JP2792956B2 - Parts supply system - Google Patents

Description

The present invention relates to a device for supplying components to a component mounting machine, and can be used in an electronic circuit board assembly process.

(B) Conventional technology As a component supply method in an electronic component mounting machine, a plurality of component supply cassettes are removably arranged on a single table, and the table is moved linearly, so that any component is supplied. The mainstream is to position the supply cassette at the component take-out position. Recently, a device having a plurality of tables has been put to practical use, and an example of such a device can be found in Japanese Patent Application Laid-Open No. 62-140499. This device has two tables, and while one table is supplying parts, the other table can be replenished by the operator and the other table can be operated more than one table. Increasing rates.

(C) Problems to be Solved by the Invention In the above-described apparatus, every time a component is cut out on the table, the operator has to go to the machine and replace the component supply cassette. In addition, when switching models, all parts supply cassettes may be replaced,
The operator has to perform troublesome work in a short time in order to increase the operation rate of the apparatus.

In the present invention, an operation of supplying a component to a component mounting machine or an operation of replacing a component is automated, and the labor saving rate of the component mounting machine is increased.

(D) Means for Solving the Problems Accordingly, the present invention provides a component carriage that is detachably combined with a component mounting machine and mounts a plurality of types of component supply cassettes, and receives the component carriage from the component mounting machine, or An unmanned transporting machine that transfers a component carriage to a mounting machine, a loading / unloading base of the unmanned transporting machine, and a component replenishment / replacement robot that is disposed at the loading / unloading base and replaces a component supply cassette of the component carriage. is there.

The present invention also provides a component mounting machine, a component carriage that is detachably combined with the component mounting machine and mounts a plurality of types of component supply cassettes, and receives the carriage from the component mounting machine, or mounts the component carriage on the component mounting machine. An unmanned transporting machine to be delivered, a departure and arrival base of the unmanned transporting machine,
A component replenishment / replacement robot that is disposed at the departure / departure base and replaces a component supply cassette of the component carriage, and a central control unit that integrally controls the component placement machine, the unmanned transporter, and the component replenishment / replacement robot. It is a thing.

(E) Operation When it becomes necessary to replenish components to the component carriage or replace the component supply cassette, the automatic guided vehicle approaches the problematic component carriage, receives the component carriage from the component mounting machine, and transports the component carriage to the departure / arrival base. At the same time, another unmanned carrier with a parts carriage on which a parts supply cassette has been replaced by a parts replenishment / replacement robot for parts replenishment or replacement of parts supply cassettes to supply different types of parts starts from the departure / departure base, Deliver the component carriage to the mounting machine.

(F) Example An example will be described with reference to the drawings.

FIG. 1 is a component mounting machine 1 for mounting an electronic component on a circuit board.
3 shows a schematic structure of FIG. The component mounting machine 1 includes a main frame 2, a component mounting section 3, a board positioning section 4, a board transport section 5, and a component supply section 6.

The component mounting unit 3 is an index table 7 that rotates indexably.
It is mainly configured. Around the periphery of the index table 7, the same number of component mounting heads as the index rotation speed of the index table 7 (not shown) are arranged. When the component mounting head arrives at the component pick-up position P1 due to the indexing rotation of the index table 7, it takes out the electronic component from the component supply unit 6, and when it arrives at the component mounting position P2 next, the board held by the board positioning unit 4 An electronic component is mounted on the electronic component.

The substrate positioning section 4 is mainly composed of an XY table 8. A pair of clamp rails 9 for clamping the two sides of the substrate are arranged on the upper part of the XY table 8.

The substrate transport unit 5 includes a loader 10 and an unloader 11 arranged on both sides of the substrate positioning unit 4. The space between the loader 10 and the unloader 11 is open to the extent that the substrate positioning unit 4 can enter and exit. The loader 10 receives a substrate from a device in a preceding process (not shown) and sends it to the substrate positioning unit 4. The unloader 11 receives the board on which the electronic components are mounted from the board positioning unit 4 and sends the board to a post-process apparatus (not shown).

The component supply unit 6 is located at the component removal position P1 and the component mounting unit 3
The main components are a rail base 15, a component carriage 17 for holding the electronic components, a carriage mounting table 18 and a positioning block 16 which constitute a positioning device 14 for the component carriage 17.

