JP4484819B2 - Electronic circuit component supply device - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic circuit component supply device, and in particular, an electronic circuit component is supplied by a component container in which a single electronic circuit component is accommodated in each of a plurality of component accommodating portions arranged in a plane. The present invention relates to the improvement of the supply accuracy of the apparatus.

  As this type of electronic circuit component supply device, for example, as described in Patent Document 1 below, there is a device that supplies an electronic circuit component by supporting a tray in which the electronic circuit component is accommodated on a pallet. The tray is provided with a plurality of component-accommodating recesses in a single plane, each accommodating an electronic circuit component. In the electronic circuit component supply apparatus described in Patent Document 1, the plurality of pallets that support the tray are respectively placed on the plurality of tray setters supported by the elevating member, and are held side by side in the vertical direction on the elevating member. As the elevating member is moved up and down by the elevating device, the plurality of pallets are sequentially positioned at preset component supply positions. A pallet moving device is provided at the component supply position. The pallet moving device is moved in the horizontal direction to move the pallet positioned at the component supply position and remove it from the tray setter. Move to.

Japanese Patent Laid-Open No. 9-130086

However, in the electronic circuit component supply apparatus described in Patent Document 1, the tray setter is supported so that it can be pulled out from the elevating member, and the pallet is only placed on the tray setter, and when the elevating member is raised and lowered, Due to the impact applied to the lifting member due to acceleration and deceleration when starting and stopping, the tray setter and pallet move relative to the lifting member and tray setter and vibrate, and the electronic circuit components housed in the tray are displaced, The posture may change, and the supply of electronic circuit components may not be performed with high reliability or accuracy.
Further, when the pallet is moved by the pallet moving device, the pallet is supported from below by a pair of support portions provided on the frame, but the movement in the left-right direction is not restricted, so that an impact applied at the start and stop of the movement In addition, the pallet may vibrate due to sliding resistance with the support portion, and the electronic circuit components may be displaced.
If the elevating speed of the elevating member and the moving speed of the pallet by the pallet moving device are reduced, the occurrence of vibration can be suppressed, but it takes time to position the pallet at the parts supply position and the parts removal allowance position. Efficiency decreases.
With the above circumstances as a background, the present invention reduces the supply efficiency in an electronic circuit component supply device that stores and supplies an electronic circuit component to each of a plurality of component storage portions provided in a planar shape of the component container. The problem is to improve the reliability and accuracy of supply while suppressing it.

According to the present invention, (A) a plurality of component containers each having a plurality of component storage portions arranged in a planar shape, in which one electronic circuit component is stored in each of the component storage portions. And (B) a plurality of container support surfaces for supporting at least one of each of the plurality of component containers from below, and each component container on a component storage plane on which the plurality of component storage parts are arranged. A rack provided with a plurality of component container holders each movably held in a parallel direction; (C) a rack lifting device for raising and lowering the rack in a direction intersecting the component receiving plane; and (D) the rack. When the lifting device is stopped, each of the plurality of component containers is moved in a loading / unloading direction that is parallel to each of the plurality of component receiving planes. An electronic circuit component supply device including a component container moving device that is pulled out and moved to a component extraction allowing position that allows the electronic circuit component stored in the component storage portion to be extracted. A vibration suppressing device that suppresses vibration of each of the plurality of component containers at least one of when the rack is raised and lowered and when each of the plurality of component containers is moved by the component container moving device; The restraining device includes: (a) a plurality of movable engagement members provided in each of the plurality of component container holding portions of the rack so as to be movable relative to the rack; and (b) the plurality of the movable engaging members. The movable engagement member is pressed against each of the plurality of component containers to prevent the relative movement of the component containers with respect to the rack, and the non-operation apart from the component containers. Electronic circuit component supplying device which comprises a relative movement preventing device including an engaging member driving device for moving to the location is Ru obtained.

In the electronic circuit component supply device having this configuration, when the rack is raised and lowered by the rack lifting device, the movable engagement member provided for each of the plurality of component container holding portions is moved by the engagement member driving device. Each component container is pressed against each of the plurality of component containers to prevent relative movement with respect to the rack. In this state, the component containers are moved up and down together with the rack. The relative movement is prevented.
Therefore, as in the conventional electronic circuit component supply apparatus in which each of the component containers is allowed to move relative to the rack, the impact is applied to the rack due to the start / stop of the rack, acceleration / deceleration at the time of stoppage, and the like. The component container moves relative to the rack and vibrates, so that it is possible to satisfactorily suppress the electronic circuit component housed in the component container from shifting or changing the posture.

Aspects of the Invention

  According to the present invention, an electronic circuit component supply device and an electronic circuit component mounting machine according to the following embodiments are also obtained. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the technical features described in the present specification and the combinations thereof to those described in the following sections. . In addition, when a plurality of items are described in one section, it is not always necessary to employ the plurality of items together. It is also possible to select and employ only some items.
  In addition, some of the following paragraphs are no longer the invention described in the claims due to the amendment, but include descriptions useful for understanding the invention described in the claims. Therefore, it will be left as it is.
(1) A plurality of component storage units each having a plurality of component storage units arranged in a planar shape, in which each electronic circuit component is stored so as to be able to be taken out one by one,
  A rack provided with a plurality of component container holding portions for holding at least one of the plurality of component containers movably in a direction parallel to a component receiving plane in which the component storage portion is disposed;
  A rack lifting and lowering device that lifts and lowers the rack in a direction intersecting the component housing plane;
  The component container is moved in a direction parallel to the component receiving plane in the stopped state of the rack lifting device, the storage position stored in the rack, and the electronic circuit component pulled out from the rack and stored in the component receiving portion A component container moving device that moves the component to a component removal allowable position that permits removal of the component
An electronic circuit component supply apparatus comprising:
  An electronic circuit component supply device including a vibration suppressing device that suppresses vibration of the component container at least one of when the rack is raised and lowered by the rack lifting device and when the component container is moved by the component container moving device .
  The component container may directly store the electronic circuit components, or may indirectly store the electronic circuit components via a tray like a tray pallet. In the former, the component accommodating portion is provided in the component accommodating device itself, and in the latter, the tray including the component accommodating portion is accommodated in the component accommodating device, whereby the component accommodating portion of the tray is accommodated in the component accommodating portion. It will function as a part.
  The component housing portion is, for example, a component housing recess that houses an electronic circuit component while positioning it.
  The component accommodation plane is not limited to a single plane, and may be a multi-level plane (for example, when the component accommodation portion is a component accommodation recess, the depth of the component accommodation recess is different in one component container).
  The rack includes a plurality of component container holders, holds at least one component container in each component container holder in the same posture as when electronic circuit components are supplied, and can be moved up and down by a lifting device. I just need it. As described in the section of the embodiment, there are only two openings that open in both forward and reverse directions of the moving direction by the component container moving device, and the component container can be attached and detached only in the opening direction, and a plurality of components The container may be stored in a state of covering all of them, and each of the plurality of plate-shaped component container holding members arranged in multiple stages is provided with a component container holding part, and stored without covering the component container. You may do it.
  Preferably, the rack lifting device is configured to sequentially position each of the component containers respectively held by the plurality of component container holding portions at the component supply position by moving the rack up and down. It is desirable that the component container positioned at the component supply position is pulled out from the rack.
  In the electronic circuit component supply device of this section, at least one of vibration of the component container when the rack is raised and lowered and vibration when the component container is moved by the component container moving device is suppressed. The vibration can be suppressed without reducing the lifting / lowering speed of the rack and the moving speed of the parts container, and the supply accuracy can be improved while suppressing the reduction in the supply efficiency.
  If the vibration of the component container is suppressed both when the rack is raised and lowered and the component container is moved, the vibration is best suppressed, but even if only one of the vibrations is suppressed, the corresponding effect is obtained. In this way, the drop in the supply efficiency is kept small, the electronic circuit component is misplaced or the posture is changed due to the orientation change, or the electronic circuit component is held incorrectly by the component holder.
The difference is reduced.
(2) The vibration suppression device includes a relative movement blocking device that blocks relative movement between the rack and each of the plurality of component containers at least when the rack is raised and lowered. Circuit component supply device.
  If the relative movement of the parts container with respect to the rack is prevented, the parts container does not move relative to the rack even if an impact is applied to the parts container when the rack is raised or lowered. As compared with the case where relative movement is possible, the vibration of the component container is suppressed.
  The relative movement blocking device can be, for example, a component container holding device that holds the component container with a holding member and blocks movement relative to the rack. The component container holding device may be, for example, a component container holding device that holds the component container and fixes it to the rack as in the electronic circuit component supply device described in (3), or by negative pressure. It is good also as a component container adsorption | suction apparatus provided with the adsorption | suction member which adsorb | sucks and hold | maintains a component container.
(3) The relative movement prevention device is provided in a portion corresponding to each of the plurality of component container holding portions of the rack, and holds the component container held by the component container holding portions. The electronic circuit component supply device according to (2), including a component container gripping device fixed to a rack.
  The component container is fixed to the rack by the component container gripping device, whereby movement relative to the rack is prevented and vibration is suppressed.
(4) A first grip member and a second grip member, wherein the component container gripping devices are provided in pairs at two locations separated from each other in the moving direction of the component container by the component container moving device of the rack. And a pair of first gripping member driving devices and second gripping member driving devices that drive the pair of gripping members independently of each other.
  The first and second gripping members are driven by the first and second gripping member driving devices, respectively, and moved to the gripping position for gripping the component container and the release position for releasing. The two first gripping members are provided apart from each other in a direction intersecting the component container moving direction in a plane parallel to the component housing plane. The same applies to the two second gripping members. Therefore, the component container moves the component container in a plane parallel to the component storage plane by engaging the first and second gripping members at four positions separated from each other in a plane parallel to the component storage plane. Two portions that are separated from each other in the direction intersecting the direction are gripped by the first gripping member and the second gripping member, respectively, and are firmly fixed to the rack, and vibration is well suppressed.
(5) Each of the pair of first gripping member driving devices and second gripping member driving devices is common to the plurality of first gripping members and second gripping members provided for each of the plurality of component container holding portions. The electronic circuit component supply apparatus according to item (4).
  According to this section, the component container gripping device can be simply configured.
(6) The raising / lowering direction of the rack is a vertical direction, the component housing plane is a horizontal plane, and the first gripping member and the second gripping member are provided on the rack so as to be rotatable around a vertical axis. The first gripping claw and the second gripping claw, wherein the first gripping member driving device and the second gripping member driving device include a first gripping claw rotating device and a second gripping claw rotating device, respectively (4) or The electronic circuit component supply device according to item (5).
  The first and second gripping claws may be linearly moving claws, but if they are rotating claws, for example, the gripping claws require less space for movement to grip and release the parts container, The component container gripping device can be configured compactly.
