the following specific effects have been produced.

-1: The improvement of the throughput of the whole mounting can be easily obtained.

What requires the most precision is the positioning operation of the substrate 20 by the positioning device 400. It is the time required for this positioning that occupies a large factor in the tact time. If the mounting order is maintained, the same accuracy and takt time as expected when the mounting order is planned and determined can be obtained. That is, the operator can improve the throughput of the entire mounting system only by focusing on designing the mounting sequence efficiently without considering the influence of other factors.

For example, considering the case where the present mounting apparatus is applied to an operation of mounting an IC on a circuit board, inserting which IC in which order in the circuit board performs the most efficient positioning operation in the positioning device 400. It is only necessary to consider what is possible and in what order in the supply device 100 it is most efficient to arrange the sticks loaded with ICs. The control device is such a positioning device 40
The pick-up operation and the insert operation can be automatically performed without sacrificing the efficiency at 0 and the efficiency at the supply device 100. Thus, an improvement in the throughput of the entire mounting system can be easily obtained.

−2: Efficient pick / insert operation is possible.

By managing the two tables as described above,
It is not necessary to perform an unnecessary empty pickup operation, and the efficiency is improved. In other words, the system of this embodiment has a function of solving the drawbacks that are common in the conventional turret type mounting apparatus in which the "pickup position" and the "insert position" are fixed. According to its function,
In the “pickup position” or the “insert position”, the operation of stopping the turret table 217, which has been indispensable in the past, becomes unnecessary, and the pick / insert operation should be much more efficient than the conventional turret device. .

-3: In addition, by having the above table, the control of the system, in accordance with the mounting order designed according to its unique circuit board, the control device 21 autonomously controls,
The teaching work that has been required conventionally becomes unnecessary.

: It is possible to respond quickly and accurately to an emergency state.

<Modifications of Control> The present invention can be variously modified without departing from the gist of the invention.

M-1: In the above embodiment, the tables PT and IT, the pointers SP and IP indicating the entries in the tables PT and IT, and the counter PP indicating the head number approaching the “pickup position” are used. By using these pointers, it was possible to manage whether the next operation to be performed is only the pick-up operation, only the insert operation, whether the pick and insert operations are performed together, or whether nothing is performed. In other words, the head positions indicated by these pointers have changed according to the rotation of the turret table 217.

The following modification is also possible. Fix the pointer ("Pickup position" is also "Insert position"
Is also possible because it is fixed), as the turret table 217 rotates, the data itself in the table IT rotates. With this, the same effect can be obtained.

M-2: In the above embodiment, the rotation direction of the head table was always the same α direction. The present invention is also applicable to a case where rotation is performed in different directions.

M-3: In the above embodiment, by using the above three pointers, the next operation is only the pickup operation,
It was possible to manage whether only the insert operation was performed, whether the pick and insert operations were performed together, or nothing was performed. However, the following modifications are also possible.

That is, when the mounting command is fetched, before rotating the turret table 217, the distance (R ₁ ) until the requested head comes to the “pickup position” and the head holding the earliest work are the “insert position”. Is compared with the movement amount (R ₂ ) until R ₁ is small. When R ₁ is small, only the pickup operation is performed, when R ₂ is small, only the insert operation is performed, and R ₁ =
When the R ₂ to carry out together a pick and insertion operation.

Next, with reference to FIGS. 47A and 47B, a control procedure according to a modified example of the operation of inserting the work W in the control unit 30 will be described.

First, the control unit 30 controls the five drive motors 21 via the first to fifth motor drivers 220a to 220d, respectively.
9, 236, 292, 344, and 382. The drive amounts (rotation amounts) are always detected by the control unit 30 via a rotary encoder (not shown), and the first to fifth drive motors 219, 236, 292 are based on the detected rotation amounts. ,
It is configured to control 344,382.

