JP4241001B2

JP4241001B2 - Part take-out method, part take-out apparatus, and assembly apparatus provided with the apparatus

Info

Publication number: JP4241001B2
Application number: JP2002317419A
Authority: JP
Inventors: 弘樹遠藤
Original assignee: Murata Manufacturing Co Ltd
Current assignee: Murata Manufacturing Co Ltd
Priority date: 2002-10-31
Filing date: 2002-10-31
Publication date: 2009-03-18
Anticipated expiration: 2022-10-31
Also published as: JP2004153065A

Description

【０００１】
【発明の属する技術分野】
本発明は、粘着面に複数個の部品が並べて貼付けてある粘着シートから部品を部品保持具により取り出す部品取出し方法と、部品取出し装置と、この装置を備える組み立て装置とに関する。
【０００２】
【従来の技術】
前記のような粘着シートから部品を個々に剥離して取り出す部品取出し技術は、既に各種提案されて実施されている。それらは、粘着シートから個々の部品を吸着ノズルのような部品保持具に保持させて剥離するものである。
【０００３】
具体的な従来技術として、例えば、粘着シートの各部分のうち、取出し対象部品の周囲部分を筒状のスリーブの先端で下方から所定量だけ押し上げる一方、粘着シートの、前記取出し対象部品の真下に相当する部分をピンの先端で所定量だけ突き上げる。さらに、前記スリーブ内を真空排気する。この状態で前記取出し対象部品の上面に当接した部品保持具（コレット）によって前記部品を真空吸着して取り出すようにしたものがある（特許文献１参照）。
【０００４】
また、他の従来技術として、先端に水平面を有する突き上げコマと、このコマの内部から突き出て、粘着シートを破りながら部品を突き上げるピンと、このピンを上昇下降させる機構と、部品を保持する保持具（保持チャック）とを有し、粘着シートに貼り付けられた部品を剥離するようにしたものがある（特許文献２参照）。
【０００５】
さらに、部品保持具（コレット）の下方側で、粘着シートを裏面からの吸引によりシート保持ステージ上に固定し、このように固定された粘着シートに対して、シート保持ステージのほぼ中央部に設けられているニードルもしくはピンを上方に突出させることで、取出し対象部品を突き上げるようにしたものがある（特許文献３、特許文献４参照）。
【０００６】
【特許文献１】
特開平５−１２１５２５号公報
【特許文献２】
特開平１０−２５６３４９号公報
【特許文献３】
特開平６−９７２１５号公報
【特許文献４】
特開平７−９９２２７号公報
【０００７】
【発明が解決しようとする課題】
前記の特許文献１や特許文献２に記載の従来技術では、スリーブおよびピン、もしくはコマを上昇させたとき、粘着シートが局部的に持ち上がるととも、取出し対象部品も持ち上がるのであるが、部品と粘着シートとの粘着力により、取出し対象部品の周辺の広い範囲で粘着シートが取出し対象部品に引っ張られて持ち上がってしまう。そのため、粘着シートからの部品の剥離が不充分で、部品の取出しに支障が生じるほか、この持ち上がりにより、粘着シートは、局部的に引き伸ばされて変形する。この粘着シートの伸び変形、弛みのため、取出し対象部品の周辺では、部品の位置ずれが発生するおそれがあり、部品の取出しごとにカメラなどによってその部品位置の認識や位置調整が必要となり、部品取出し効率に悪影響を及ぼす。
【０００８】
これに対して、特許文献３や特許文献４に記載の従来技術では、部品保持具の下方側で粘着シートをシート保持ステージに吸着固定するので、取出し対象部品の周辺の広い範囲で粘着シートが持ち上がってしまうようなことがない。しかし、一つの部品を取り出した後に次の部品を取り出すには、粘着シートの吸着固定を一旦解除し、ニードルやピン等の押し上げ部材に対して粘着シートを相対移動させる必要がある。これらの動作は部品１個毎に繰り返すことになるので、粘着シート上の部品全体を取出すのに時間がかかり、部品取出し作業の効率を高めることが難しい。また、部品１個毎に粘着シートの吸着固定と、その解除とを繰り返すので、その間に、粘着シートの広い範囲で弛み、伸び変形が生じ、これに伴い、部品の位置ずれが発生するおそれがある。したがって、この従来技術でも、部品の取出しごとにその部品位置の認識や位置調整が必要となり、部品取出し効率の向上が難しい。
【０００９】
本発明は、このような実情に着目してなされたもので、効率よく部品のピックアップを行えるようにすることを課題とする。
【００１０】
【課題を解決するための手段】
本発明の部品取出し方法は、粘着面に複数個の部品が整列した状態で貼付けてある粘着シートから部品を部品保持具によって保持しピックアップする部品取出し方法であって、前記粘着シートの裏面側において上下動可能に設けられたマウンド体とこのマウンド体の先端に出没自在に設けられた突き上げピンとからなる押し上げ部材と、この押し上げ部材に隣接しかつ部品の整列一方向に沿って延出して設けられ吸着保持によって前記粘着シートを固定するシート固定部とにより、前記押し上げ部材に隣接した前記粘着シートを前記シート固定部にて裏面から吸着して前記押し上げ部材から持ち上がらないように固定しながら、前記マウンド体が上昇することで前記粘着シートの裏面を押し上げて取出し対象部品を持ち上げるとともに、前記突き上げピンが前記マウンド体から突出することで前記粘着シートをさらに押し上げて前記取出し対象部品を前記粘着シートから部分的に剥離させる部品取出し過程と、前記粘着シートを前記シート固定部と一緒に前記押し上げ部材に対して部品の整列一方向に沿って相対移動させるとともに、この相対移動の間、前記部品取出し過程における前記突き上げピンを前記マウンド体に没した状態で前記マウンド体を上昇させることで前記粘着シートをその裏面から押し上げた状態と、前記シート固定部による前記押し上げ部材に隣接した前記粘着シートの吸着固定を継続しながら、取出し対象部品を変更する部品送り過程と、を含むことを特徴とする。
【００１１】
上記の構成によれば、取出し対象部品と、これに対応する部分の粘着シートとを押し上げた場合、押し上げ部材に隣接する部分の粘着シートは持ち上がらないように固定されているから、取出し対象部品とその周囲の粘着シートとの間に強い引張り力が作用し、取出し対象部品と粘着シートとの間に確実に剥離が生じる。
【００１２】