(7) A rotation limit defining device that regulates a rotation limit of the first gripping claw in a direction of gripping the component container, and the driving force of the second gripping claw driving device is the first gripping claw driving device. The electronic circuit component supply device according to item (6), wherein the electronic circuit component supply device is smaller than the driving force of
  By defining the rotation limit of the first gripping claw, the storage position of the component container in the rack in the moving direction of the component container is determined, and the component container is almost in advance in the rack in the moving direction of the component container. It is stored in the set position.
(8) The electronic circuit component supply device according to (6) or (7), wherein the first gripping claw includes a partial cylindrical surface-shaped gripping surface having a center line parallel to the rotation axis thereof. .
  According to the electronic circuit component supply device of this section, even if there is a manufacturing error, an assembly position error, etc. in the pair of first gripping claws constituting the component container gripping device, they are engaged with the gripping surface of the component container. The shift in the direction perpendicular to the moving direction of the component container in the component receiving plane is small.
(9) When the second gripping claw grips the component container, the engaging portion engages with the engaged portion of the component container, and the engaging portion comes into contact with the engaged portion. Any one of (6) to (8), further comprising: an elastic portion deforming portion that is elastically deformed later and keeps the engaging portion engaged with the engaged portion based on a restoring force of the elastic deformation. The electronic circuit component supply apparatus according to 1.
  For example, the second gripping claw can be made of a leaf spring material. The portion of the leaf spring material that engages with the engaged portion functions as an engaging portion, and the portion between the engaging portion and the base end portion functions as an elastic deformation portion. In addition, the second gripping claw includes a fixed member and a movable member that are connected to each other so as to be capable of relative movement (relative rotation or relative translation), and an elastic member disposed between the two members. It is also possible. The movable member functions as an engaging portion that engages with the engaged portion.
  In the second gripping claw, the engaging portion engages with the engaged portion, and the first and second gripping claws both engage with the component container. The engaging portion can be kept engaged with the engaged portion, and the first and second gripping claws can securely grip the component container. In addition, even if there is a manufacturing error or the like in the component container or the first and second gripping claws, it is absorbed by the elastic deformation of the elastically deforming portion, and the component container is not damaged. The component container can be securely gripped. Furthermore, since the second gripping claw is elastically engaged with the component container and the first and second gripping claws securely grip the component container, the first and second gripping claws are placed between the first and second gripping claws and the component container. Due to this frictional force, relative movement between the component container and the rack in the direction intersecting the component container plane and in the direction intersecting the component container movement direction in the component container plane is restricted, and vibration is suppressed.
(10) The component container holding portion includes a pair of rails provided in a state extending in parallel with a moving direction of the component container by the component container moving device, and the component container is supported by the pair of rails. The electronic circuit component supply apparatus according to any one of (1) to (9), including a pair of supported parts.
(11) The electronic circuit component supply device according to any one of (1) to (10), wherein the component container moving device includes a transfer conveyor.
(12) The transport conveyor holds a pair of endless transport members, a revolving drive device that circulates the endless transport members along a predetermined path, and a held portion of the component container. A holder that moves at the same speed as the endless transport member, and when the pair of endless transport members are circulated by the circular drive device in a state where the holder holds the held portion of the component container, When the holder moves at the same speed as the endless conveying member, the component container is transferred from the component container holding portion of the rack onto the pair of endless conveying members and is conveyed by the endless conveying member. The electronic circuit component supply device according to item (11), wherein the configuration thus configured constitutes the vibration suppression device.
  It is also possible to move the holder at the same speed as the endless conveying member by a dedicated holder moving device. However, if the holder is attached to the pair of endless conveying members, a dedicated holder moving device can be omitted. It is desirable that the holder is driven by a holder driving device provided on the transport conveyor to hold and release the held portion.
  Examples of the endless transport member include a belt and a chain.
  By moving the holder at the same speed as the endless transport member, the component container is moved at the same speed as the endless transport member. Therefore, when the endless transport member and the component container move integrally, there is no slip between them, and the component container is not held by the holder and is transported on the endless transport member As described above, it is avoided that the component container and the endless conveying member repeat relative movement and integral movement to vibrate the component container. Further, the vibration of the component container is small compared with the case where the component container slides on the surface supporting it, and the component container and the surface supporting it are not worn. , Improve life.
  If the conveyor conveys the component container with a pair of endless conveying members, it can stably support and convey while reducing the support area of the component container by the endless conveying member. It is not indispensable that the conveyor has a pair of endless conveying members, and it may have one endless conveying member. For example, the conveyor may be supported by a single wide belt. Good.
(13) The electronic circuit component supply apparatus according to (12), wherein the pair of endless conveying members is a conveyor belt made of rubber or the like, and the conveyor belt constitutes the vibration suppressing device.
  In the electronic circuit component supply apparatus of this section, the vibration of the component container is suppressed by the elastic deformation of the endless conveying member and the vibration attenuation by internal friction.
(14) The conveyor belt is a timing belt having a large number of teeth on an outer peripheral surface, and the rotation driving device is
  Two or more guide pulleys around which the timing belt is wound;
  A timing pulley that meshes with the teeth of the outer peripheral surface;
  A rotational drive device for rotationally driving the timing pulley;
  A belt support member for supporting an inner peripheral surface of a portion of the timing belt that supports the component container;
The electronic circuit component supply device according to item (13), comprising:
  The belt support member is, for example, a guide pulley or a guide rail. If a timing belt is used as the endless transport member, there is no slip between the endless transport member and the circumferential drive device, and the endless transport member can be accurately circulated to position the component container with high accuracy.
  The timing belt is provided with a large number of teeth on the outer peripheral surface, and if the belt support member supports the flat inner peripheral surface of the timing belt, vibration when the timing belt is rotated can be suppressed. If the conveyor belt is a timing belt with teeth on the inner peripheral surface, the timing belt with teeth on the outer peripheral surface is likely to cause vibration by repeated collisions between the teeth of the timing belt and the belt support member. If so, it is possible to avoid the occurrence of vibration due to repeated collisions with the teeth regardless of whether the support member is a guide rail or a guide pulley. In particular, if the support member is a guide pulley, there is no slip between the timing belt and the occurrence of vibration can be avoided even better.
  When the belt support member is a guide rail, it is desirable that at least one of the contact surfaces of the guide rail and the timing belt is formed of a low friction material. The low friction material can be made of, for example, polytetrafluoroethylene. In the case where at least one of the timing belt and the guide rail is provided with a main body part and an antifriction material layer formed on the surface of the main body part, the material forming the main body part of the antifriction material layer If it is made of a material having a lower friction coefficient, an anti-friction effect can be obtained.
(15) The electronic circuit component supply device according to any one of (11) to (14), including a guide device that guides movement of the component container by the component container moving device.
(16) The electronic circuit component supply device according to (15), wherein the guide device includes a pair of guide members and guides movement of the component container on a side surface perpendicular to the component storage plane.
  The guide member is, for example, a rail or a roller.
(17) Each of the pair of guide members has a rail shape, one is a fixed rail, the other is a movable rail provided so as to be able to approach and separate from the fixed rail, and the movable rail is in a direction approaching the fixed rail. The electronic circuit component supply apparatus according to item (16), including an urging device for urging, wherein the guide device constitutes the vibration suppressing device.
  The movable rail elastically sandwiches the component container between the fixed rail and prevents vibration in the direction intersecting the moving direction of the component container in the component housing plane of the component container. It is suppressed.
(18) An acceleration / deceleration that includes at least a control device that controls the circumferential drive device, and that the control device smoothly increases the transport speed at the start of transport of the component container by the endless transport member and smoothly decelerates at the end of transport The electronic circuit component supply apparatus according to any one of (12) to (17), including a control unit, wherein the acceleration / deceleration control unit constitutes the vibration suppression device.
  According to the electronic circuit component supply apparatus of this section, the acceleration and deceleration are smoothly increased and decreased at the start and end of conveyance of the component container, and the component container starts and stops moving with little impact. Thus, the vibration of the component container at the start and stop of the movement is suppressed.
  Also for the raising and lowering of the rack by the rack raising and lowering device, it is desirable to provide an acceleration / deceleration control unit so that the raising and lowering speed can be smoothly increased and decreased at the start and end of the raising and lowering of the rack, respectively.
(19) The electronic circuit component supply device according to any one of (1) to (18), wherein the component container stores the electronic circuit component via a tray.
(20) The electronic circuit component supply apparatus according to item (19), wherein the tray is made of a vibration absorbing material.
  Examples of the vibration absorbing material include a porous resin such as a foamed resin, for example, a foamable polyethylene.
  According to the electronic circuit component supply apparatus of this section, it is difficult to vibrate even when an impact is applied to the tray, and the displacement of the electronic circuit component can be reduced.
(21) The electronic circuit component supply apparatus according to (19) or (20), wherein the component container includes a pallet that supports the tray.
  Multiple types of trays with different shapes and sizes can be stored in a common rack via a pallet according to the type and number of electronic circuit components supplied, and there is no need to provide multiple types of racks according to the type of tray. Well, it is possible to supply electronic circuit components at a low cost.
(22) The electronic circuit according to (21), wherein the vibration suppression device includes a restraining device that restrains the tray supported by the pallet so that the tray cannot move in a direction parallel to the component housing plane. Parts supply device.
  According to the electronic circuit component supply apparatus of this section, when the tray is moved together with the pallet by moving the pallet up and down, the tray does not move with respect to the pallet, Circuit components can be supplied and vibration is suppressed.
(23) The electronic circuit component supply apparatus according to (21) or (22), wherein the pallet is made of a vibration absorbing material.
  Even if vibration is transmitted to the pallet, the vibration is absorbed by the pallet itself, transmission to the tray is small, and the displacement of the electronic circuit components and the like are satisfactorily suppressed.
(24) The electronic circuit component supply apparatus according to (23), wherein the pallet includes a vibration absorbing layer made of the vibration absorbing material and a metal material layer sandwiching the vibration absorbing layer from both the front and back surfaces.
  In this way, a light and strong pallet can be obtained. Therefore, it is easy for an operator to handle the pallet, the drive source of the rack lifting device can be made small, and even if the tray is heavy, it is difficult to bend and can be supported well. Further, in order to obtain strength, the thickness can be reduced compared to the case where the whole is made of a metal material, for example, less space is occupied in the state of being accommodated in the rack, for example, more trays. Can be supported, or can be stored in a rack with a margin. Further, if the metal material layer is made of a conductive metal, charging of pallets, trays and the like can be prevented, and generation of static electricity can be prevented.
(25) The vibration suppressing device includes a restraining device that restrains the tray supported by the pallet so as not to move in a direction parallel to the component housing plane, and the metal material layer is a magnetic material layer, The electronic circuit component supply device according to item (24), wherein the restraining device includes a restraining member having at least a permanent magnet portion.