Next, the configuration of the component supply unit 6 will be described in detail with reference to FIGS.

The rail base 15 is a main component of the component supply unit 6 and is fixed on the main frame 2. On the rail base 15, a rail 21 constituting a track 20 of the component carriage 17 is laid in parallel with the substrate transfer section 5. A work station 22 for the component carriage 17 is set in the center of the track 20. Further, on both sides of the work station 22, carriage exchange stations 23 are set. The positioning block 16 is supported on one side by a slider 25 movable on the rail 21 and on the other side by a slider 27 traveling on a rail 24 laid in parallel with the rail 21 (FIG. 4). And FIG. 5). Reference numeral 28 denotes a feed screw disposed between the rails 21 and 24 in parallel with the feed screw, and is screwed to a nut (not shown) of the positioning block 16. 29 is feed screw 28 on rail base
15 is a pair of bearings supported on the top. A motor 30 fixed to the rail base 15 is connected to one end of the feed screw 28.

The component carriage 17 detachably holds a plurality of component supply cassettes 31 thereon. As shown in FIG. 2, the component carriage 17 has a plurality of pins on both side edges of the surface.
32 are arranged at equal intervals and angle members are placed between pins 32
33 are arranged. The structure of the component supply cassette 31 is the same as that described in Japanese Patent Application Laid-Open No. 63-98199, and feeds the electronic components one by one by feeding the tape enclosing the electronic components at a pitch by the power transmitted from the outside. is there. The component supply cassette 31 has a hole (not shown) formed on the lower surface of the component supply cassette 31 fitted to the pin 32, and the hook at the lower end of the lever 35 is engaged with the angle member 33 by the force of a spring for urging the lever 35. It is mounted on the component carriage 17 in a vertical form. The mounting of the component supply cassette 31 on the component carriage 17 is performed by a component replenishment / replacement robot described later. Reference numeral 36 denotes a bracket attached to the side end of the component carriage 17, and a through hole 37 is formed in the overhang portion. The component carriage 17 can move on the track 20 by being mounted on the carriage mounting table 18. FIG. 3 shows the back surface of the component carriage 17. On the back side of the component carriage 17, the component carriage
A pin 38 that regulates the position of 17 and three pairs of L-shaped hooks 39 that are engaged with clamping means described later formed on the carriage mounting table 18 are fixed.