That is, as shown, when an operation start signal is detected in step S10, in step S12, the type number of the head unit 218 that holds the workpiece W to be inserted next and stands by is read. In S14,
The head unit 218 read in step S12 is the first rotation amount R ₁ required for pivots to insert position is determined. On the other hand, in step S16, the type number of the head unit 218 that grips the workpiece W to be picked up next is read, and in step S218, the head unit 218 read in this step S16 is required to rotate to the pickup position. 2 rotation amount R ₂
Is measured.

Then, in step S20, the first and second rotation amounts R ₁ and R read in step S14 and step S18, respectively.
Compared to _2, the first rotation amount R ₁ is whether or not the second rotation amount R ₂ or less is determined. In this step S20, if it is determined that NO, that is, towards the second rotation amount R ₂ is, when it is determined that the first smaller than the rotation amount R _1, at step S22, the first Motor driver 220a
The first rotary table 217 along connexion counterclockwise, the step S22, a rotation amount of the head Thale bract motor 219 in step S24 is continued until the second rotation amount R _2, in step S24, First turntable 2
When 17 is determined to be rotated by a second rotation amount R _2, in step S26, the first motor driver 220a
Then, a drive stop signal for the head turret motor 219 is output. Then, in the subsequent step S28, the head unit 218B rotated to the pickup position causes
The pick-up operation of the work W is executed via an insert drive mechanism (not shown).

Here, in step S20 described above, a head unit for gripping the workpiece W to be picked up next is described.
218 is a second rotation amount R ₂ for rotating to pickup position, then gripping the work W to be inserted Heddoyunitsuto is than the first rotation amount R ₁ for rotated to insert position Is also small, the second
Since the rotation amount R ₂ by a first rotary table 217 is rotated, Heddoyunitsuto 218 gripping the workpiece W to be next insert would not reach the insert position.

For this reason, in step S28, after the pick-up operation is completed, the process returns to step S12, and the head unit holding the workpiece W to be inserted next is again rotated to the insert position. The magnitude of the first rotation amount R ₁ and the second rotation amount R ₂ for rotating the head unit 218 for gripping the workpiece W to be picked up next to the pickup position are determined.

On the other hand, if YES is determined in step S20 described above, i.e., toward the first rotation amount R ₁ is, the second rotation amount R ₂
If they are less than, but equal,
In S30, a drive signal is output to the first motor driver 220a to drive the head turret motor 219 so that the first turntable 217 is rotated in the counterclockwise direction. This step S30 is rotation amount by the head Thale bract motor 219 in step S32, it is continued until the first rotation amount R _1, in step S32, the first turntable 217 by a first rotation amount R ₁ rotation If it is determined that the operation has been performed, a drive stop signal for the head turret motor 219 is output to the first motor driver 220a in step S34.

Then, subsequent in step S36, whether the first amount of rotation R ₁ and the second rotation amount R ₂ are equal is determined,
If YES is determined in this step S36, that is,
If it is determined the first rotation amount R ₁ and the second rotation amount R ₂ and are equal, Heddoyunitsuto 218 should pickup
Is rotating to the pickup position.
In S38, the head unit 218B rotated to the pick-up position executes the subsequent step S40 for executing the pick-up operation of the work W. On the other hand, if NO is determined in step S36,
That is, if it is determined that the first rotation amount R ₁ is not equal to the second rotation amount R ₂ , the head unit 218 to be picked up has not reached the pickup position, so that step S 38 is executed. Instead, step S40 is directly executed.

Here, in this step S40, the first drive signal is output to the second motor driver 220b so that the head insert motor 236 of the insert drive mechanism 232 rotates forward (rotates counterclockwise). After this,
In step S42, both cam members 381a, 381 of the clinch drive mechanism 371 in the clinch control operation described later.
It is determined that the rotation amount of 1b reaches 95 degrees. If it is determined in step S42 that the amount of rotation of both cam members 381a and 381b is 95 degrees (that is, the amount of rotation advanced by 5 degrees after the start of the pressing-down process), then in step S44, It is determined whether a latch signal is output from the latch circuit 363.