  The restraining member is detachably fixed to the pallet by magnetic force, and restrains the tray so that it cannot move. The restraining member can be fixed at any position on the pallet, and can be used for restraining a plurality of types of trays having different shapes and dimensions.
(26) The vibration suppressing device has at least one of a relative height error between the rack lifting device and the component container moving device and a relative height error between the plurality of component container holding portions. Regardless of the above, a height adjusting device for adjusting the heights of the holding surface for holding the component container of the plurality of component container holding portions and the support surface for supporting the component container of the component container moving device. The electronic circuit component supply device according to any one of (1) to (25).
  According to the invention of this section, the relative height error between the rack lifting device and the component container moving device and the relative height error of the plurality of component container holding units, for example, the plurality of component container holding units are Despite the presence of at least one of pitch errors in the case of being arranged at an equal pitch, the holding surface for holding each component container of the plurality of component container holding portions is accommodated in the component container moving device. It can be positioned exactly in the same plane as the support surface that supports the vessel. Therefore, the component container can be smoothly transferred between the rack and the component container moving device, and the vibration of the component container can be suppressed.
(27) A component container holding unit detection device that is provided at one position in the raising / lowering direction of the rack, detects that at least one of the plurality of component container holding units has reached a set height, and issues a detection signal; ,
  The difference between the operating position of the rack lifting device when the component container holding unit detection device generates a detection signal, and the height of the support surface that supports the component container of the component container moving device and the set height The rack lifting device is stopped at a plurality of operating positions determined based on the position, so that the holding surfaces for holding the component containers of the plurality of component container holding portions are positioned in the same plane as the support surface. Elevating control unit and
The component container holding unit detection device and the elevation control unit constitute a vibration suppressing device that suppresses vibration of the component container when the component container is moved by the component container moving device. The electronic circuit component supply device according to any one of items) to (25).
  According to the invention of this section, the holding surface that holds each component container of the plurality of component container holding portions is positioned exactly in the same plane as the support surface that supports the component container of the component container moving device. Can be made. Therefore, the component container can be smoothly transferred between the rack and the component container moving device, and the vibration of the component container can be suppressed. It is desirable that the component container holding unit detection device itself is provided at the set height so that at least one of the plurality of component container holding units has reached the set height, but it is indispensable. Absent. It is sufficient that there is a known relationship between the arrangement height of the component container holding unit detection device and the set height.
  Based on the detection of the component container holding unit by the component container holding unit detection device, the stop position of the rack lifting device may be determined, or the rack lifting device may be stopped. The “difference between the set height and the height of the support surface” includes zero. That is, the position where the component container holding unit detection device detects the component container holding unit and the position where the rack lifting device is stopped may be the same. However, when the rack elevating device is stopped at a position for positioning the holding surface in the same plane as the support surface based on the detection of the component container holding unit, for example, the height of the support surface is set by a set distance from the set height. Based on the detection signal of the component container holding unit detection device (preferably as soon as the detection signal is issued), the rack lifting device starts decelerating, and after the deceleration starts, the set distance increases (or It is desirable that the rack elevating device is stopped when it is lowered. Even when the difference between the set height and the height of the support surface is 0, the position where the component container holding unit detection device emits the detection signal is almost known, and can be decelerated in advance. In this case, however, it is inevitable that the time required for operating the rack lifting device at a slow speed after deceleration becomes longer and the efficiency of the component supply work is reduced. On the other hand, if the deceleration of the rack lifting device is started based on the detection signal of the component container holding unit detection device, the disadvantage can be avoided.
  In addition, it is not indispensable to automatically detect that at least one of the plurality of component container holding portions has reached the set height by the component container holding portion detection device, but a person can detect it using a jig or a detection device. You may make it do. For example, the difference between the set height and the height of the support surface is set to 0, and the holding surface of the component container holding portion can be positioned substantially in the same plane as the support surface using a gap gauge. And obtain the operating position of the rack lifting device at that time. The acquired operation position is associated with information that can identify the component container holding unit in the rack in which the component container holding unit is provided in the storage unit of the control unit that controls the lifting of the rack lifting device using, for example, an input device. To remember. At the time of supplying the electronic circuit components, the rack lifting device is controlled using the stored operation position, and the holding surface of the component container holding portion is automatically positioned in the same plane as the support surface.
(28) The component container holding unit detection device detects that two or more of the plurality of component container holding units have reached the set height, and the elevation controller However, the rack lifting device is controlled based on two or more operating positions of the rack lifting device when detection signals for the two or more component container holding portions are issued. Electronic circuit component supply device.
  In the electronic circuit component supply device according to this section, the component container holding unit detection device detects that two or more of the plurality of component container holding units have reached the set height, and outputs a detection signal. To emit. Although it is desirable that the component container holding unit detection device detects the reaching of the set height for all of the plurality of component container holding units, it is not essential, and two of the plurality of component container holding units are not necessary. If the arrival at the set height is detected for two or more, the effect of the invention according to this section can be obtained. For example, the reach of the set height is detected for the uppermost and the lowermost of the plurality of component container holders, and the two rack lifting device operating positions from which the detection signals are issued are determined. If the rack lifting device is stopped at a plurality of positions determined by the interpolation operation based on the two operating positions, the accumulation of positioning errors of the plurality of component container holding portions by the rack lifting device is eliminated, Each component container holding portion can be accurately positioned at an appropriate relative position (relative height) with respect to the component container moving device. The two parts container holding parts, one having a height slightly lowered from the top and one having a height slightly raised from the bottom, are detected by the part container holding part detection device, and two of them. The rack lifting device may be stopped at a plurality of positions determined by the interpolation and extrapolation interpolation calculations based on the operation position of the rack lifting device corresponding to. Further, for example, if the arrival at the set position is detected for the three parts container holders of the top, middle, and bottom, a plurality of parts container holders can be positioned more accurately. As a result, if the arrival to the set position is detected for four or more component container holding portions, the effect of the present invention can be enjoyed even better. The operating position of the rack lifting device is determined by the drive source of the rack lifting device (for example, an electric motor capable of accurately controlling the rotation angle, such as a servo motor) or an encoder provided in a transmission device that transmits the movement, It can be detected by an operation amount or an operation position detector such as a linear encoder that detects the position of the movable member moving along with it.
(29) All of the plurality of component container holding units have detected parts to be detected by the component container holding unit detection device, and the component container holding unit detection device detects all of the detected units. The electronic circuit component supply device according to (28).
(30) The lifting control unit includes a rack lifting device operating position storage unit that stores an operating position of the rack lifting device when the component container holding unit detection device issues a detection signal. The electronic circuit component supply device according to any one of items 29).
  When the rack lifting / lowering device raises / lowers the rack and positions each of the plurality of component container holding units at the height of the component container moving device, the component container holding unit detection device sets the set height of the component container holding unit each time. It is possible to detect the reach of the rack, and the lifting control unit stops the rack lifting device based on the detection, and in that case, the rack lifting device operating position storage unit is not indispensable. On the other hand, if the rack lifting / lowering device operating position storage unit is provided, there is an advantage that it is not indispensable that the component container holding unit detection device detects the arrival of the component container holding unit at the set height. For example, in order to increase the detection accuracy of the component container holding unit reaching the set height by the component container holding unit detection device, it is desirable to reduce the operating speed of the rack lifting device. If the component container holder detecting device does not need to detect the arrival of the component container holder at the set height every time, the effect of improving the work efficiency can be obtained.
(31) Based on the operating position of the rack lifting device when the component container holding unit detection device issues a detection signal and the difference between the set height and the height of the support surface. Any one of (27) to (30), further comprising a stop position determining unit that determines a plurality of stop positions of the rack lifting device for positioning the holding surface in the same plane as the support surface. Including electronic circuit component supply device.
(32) The electronic circuit component supply device according to any one of (1) to (31);
  A board holding device for holding a circuit board on which electronic circuit components are to be mounted;
  A mounting device that includes a mounting head, receives the electronic circuit component from the component supply device by the mounting head, and mounts the electronic circuit component on the circuit board held by the substrate holding device;
  A control device for controlling at least the mounting device;
Including electronic circuit parts mounting machine.
  According to this section, the supply accuracy and reliability by the electronic circuit component supply device are high, and there is little error in taking out the electronic circuit component from the electronic circuit component supply device by the mounting head, or the electronic circuit component is held by the mounting head. The position error is reduced. Therefore, execution of extra operations such as circuit component re-removal is reduced, and the operating efficiency of the electronic circuit component mounting machine is improved.
(33) The component container of the electronic circuit component supply device includes a pallet that supports a tray, and
  A height acquisition unit for acquiring the height of all trays supported by the pallet on the pallet;
  A height control unit that controls the height of the mounting head when the electronic circuit component is taken out from the tray based on the height acquired by the height acquisition unit;
The electronic circuit component mounting machine according to item (32), including:
  According to the electronic circuit component mounting machine of this section, the electronic circuit components can be accurately taken out from the tray by the mounting head.
  For example, when a plurality of trays are stacked in the pallet, the empty tray after supplying all the electronic circuit components accommodated is taken out from the pallet and discharged. For this reason, assuming that the height of the pallet at the component removal allowable position is always the same, the height of the uppermost tray for supplying the electronic circuit components changes. Therefore, if the heights of all the trays actually placed on the pallet are obtained on the pallet, the height of the uppermost tray is obtained from the height and the height of the pallet at the part removal allowable position. Thus, the mounting head can be lowered to a position where the electronic circuit component can be taken out without damaging the mounting head or the electronic circuit component.

An electronic circuit component mounting machine 10 according to an embodiment of the present invention will be described with reference to FIGS. This type of electronic circuit component mounting machine 10 is already known in, for example, Japanese Patent No. 2824378, except for the part relating to the present invention, and will be described briefly.
In FIG. 1, reference numeral 12 denotes a base as a mounting machine body of the electronic circuit component mounting machine 10. On the base 12, a wiring board conveyor 16 as a board conveying device for conveying a printed wiring board 14 which is a kind of circuit board in the X-axis direction (left-right direction in FIG. 1), and a substrate holding for holding the printed wiring board 14. A printed wiring board holding device (hereinafter abbreviated as a wiring board holding device) 18 and an electronic circuit component 20 (see FIG. 4) are mounted on a circuit board to constitute an electronic circuit. A mounting device 22 for mounting the circuit component 20), an electronic circuit component supply device for supplying the circuit component 20 to the mounting device 22 (hereinafter abbreviated as a component supply device) 24, 26, etc. Is provided.