また、取出し対象部品の周囲の粘着シートが持ち上がらないように固定されていることから、周囲の広い範囲の粘着シートが持ち上げにより引き伸ばされて変形するようなことがない。また、１列分の部品を順次取出していく間、粘着シートの吸着固定が継続されるから、この吸着固定と解除とを部品毎に繰り返す場合に比べ、粘着シートを伸び変形させる力が作用する回数が少なく、この点からも、粘着シートの弛み、伸び変形が抑えられる。このため、粘着シートの伸び変形に伴う部品の位置ずれはほとんど発生せず、部品の取出し動作毎に、部品の位置の再確認や位置調整が不要になる。
【００１３】
さらに、この構成の方法では、１列分の部品を取出していく間、粘着シートの吸着固定が継続されるから、この吸着固定と解除とを部品毎に繰り返す場合に比べ、迅速に効率よく部品の取出しを行える。
【００１４】
なお、上記構成での粘着シート上の部品の整列の仕方は、直交２方向に部品が整列する場合に限らず、その他の整列の仕方、例えば、互いに斜めに交差する２方向に部品が整列する場合や、円周方向とその径方向とに部品が整列する場合も含まれる。
【００１５】
上記構成の部品取出し方法では、押し上げ部材は、ピン形状のものであってもよいし、また、断面積が比較的大きい部材でもよいが、先端が中高形状のマウンド体と、このマウンド体のほぼ中心部に出没自在に設けられた突き上げピンとからなる押し上げ部材を用い、この押し上げ部材により、取出し対象部品と、対応する部分の粘着シートとを、２段階的に押し上げるようにしてもよい。このようにすると、取出し対象部品と粘着シートとの剥離がより確実になる。
【００１６】
本発明の部品取出し装置は、粘着面に複数個の部品が整列した状態で貼付けてある粘着シートから部品を部品保持具によって保持してピックアップする部品取出し装置であって、前記粘着シートの裏面側において上下動可能に設けられたマウンド体と、このマウンド体の先端に出没自在に設けられた突き上げピンとからなり、前記マウンド体が上昇することで前記粘着シートの裏面を押し上げて取出し対象部品を持ち上げるとともに、前記突き上げピンが前記マウンド体から突出することで前記粘着シートをさらに押し上げて前記取出し対象部品を前記粘着シートから部分的に剥離させる押し上げ部材と、この押し上げ部材に隣接しかつ部品の整列一方向に沿って延出して設けられ前記粘着シートを裏面から吸着して前記押し上げ部材から持ち上がらないよう固定するシート固定部と、このシート固定部と前記粘着シートとの相対位置を維持したままで、前記粘着シートと前記シート固定部とを一緒に前記押し上げ部材に対して部品の整列一方向に沿って相対移動させる移動機構とを備え、前記シート固定部は、前記粘着シートとの相対位置を維持したまま、前記押し上げ部材に対して部品の整列一方向に沿って相対移動する間、前記押し上げ部材に隣接した前記粘着シートの吸着固定を継続し、かつ、当該相対移動の間、前記押し上げ部材は前記突き上げピンを前記マウンド体に没した状態で前記マウンド体を上昇させることで前記粘着シートをその裏面から押し上げた状態を維持することを特徴とする。
【００１７】
上記構成によれば、前記した部品取出し方法におけるのと同様に、取出し対象部品と粘着シートとの間に確実に剥離が生じ、部品保持具による取出しに支障がなく、また、粘着シートの弛み、伸び変形が抑えられ、粘着シートの変形に伴う部品の位置ずれがほとんど生じない。しかも、部品毎に粘着シートの吸着固定とその解除を繰り返す場合に比べ、迅速に効率よく部品の取出しを行える。
【００１８】
本発明の組み立て装置は、前記部品取出し装置と、前記部品保持具で保持された部品が移送され装着される部品実装部とを備えるとともに、前記部品取出し装置と前記部品実装部とにわたって前記部品保持具を移動自在に構成していることを特徴とする。
【００１９】
この構成によると、部品取出し装置で取出しが良好に行われた部品をその取出しされた状態で移動させて、部品実装部においてその部品を移載装着することで、部品を良好に組み付けることができる。
【００２０】
【発明の実施の形態】
本発明の一実施形態に係る部品取出し装置を図面を参照して詳細に説明する。図１ないし図５は本発明の一実施形態を示すもので、図１は、一実施形態に係る部品取出し装置を含む組み立て装置全体の正面図で、部品取り出し装置の一部を断面で示す。図２は、図１に示した部品取出し装置の斜視図、図３は、図１に示した部品取出し装置の分解斜視図、図４は、図１に示した部品取出し装置の要部を拡大して示す斜視図、図５は、図４に示した部品取出し装置要部の縦断正面図である。
【００２１】
図１に示す組み立て装置において、１はベース、２は部品取出し装置、３は、部品を実装する部品実装部、４は、部品取出し装置２と部品実装部３との間を往復移動可能な搬送フレーム、５は、搬送フレーム４に移動可能に支持された移載ヘッドで、この移載ヘッド５は、部品保持具として、真空吸着式の吸着ノズル６を備えている。吸着ノズル６は、移載ヘッド５とともに、搬送フレーム４に設けられた図示しないリニアアクチュエータにより部品取出し装置２と部品実装部３とにわたって移動可能となっている。
【００２２】
図２および図３において、７は、金属のリングからなる部品供給フレーム、８は、部品供給フレーム７の内側に張設された粘着シートである。この粘着シート８の粘着面である上面には、多数の部品ｗが前後左右の２方向に沿って整列した状態で貼付けてある。９は、矩形枠状に構成されたフレーム保持ステージで、この上には、粘着シート８付きの部品供給フレーム７が載置固定される。１０は、フレーム保持ステージ９上面の後部左右に突設した一対のピン、１１は、部品供給フレーム７の後部に形成された一対のノッチである。
【００２３】
１２は、フレーム保持ステージ９の前部に備えた、例えばエアシリンダからなるクランプ部材、１３は、ロッドレスシリンダなどからなりアクチュエータ部１３ａを有する第１直線駆動機構で、この第１直線駆動機構１３は、フレーム保持ステージ９と、その上に載置固定される粘着シート８付きの部品供給フレーム７とを左右方向（矢印イの方向）に移動させる。１４は、第１直線駆動機構１３の作動方向と直交する水平方向、つまり前後方向（矢印ロの方向）に作動する第２直線駆動機構で、アクチュエータ部１４ａを有する。１５は、第１直線駆動機構１３の支持台である。
【００２４】
１６は、粘着シート８の所要部を持ち上がらないように吸着固定するシート固定部としてのシート吸着ステージである。このシート吸着ステージ１６は、前後方向に沿って長く延出する形で設けられ、第１直線駆動機構１３の支持台１５に固定されている。このシート吸着ステージ１６とその近傍の部材は、図４および図５に拡大して示されている。１７は、シート吸着ステージ１６の上面に形成された多数の吸着孔であって、図示しない真空吸引装置にバルブ装置を介して連通接続されている。
【００２５】
２１は、先端に中高形状のマウンド部２０を有するマウンド体で、ピンホルダを兼ねている。このマウンド体２１は、粘着シート８の下側の一定位置に上下動可能に設けられるもので、上昇することで、取出し対象部品ｗと、これに対応する部分の粘着シート８とを押し上げる。２２はマウンド体２１の中心孔、２３は、マウンド体２１の中心孔２２に出没自在に挿通された突き上げピンである。
【００２６】