When YES is determined in this step S44, that is, when it is determined that the LED 361 is turned on and the latch circuit 363 is outputting the latch signal, the work W is put on the circuit board 20 by the head unit 218A. Since it is determined that all the lead wires Wb are correctly inserted and all the lead wires Wb are drawn out below the circuit board 20, the output of the first drive signal to the second motor driver 220b in step S40 described above is As a result, as described above, the insert operation of the workpiece W is continued,
After the workpiece W is inserted into the circuit board 20, the gripping part is released from the gripping state, and rises while the workpiece W remains on the circuit board 20.

Then, in step S46, the insert drive mechanism 2
When it is detected that the amount of rotation of both drive cam mechanisms 235a and 235b at 32 has reached 360 degrees, at step S48, the second
The drive stop signal of the head insert motor 236 is output to the motor driver 220b of the
In A, with the empty gripper returning to the uppermost position, the driving of the insert driving mechanism 232 is stopped, and the first control procedure in the turret table device 200 ends.

On the other hand, if NO is determined in step S44 described above,
That is, even if the LED 361 is turned off at a point of time only five degrees after the start of the press-down process and the latch circuit 363 determines that no latch signal is output, the head unit 218A uses the circuit board. Since it is determined that the workpiece W has not been correctly inserted into the circuit board 20 and that at least one lead wire Wb has not been taken out below the circuit board 20, it is determined in step S50 that
The second motor driver 220b has a head insert motor
A head insert signal for reversing 236 is output. As a result, the gripping portion of the head unit 218A executes the previous operation in the reverse direction while holding the workpiece W for which the insertion has failed, and this reverse rotation drive is performed in step S52. The operation is continued until it is detected that the rotation amounts of the drive cam mechanisms 235a and 235b return to 0 degrees.

Then, in step S52, both drive cam mechanisms 235a,
When it is detected that the rotation amount of the 235b has returned to 0 degrees, in step S54, a stop signal of the head insert motor 236 is output to the second motor driver 220b, and the work W in which the insertion failed in the head unit 218A is failed. When the gripper that has gripped is returned to the uppermost position,
232 is stopped, and in the following step S56,
An alarm for notifying the failure of insertion of the work W into the circuit board 20 is issued, and the first control procedure ends.

As described above, in the first control procedure, the control unit 30 drives the drive cam mechanisms 235a and 235b by one rotation at the same time (forward rotation) to perform one insert operation and / or pickup operation. Basically, if the insertion failure of the inserted work W is detected by the detection process performed before the clinch process,
At the time of the detection, the two drive cam mechanisms 235a and 235b are rotated in the reverse direction, and while holding the workpiece W determined to be improperly inserted, the grip portion is raised to the original position, that is, the two drive cam mechanisms 235a and 235b. It is configured to return to the 0 degree rotation position at 235b.

As a result, according to this modified example, even if a work W with a poor insertion occurs, the work W is before the clinch operation. This can be easily removed, that is, lifted and removed from the circuit board 20, and the reset operation for insertion failure can be easily performed.

[Effects of the Invention] As described above, in the control device for the turret type mounting machine according to the present invention, for one holding mechanism coming to the supply position, whether the process for supplying the work is in the process program table. It is determined whether or not. At the same time, it is determined whether or not the work is being held by the other holding mechanism that comes to the release position at the same time when the one holding mechanism comes to the supply position. If at least one of these two determination results is affirmative, the turret table is rotated and stopped, and then the turret table is moved to the supply position and the release position.
An operation for holding the work and / or an operation for releasing the work is instructed to one of the holding mechanisms whose judgment is positive. Thus, at a certain position on the turret, it can be reliably determined whether only the supply operation should be performed, only the release operation should be performed, or both operations can be performed. When neither operation is necessary, there is no useless movement of stopping the turret table, which has been unavoidable in the past, and the efficiency is improved.