Two carriage mounting tables 18 are arranged on the track 20. In FIG. 1, one carriage mounting table 18 has been retracted to the carriage exchange station 23, and the other carriage mounting table 18 has the component carriage 17 mounted thereon and the work station 22.
It is located in. Since the two carriage mounting tables 18 have a symmetrical structure, the structure of the carriage mounting table 18 retracted to the carriage exchange station 18 will be described here as an example. As can be seen in FIG.
The base 45 is supported by the slider 48 on the rail 21. On the upper surface of the base 45, two carriage support plates 46 are provided.
A and four carriage support plates 46B are combined and fixed in a grid pattern. The component carriage 17 is placed on the upper edges of the carriage support plates 46A and 46B, and a positioning hole 47 (FIG. 5) for fitting the pin 38 of the component carriage 17 is formed in the carriage support plate 46A. ing. On the upper surface of the base 45, holding means 48 for the component carriage 17 and connecting means 49 for connecting the positioning block 16 are formed. In the holding means 48, three support shafts 50 vertically rising from the base 45 are provided.
One of the bell cranks 51, 52, 53 is rotatably mounted on each of them, and nuts 54 prevent the bell cranks 51, 52, 53 from coming off. Vertically rising protrusions are provided at both ends of two sides of the bell cranks 51, 52, 53 extending in the horizontal direction, and a roller 55 rotatable about a horizontal axis is mounted on the outer surface thereof. Reference numeral 56 denotes a gear mounted on the lower surface of the bell crank 53, which transmits power to the connecting means 49. Connecting rods 58, 59 are connected to one end of the bell crank 52 via connecting pins 57.
Are connected at one end. The connecting rod 59 crosses the arrangement line of the support shaft 50, reaches the bell crank 53, and is connected to one end of the bell crank 53 via a connecting pin 60. Similarly, the connecting rod 58 crosses the arrangement line of the support shaft 50 and reaches the bell crank 51, and the connecting pin 61
Is connected to one end of the bell crank 51 via the. A coil spring 63 is connected to the other end of the bell crank 52 via a hook pin 62.
Are linked. The other end of the coil spring 63 is connected to a hook pin 64 protruding from the base 45. As a result, the bell crank 52 is urged clockwise in FIG. A support shaft 65 is mounted on the other end of the bell crank 51. 66 is a bearing fixed to the base 45, and supports the sliding rod 67 in parallel with the track 21. One end of the sliding rod 67 is connected to the support shaft 65. The other end of the sliding rod 67 has a hook 68
Is installed. In the connecting means 49, a support shaft 69 is erected on the base 45 adjacent to the support shaft 50 supporting the bell crank 53, and a lever 71 having a gear 70 fixed to the support shaft 69 is rotatably mounted. Like the crank, the nut 54 keeps it from coming off. Gear 70 is a gear fixed to bell crank 53
When the bell crank 53 rotates, the lever 71 rotates in the opposite direction to the bell crank 53. A part of the lever 71 protrudes from the carriage mounting table 18, and a roller 72 rotatable around a vertical axis is mounted on this end.
75 is a holding means 48 in the carriage exchange station 23.
(The driving means 75 is also arranged at the other table exchange station 23). Drive means 75
Has a bracket 76 fixed to the vertical wall of the rail base 15. A support shaft 77 protrudes from the bracket 76 in the horizontal direction, and a bell crank 78 is rotatably mounted on the support shaft 77 and a nut 91 prevents the shaft from coming off. A roller 79 is mounted on the upper end of the bell crank 78. Reference numeral 80 denotes an air cylinder for driving the bell crank 78, which is attached via a pin 82 to a bracket 81 fixed to the rail base 15. A joint 85 is attached to the tip of the sliding rod 83 of the air cylinder 80, and the lower end of a bell crank 78 is attached to this via a pin 84. Reference numeral 86 denotes a bracket attached to the rail base 15, to which a stopper bolt 87 and a shock absorber 88 are attached. 4 and 5, the roller 79 of the driving means 75 is pressed against the hook 68 of the holding means 48 and the sliding rod 67 is pressed.
Are slid toward the end of the rail base 15, and the carriage mounting base 18 is pressed against a stopper bolt 87. The holding means 48 rotates the bell cranks 51, 52, 53 by a fixed angle against the urging force of the coil spring 63 by sliding the sliding rod 67, and the lever 71 of the connecting means 49 also rotates the bell crank.
Due to the rotation of 53, it is rotated by a certain angle to a position where it does not engage with the positioning block 16. After the component carriage 17 is mounted by the unmanned transfer machine 121 described below, it becomes a stage to perform component supply, and when the positioning block 16 approaches the carriage mounting table 18, the driving means 75 rotates the bell crank 78 clockwise. Release the restriction on lever 67. The bell cranks 51, 52, 53 of the holding means 48 rotate by the urging force of the coil spring 63,
The roller 55 rides on the horizontal portion of the hook 39 on the lower surface of the component carriage 17. As a result, the component carriage 17 is prevented from being lifted up, and is completely held on the carriage mounting table 18.
At the same time, the lever 71 of the connecting means 49 rotates clockwise in FIG.
Figure). Thereafter, the positioning block 16 pulls the component carriage 18 and moves the desired component supply cassette 31 to the component removal position.
Position to P1.

Next, the configuration of the component supply system 116 will be described with reference to FIGS. Reference numeral 119 denotes a board assembly line composed of the component placement machine 1, a board supply device 117 that supplies a board to the component placement machine 1, and a board storage machine 118 that stores a board on which components are mounted by the component placement machine 1. . Parts supply system
Reference numeral 116 denotes an unmanned transporter 121 that moves using the running track tape 120 attached around the board assembly line 119 as a guide, the component carriage 17 described above, and the unmanned transporter 121 provided in the middle of the running track tape 120. Departure / departure base 122 and departure / departure base 122
The main component is the component management unit 123 disposed in the inside.