図１に戻って、２４は、マウンド体２１の下側に設けられた昇降ブロックで、突き上げピン２３を上下動させる機構を備える。２５は、昇降ブロック２４に備えたカムフォロア、２６はモータなどの回転アクチュエータ、２７は、回転アクチュエータ２６によって回転されるカムである。
【００２７】
２９は、エアシリンダなどの直線アクチュエータ２８の駆動により上下する可動台で、この可動台２９の上下に伴い、マウンド体２１や昇降ブロック２４、回転アクチュエータ２６等が一体に上下する。３０は、第２直線駆動機構１４が装着された固定台枠である。
【００２８】
上記の各部分相互の関係を、その動作とともに説明すると、部品取出し装置２の所要部にセットされた粘着シート８上の多数の部品ｗは、移載ヘッド５の吸着ノズル６によって１個ずつ取り出され、搬送フレーム４によって部品実装部３に向けて搬送される。部品実装部３に搬送された部品ｗは、部品実装部３に装填された基板上に移載されて装着される。
【００２９】
部品取出し装置２において取り出される部品ｗは、部品供給フレーム７に張設された粘着シート８の上向き粘着面に左右および前後に整列して貼付け支持されている。部品供給フレーム７は、フレーム保持ステージ９の上に水平に載置されて位置決め固定される。この位置決めには、部品供給フレーム７の後縁に形成された一対のノッチ１１を、フレーム保持ステージ９上面に突設した一対のピン１０に係合させることによって行われる。また、フレーム保持ステージ９の前部に備えたクランプ部材１２で部品供給フレーム７を前方から押圧することで、部品供給フレーム７はフレーム保持ステージ９上に位置決めされた状態で固定される。
【００３０】
フレーム保持ステージ９は、第１直線駆動機構１３のアクチュエータ部１３ａに連結されて、一定範囲で左右方向（イの方向）に移動可能に支持されている。第１直線駆動機構１３自体は、第１直線駆動機構１３の作動方向と直交する水平方向、つまり前後方向（ロの方向）に作動する第２直線駆動機構１４のアクチュエータ部１４ａに支持台１５を介して連結されている。第１直線駆動機構１３と第２直線駆動機構１４の作動によって、フレーム保持ステージ９と、これに載置固定された部品供給フレーム７とを左右方向および前後方向に水平移動させることが可能となっている。
【００３１】
支持台１５の左右中間部には、シート吸着ステージ１６が固定的に支持されている。シート吸着ステージ１６は、前後方向に長い間隔１６ａを有する中抜き枠状に構成されており、その左右両側部の上面がフレーム保持ステージ９の上面と面一となるよう設定されている。
【００３２】
部品取出し装置２における部品取出し位置であって、前記シート吸着ステージ１６の間隔１６ａ内に臨む位置には、縦長筒状のマウンド体２１が立設配備されている。このマウンド体２１の先端のマウンド部２０は、中央側ほど緩傾斜面で高くなる中高形状に形成されている。マウンド体２１の中心孔２２に突き上げピン２３が挿通収納されている。突き上げピン２３は、昇降ブロック２４に設けられており、昇降ブロック２４に備えたカムフォロア２５を、回転アクチュエータ２６によって回転されるカム２７に追従変位させることで、マウンド体２１の中心孔２２から出没するようになっている。マウンド体２１および突き上げピン２３の駆動部は、直線アクチュエータ２８によって昇降される可動台２９に装備されており、この可動台２９の上下動によって、マウンド体２１および突き上げピン２３は、部品供給フレーム７に対して昇降することが可能となっている。
【００３３】
マウンド体２１は、第２直線駆動機構１４が装着された固定台枠３０に挿通されて上方に突出している。第２直線駆動機構１４は、マウンド体２１をシート吸着ステージ１６の間隔１６ａに挿通した状態で、シート吸着ステージ１６をその長手方である前後方向に移動させることができるようになっている。
【００３４】
本発明の部品取出し装置の作動について、図６ないし図８を参照しながら説明すると、部品ｗが縦横に整列搭載された新しい部品供給フレーム７がフレーム保持ステージ９に位置決め装填されると、図６に示すように、部品ｗにおける先頭の部品ｗ（この例では左端第１列の後端のもの）がマウンド体２１の直上にくるように第１直線駆動機構１３および第２直線駆動機構１４が作動する。この時、マウンド体２１は、その先端のマウンド部２０が粘着シート８やシート吸着ステージ１６の下面に接触しない高さまで下降されている。
【００３５】
部品供給フレーム７の位置決めがなされると、シート吸着ステージ１６に負圧が印加されて、マウンド体２１の左右近傍において粘着シート８が前後に長くシート吸着ステージ１６の上面に吸着保持される。そして、粘着シート８が吸着によって固定された状態で、直線アクチュエータ２８の駆動によってマウンド体２１が上昇され、図５に示すように、先頭の部品ｗが粘着シート８を介して押し上げられる。次いで、突き上げピン２３が突上げ作動して先頭の部品ｗが粘着シート８から剥離されながら突き上げられるとともに、取出し位置の上方に待機していた吸着ノズル６が下降して、突上げられた部品ｗを吸着保持し、引き続き吸着ノズル６が上昇することで、吸着保持された部品ｗは粘着シート８から剥離ピックアップされる。
【００３６】
この場合、取出し対象部品ｗの周囲近傍の粘着シート８は、シート吸着ステージ１６により持ち上がらないように固定されているから、取出し対象部品ｗとその周囲の粘着シート８との間に強い引張り力が作用し、取出し対象部品ｗと粘着シート８との間に確実に剥離が生じる。また、取出し対象部品ｗの周囲の粘着シート８が、吸着固定されていることから、持ち上げにより引き伸ばされて変形するようなことがなく、取出し対象部品ｗの周囲で部品の位置ずれが生じない。そのため、部品の取出し動作毎に、部品の位置の再確認や位置調整は行わなくてよい。
【００３７】
先頭の部品取出しが完了すると、突き上げピン２３が退入下降されるとともに、シート吸着ステージ１６による粘着シート８の吸着固定状態を持続したままで第２直線駆動機構１４のみが作動されて、フレーム保持ステージ９に保持された部品供給フレーム７が１ピッチだけ（この例では前方に）移動され、部品群における第１列２番目の部品ｗがマウンド体２１の直上に位置されて次の取出しに備えられ、その後、取出し位置に復帰してきた吸着ノズル６によって、上記したのと同様の部品の剥離、ピックアップが行われる。このように、フレーム保持ステージ９の前方へのピッチ移動と上記剥離ピックアップ作動が順次行われて、図７に示すように、部品群における第１列目の部品ｗの取出しが終わる。第１列全部の部品取出しが完了すると、シート吸着ステージ１６の吸引が一旦解除される。
【００３８】
このように、部品群における１列分の部品ｗの取出しが行われる間は、シート吸着ステージ１６による粘着シート８の吸着固定は継続されるので、個々の部品取出し毎にこの粘着シートの吸着固定と、解除とを繰り返す場合に比べ、迅速に効率よく部品の取り出しを行える。
【００３９】