In particular, if the process program table is searched in the order of mounting, the previously set mounting order will not be broken.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing the overall external configuration of a mounting system according to the present invention; FIG. 2 is a front view showing the front shape of the mounting system shown in FIG. 1; FIG. FIG. 4 is a side view showing a side view of the mounting system shown in FIG. 1; FIG. 4 is a side view showing the details of a component supply device provided in the mounting system shown in FIG. 1; FIG. FIGS. 6 and 7 show the configuration of a stick supporting mechanism and an empty stick discharging mechanism provided in the component supply mechanism shown in FIG. 4. FIG. FIG. 8 is a front sectional view showing a cut state along the lines IV-IV and VV in FIG. 4; FIG. 8 is a head unit in the turret table device provided in the mounting system shown in FIG. Pickup operation and inserter FIG. 9 is a view for explaining an arrangement position of a sensor for detecting an abnormal operation; FIG. 9 is a side view showing a detailed structure of a target table device provided in the mounting system shown in FIG. 1; Is a partial sectional view showing a head unit provided in the turret table device shown in FIG. 9 in a partially broken state; FIG. 11 is an arrangement of the component supply device and the turret table device; FIG. 12 is a longitudinal sectional view showing a detached state of the head main body and the grip portion in the head unit shown in FIG. 10; FIG. 13 is an upper side provided in the head unit shown in FIG. FIG. 14 is a longitudinal sectional view showing the configuration of the urging mechanism; FIG. 14 is a perspective view showing the arrangement of the detection mechanism provided in the turret table device shown in FIG. 10; FIG. 15 is the mounting system shown in FIG. Tale prepared for 16A to 16C are front views, top views, and side views each showing an external configuration of a clinch mechanism; FIG. 17 is a side view showing an arrangement state of a table device, a clinch device, and a circuit board; The figure is a longitudinal sectional view showing the clinch mechanism cut along the line IV-IV shown in FIG. 16C; FIG. 18 is the state showing the clinch mechanism cut along the line VV shown in FIG. 16C FIG. 19 is a cross-sectional view showing the clinch mechanism cut along the line VI-VI shown in FIG. 16A; FIG. 20 is a view showing a mounting state of the detection pins in the detection unit; FIG. 21 is a longitudinal sectional view showing a state where the detection pin is not properly inserted; FIG. 21 is a longitudinal sectional view showing a state where the detection pin is attached to the detection unit, and a state where the connection pin of the work is properly inserted; FIG. FIG. 22B is a circuit diagram showing a connection state; FIG. 23 is a plan view showing the configuration of the clinch driving mechanism. FIG. 24 is a plan cross-sectional view showing the clinch driving mechanism cut along the line XII-XII in FIG. FIG. 25 shows the clinch drive mechanism as indicated by XIII-XIII in FIG.
FIG. 26A is an operation diagram sequentially showing the driving states of the driving cam mechanism; FIG. 26B is a flow chart showing a control procedure of the clinch mechanism in the control unit; FIG. 27E is a front view sequentially showing an operation procedure for inserting and clinching a workpiece by the head mechanism and the clinch mechanism in a state corresponding to (A) to (E) of FIG. 26A, respectively; FIG. 29 is a plan view showing in detail a configuration of a substrate rotating device provided in the mounting system shown in FIG. 29; FIG. 29 is a plan view showing an enlarged configuration of a rotating friction drive unit of the substrate rotating device shown in FIG. 28; FIG. 30 is a side view showing the rotary friction drive unit shown in FIG. 29 in an enlarged state; FIGS. 31A and 31B are each a diagram showing an error absorbing mechanism provided in the substrate rotating device shown in FIG. 28; Side sectional view and front view showing the configuration; FIG. 32 is a diagram showing a relationship between control objects (motors) provided in each device in the mounting system of the embodiment; FIG. 33 is a diagram explaining a relationship between a pick position and an insert position; FIG. 35 is a diagram for explaining the structure of a process table PT in which an implementation command program is stored; FIG. 35 is a diagram for explaining the structure of an insert table IT for storing head information of each head unit; FIG. 37A to FIG. 37C are diagrams for explaining the outline of the insert operation by focusing on the positional relationship between the head units; FIG. 37A to FIG. 37C are diagrams for explaining the outline of the pick-up operation and the insert operation by focusing on the data change in the insert table IT; FIG. 39A and FIG. 39B are flowcharts showing the control procedure of TASK1, and FIG. 40A is a view showing the control procedure of the insert processing. FIG. 40B is a flowchart showing a control procedure of pick-up processing; FIG. 40C is a flowchart showing a control procedure of pick-and-insert processing; FIG. 41 is a flowchart showing a control procedure of TASK2; FIG. 43 is a flowchart showing the control procedure of TASK3; FIG. 43 is a view for explaining how to notify the stop of each motor to TASK1; FIG. 44 is a control procedure for checking the operation end in the component supply apparatus 100; FIG. 45 is a flowchart showing a control procedure for checking the end of operation in the positioning device 400; FIG. 46A is a flowchart showing a control procedure for checking the end of operation in the target table device 200; FIG. 46B is a flowchart showing a control procedure for checking the zero position of the cam in TASK2 and TASK3; G; FIG. 46C is a diagram showing a circuit for generating a signal for detecting an emergency state; FIGS. 47A and 47B are flow charts showing a control procedure according to a modification of the turret table device. In the figure, 10: mounting system, 20: circuit board, 100: component supply device, 200: turret table device, 219: turret motor, 236 ... insert cam motor, 292 ...
Peak cam motor, 300 clinch device, 344 clinch motor, 382 clinch cam motor, 400 rotary positioning device.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shozo Kasai 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Katsumi Ishihara 3-30-2 Shimomaruko, Ota-ku, Tokyo Inside Canon Inc. (72) Inventor Yasushi Yasushi 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) References JP-A-2-132898 (JP, A) JP-A-1-185691 ( JP, A)