In the present embodiment, the printed wiring board 14 is conveyed in a horizontal posture by the wiring board conveyor 16 and is stopped at a predetermined work position by a stop device (not shown), and a portion corresponding to the work position of the base 12. Is held by a wiring board holding device 18 provided on the board. In the present embodiment, the printed wiring board 14 is supported in a horizontal posture on a mounting surface 28 (see FIG. 4, which is the upper surface in the present embodiment) on which the circuit component 20 is mounted.
In the present embodiment, an XY coordinate plane is set for the entire electronic circuit component mounting machine 10, and movement data of a mounting head or the like of the mounting apparatus 22 described later is set on the XY coordinate plane. In this embodiment, as shown in FIG. 1, the XY coordinate plane is a plan view of the electronic circuit component mounting machine 10 from above, with the component supply device 26 on the upper side and the component supply device 24 on the lower side. In this case, a horizontal coordinate plane with the left and right directions as the X-axis direction, the up and down direction as the Y-axis direction, and the right direction and the upper direction as positive directions, respectively.
As shown in FIG. 2, the component supply devices 24 and 26 are provided stationary at fixed positions on both sides of the wiring board conveyor 16, separated from each other in the Y-axis direction orthogonal to the X-axis direction in the XY coordinate plane. It has been. In the illustrated example, the component supply device 24 is a feeder-type component supply device, and the component supply device 26 is a tray-type component supply device.
The feeder-type component supply device 24 has a component supply table 34 in which a large number of feeders 30 are arranged on a feeder support table 32 and each component supply unit is arranged along a line, for example, along a direction parallel to the X-axis direction. . For example, each feeder 30 holds the circuit component 20 on a component holding tape (not shown), and supplies it as a taped electronic circuit component. The taped electronic circuit components are fed at a constant pitch by a feeding device (not shown), and the circuit components 20 are supplied one by one from the component supply unit.
As shown in FIG. 6, the tray-type component supply device 26 stores the circuit component 20 in the tray 50 and supplies it. The tray-type component supply device 26 will be described in detail later.
The mounting device 22 moves the mounting head 60 shown in FIG. 4 in a direction having components in the X-axis direction and the Y-axis direction orthogonal to each other to convey the circuit component 20 and mounts it on the mounting surface 28 of the printed wiring board 14. It is supposed to be. Therefore, as shown in FIG. 1, ball screws 64 are provided in parallel to the X-axis direction on both sides in the Y-axis direction of the wiring board conveyor 16 of the base 12, and are provided on an X-axis slide 66 as a moving member. Each of the two nuts 68 (only one is shown in FIG. 3) is screwed. These ball screws 64 are rotated by the X-axis slide drive motor 70, respectively. The shaft slide 66 is moved to an arbitrary position in a direction parallel to the X axis.
As shown in FIG. 1, the X-axis slide 66 has a length extending from the feeder-type component supply device 24 over the wiring board conveyor 16 to the tray-type component supply device 26. The movement of the X-axis slide 66 is guided by a guide device including a guide rail 72 (see FIG. 3) as a guide member. As described above, the nut 68, the ball screw 64, the X-axis slide drive motor 70, and the like constitute the X-axis slide moving device 76.
On the X-axis slide 66, a ball screw 80 (see FIG. 3) is provided in parallel with the Y-axis direction, and a Y-axis slide 82 as a moving member is screwed on a nut 84. When the ball screw 80 is rotated by a Y-axis slide drive motor 86 (see FIG. 1), the Y-axis slide 82 is guided by a guide device including a pair of guide rails 92 (see FIG. 3) as guide members. It is moved to an arbitrary position parallel to the Y-axis direction. As described above, the nut 84, the ball screw 80, the Y-axis slide drive motor 86 and the like constitute the Y-axis slide moving device 94, and together with the X-axis slide 66, the X-axis slide moving device 76 and the Y-axis slide 82, a printed wiring board. 14 and the component supply devices 24, 26 and the mounting head 60 are configured as an XY moving device 96 as a relative moving device. The mounting head 60 is parallel to the mounting surface 28 by the XY moving device 96. , Moved to an arbitrary position in the horizontal plane.
As shown in FIGS. 3 and 4, the support portion 102 provided on the Y-axis slide 82 is provided with a mounting head 60, a head lifting / lowering device 104 that is a head axis direction moving device that lifts and lowers the mounting head 60, and the mounting head 60. A head rotating device 106 that rotates around the axis is provided, and the mounting head 60 and the like constitute a component mounting unit 108. In the present embodiment, one set of component mounting units 108 is provided, but a plurality of sets may be provided. For example, a plurality of component mounting units 108 can be provided on the Y-axis slide 82 in a line parallel to the Y-axis direction.
The component mounting unit 108 of this embodiment is configured in the same manner as the component mounting unit described in Japanese Patent No. 3093339, and will be briefly described.
The support portion 102 is provided with a shaft 110 that can move in a direction parallel to the Z-axis direction (the direction perpendicular to the X-axis and Y-axis directions and is the vertical direction) and can rotate about the axis. A suction nozzle 114 as a component holder is detachably held by a holder 112 provided in the holder. In the present embodiment, the shaft 110 and the holder 112 constitute the mounting head 60.
The head lifting / lowering device 104 uses the head lifting / lowering motor 120 as a drive source, and the rotation of the head lifting / lowering motor 120 is transmitted to the nut 126 by the rotation transmission device including the gears 122 and 124, and the nut 126 is rotated, whereby The screwed shaft 110 is raised and lowered, and the mounting head 60 is raised and lowered. The head lifting / lowering device 104 is also an approach / separation device that causes the mounting head 60 to approach and separate from the work target, and can be considered to constitute a relative movement device together with the XY movement device 96. The head rotation device 106 uses a head rotation motor 130 (see FIG. 21) as a drive source, and the rotation is transmitted to the shaft 110 by the rotation transmission device including the gear 132, and the shaft 110 is rotated around the axis line. 60 is rotated about its vertical axis of rotation.
The suction nozzle 114 includes a nozzle body 138 as a main body portion and a suction pipe 140 as a suction portion. The suction nozzle 114 sucks the circuit component 20 with a negative pressure and attaches it to the printed wiring board 14. Therefore, the suction nozzle 114 is connected to a negative pressure source, a positive pressure source (not shown), and the atmosphere, and the suction pipe 140 is switched to a negative pressure source and a positive pressure source by switching an electromagnetic direction switching valve device (not shown). And alternatively communicated with the atmosphere. The suction tube 140 has a downward suction surface 142 and sucks the circuit component 20.
The Y-axis slide 82 is also provided with a reference mark camera 152 (see FIGS. 1 and 4) that is an image pickup device that images a plurality of reference marks 150 (see FIG. 1) provided on the printed wiring board 14 so as not to move. ing. In the present embodiment, the reference mark camera 152 is constituted by a CCD camera and is a surface imaging device. An illumination device 154 is provided corresponding to the reference mark camera 152, and illuminates the reference mark 150 and its surroundings. The reference mark camera 152 and the illumination device 154 constitute a reference mark imaging system.
The X-axis slide 66 is at a position corresponding to each of the two ball screws 64 that move the X-axis slide 66. And the printed wiring board 14, the imaging devices 180 are attached so as not to move.
The configuration of the imaging device 180 is the same, and a component camera 182 and a light guide device 184 for imaging the circuit component 20 are provided as representatively shown in FIG. In the present embodiment, the component camera 182 is a CCD camera and a surface imaging device, like the reference mark camera 152. Further, an illumination device 186 is provided below the movement path of the mounting head 60 of the X-axis slide 66, and a front image and a projection image of the circuit component 20 are obtained by a component imaging system including the imaging device 180 and the illumination device 186. Are selectively imaged. The component imaging system is provided in the middle of the movement path of the mounting head 60 in the Y-axis direction, and is imaged while being moved from the component supply devices 24 and 26 to the printed wiring board 14.
The tray-type component supply device 26 will be described with reference to FIGS.
In this embodiment, as shown in FIGS. 6 and 7, the tray-type component supply device 26 supports the tray 50 and constitutes a component container. A tray pallet (hereinafter abbreviated as a pallet) 200, a pallet 200 includes a rack 202 in which 200 is stored, a rack lifting device 204 (see FIG. 10), a transport conveyor 206 as a component container moving device, and a pallet guide device 208 (see FIG. 13) as a component container guide device. It is mounted on the base 12 (see FIG. 5), and the circuit component 20 is supplied. The rack 202 and the rack lifting / lowering device 204 constitute a pallet storage part or a part storage part as a part container storage part, and the transport conveyor 206 and the pallet guide device 208 constitute a pallet shuttle part or a pallet shuttle system.
As shown in FIG. 6, the tray 50 is formed by projecting a flat plate material leaving a periphery, with a central portion protruding in a direction perpendicular to the plate surface, and a protrusion 212 and a recess 214 having a rectangular cross section. It has the provided shape. The projecting end surface of the projecting portion 212 has a flat surface, and a plurality of housing recesses 216 serving as component housing portions opening on the projecting end surface are provided in a single planar shape, and the circuit component 20 is positioned in each housing recess 216. One by one is accommodated so that it can be taken out. In the present embodiment, the component housing plane on which the housing recess 216 is disposed forms a single plane that is perpendicular to the axis of the tray 50. Further, one type of circuit component 20 is accommodated in one tray 50. The outer peripheral surface 218 of the protrusion 212 and the inner peripheral surface 220 of the recess 214 have the same inclined taper shape. By fitting the protrusion 212 of another tray 50 into the recess 214 of the tray 50, the plurality of trays 50 can be formed. It can be positioned in a direction parallel to the component housing plane, and stacked in a state where relative movement is impossible and relative rotation is impossible.
The pallet 200 will be described.
The pallet 200 supports the tray 50 and accommodates the circuit components 20 via the tray 50. As shown in FIGS. 7 and 8, the pallet body 230 of the pallet 200 has a rectangular shape in plan view and a thin plate shape, and rails 232 are provided on both sides thereof, as shown in FIGS. The supported part or guided part is configured. Both ends of each rail 232 in the longitudinal direction are narrower toward the tip, and are provided with guide portions 234. In addition, as shown in FIG. 8, inclined end surfaces that incline toward the upper side are provided at both longitudinal ends of the lower surfaces of the two rails 232 to form a guide surface 236. . Further, as shown in FIG. 7, each of the two rails 232 has a side surface 238 that is parallel to the longitudinal direction of the rail 232 and perpendicular to the component receiving plane, and is open to the upper surface, at two locations separated in the longitudinal direction. Engaging recesses 242 and 244 are provided as engaging portions. The engaging recesses 242 and 244 are side surfaces perpendicular to the longitudinal direction of the rail 232 and close to each other to form engaging surfaces 246 and 248.