第１列全部の部品取出しの完了後、マウンド体２１が下降され、次に、第１直線駆動機構１３が作動されて、フレーム保持ステージ９に保持された部品供給フレーム７が１ピッチだけ（この例では左方向に）移動され、部品群の第２列目がマウンド体２１の直上に位置決めされ、再び、シート吸着ステージ１６による粘着シート８の吸着固定状態を持続したままでのフレーム保持ステージ９の前後方向へのピッチ移動と上記剥離ピックアップ作動が順次行われて、部品群における第２列の取出しが行われる。
【００４０】
以後、上記列送り作動および取出し用のピッチ送り作動が繰り返されて、部品群から１個づつ部品ｗが取り出されてゆく。因みに、列送り作動および取出し用のピッチ送り作動が部品群の中ほどまで進行した状態が図８に示されている。
【００４１】
なお、本発明は、粘着シート８およびシート吸着ステージ１６とを固定し、マウンド体２１や突き上げピン１１等の押し上げ部材の側を水平各方向（具体的には、左右方向や前後方向）に移動させるようにしてもよい。このほか、個々の部品の取出し動作毎に、取出し対象部品の周囲近傍での粘着シートの吸着固定と、その解除とを繰り返してもよい。
【００４２】
【発明の効果】
本発明によれば、マウンド体や突き上げピンのような押し上げ部材により、取出し対象部品と、それに対応する部分の粘着シートとを押し上げる際、取出し対象部品の周辺近傍の粘着シート部分が吸着によって持ち上がらないよう固定されるので、取出し対象部品とその周囲の粘着シートとの間に強い引張り力が作用し、取出し対象部品と粘着シートとは確実に剥離する。そのため、吸着ノズルによる部品の吸着保持に支障が生じるおそれがない。
【００４３】
また、取出し対象部品の周囲の粘着シートが持ち上がらないように固定されていることから、周囲の広い範囲の粘着シートが持ち上げに伴い引き伸ばされて変形するようなことがない。しかも、１列分の部品を取出していく間に、粘着シートの吸着固定とその解除を１回行うだけで済むから、粘着シートを伸び変形させる力が作用する回数が少なく、この点からも、粘着シートの弛み、伸び変形が抑えられる。このため、粘着シートの伸び変形に伴う部品の位置ずれはほとんど発生せず、部品の取出し動作毎に、部品の位置の再確認や位置調整が不要になる。
【００４４】
さらに、１列分の部品を取出していく間、粘着シートの吸着固定を継続するから、部品毎に吸着固定と解除とを繰り返す場合に比べ、迅速に効率よく部品の取出しを行える。
【図面の簡単な説明】
【図１】本発明の一実施形態に係る部品取出し装置を含む組み立て装置全体の正面図で、部品取り出し装置の一部を断面で示す。
【図２】図１に示した部品取出し装置の斜視図である。
【図３】図１に示した部品取出し装置の分解斜視図である。
【図４】図１に示した部品取出し装置の要部の斜視図である。
【図５】図４に示した部品取出し装置要部の縦断正面図である。
【図６】図１の部品取出し装置の最初の部品取出し状態を示す平面図である。
【図７】図１の部品取出し装置の１列最後の取出し状態を示す平面図である。
【図８】図１の部品取出しが進行した状態を示す部品取出し装置の平面図である。
【符号の説明】
６吸着ノズル（部品保持具）
８粘着シート
１６シート吸着ステージ（シート固定部）
２１マウンド体（押し上げ部材）
２３突き上げピン（押し上げ部材）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a component take-out method for taking out a component from a pressure-sensitive adhesive sheet in which a plurality of components are arranged and pasted on an adhesive surface by a component holder, a component take-out device, and an assembling apparatus including the device.
[0002]
[Prior art]
Various proposals have already been made and implemented for parts removal techniques for separating parts from the pressure-sensitive adhesive sheet. They are used to separate individual components from a pressure-sensitive adhesive sheet by holding them on a component holder such as a suction nozzle.
[0003]
As a specific prior art, for example, among the portions of the pressure-sensitive adhesive sheet, the peripheral portion of the part to be taken out is pushed up by a predetermined amount from below at the tip of the cylindrical sleeve, while the pressure-sensitive adhesive sheet is directly below the part to be taken out. The corresponding part is pushed up by a predetermined amount at the tip of the pin. Further, the inside of the sleeve is evacuated. In this state, there is a component in which the component is vacuum-sucked and removed by a component holder (collet) that is in contact with the upper surface of the component to be extracted (see Patent Document 1).
[0004]
In addition, as another conventional technique, a push-up piece having a horizontal surface at the tip, a pin that pushes out the part while breaking the adhesive sheet, a mechanism that raises and lowers the pin, and a holding tool that holds the part (Holding chuck), and a part attached to an adhesive sheet is peeled off (see Patent Document 2).