Claims (3)

(57) [Claims] 1. A turret comprising: a plurality of work holding mechanisms for holding a work at a supply position; and a turret table for holding the substrate for mounting the work held by the work holding mechanism on the board at a mounting position. A control device for the type mounting machine, a process program table describing the mounting order of the work, and for each of the work holding mechanisms, a holding status table indicating whether or not each holding mechanism holds the work. And the process program table and the holding status table are searched, and it is determined whether or not a process to supply a work is included in the process program table for one holding mechanism coming to the supply position. At the same time, when the one holding mechanism comes to the supply position, it comes to the release position at the same time. Determining means for determining whether or not the workpiece is held by another holding mechanism; and if at least one of the two determination results is positive, the turret table is rotated to stop. In addition, an operation for holding a work and / or an operation for releasing a work is performed for one of the two holding mechanisms that have come to the supply position and the release position, for which the determination is positive. A control device for a turret type mounting machine, comprising: a commanding means for commanding. 2. The method according to claim 1, wherein the holding mechanism is sequentially numbered, and the process program table includes information for designating a work,
The table includes a plurality of commands including number information of a holding mechanism for holding the work and position information at which the work is to be mounted on the product, and the commands are stored in this table in the mounting order. Further, an area for storing positional information for mounting the workpiece on the product is provided in an array in accordance with the order of the holding mechanism. The determining means further includes means for fetching the command in the order of mounting, and a fetched command. Means for judging whether or not the number information of the holding mechanism in the middle and the number of the holding mechanism approaching the supply position, and when the judgment means matches, the position information in the command is converted to the position information. 2. A control device for a turret type mounting machine according to claim 1, further comprising means for storing the information in said area of a holding status table. 3. The plurality of work holding mechanisms are arranged on the turret table at equal intervals for each unit rotation angle, and when all of the above two determinations are negative, Means for accumulating the unit rotation angle as the amount of rotation, and means for rotating the turret table by the amount of rotation accumulated by the means when at least one of the two determinations is affirmative. The control device for a turret type mounting machine according to claim 1, wherein the control device is provided.