In this embodiment, the pallet main body 230 is made of, for example, a steel art panel (trade name) manufactured by Sekisui Plastic Plametal Co., Ltd. Magnetic material layers 252 and 254 sandwiching the vibration absorbing layer 250 from both front and back sides are laminated. In this embodiment, the vibration absorbing layer 250 is made of a foamed resin that is a kind of vibration absorbing material, for example, polyethylene, and the magnetic material layers 252 and 254 are made of a magnetic material that is a kind of metal material, for example, steel. It has been. The magnetic material layers 252 and 254 are metal material layers, and coatings 256 and 258 are applied to the surfaces thereof, respectively. Therefore, the pallet main body 230 is light, thin, and highly rigid while having magnetism and vibration absorption capability. It is not essential to paint.
The pallet main body 230 has a support for supporting the upper surface of the pallet main body 230 or the tray 50 on each of two sides provided with the pair of rails 232 and one of the two sides perpendicular to the longitudinal direction of the rails 232. A positioning surface 262 rising from the surface 260 at a right angle is provided. The direction parallel to the longitudinal direction of the rail 232 of the pallet main body 230 is the front-rear direction or the pallet transport direction as the component container moving direction by the transport conveyor 206 and the pallet transport direction as the component container moving direction. The side on which the positioning surface 262 is provided is the front part, and the direction in which the pair of rails 232 are separated and is orthogonal to the pallet conveying direction in the support surface 260 is the left-right direction or the width direction. At the rear of the pallet main body 230, a gripping portion 264 that rises at a right angle from the support surface 260 of the pallet main body 230 is provided. The grip portion 264 is long in the left-right direction, functions as a handle, and serves to reinforce the pallet body 230.
Further, as shown in FIGS. 7 and 8, a handle 266 protrudes forward from the center of the front surface of the pallet main body 230 in the left-right direction to form a held portion. A pair of grips 268 are provided at the protruding end of the handle 266 in parallel with the left-right direction of the pallet 200. In the present embodiment, the grip portions 268 are concentrically provided with a circular cross-sectional shape.
At least one tray 50 is supported by the pallet 200. Depending on its size, the tray 50 may be supported at one place in the pallet 200 or may be supported at a plurality of places, for example, two places. In addition, a plurality of trays 50 may be stacked and stacked on each other. In any case, the tray 50 is placed and supported on the support surface 260 and is restrained in the pallet 200 so as not to move in a direction parallel to the component receiving plane by the restraining device 270.
In the present embodiment, the restraining device 270 includes a plurality of kinds of restraining members 272 and 274 as shown in FIG. Each of the restraining members 272 and 274 includes casings 275 and 277 as magnet holders made of a non-magnetic material, and permanent magnets 276 and 278 housed in the casings 275 and 277 and constituting a permanent magnet portion. It can be placed and fixed at any position on the support surface 260 of the pallet body 230 made of material. The tray 50 is positioned with at least two of its four side surfaces being in contact with the positioning surface 262, and the restraining member 272 is positioned on the two side surfaces of the tray 50 that are not in contact with the positioning surface 262. At least one of 274 is brought into contact with and placed on the support surface 260 to restrict and restrain the movement of the tray 50.
As described above, a plurality of trays 50 are provided so as to be stacked in a state of being positioned with respect to each other in a direction parallel to the component housing plane, and the restraining members 272 and 274 are provided for the plurality of trays 50 stacked on each other. Among them, at least the side surface of the lowermost tray 50 is brought into contact with and restrained. The plurality of trays 50 are fitted to each other and are prevented from being displaced in a direction parallel to the component receiving plane. 50 deviations are also regulated. As the tray 50 is accommodated and supported in the pallet 200 in this way, the accommodating recess 216 of the tray 50 functions as a component accommodating portion of the pallet 200, and the component accommodating plane on one plane of the tray 50 is the component of the pallet 200. Construct a receiving plane. The component receiving plane is parallel to the support surface 260.
As shown in FIG. 10, in the present embodiment, the rack 202 has a rectangular shape in a vertical cross section perpendicular to the pallet storage direction, and opens in both forward and reverse directions in the transport direction of the pallet 202 by the transport conveyor 206. It has two openings and stores a plurality of pallets 202 in a state of covering all of them, and the pallet 200 can be attached to and detached from the rack 202 only in the opening direction.
As shown in FIG. 10, the rack body 280 of the rack 202 is provided with a plurality of pairs of rails 282 as a pair of pallet support members arranged in equal intervals in the rack up-and-down direction. Part. In the present embodiment, the plurality of pairs of rails 282 are integrally provided on a rail forming member 283 that constitutes the rack body 280, so that a plurality of shelves 284 are arranged at equal intervals in the vertical direction in the rack 202. The pallet 200 can be stored in multiple stages, a plurality of types of circuit components 20 can be stored, and a large number of circuit components 20 can be stored. The rack 202 of the tray-type component supply device 26 supported by the carriage 210 is provided vertically, and the rail 282 is provided horizontally so as to extend in parallel with the pallet conveying direction or the front-rear direction.
The pallet 200 is mounted on a pair of rails 282 in a pair of rails 232, and is supported in a horizontal posture by the rails 282, the component housing plane is a horizontal plane, and is a direction parallel to the longitudinal direction of the rails 282, It is held so as to be movable in the horizontal direction parallel to the component receiving plane. The upper surface of the rail 282 constitutes a support surface 286 as a holding surface that supports and holds the pallet 200 from below, and the front end portion of the support surface 286, that is, the end portion on the side adjacent to the transport conveyor 206. As shown in FIG. 8, an inclined surface that is inclined downward toward the front is provided to form a guide surface 288. The support surface 286 is a horizontal surface in the present embodiment. The pallet 200 is stored in the rack 202 in the left-right direction, leaving a very small gap between the pair of rails 232 and the rail forming member 283 that allows the pallet 200 to move in the front-rear direction.
Further, the front end portion of the rack 202 that protrudes forward from the rail forming member 283 of the rack 202 and the side wall 328 (see FIG. 12) of the rack main body 280 of the rail 282 is illustrated in FIGS. A notch 292 is provided as shown in FIG. The notches 292 are provided through the plurality of pairs of rails 282 and rail forming members 283 provided with the rails 282 in the left-right direction.
The rack 202 is moved up and down by the rack lifting and lowering device 204. As shown in FIG. 10, the rack lifting / lowering device 204 is rotatable about a vertical axis to the rack lifting / lowering motor 302 and the frame 300 as drive sources attached to the frame 300 constituting the apparatus main body of the tray-type component supply device 26. A pair of screw shafts 304 and a pair of nuts 306 fixed to the rack 202 are included. When the screw shaft 304 is rotated by the rack lifting / lowering motor 302, the rack 202 is guided by a guide device including a pair of guide rails 308 (see FIG. 11) as a guide member, and is moved up and down to an arbitrary position in the vertical direction. It is done. The rack 202 is moved up and down in a direction perpendicular to the horizontal component receiving plane, and the plurality of pallets 200 supported by the rail 282 are sequentially positioned at the component supply position.
An ideal component supply position is determined by a support surface that supports a pallet 200 of a conveyor belt, which will be described later, of the transfer conveyor 206. The position where the support surface 286 of the rail 282 that supports the pallet 200 is located exactly in the same plane as the conveyor belt support surface, in the present embodiment in the same horizontal plane, is the ideal component supply position of the pallet 200. A horizontal plane including the support surface of the conveyor belt is a conveyance surface of the pallet 200. The vertical position of the conveyor belt support surface of the transfer conveyor 206 is set to a predetermined height by design, but the height direction caused by manufacturing errors, assembly errors, etc. of the components of the transfer conveyor 206 Due to this error, the position is not necessarily located at the design position, and the ideal component supply position is not necessarily at the design position. In the rack lifting / lowering device 204, there are usually errors in the height direction due to manufacturing errors and assembly errors of components, and there is also an error in the pitch of a plurality of pairs of rails 282, which is ideal. Even if the component supply position is at the design position, the pallet 200 is not necessarily positioned at the ideal component supply position by raising and lowering the rack 202. Therefore, a transfer sensor 312 is provided in order to cancel these various errors as much as possible and to position the pallet 202 at an ideal component supply position in the tray-type component supply device 26 with the highest possible accuracy.
The transfer sensor 312 is provided at a position away from the component supply position in the rack ascending / descending direction by design, in this embodiment, as shown in FIG. 20B, above the component supply position. The transfer sensor 312 is provided as close as possible to the position set by design, and the vertical distance of the conveyor 206 to the support surface of the conveyor belt is measured by a measuring device, so that the accurate position relative to the ideal component supply position Has been acquired. Alternatively, the assembly position may be adjusted at the time of assembly of the transfer sensor 312 so that the sensor is provided at a position away from the ideal component supply position determined by the height of the support surface of the conveyor belt. Good. In any case, the actual distance L1 (see FIG. 20C) with respect to the ideal component supply position of the transfer sensor 312 (the support surface of the conveyor belt of the transfer conveyor 206) is known.
In the present embodiment, the transfer sensor 312 is configured by a transmissive photoelectric sensor that is a kind of photoelectric sensor. The projector and the light receiver have a horizontal optical axis parallel to the horizontal direction of the rack 202, and The light beam passes through the notch 292 provided in the rack 202. Therefore, when the rack 202 is moved up and down, the light emitted from the projector is received by the light receiver through the notch 292 or blocked by the rack 202, and a plurality of pairs of rails 282 are sequentially detected based on the light reception and light blocking. Is done. In the present embodiment, the portion where the notch 292 of the rail 282 is provided constitutes the detected portion. Note that the lower surface of the end of the rail 232 of the pallet 200 is inclined so as to form the guide surface 236. When the pallet 200 is stored in the rack 202, as shown in FIG. The leading end of the rail 232 comes off from the notch 292. Therefore, even when the rail 282 is transferred and detected by the sensor 312 in a state where the pallet 200 is stored in the rack 202, the pallet 200 does not prevent transmission of light emitted by the projector. In order to provide the inclined guide surface 236 on the rail 232, a notch or an inclined portion provided at the tip of the rail 232 constitutes a component container holding portion detection permission portion. The raising / lowering control of the rail 282 based on the detection by the transfer sensor 312 will be described later.
As shown in FIGS. 7 and 11, the rack 202 is provided with a pallet gripping device 320 as a component container gripping device. The pallet gripping device 320 is provided in each portion of the rack body 280 corresponding to each pair of the plurality of pairs of rails 282, and is fixed to the rack 202 by gripping the pallet 200. It may be considered that the pallet gripping device 320 is provided for each rail 282 and one pallet gripping device 320 is provided for each shelf 284.