First, the structure of the automatic transfer machine 121 will be described with reference to FIG. The automatic guided machine 121 is a track tape detecting means (not shown)
A lift 125 is installed on a self-propelled vehicle 124 provided with. The self-propelled vehicle 124 moves using a battery as a power source. Lift 1
Reference numeral 25 denotes a pair of guide posts 127 standing up from a bed 126 of a self-propelled vehicle 124, and supports a fork 128 so as to be able to move up and down. The upper portion of the guide post 127 is supported by a horizontal portion of a U-shaped bridge 129 attached across the carrier of the self-propelled vehicle 124. Reference numeral 130 denotes a steel rope having one end connected to the horizontal portion of the bridge 129. The steel rope 130 is wound around a moving pulley 131 attached to a fork 128 and a constant pulley 133 supported on a horizontal portion of a bridge 129 via a bracket 132, and is wound by a motor (not shown) disposed on a loading platform 126. Connected to 134. Therefore, the fork 128 moves up and down by the rotation of the winding drum 134. A positioning pin 138 is mounted on the upper surface of the tip of the fork 128. The component carriage 17 is mounted by fitting the through holes 37 to the positioning pins 138.

Next, the operation of the unmanned transfer machine 121 for mounting the component carriage 17 on the carriage mounting table 18 will be described with reference to FIGS. 9 to 11. The unmanned carrier 121 approaches the target carriage exchange station 23 while moving along the running track tape 120. The movement route is controlled by the unmanned carrier operation control unit 16 shown in FIG.
From 0, it is instructed by a known means such as wireless communication or optical communication. At this time, the unmanned transporting machine 121 dedicates the component carriage 17 to a position higher than the carriage mounting table 18 (FIG. 9). The unmanned transfer machine 121 has the component carriage 17 directly above the carriage mounting table 18.
Is stopped (Fig. 10). Next, the unmanned transporter 121 lowers the fork 128 and places the component carriage 17 on the carriage mounting table 18. Fork 128 is part carriage 1
It is lowered until the positioning pin 138 escapes from the through hole 37 of FIG. 7 (FIG. 11). Thereafter, the automatic guided vehicle 121 returns to the departure / arrival base 122 described later.

Next, a series of operations in which the automatic transfer machine 121 supplies the component carriage 17 to the component mounting machine 1 will be described with reference to FIGS. The component carriage 17A that is not involved in the component supply is waiting at the carriage exchange station 23 on the left. The component carriage 17B to be used supplies components on a carriage mounting table 18 pulled by the positioning block 16 (FIG. 16). When the component carriage 17B runs out of components, the positioning block 16 moves the component carriage 17B.
B to the right carriage exchange station 23,
Instead, it moves to the left for connection with the waiting parts carriage 17A. The unmanned carrier 121 approaches the component carriage 17B (FIG. 17). The carriage mounting table 18 positioned at the carriage exchange station 23 has a component carriage 17B.
Has been released. The automatic transfer machine 121 receives the component carriage 17B from the carriage mounting table 18, and
(Figure 18). The positioning block 16 is connected to the component carriage 17A, and starts supplying components from the carriage 17A. Another unmanned transporter 121 carrying a component carriage 17C complete with electronic components necessary for replacement is a carriage mounting table
Approaches 18 (Figure 19). The unmanned transporting machine 121 places the component carriage 17C on the carriage mounting table 18, and
(Figure 20).

As described above, the departure / arrival base 122 is provided in the middle of the running track tape 120. The unmanned transporter 121 brings in the component carriage 17 that requires component replenishment or component replacement to the departure / arrival base 122, and also takes out the component carriage 17 for which component replenishment or component replacement has been completed and supplies it to the predetermined component mounting machine 1.

As shown in FIG. 13, the parts management unit 123 includes a parts warehouse 140 disposed in the departure / arrival base 122 and the parts replenishment / replacement robot 1.
41. A table 145 is installed in front of the parts warehouse 140, and the parts carriage 17 brought in by the automatic transfer machine 121 is placed thereon to replenish and replace the parts supply cassette 31.