[0005]
Furthermore, the adhesive sheet is fixed on the sheet holding stage by suction from the back side below the component holder (collet), and is provided at the substantially central portion of the sheet holding stage with respect to the adhesive sheet thus fixed. In some cases, the needles or pins that are formed are projected upward to push up the parts to be taken out (see Patent Document 3 and Patent Document 4).
[0006]
[Patent Document 1]
JP-A-5-121525 [Patent Document 2]
JP-A-10-256349 [Patent Document 3]
JP-A-6-97215 [Patent Document 4]
JP-A-7-99227 [0007]
[Problems to be solved by the invention]
In the prior art described in Patent Document 1 and Patent Document 2, when the sleeve and the pin or the frame are raised, the adhesive sheet is lifted locally and the part to be taken out is also lifted. Due to the adhesive force with the sheet, the pressure-sensitive adhesive sheet is pulled up and lifted by the part to be taken out in a wide range around the part to be taken out. Therefore, the peeling of the part from the pressure-sensitive adhesive sheet is inadequate, causing troubles in taking out the part, and this lifting causes the pressure-sensitive adhesive sheet to be locally stretched and deformed. Due to the expansion, deformation, and slack of the adhesive sheet, there is a risk of misalignment of the parts around the part to be taken out, and it is necessary to recognize and adjust the position of the part with a camera etc. every time the part is taken out. It adversely affects the extraction efficiency.
[0008]
On the other hand, in the conventional techniques described in Patent Document 3 and Patent Document 4, the adhesive sheet is sucked and fixed to the sheet holding stage on the lower side of the component holder, so that the adhesive sheet is spread over a wide range around the component to be taken out. There is no such thing as lifting up. However, in order to take out the next part after taking out one part, it is necessary to once cancel the suction fixing of the pressure-sensitive adhesive sheet and to move the pressure-sensitive adhesive sheet relative to the pushing-up member such as a needle or a pin. Since these operations are repeated for each part, it takes time to take out the whole part on the adhesive sheet, and it is difficult to improve the efficiency of the part taking-out operation. In addition, since the adhesive sheet is repeatedly adsorbed and fixed for each part and released, the adhesive sheet is loosened and stretched in a wide range during that time, and there is a risk that the position of the part may shift. is there. Therefore, even in this prior art, it is necessary to recognize and adjust the position of each part every time the parts are taken out, and it is difficult to improve the part taking out efficiency.
[0009]
The present invention has been made paying attention to such a situation, and an object thereof is to enable efficient pick-up of parts.
[0010]
[Means for Solving the Problems]
The component removal method of the present invention is a component removal method for holding and picking up a component by a component holder from a pressure-sensitive adhesive sheet that is attached in a state where a plurality of components are aligned on the pressure-sensitive adhesive surface. a push-up member consists of a vertically movable provided mound body and the mound body tip retractable so provided was thrust pins of provided extending along the alignment direction of adjacent vital part in this push-up member is by the sheet fixing unit for fixing the pressure-sensitive adhesive sheet by the suction holding, while fixing the adhesive sheet adjacent said push-up member so as not lifted from the push-up member by suction from the back side by the sheet fixing unit, the As the mound body rises, the back surface of the adhesive sheet is pushed up to lift the object to be taken out, A component pickup process can raise pin to the partially exfoliated further the extraction target part pushes up the adhesive sheet from the adhesive sheet by protruding from the mound body, the said pressure-sensitive adhesive sheet together with the sheet fixed portion While moving relative to the push-up member along one direction of part alignment, during the relative movement, by raising the mound body while the push-up pin in the part take-out process is submerged in the mound body A state in which the pressure-sensitive adhesive sheet is pushed up from the back surface thereof, and a component feeding process of changing the component to be taken out while continuing the suction fixing of the pressure-sensitive adhesive sheet adjacent to the push-up member by the sheet fixing portion. To do.
[0011]
According to the above configuration, when the part to be taken out and the corresponding part of the adhesive sheet are pushed up, the part of the adhesive sheet adjacent to the push-up member is fixed so as not to be lifted. A strong tensile force acts between the adhesive sheet and the surrounding adhesive sheet, and separation is surely generated between the part to be taken out and the adhesive sheet.
[0012]
In addition, since the adhesive sheet around the part to be taken out is fixed so as not to be lifted, the adhesive sheet in a wide area around the part is not stretched and deformed by lifting. In addition, since the adhesive sheet is continuously sucked and fixed while the parts for one row are sequentially taken out, a force that stretches and deforms the pressure sensitive adhesive sheet acts as compared with the case where the suction fixing and releasing are repeated for each part. The number of times is small, and also from this point, the looseness and elongation deformation of the pressure-sensitive adhesive sheet can be suppressed. For this reason, the position shift of the component accompanying the expansion deformation of the adhesive sheet hardly occurs, and the reconfirmation of the position of the component and the position adjustment are not required every time the component is taken out.
[0013]
Furthermore, in the method of this configuration, the adhesive sheet is continuously sucked and fixed while the parts for one row are taken out, so the parts can be quickly and efficiently compared with the case where this suction fixing and releasing is repeated for each part. Can be taken out.
[0014]
The method of aligning the components on the pressure-sensitive adhesive sheet with the above configuration is not limited to the case where the components are aligned in two orthogonal directions, but other alignment methods, for example, the components are aligned in two directions obliquely intersecting each other. The case where the parts are aligned in the circumferential direction and the radial direction is also included.
[0015]
In the component take-out method having the above-described configuration, the push-up member may be a pin-shaped member or a member having a relatively large cross-sectional area. A push-up member composed of a push-up pin provided so as to be able to appear and retract in the center portion may be used, and the push-out member may push up the part to be taken out and the corresponding part of the adhesive sheet in two steps. If it does in this way, peeling with the taking-out object component and an adhesive sheet will become more reliable.