As shown in FIG. 7, each of the plurality of pallet gripping devices 320 is provided in pairs at two locations separated from each other in a direction parallel to the pallet transport direction, that is, the longitudinal direction of the rail 282. A first gripping claw 322 as one gripping member and a second gripping claw 324 as a second gripping member are included. The first gripping claws 322 are provided on the front side of the rack body 280 (on the side adjacent to the transfer conveyor 206 and on the mounting device 22 side), and the second gripping claws 324 are provided on the rear side. Each one of the two first gripping claws 322 and the second gripping claws 324 is provided on one side of the pair of rails 282, and the other is provided on the other rail 282 side. The two first gripping claws 322 of the pallet gripping device 320 are provided in the left-right direction, which is a direction orthogonal to the pallet transport direction, in a plane parallel to the component housing plane. The same applies to the two second gripping claws 324.
As shown in FIG. 12, among the pair of first gripping claws 322 of each of the plurality of pallet gripping devices 320, the first gripping claws 322 provided on the same rail 282 side are each attached to and detached from a common claw holder 326. The rack body 280 is fixed so as to be able to enter the rack body 280 through the opening 330 provided in the side wall 328 of the rack body 280 and the opening 331 provided in the rail forming member 283, respectively. The openings 330 and 331 are provided corresponding to each of the plurality of pairs of rails 282. Note that the front end of the rail forming member 283 (the end on the transport conveyor 206 side) protrudes forward from the front end of the side wall 328. As shown in FIG. 11, the claw holder 326 has a longitudinal shape and is vertically aligned with the rack body 280 by a shaft 332 (shown as one of the shafts 332 in FIG. 12) at two locations separated in the vertical direction. Attached so as to be rotatable around. In addition, a gripping surface 334 having a partial cylindrical surface having a center line parallel to the rotation axis of the first gripping claw 322 (the axis of the shaft 332) is provided at the tip of the first gripping claw 322.
As shown in FIGS. 11 and 12, the claw holder 326 is connected to the tip of the piston rod 342 of the air cylinder 340 provided in the rack body 280 so as to extend in the front-rear direction at the middle in the vertical direction. ing. The coupling shaft 344 provided in the claw holder 326 in the vertical direction is fitted in the elongated hole 346 provided in the distal end portion of the piston rod 342 so as to be relatively movable in the longitudinal direction of the elongated hole 346. The air cylinder 360 is a fluid pressure cylinder which is a kind of fluid pressure actuator, and constitutes a drive source. The expansion and contraction of the piston rod 342 causes the claw holder 326 to rotate around the vertical axis, thereby One gripping claw 322 is rotated all around the vertical axis.
The extended end of the piston rod 342 is defined by a stopper 350 provided on the rack body 280. In this state, as indicated by a solid line in FIG. 12, the first gripping claw 322 is rotated to the gripping position for gripping the pallet 200, and the engaging recess 242 provided on the rail 232 of the pallet 200 is held on the gripping surface 334. The pallet 200 is gripped together with the second gripping claws 324 and fixed to the rack 202, and the pallet 200 is fixed to both the pallet body 280 and the rail 282. . The engaging position or gripping position of the first gripping claw 322 is defined by the stopper 350. When the piston rod 342 is contracted, as shown by a two-dot chain line in FIG. 12, the first gripping claw 322 is rotated to the release position, and the gripping surface 334 is pulled out of the engagement recess 242 to remove the pallet 322. The pallet 322 is released from the rack body 280 and released. The contraction end of the piston rod 342 is defined by, for example, the stroke end of the piston. In the present embodiment, the claw holder 326 and the air cylinder 340 constitute a first grip claw rotation device 352 as a first grip member driving device, and the first grip claw rotation device 352 includes a plurality of pallet grip devices 320. The first gripping claws 322 are provided in common. In addition, the stopper 350 is on the side where the first gripping claw 322 rotates to the gripping position, and constitutes a rotation limit defining device that regulates the rotation limit in the direction in which the pallet 200 is gripped.
Of the pair of second gripping claws 324 of each of the plurality of pallet gripping devices 320, the second gripping claws 324 provided on the same rail 282 side are also attached to and detached from the common claw holder 360 like the first gripping claws 322. The rack body 280 is fixed so as to be able to enter the rack body 280 through the opening 362 provided in the side wall 328 of the rack body 280 and the opening 363 provided in the rail forming member 283. The openings 362 and 363 are provided corresponding to each of the plurality of pairs of rails 282. The claw holder 360 is attached to the rack main body 280 by a shaft 364 (see FIG. 12) so as to be rotatable about the vertical axis at two locations separated in the vertical direction, and is provided in an orientation extending in the front-rear direction. The tip end of the piston rod 368 of the cylinder 366 is connected to the tip end of the piston rod 368 by a connecting shaft 370 and a long hole 372 (see FIG. 12) so that relative rotation is possible. The plurality of second gripping claws 324 are rotated simultaneously and independently of each other with respect to the first gripping claws 322. In the present embodiment, the claw holder 360 and the air cylinder 366 constitute a second gripping claw rotating device 374 as a second gripping member driving device, and the second gripping claw driving device 374 includes a plurality of pallet gripping devices 320. The second gripping claws 324 are provided in common.
As shown in FIG. 12, the second gripping claw 324 includes a gripping claw body 376 and a leaf spring 378 held by the gripping claw body 376. The leaf spring 378 is a kind of spring as an elastic member. The leaf spring 378 is detachably attached to the grip claw body 376 at the base end portion 380 and is fixed in a posture in which the plate surface of the leaf spring 378 is vertical. The extended distal end portion functions as the engaging portion 382, and the portion between the engaging portion 382 and the base end portion 380 functions as the elastic deformation portion 384. In the present embodiment, the engaging portion 382 has a distal end portion that is the end portion on the opposite side of the base end portion 380 side of the elastic deformation portion 384 when the second gripping claw 324 is moved from the release position to the gripping position. It is bent and provided in the direction opposite to the rotation direction.
As shown by a solid line in FIG. 12, the second gripping claw 324 is engaged with the engagement surface 248 of the engagement recess 244 provided in the rail 232 of the pallet 200 by the air cylinder 366, and the pallet 200 is gripped with the first gripping claws 322 and fixed to the rack 202, and is rotated to a release position where the pallet 200 is released by being pulled out of the engaging recess 244 as indicated by a two-dot chain line. . The first and second gripping claws 322 and 324 are both turned to the release position, so that the pallet 200 is released and the pallet 200 is moved in the transport direction without hindering the movement of the pallet 200, and the rack 202 is moved. It can be taken in and out.
The driving force that causes the air cylinder 366 to grip the pallet 200 by the second gripping claw 324 is smaller than the driving force that causes the air cylinder 360 to grip the pallet 200 by the first gripping claw 322. Therefore, the storage position in the front-rear direction of the pallet 200 when gripped by the pallet gripping device 320 is defined by the stopper 350. It is defined by the first gripping claw 322 rotated to the gripping position. If the pallet 200 is positioned in front of the storage position defined by the first gripping claw 322, the first gripping claw 322 engages with the engagement surface 246 when rotated to the gripping position. Is retracted and placed in the stowed position.
When the second gripping claw 324 is rotated by the air cylinder 366, the engaging portion 382 engages with the engaging surface 248 of the engaging recess 244 of the pallet 200 and presses the pallet 200 against the first gripping claw 324. . The second gripping claw 324 is rotated until a predetermined driving force set in the air cylinder 366 is obtained. At that time, the elastic deformation portion 384 elastically deforms after the engagement portion 382 contacts the engagement surface 248, and keeps the engagement portion 382 engaged with the engagement surface 248 based on the restoring force of the elastic deformation. . Variations in dimensions of the pallet 200 and the like are absorbed by elastic deformation of the elastic deformation portion 384. In this way, the second gripping claw 324 is elastically engaged with the engagement surface 248 and securely holds the pallet 200 in cooperation with the first gripping claw 322 provided on the same rail 282 side. Prevents the pallet 200 from moving in the front-rear direction, and the frictional force generated between the first and second gripping claws 322 and 324 and the engaging surfaces 244 and 248 causes the pallet 200 to move in the vertical direction (perpendicular to the component housing plane). The pallet 200 is prevented from vibrating when the rack is raised and lowered. In this way, the pallet 200 is engaged with the first and second gripping claws 322 and 324 at four locations separated from each other in a plane parallel to the component housing plane, so that the two portions separated from each other in the left-right direction are respectively first. It is gripped by the one gripping claw 322 and the second gripping claw 324, and is firmly fixed to the rack 202, and vibrations are suppressed satisfactorily.
In addition, since the gripping surface 336 of the first gripping claw 322 has a partial cylindrical surface shape, the shift in the left-right direction of the portion that engages the gripping surface 336 of the pallet 200 can be small.
The conveyance conveyor 206 will be described.
As shown in FIGS. 5 and 13, the transfer conveyor 206 is provided so as to protrude forward from the carriage 210 and the frame 300. In the present embodiment, the transport conveyor 206 is a belt conveyor, and includes a pair of conveyor belts 404 and 406 as endless transport members, a circular drive device 408, and a holder 410. The conveyor belts 404 and 406 are made of rubber. In the present embodiment, the conveyor belts 404 and 406 are timing belts having a large number of teeth 412 (see FIG. 14B) on the outer peripheral surface.
As shown in FIGS. 13 to 15 (a), the orbiting drive device 408 is provided on a pair of support members 416 and 418 provided to extend forward from the carriage 210 and the frame 300. These support members 416 and 418 are formed in a plate shape and are provided at a distance in a direction perpendicular to the pallet conveying direction in a plane parallel to the component receiving plane. A plurality of guide pulleys 420 around which 404 and 406 are wound and a plurality of timing pulleys 422 meshing with the teeth 412 of the conveyor belt 404 are attached to be rotatable around a horizontal axis perpendicular to the pallet conveying direction.
The conveyor belts 404 and 406 are wound around the guide pulley 420 on the flat inner peripheral surface, the outer peripheral surface side is wound around the timing pulley 422, and the teeth 412 are meshed with the teeth of the timing pulley 422. However, one of the guide pulleys 420 is a tension pulley and supports the conveyor belts 404 and 406 from the outer peripheral surface side.
A plurality of guide pulleys 420 and timing pulleys 422 set the circulation path of the conveyor belts 404 and 406, and the conveyor belts 404 and 406 are provided with a horizontal conveyance unit or support unit 424 from the rack 202 to the wiring board conveyor 16. The upper surface constitutes a pallet conveying surface or support surface 426. The support surface 426 is constituted by a set of upper surfaces of the plurality of teeth 412 included in the support portion 424. The conveyor belts 404 and 406 are provided at positions corresponding to the pair of rails 282 in the left-right direction of the transfer conveyor 206 (the direction perpendicular to the pallet transfer direction in the horizontal plane). The transport conveyor 206 is provided adjacent to the rack 202, and the circulation path of the conveyor belts 404 and 406 is such that the distance between the end of the support portion 424 adjacent to the rack 202 and the rail 282 is short. It is provided to be located close to each other.