The component warehouse 140 stores all types of components used in the component mounting machine 1 and the necessary component supply cassettes 31. 13 and 14, the parts warehouse 140
A plurality of racks 143 are supported on a pair of upper and lower endless rails 142, and the racks 143 can be moved along the endless rails 142 by automatic control. Each rack 143 supports several component supply cassettes 31 having different types of components. A plurality of pins and angle members are attached to the component supply cassette 31 support portion of the rack 143 in the same manner as the component carriage 17, and support the component supply cassette 31 in the same manner as the component carriage 17.

The parts replenishment / replacement robot 141 is a rectangular coordinate type, and the parts carriage 17 carried by the
Take out the parts supply cassette 31 that requires parts replenishment or parts replacement from the rack, mount it on the predetermined rack 143 of the parts warehouse 140, and take out the parts supply cassette 31 with the parts required by the parts carriage 17 from the rack 143. Is mounted on the component carriage 17. 146 is a pair of bridges, one of which is lowered into the parts warehouse 140 and the other is
It is located near 45.

The parts replenishment / replacement robot 141 attaches to the slider 156 the movement in the Y-axis direction by the moving girder 155 installed on the upper surface of the bridge 146, and the movement in the X-axis direction by the slider 156 moving along the moving girder 155. The movement in the Z-axis direction is obtained by the air cylinder 148.

Reference numeral 147 denotes a cassette holding head of the component replenishment / replacement robot 141. The holding of the component supply cassette 31 by the cassette holding head 147 is performed as follows. When the cassette holding head 147 arrives just above the desired component supply cassette 31 of the component carriage 17 placed on the table 145, the air cylinder 14
8 is driven to lower the base 149. As a result, the socket 150 covers the knob 151 of the component supply cassette 31. Next, the pusher cylinder 152 pushes the upper portion of the lever 35 of the component supply cassette 31 and rotates counterclockwise in FIG. 14 (this causes the hook portion of the lever 35 to engage with the angle member 33 of the component carriage 17). Is unraveled,
The component supply cassette 31 can be lifted by friction generated between the knob 151 and the socket 150 and between the lever 35 and the pressing portion of the pusher cylinder 152 due to the repulsive force of the lever 35). In synchronization with the pressing operation of the pusher cylinder 152, the latch 153 attached to the bracket 157 protruding from the base 149 rotates counterclockwise in FIG. 14, and the pin 154 protrudes from the tail of the component supply cassette 31.
Engages.

The latch 153 is normally biased by a spring to a position where it does not engage with the pin 154, but when the pressing portion of the pusher cylinder 152 advances, it is pulled by a wire connected thereto and rotates counterclockwise. It is. Next, when the base 149 is raised, the component supply cassette 31 escapes from the pin 32 of the component carriage 17, and the holding of the component supply cassette 31 is completed. After that, the movement of the movable girder 148 and the slider 156 causes the component supply cassette 31 to move.
To the desired rack 143, lower the base 149,
The component supply cassette 31 is attached to the rack 143 by retracting the rod of the pusher cylinder 152. The transfer of the component supply cassette 31 from the rack 143 to the component carriage 17 is performed in the reverse procedure.

Next, the work contents of the component management unit 123 will be described. The unmanned transporter 121 that brought the component carriage 17 to the departure / arrival base 122
The component carriage 17 is placed on the table 145, and leaves this place to perform the next operation according to a command from the automatic guided machine operation control unit 160 shown in FIG. After this, the problematic parts supply cassette
The parts replenishment / replacement robot 141 takes out the parts and mounts them on a predetermined rack 143 of the parts warehouse 140, and takes out the desired parts supply cassette 31 from the parts warehouse 140 and mounts them on the parts carriage 17 instead. Central control unit 16 shown in FIG.
1 is that the cassette holding head 147 is the shortest distance in the parts supply cassette 3 according to the work contents of the parts replenishment and replacement robot 141.
An instruction is given to the component management unit 123 to move the rack 143 to a position where the rack 1 can be carried. When this work is completed, the part replenishment / replacement robot 141 sends a work end signal to the central control unit 1.
Send to 61. As a result, a new command is given from the central control unit 161 to the component replenishment / replacement robot 141, and the rack 143 required for the next operation is moved to a position convenient for the operation. When this operation is continued and the parts carriage 17 is completed with parts, the unmanned transfer machine 121 approaches, picks up the parts carriage 17 from the table 145, and goes to the parts mounting machine 1 which needs the parts carriage 17. The destination is not limited to the component mounting machine 1 from which the component carriage 17 is taken out. For the parts supply cassette 31 that has run out of parts, the worker performs a parts replenishment operation in one section of the parts warehouse 140.