[0016]
The component take-out device of the present invention is a component take-out device that holds and picks up a component from a pressure-sensitive adhesive sheet that is stuck in a state where a plurality of components are aligned on the pressure-sensitive adhesive surface, and is on the back side of the pressure-sensitive adhesive sheet And a push-up pin provided at the tip of the mound body so that it can be moved up and down. The mound body is raised to push up the back surface of the pressure-sensitive adhesive sheet to lift the component to be taken out. In addition, the push-up pin protrudes from the mound body to further push up the pressure-sensitive adhesive sheet so as to partially peel the part to be taken out from the pressure-sensitive adhesive sheet, and to align the parts adjacent to the push-up member. lifting from the push-up member by adsorbing the pressure-sensitive adhesive sheet provided extending along the direction from the back A seat fixing portion for fixing so as not to rise, the sheet fixed portion and while maintaining the relative position of the pressure-sensitive adhesive sheet, component alignment against the push-up member and said pressure-sensitive adhesive sheet and the sheet fixed portion together one A movement mechanism that relatively moves along a direction, while the sheet fixing portion is relatively moved along one alignment direction of the parts with respect to the push-up member while maintaining a relative position with the adhesive sheet. The pressure-sensitive adhesive sheet adjacent to the push-up member is continuously adsorbed and fixed, and during the relative movement, the push- up member raises the mound body with the push-up pin submerged in the mound body, thereby the pressure-sensitive adhesive sheet. It is characterized in that the state where the sheet is pushed up from the back surface is maintained.
[0017]
According to the above configuration, in the same manner as in the above-described component take-out method, separation occurs between the take-out target component and the pressure-sensitive adhesive sheet, there is no hindrance to take-out by the component holder, and the pressure-sensitive adhesive sheet is slack, Elongation deformation is suppressed, and there is almost no displacement of parts due to deformation of the adhesive sheet. In addition, parts can be taken out quickly and efficiently compared to the case of repeatedly fixing and releasing the adhesive sheet for each part.
[0018]
The assembling apparatus of the present invention includes the component take-out device and a component mounting portion to which the component held by the component holder is transferred and mounted, and holds the component across the component take-out device and the component mounting portion. The tool is configured to be movable.
[0019]
According to this configuration, it is possible to assemble the components satisfactorily by moving the components that have been successfully taken out by the component take-out device in the removed state and mounting the components on the component mounting portion. .
[0020]
DETAILED DESCRIPTION OF THE INVENTION
A component picking device according to an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 to FIG. 5 show an embodiment of the present invention. FIG. 1 is a front view of an entire assembly apparatus including a component pickup apparatus according to an embodiment, and shows a part of the component pickup apparatus in cross section. 2 is a perspective view of the component pick-up device shown in FIG. 1, FIG. 3 is an exploded perspective view of the component pick-up device shown in FIG. 1, and FIG. 4 is an enlarged view of the main part of the component pick-up device shown in FIG. FIG. 5 is a longitudinal front view of the main part of the component picking device shown in FIG.
[0021]
In the assembling apparatus shown in FIG. 1, 1 is a base, 2 is a component take-out device, 3 is a component mounting unit for mounting components, and 4 is a reciprocating transfer between the component take-out device 2 and the component mounting unit 3. The frame 5 is a transfer head that is movably supported by the transport frame 4. The transfer head 5 includes a vacuum suction type suction nozzle 6 as a component holder. The suction nozzle 6 is movable along with the transfer head 5 across the component pick-up device 2 and the component mounting unit 3 by a linear actuator (not shown) provided on the transport frame 4.
[0022]
2 and 3, 7 is a component supply frame made of a metal ring, and 8 is an adhesive sheet stretched inside the component supply frame 7. On the upper surface, which is the adhesive surface of the adhesive sheet 8, a large number of parts w are pasted in a state of being aligned along two directions, front, rear, left and right. Reference numeral 9 denotes a frame holding stage configured in a rectangular frame shape, on which a component supply frame 7 with an adhesive sheet 8 is placed and fixed. Reference numeral 10 denotes a pair of pins protruding from the left and right of the rear part of the upper surface of the frame holding stage 9, and 11 denotes a pair of notches formed at the rear part of the component supply frame 7.
[0023]
Reference numeral 12 denotes a clamp member made of, for example, an air cylinder provided at the front portion of the frame holding stage 9, and 13 denotes a first linear drive mechanism made of a rodless cylinder or the like and having an actuator portion 13a. Moves the frame holding stage 9 and the component supply frame 7 with the adhesive sheet 8 placed and fixed thereon in the left-right direction (in the direction of arrow A). Reference numeral 14 denotes a second linear drive mechanism that operates in the horizontal direction orthogonal to the operation direction of the first linear drive mechanism 13, that is, the front-rear direction (the direction of arrow B), and has an actuator portion 14a. Reference numeral 15 denotes a support for the first linear drive mechanism 13.
[0024]
Reference numeral 16 denotes a sheet adsorbing stage as a sheet fixing unit that adsorbs and fixes the required portion of the adhesive sheet 8 so as not to be lifted. The sheet suction stage 16 is provided so as to extend long in the front-rear direction, and is fixed to the support base 15 of the first linear drive mechanism 13. The sheet suction stage 16 and the members in the vicinity thereof are shown enlarged in FIGS. A number of suction holes 17 are formed on the upper surface of the sheet suction stage 16 and are connected to a vacuum suction device (not shown) through a valve device.
[0025]
21 is a mound body having a mid-high shape mound portion 20 at the tip, which also serves as a pin holder. The mound body 21 is provided at a fixed position below the adhesive sheet 8 so as to be movable up and down, and ascends to push up the part w to be taken out and the corresponding part of the adhesive sheet 8. Reference numeral 22 denotes a center hole of the mound body 21, and 23 denotes a push-up pin which is inserted into the center hole 22 of the mound body 21 so as to be able to appear and retract.
[0026]
Returning to FIG. 1, reference numeral 24 denotes an elevating block provided on the lower side of the mound body 21, and includes a mechanism for moving the push-up pin 23 up and down. Reference numeral 25 denotes a cam follower provided in the elevating block 24, 26 denotes a rotary actuator such as a motor, and 27 denotes a cam rotated by the rotary actuator 26.
[0027]
Reference numeral 29 denotes a movable table that moves up and down by driving a linear actuator 28 such as an air cylinder. As the movable table 29 is moved up and down, the mound body 21, the lifting block 24, the rotary actuator 26, and the like are integrally moved up and down. Reference numeral 30 denotes a fixed frame on which the second linear drive mechanism 14 is mounted.
[0028]
The relationship between the above parts will be described together with the operation thereof. A large number of parts w on the adhesive sheet 8 set in a required part of the part take-out apparatus 2 are taken out one by one by the suction nozzle 6 of the transfer head 5. Then, it is transported toward the component mounting unit 3 by the transport frame 4. The component w transported to the component mounting unit 3 is transferred and mounted on the board loaded in the component mounting unit 3.