The support members 416 and 418 are also provided with a plurality of guide pulleys 428 that are rotatable about an axis parallel to the guide pulley 420 and the like and arranged in the pallet conveying direction at portions corresponding to the circulation path of the support portion 424. It supports the flat inner peripheral surface of the support portion 424. A plurality of guide pulleys 428 constitute a belt support member. Each of the guide pulleys 420 and 428 and the timing pulley 422 is provided with a restricting portion that extends in a direction perpendicular to the rotation axis from each of both ends separated in a direction parallel to the rotation axis. Is sandwiched from both sides in the width direction, and displacement in the width direction is restricted.
One of the plurality of timing pulleys 422 attached to the support member 416 is rotated by the rotation driving device 432, so that the pair of conveyor belts 404 and 406 are simultaneously in the same direction along a predetermined circulation path. It is made to go around. As shown in FIG. 13, the rotation drive device 432 uses a belt drive motor 434 provided on a support member 433 held by support members 416 and 418 as a drive source, and the rotation thereof is performed by timing pulleys 436 and 438 and a timing belt 439. Is transmitted to the timing pulley 422 that drives the conveyor belt 404, and is transmitted to the timing pulley 422 that drives the conveyor belt 406 by the rotating shaft 440, and the conveyor belts 404 and 406 are rotated in a synchronized manner.
The holder 410 will be described.
As shown in FIGS. 13 and 15A, the holder 410 is provided on a moving member 446 that is held at a fixed position by a pair of conveyor belts 404 and 406. The moving member 446 has a longitudinal shape, and both end portions in the longitudinal direction are detachably fixed to portions of the conveyor belts 404 and 406 constituting the support portion 424, respectively. Therefore, when the conveyor belts 404 and 406 are rotated, the moving member 446 is moved integrally with the conveyor belts 404 and 406, and the holder 410 provided on the moving member 446 is moved at the same speed as the conveyor belts 404 and 406. Moved. The guide pulley 428 that supports the support portion 424 of the conveyor belts 404 and 406 is provided at the center in the direction parallel to the rotation axis in order to avoid interference between the joint portions of the conveyor belts 404 and 406 and the moving member 446. In this part, a pulley with a groove is formed in which an annular groove opening on the outer peripheral surface is formed.
The movement of the moving member 446 is guided by a guide device 448 shown in FIG. The guide device 448 includes a pair of guide rollers 450 rotatably attached to both ends of the moving member 446 in the longitudinal direction, and guide rails 452 provided on the pair of support members 416 and 418, respectively. The pair of guide rollers 450 move with the guide rail 452 interposed therebetween, and guide the movement of the moving member 446.
As shown in FIG. 13, the holding tool 410 is provided at the center of the moving member 446 in the longitudinal direction, and the handle 266 provided on the pallet 200 is held. The holder 410 has a pair of chucks 458 as shown in FIG. These chucks 458 are provided at a distance in the left-right direction of the transport conveyor 206, and have a pair of gripping claws 460 and 462, respectively, as shown in FIG. These gripping claws 460 and 462 can be opened and closed in a direction parallel to the pallet transport direction on the chuck body 464, and are provided so as to be able to approach and separate from each other, as shown in FIG. 16 (e). Positioning recesses 466 and 468 as positioning portions extending in the left-right direction of the transport conveyor 206 are provided on the respective surfaces.
A plunger 470 as a driven member or an input member is provided in the chuck body 464 so as to be movable in the vertical direction, and the raising and lowering of the plunger 470 is converted into the movement of the gripping claws 460 and 462 in a direction toward and away from each other. A motion conversion device (not shown) is provided, and when the plunger 470 is moved up and down, the grip claws 460 and 462 are moved closer to and away from each other to move to the grip position for gripping the handle 266 and the release position for release. The chuck 458 is opened and closed. The plunger 470 is urged downward by a compression coil spring 472 as an elastic member which is a kind of urging means disposed between a lower end portion projected from the chuck body 464 and the chuck body 464. .
As shown in FIG. 13, a chuck driving device 474 is provided at the rear portion of the transport conveyor 206, that is, at a portion adjacent to the rack 202. A chuck driving device 474 is provided at a central position in the longitudinal direction of the support member 433. The chuck driving device 474 uses an air cylinder 478 as a driving source, as shown in FIG. I have. The air cylinder 478 is provided upward, and when the piston rod 480 is moved up and down, the drive member 482 provided at the protruding end thereof is moved up and down, and the pair of drive units 484 move the plungers 470 of the pair of chucks 458 by the lift. Pushing up against the biasing force of the spring 472, releasing the plunger 470 by lowering and allowing the spring 472 to lower by biasing.
When the drive member 482 is lowered and separated from the plunger 470, the plunger 470 is located at the lowered end position by the bias of the spring 472, and as shown in FIGS. 16 (a) and 16 (c), If the 266 is not gripped, the gripping claws 460 and 462 are located at the most closed position. When gripping the handle 266, the gripping claws 460 and 462 are held in a state of gripping the handle 266 based on the bias of the spring 472. When the drive member 482 is raised by the air cylinder 478 and the plunger 470 is raised against the urging force of the spring 472, the grip claws 460 and 462 are opened as shown in FIG. Moved to. The distance between the gripping claws 460 and 462 in the most opened state is larger than the outer diameter of the grip portion 268 of the handle 266 of the pallet 200, and the grip portion 268 does not interfere with the grip claws 460 and 462. You can enter and evacuate.
As described later, the holder 410 configured as described above holds the handle 266 of the pallet 200 by a pair of chucks 458 and moves the pallet 200 when the moving member 446 is moved by the transport conveyor 206. However, the movement of the pallet 200 is guided by the pallet guide device (hereinafter abbreviated as a guide device) 208. As shown in FIG. 13, the guide device 208 includes a fixed rail 490 as a fixed guide member and a movable rail 492 as a movable guide member.
The fixed rail 490 has a plate shape, and is fixed to the upper surface of the support member 418 in parallel to the pallet conveying direction, as shown in FIG. The fixed rail 490 is provided such that its guide surface or regulation surface is located in the same vertical plane as the surface on which the rail 282 of the rail forming member 283 is provided. The movable rail 492 has a plate shape as shown in FIGS. 17 to 19 and can be moved in a horizontal direction perpendicular to the pallet conveying direction by a rail holding member 494 detachably fixed on the upper surface of the support member 416. Thus, the fixed rail 490 is held so as to be able to approach and separate.
The rail holding member 494 has a long plate shape and is fixed in parallel to the pallet transport direction, and the movable rail 492 is disposed in parallel to the pallet transport direction and is a presser erected on the rail holding member 494. Lifting is prevented by the member or the lifting member 496. As shown in FIG. 18, the lifting prevention member 496 is fitted in a long hole 500 provided in the movable rail 492 at the shaft portion 498 and is fixed to the rail holding member 494 by a bolt 502 as a fixing device. The head 504 having a diameter larger than that of the shaft portion 498 prevents the movable rail 492 from being lifted from the rail holding member 494.
The movable rail 492 is biased in a direction approaching the fixed rail 490 by a plurality of compression coil springs 510 as elastic members which are a kind of biasing device disposed in the rail holding member 494. The limit of movement of the movable rail 492 due to the biasing of the spring 510 is regulated by engaging the end face in the longitudinal direction of the elongated hole 500 with the shaft portion 498 of the lifting prevention member 496. The floating prevention member 496 also constitutes a movable rail movement restricting device.
In this embodiment, the fixed rail 490 and the movable rail 492 are a kind of synthetic resin as a flexible material, which is a kind of synthetic resin having a lower friction coefficient than metal and a low friction material as a low friction material. Made by polyacetal. The fixed rail 490 is fixed straight to the support member 418 in parallel with the pallet conveying direction, but the movable rail 492 can be moved toward and away from the fixed rail 490 and intersects the longitudinal direction thereof. It is possible to bend in a direction intersecting the pallet conveyance direction in a horizontal plane parallel to the pallet conveyance surface.
The electronic circuit component mounting machine 10 includes a control device 530 shown in FIG. The control device 530 is mainly configured by a computer 540 including a CPU 532, a ROM 534, a RAM 536, and a bus 538 for connecting them. Further, an input / output interface 542 is connected to the bus 538, and an X-axis slide drive motor 70, a Y-axis slide drive motor 86, a head lifting motor 120, a head rotation motor 130, a rack are connected via a drive circuit 544. A lift motor 302 and the like are connected. A reference mark camera 152 and a component camera 182 are connected to the control device 530 via an image processing computer 546. The control device 530 is further connected to an input device 548 such as a keyboard and various sensors such as a tray height confirmation sensor 550 and a transfer sensor 312. The tray height confirmation sensor 550 will be described later.
The X-axis slide drive motor 70, which is a drive source, is constituted by a servo motor, and its accumulated rotation angle (rotation position) is detected by an encoder and input to the computer 540. FIG. 21 representatively shows an encoder 556 provided in the head rotation motor 130. The servo motor is an electric motor capable of controlling the rotation angle with high accuracy. In this embodiment, the servo motor is provided with an encoder. The X-axis slide drive motor 70 and the like using these servo motors as drive sources can be moved with high accuracy. A step motor may be used instead of the servo motor. Although not shown, the ROM 534 or RAM 536 obtains a main routine, an electronic circuit component mounting program, a program for supplying the circuit component 20 to the tray-type component supply device 26, and an operating position and a stop position of the rack lifting / lowering device 204. Various programs such as a program for detecting the height of the tray 50, a program for controlling the lowering of the mounting head 60, and data necessary for executing these programs are stored.
Next, the operation will be described. The mounting operation for mounting the circuit component 20 on the printed wiring board 14 is described in the above-mentioned Japanese Patent No. 2824378 and Japanese Patent Laid-Open No. 2001-223500. The deep part will be described in detail.
When the printed wiring board 14 is carried in by a carry-in device (not shown) and conveyed to the mounting position where the circuit component 20 is mounted by the wiring board conveyor 16, the printed wiring board 14 is positioned by the wiring board holding device 18 and the mounting surface 28 becomes horizontal. Held in. The reference mark camera 152 together with the component mounting unit 108 is positioned at the reference mark imaging position for imaging the reference mark 150 provided on the printed wiring board 14 by the XY moving device 96, and the two reference marks 150 are respectively imaged.
Next, the mounting head 60 is moved to the component extraction position of the feeder-type component supply device 24 or the tray-type component supply device 26 by the movement of the X-axis slide 66 and the Y-axis slide 82. The mounting head 60 is moved up and down by the head lifting device 104, and the negative pressure is supplied to the suction nozzle 114, whereby the circuit component 20 is held.