A charging station 165 is provided with a plurality of chargers 166. The unmanned transporter 121 having the insufficient voltage is connected to the charger 166 to be charged.

FIG. 15 shows a connection configuration of each element. As understood from this connection configuration, the central control unit 161 controls the component placement machines 1 and the component management unit 123 and the unmanned carrier operation control unit 160 in a centralized manner. Ascertains information as to whether it is necessary, and parts management
At 123, the component carriage 17 is prepared, and the unmanned carrier operation control unit 160 assembles an unmanned carrier 121 operation program.

(G) Effects of the Invention In the present invention, a robot for parts replenishment / replacement and a parts warehouse are provided at the departure / arrival base, and a parts carriage requiring parts replenishment or parts replacement is carried by the unmanned carrier from the parts mounting machine. Since the component carriage completed with the components is transported again to the component mounting machine by the automatic transfer machine and delivered, the replenishment of components to the component carriage and the component replacement work can all be automated.

In addition, the integrated control of the component placement machine, unmanned carrier, component replenishment and replacement robot, and component warehouse enabled efficient and accurate work.

In addition, since the component carriage loaded with multiple types of component supply cassettes is transported collectively to the departure / arrival base by the non-conveyor, the unmanned transporter selects the component supply cassette to be replaced on the component mounting machine side. Complicated control is not required as compared with the case of transport.

[Brief description of the drawings]

1 is a plan view showing a schematic structure of a component mounting machine, FIG. 2 is a perspective view showing a structure of a front surface of a component carriage, FIG. 3 is a perspective view showing a rear structure of the component carriage, and FIG. FIG. 5 is a partial sectional front view showing the structure of the table, and FIG.
FIG. 6 is a top view of a portion shown in FIG. 6, FIG. 6 is a partial cross-sectional front view showing a state where the carriage mounting table holds the component carriage and is connected to a positioning block, and FIG. 7 is a top view of the portion shown in FIG. FIG. 8, FIG. 8 is a perspective view showing the structure of the automatic transfer machine, FIG. 9 is a top view showing a state in which the automatic transfer machine on which the component carriage is mounted approaches the carriage mounting table, and FIG. 10 and FIG. FIG. 12 is a partial sectional front view showing a series of operations in which a transporter places a component carriage on a carriage mounting table, FIG. 12 is a schematic plan view of a component supply system, FIG. 13 is a plan view showing a configuration inside a departure / arrival base, FIG. Is a side view showing the schematic structure of the component replenishment / replacement robot, FIG. 15 is a block diagram showing the connection status of each component, and FIGS. 16 to 20 show the unmanned transporter supplying the component carriage to the component mounting machine. It is a model top view which shows a series of operations which perform. 1 ... Component mounting machine, 17 ... Component carriage, 121 ... Unmanned carrier, 122 ... Departure / arrival base, 141 ... Robot for component replenishment and replacement.

Claims (2)

(57) [Claims] 1. A component carriage which is detachably combined with a component mounting machine and mounts a plurality of types of component supply cassettes, and an unmanned transfer machine which receives the component carriage from the component mounting machine or transfers the component carriage to the component mounting machine. A component supply system comprising: a departure / departure base of the automatic guided machine; and a component replenishment / replacement robot that is disposed at the departure / departure base and replaces a component supply cassette of the component carriage. 2. A component mounting machine, a component carriage removably combined with the component mounting machine to mount a plurality of types of component supply cassettes, and receiving the carriage from the component mounting machine or mounting the component carriage on the component mounting machine. An unmanned transporting machine to be delivered, a loading / unloading base of the unmanned transporting machine, a component replenishment / replacement robot arranged at the loading / unloading base to replace a component supply cassette of the component carriage, a component mounting machine, an unmanned transporting machine, and components 2. The parts supply system according to claim 1, further comprising a central control unit that controls the replenishment / replacement robot.