[0029]
The component w taken out by the component take-out device 2 is attached to and supported by the left and right and front and rear aligned on the upward adhesive surface of the adhesive sheet 8 stretched on the component supply frame 7. The component supply frame 7 is horizontally placed on the frame holding stage 9 and positioned and fixed. This positioning is performed by engaging a pair of notches 11 formed at the rear edge of the component supply frame 7 with a pair of pins 10 protruding from the upper surface of the frame holding stage 9. Further, the component supply frame 7 is fixed in a state of being positioned on the frame holding stage 9 by pressing the component supply frame 7 from the front with the clamp member 12 provided at the front portion of the frame holding stage 9.
[0030]
The frame holding stage 9 is connected to the actuator portion 13a of the first linear drive mechanism 13, and is supported so as to be movable in the left-right direction (a direction) within a certain range. The first linear drive mechanism 13 itself has a support base 15 on the actuator portion 14a of the second linear drive mechanism 14 that operates in the horizontal direction orthogonal to the operation direction of the first linear drive mechanism 13, that is, in the front-rear direction (direction B). Are connected through. By the operation of the first linear drive mechanism 13 and the second linear drive mechanism 14, it is possible to horizontally move the frame holding stage 9 and the component supply frame 7 mounted and fixed thereon in the left-right direction and the front-rear direction. ing.
[0031]
A sheet suction stage 16 is fixedly supported on the left and right intermediate portions of the support base 15. The sheet suction stage 16 is configured as a hollow frame having a long interval 16 a in the front-rear direction, and is set so that the upper surfaces of the left and right side portions thereof are flush with the upper surface of the frame holding stage 9.
[0032]
A vertically long cylindrical mound body 21 is erected and disposed at a position where the parts are picked up by the part picking device 2 and facing the space 16 a of the sheet suction stage 16. The mound portion 20 at the tip of the mound body 21 is formed in a middle-high shape that becomes higher at a gently inclined surface toward the center side. A push-up pin 23 is inserted and stored in the center hole 22 of the mound body 21. The push-up pin 23 is provided in the elevating block 24, and moves up and down from the center hole 22 of the mound body 21 by causing the cam follower 25 provided in the elevating block 24 to be displaced following the cam 27 rotated by the rotary actuator 26. It is like that. The drive parts of the mound body 21 and the push-up pin 23 are mounted on a movable base 29 that is moved up and down by a linear actuator 28, and the mound body 21 and the push-up pin 23 are moved up and down by the vertical movement of the movable base 29. It is possible to move up and down.
[0033]
The mound body 21 is inserted through a fixed frame 30 on which the second linear drive mechanism 14 is mounted and protrudes upward. The second linear drive mechanism 14 can move the sheet suction stage 16 in the front-rear direction, which is the longitudinal direction thereof, with the mound body 21 inserted through the interval 16 a of the sheet suction stage 16.
[0034]
The operation of the component pick-up apparatus of the present invention will be described with reference to FIGS. 6 to 8. When a new component supply frame 7 in which components w are aligned and mounted in the vertical and horizontal directions is positioned and loaded on the frame holding stage 9, FIG. As shown in FIG. 4, the first linear drive mechanism 13 and the second linear drive mechanism 14 are arranged so that the leading part w in the part w (in this example, the rear end of the leftmost first row) is directly above the mound body 21. Operate. At this time, the mound body 21 is lowered to a height at which the mound portion 20 at the tip thereof does not contact the lower surface of the adhesive sheet 8 or the sheet suction stage 16.
[0035]
When the component supply frame 7 is positioned, negative pressure is applied to the sheet suction stage 16, and the adhesive sheet 8 is sucked and held on the upper surface of the sheet suction stage 16 in the vicinity of the left and right of the mound body 21. Then, in a state where the adhesive sheet 8 is fixed by suction, the mound body 21 is raised by driving the linear actuator 28, and the leading part w is pushed up via the adhesive sheet 8 as shown in FIG. 5. Next, the push-up pin 23 is pushed up and the leading part w is pushed up while being peeled off from the adhesive sheet 8, and the suction nozzle 6 that has been waiting above the take-out position is lowered to push up the pushed part w. Then, the suction nozzle 6 is raised, and the sucked and held component w is peeled and picked up from the adhesive sheet 8.
[0036]
In this case, since the adhesive sheet 8 in the vicinity of the part to be taken out w is fixed so as not to be lifted by the sheet suction stage 16, there is a strong tensile force between the part to be taken out w and the surrounding adhesive sheet 8. It acts, and the peeling occurs between the part to be taken out w and the adhesive sheet 8 with certainty. Further, since the adhesive sheet 8 around the take-out target component w is adsorbed and fixed, it is not stretched and deformed by being lifted, and the position of the component does not shift around the take-out target component w. Therefore, it is not necessary to reconfirm the position of the part or adjust the position every time the part is taken out.
[0037]
When the leading part removal is completed, the push-up pin 23 is retracted and lowered, and only the second linear drive mechanism 14 is operated while maintaining the adsorbing and fixing state of the adhesive sheet 8 by the sheet adsorbing stage 16 to hold the frame. The parts supply frame 7 held on the stage 9 is moved by one pitch (in this example, forward), and the second part w in the first row in the parts group is positioned immediately above the mound body 21 to prepare for the next takeout. Thereafter, the parts are peeled off and picked up in the same manner as described above by the suction nozzle 6 which has returned to the take-out position. In this way, the forward pitch movement of the frame holding stage 9 and the peeling pickup operation are sequentially performed, and the removal of the first row of parts w in the parts group is completed as shown in FIG. When the removal of all parts in the first row is completed, the suction of the sheet suction stage 16 is once released.
[0038]
In this way, while the pick-up of the adhesive sheet 8 by the sheet suction stage 16 is continued while taking out one row of the parts w in the parts group, the sticky sheet is sucked and fixed every time the individual parts are picked up. Compared with the case where the release is repeated, the parts can be taken out quickly and efficiently.
[0039]
After completing the removal of all the parts in the first row, the mound body 21 is lowered, and then the first linear drive mechanism 13 is operated so that the part supply frame 7 held on the frame holding stage 9 is only one pitch (this In the example, the frame holding stage 9 is moved while the second row of the component group is positioned immediately above the mound body 21 and the adsorption state of the adhesive sheet 8 by the sheet adsorption stage 16 is maintained again. The pitch movement in the front-rear direction and the peeling pickup operation are sequentially performed to take out the second row in the component group.
[0040]
Thereafter, the row feed operation and the pitch feed operation for taking out are repeated, and the parts w are taken out one by one from the parts group. Incidentally, FIG. 8 shows a state in which the row feed operation and the pitch feed operation for taking out have progressed to the middle of the parts group.
[0041]
In the present invention, the pressure-sensitive adhesive sheet 8 and the sheet suction stage 16 are fixed, and the side of the push-up member such as the mound body 21 and the push-up pin 11 is moved in each horizontal direction (specifically, left-right direction and front-rear direction). You may make it make it. In addition, for each part taking-out operation, the adhesive sheet adsorbing and fixing in the vicinity of the part to be taken out and the releasing thereof may be repeated.
[0042]
【The invention's effect】
According to the present invention, when the part to be taken out and the corresponding part of the adhesive sheet are pushed up by the push-up member such as the mound body or the push-up pin, the adhesive sheet part in the vicinity of the part to be taken out does not lift by suction. Therefore, a strong tensile force acts between the part to be taken out and the surrounding adhesive sheet, and the part to be taken out and the adhesive sheet are surely separated. Therefore, there is no possibility that the suction holding of the parts by the suction nozzle will be hindered.
[0043]
In addition, since the adhesive sheet around the part to be taken out is fixed so as not to be lifted, the adhesive sheet in a wide range of surroundings is not stretched and deformed by lifting. Moreover, since the adhesive sheet needs only to be fixed and released once during the removal of the parts for one row, the number of times the force to stretch and deform the adhesive sheet is small. Sag and stretch deformation of the adhesive sheet can be suppressed. For this reason, the position shift of the component accompanying the expansion deformation of the adhesive sheet hardly occurs, and the reconfirmation of the position of the component and the position adjustment are not required every time the component is taken out.
[0044]
Further, since the adhesive sheet is continuously sucked and fixed while the parts for one row are taken out, the parts can be taken out quickly and efficiently compared to the case where the suction fixing and releasing are repeated for each part.
[Brief description of the drawings]
FIG. 1 is a front view of an entire assembly apparatus including a component pickup apparatus according to an embodiment of the present invention, and shows a part of the component pickup apparatus in cross section.
FIG. 2 is a perspective view of the component take-out device shown in FIG.
FIG. 3 is an exploded perspective view of the component take-out device shown in FIG.
4 is a perspective view of a main part of the component take-out apparatus shown in FIG.
FIG. 5 is a longitudinal front view of the main part of the component take-out device shown in FIG. 4;
6 is a plan view showing a first part removal state of the part removal apparatus of FIG. 1; FIG.
7 is a plan view showing the last picking state of one row of the component picking device shown in FIG. 1; FIG.
8 is a plan view of the component removal device showing a state in which the component removal of FIG. 1 has progressed. FIG.
[Explanation of symbols]
6 Suction nozzle (component holder)
8 Adhesive sheet 16 Sheet adsorption stage (sheet fixing part)
21 Mound body (push-up member)
23 Push-up pin (push-up member)

Claims

A component take-out method for holding and picking up a component by a component holder from an adhesive sheet pasted in a state where a plurality of components are aligned on an adhesive surface,
A push- up member comprising a mound body provided on the back side of the pressure-sensitive adhesive sheet so as to move up and down, and a push-up pin provided at the tip of the mound body, and an adjoining part of the push-up member and in one direction of part alignment by the sheet fixing unit for fixing the pressure-sensitive adhesive sheet by the suction holding provided extending along, not lifted the adhesive sheet adjacent said push-up member from the push-up member by suction from the back side by the sheet fixing unit As the mound body is raised, the back surface of the pressure-sensitive adhesive sheet is pushed up to lift the part to be taken out, and the push-up pin protrudes from the mound body to further push up the pressure-sensitive adhesive sheet and take out the mound body. Part removal process for partially peeling the target part from the adhesive sheet;
The pressure-sensitive adhesive sheet is moved relative to the push-up member along the alignment direction of the parts together with the sheet fixing portion, and the push-up pin in the part take-out process is immersed in the mound body during the relative movement. The part to be taken out is changed while the pressure-sensitive adhesive sheet is pushed up from the back surface thereof by raising the mound body and the pressure-sensitive adhesive sheet adjacent to the push-up member is fixed by the sheet fixing portion. Parts feeding process,
A method for picking up a part, comprising:

In the method for taking out parts according to claim 1,
The mound body has a middle-high shape at the tip, and the push-up pin is provided in a substantially central portion of the mound body so as to be able to protrude and retract.

A component take-out device that holds and picks up a component by a component holder from an adhesive sheet that is pasted in a state where a plurality of components are aligned on the adhesive surface,
It consists of a mound body that can be moved up and down on the back side of the pressure-sensitive adhesive sheet, and a push-up pin that can be moved up and down at the tip of the mound body, and the back of the pressure-sensitive adhesive sheet is pushed up by raising the mound body A lifting member that lifts the part to be taken out, and further pushes up the pressure-sensitive adhesive sheet by protruding the push-up pin from the mound body to partially peel the part to be taken out from the pressure-sensitive adhesive sheet;
A seat fixing portion for fixing so as not to be lifted from the push-up member by adsorbing the pressure-sensitive adhesive sheet provided extending along the alignment direction of adjacent vital component to the push-up member from the back surface,
A moving mechanism for relatively moving the pressure-sensitive adhesive sheet and the sheet fixing portion together with the push-up member along one alignment direction of the components while maintaining a relative position between the sheet fixing portion and the pressure-sensitive adhesive sheet; With
While the sheet fixing portion moves relative to the push-up member along one alignment direction of the parts while maintaining a relative position with the pressure-sensitive adhesive sheet, the pressure-sensitive adhesive sheet adjacent to the push-up member is fixed by suction. During the relative movement, the push- up member maintains the state in which the pressure-sensitive adhesive sheet is pushed up from the back surface by raising the mound body while the push-up pin is submerged in the mound body. A featured component take-out device.

The component take-out device according to claim 3,
The mound body has a middle-high shape at the tip, and the push-up pin is provided in a substantially central portion of the mound body so as to be able to protrude and retract.

A component take-out device according to claim 3 or 4, and a component mounting portion to which a component held by the component holder is transported and mounted, and over the component take-out device and the component mount portion. An assembly apparatus, wherein the component holder is configured to be movable.