The mounting head 60 that holds the circuit component 20 is, for example, placed on the printed wiring board 14 from the component receiving position that receives the circuit component 20 from the pallet 200 that has been moved to the component removal allowable position of the tray-type component supply device 26. In this case, the circuit component 20 is imaged by the component imaging system provided at a position between the component receiving position and the component mounting position of the X-axis slide 66. When the rotation position of the circuit component 20 differs between the time of suction and the time of mounting, the mounting head 60 is rotated by the head rotating device 106 after the suction and before reaching the component holding position detection position. When the mounting head 60 reaches the component holding position detection position, the circuit component 20 is imaged.
The image data obtained by the imaging is processed by the image processing computer 546 and compared with the normal image data having no holding position error, and the center position errors (horizontal position errors) ΔXE and ΔYE and the rotational position error Δθ are calculated. The
Further, as described above, the center position errors ΔXP and ΔYP of the component mounting portion of the printed wiring board 14 are calculated by previously imaging the reference mark 150 provided on the printed wiring board 14 with the reference mark camera 152, A circuit portion generated by correcting these errors ΔXE, ΔYE, ΔXP, ΔYP and rotational position error Δθ before moving to the component mounting position.
The moving position of the mounting head 60 is corrected based on the deviation of the center position of the product 20, and the mounting head 60 is rotated by the head rotating device 106 to correct the rotational position error Δθ. The mounting head 60 is moved and lowered onto the component mounting position of the printed wiring board 14 in parallel with the error calculation and the like, and mounts the circuit component 20 at the correct component mounting position at the correct rotational position. This completes one cycle of mounting work.
Next, the supply of the circuit component 20 by the tray type component supply device 26 will be described.
In the tray-type component supply device 26, the rack 202 is moved up and down by the rack lifting device 204, and a plurality of pallets 200 stored in the rack 202 are sequentially moved in the vertical direction to the component supply position (strictly speaking, an ideal component supply). The actual part supply position is as close as possible to the position. Therefore, in the present embodiment, for each of a plurality of pairs of rails 282 provided on the rack 202, a stop position of the rack lifting device 204 for positioning the pallet 200 at the component supply position, that is, a continuation of the rack lifting device 204. Among the general operating positions, a plurality of positions at which the rack lifting device 204 should be stopped are obtained.
In the present embodiment, the stop position of the rack lifting / lowering device 204 is acquired prior to the start of the mounting operation of the circuit component 20 on the series of printed wiring boards 14 and stored in the RAM 536 of the computer 540. The acquisition of the stop position will be described. At the time of acquisition of the stop position, the rack 202 is raised by the rack lifting / lowering device 204, for example, from the lowered end position. When the portion of the rack 202 where the notch 292 is not provided passes between the projector and the light receiver of the transfer sensor 312, the light emitted from the projector is blocked, and the received light amount is less than the set amount. Passing through a portion where 292 is not provided is detected. When the notch 292 reaches the transfer sensor 312, the light receiver receives light, and the amount of received light exceeds the set amount, so that the passage of the notch 292 is detected. If a portion of the notch 292 that is larger than the set amount moves away from the transfer sensor 312, the amount of light received by the light receiver reaches the threshold value and then further decreases. As described above, the notch 292 is provided for each of the plurality of pairs of rails 282, and when the amount of light received by the light receiver becomes equal to or less than the threshold value, the output signal of the transfer sensor 312 changes from ON to OFF. Based on the change in the output signal, it is detected that the rail 282 is the transfer sensor position where the transfer sensor 312 is provided, and has reached the rail detection position as the component container holding unit detection position. The value of the encoder that detects the cumulative rotation angle (rotation position) of the rack lifting / lowering motor 302 at that time is the position of the rail 282 when it reaches the transfer sensor position, and the operating position of the rack lifting / lowering device 204. Get as. The acquired operating position of the rack lifting device 204 is data specifying the installation position of the rail 282 that has reached the transfer sensor position in the rack 202, for example, a shelf attached to each of the plurality of shelves 284 of the rack 202. The information is stored in a rack lifting device operating position memory provided in the RAM 536 of the computer 540 in association with a number which is a kind of identification information or storage position identification information. The rack lifting / lowering device operating position memory is provided in the backup unit of the RAM 536, and data remains even when the power is turned off. The operating position of the rack lifting / lowering device 204 is acquired for all of the plurality of pairs of rails 282. When the rail 282 is detected, the rack 202 has a speed suitable for detection and is raised at a low speed so that the arrival of the rail 282 at the detection position is accurately detected by the transfer sensor 312.
As described above, the transfer sensor 312 is provided above the ideal component supply position in the present embodiment, and the rail 282 detected by the transfer sensor 312 is ideal as shown in FIG. Located above the component supply position. As described above, the distance L1 in the vertical direction with respect to the ideal component supply position of the transfer sensor 312 is acquired. Further, in the present embodiment, as shown in FIG. 20B, the notches 292 are provided so as to be positioned on both upper and lower sides of the support surface 286 including the support surface 286 of the rail 282 in the up-and-down direction of the rack 202. Therefore, when the portion of the notch 292 that is larger than the set amount is removed from the transfer sensor 312 and the rail 282 is detected, the support surface 286 of the detected rail 282 is changed as shown in FIG. Located above the sensor position. The distance in the vertical direction of the support surface 286 relative to the transfer sensor position, that is, the distance L2 between the support surface 286 and the lower surface of the notch 292 is acquired by design, and is the same for all the rails 282. The distance L2 is short and there is no error. Therefore, when the rail 282 is detected by the transfer sensor 312, the support surface 286 is located above the ideal component supply position by a distance equal to the sum of the distances L1 and L2. Based on the acquired operation position and the distance L1 and distance L2, the stop position of the rack elevating device 204 for stopping the pallet 200 supported by the rail 282 at the ideal component supply position is determined. In this embodiment, the distance L1 and the distance L2 apart from the ideal component supply position is the set height, and the set height and the disposition height of the transfer sensor 312 are different. Further, the set height is different from the height of the support surface 426 of the conveyor belts 404 and 406. In this embodiment, the stop position of the rack lifting / lowering device 204 is defined by the count value of an encoder that detects the cumulative rotation angle of the rack lifting / lowering motor 302. Each position of the plurality of pairs of rails 282 is detected by the transfer sensor 312. And stored in the memory in association with the number of the rail 282. This memory may be a rack lifting / lowering device operating position memory, or may be a memory provided separately. In any case, the memory that stores the stop position of the rack lifting device 204 constitutes the rack lifting device stop position memory. However, this stop position may be obtained when positioning the pallet 200 to the component supply position.
By stopping the rack lifting / lowering device 204 at the stop position thus determined, the pallet 200 for supplying the circuit components 20 is positioned at an actual component supply position sufficiently close to the ideal component supply position. Therefore, the support surface 286 of the rail 282 is the conveyor of the transport conveyor 206 despite the presence of the relative height error between the rack lifting device 204 and the transport conveyor 206 and the relative height error between the plurality of pairs of rails 282. The belts 404 and 406 are positioned exactly in the same horizontal plane as the support surfaces 426, and the delivery between the rack 202 of the pallet 200 and the transport conveyor 206 is smoothly performed. In the rack lifting / lowering device 204, the rack lifting / lowering motor 302 is controlled so that the lifting / lowering speed at the start of lifting / lowering of the rack 202 is smoothly increased and smoothly decelerated at the end of lifting / lowering. The stop position of the rack lifting / lowering device 204 for positioning the pallet 200 at the component supply position is acquired in advance, and the lifting / lowering speed control can be easily performed based thereon.
The pallet 200 positioned at the component supply position is moved in the horizontal direction parallel to the component storage plane by the transfer conveyor 206 and pulled out from the storage position stored in the rack 202, and the mounting head 60 is moved from the tray 50 to the circuit component. The circuit component 20 is moved to a component take-out allowable position that allows the take-out 20 to be taken out, and is returned to the rack 202 after the circuit component 20 is supplied.
When the rack 202 is raised and lowered, the holder 410 of the transfer conveyor 206 is positioned at the holding position, and is kept waiting for holding the pallet 200. The holding position is such that the pair of chucks 458 of the holder 410 is in the same direction as the handle 226 of the pallet 200 housed in the rack 202 in the pallet transport direction and parallel to the longitudinal direction of the rail 232 of the rack 202. It is a position located at. When the rack 202 is raised and lowered, the pair of chucks 458 are opened, and the pair of grip portions 228 of the handles 226 of the plurality of pallets 200 housed in the rack 202 do not interfere with the grip claws 460 and 462. Can pass between them. As described above, the storage position in the transport direction of the pallet 200 stored in the rack 202 is determined by the first gripping claw 322 having its rotation limit defined by the stopper 350. The stopper 350 is shared by all of the plurality of pallet gripping devices 320. When the stoppers 350 are housed in the rack 202, the positions of the handles 226 of the plurality of pallets 200 in the transport direction are substantially the same, and the chuck 458 when the rack is raised and lowered. And the handle 226 of the pallet 200 positioned at the component supply position is gripped by the chuck 458.
When the rack 202 is raised and lowered, its raising and lowering speed is controlled, the acceleration and deceleration are smoothly increased and decreased, the rack 202 is started and stopped with less impact and stopped, and the pallet 200 starts to raise and lower with less impact. The vibration of the tray 50 is suppressed by being stopped.
The pallet 200 is fixed to the rack 202 by a pallet gripping device 320, and the tray 50 is restrained so as not to move with respect to the pallet 200 by restraining members 272 and 274. The tray 50 does not move relative to the pallet 200, and even if an impact is applied to the pallet 200 via the rack 202 at the start or stop of lifting, the pallet 200 and the tray 50 The vibration of the circuit component 20 housed in the housing recess 216 can be reduced, and the displacement and posture change of the circuit component 20 can be reduced.
Further, in this embodiment, the pallet 200 includes a vibration absorbing layer 250. Even if vibration is transmitted to the pallet 200, the vibration is absorbed by the pallet itself and transmitted to the tray 50. It is possible to reduce the number of the circuit components 20 and the like. The pallet 200 is formed by laminating the vibration absorbing layer 250 and the magnetic material layers 252 and 254. The pallet 200 is provided with vibration absorbing ability and is secured with rigidity and thin and light. It is absorbed and will not continue to vibrate for a long time.
In a state in which the pallet 200 that supplies the circuit component 20 is positioned at the component supply position, the pair of grip portions 228 of the handle 226 of the pallet 200 are positioned between the gripping claws 460 and 462 of the pair of chucks 458, respectively. Then, the chuck 458 is closed, the grip portion 228 is gripped, the pallet 200 is held by the holding tool 410, and the grip of the pallet 200 by the pallet gripping device 320 is released. The claw holders 326 and 360 are rotated by the first and second gripping claw rotating devices 352 and 374, and the first and second gripping claws 322 and 324 are rotated to the release position. At this time, the plurality of first and second gripping claws 322 and 324 are simultaneously rotated, and gripping of the pallet 200 other than the pallet 200 for supplying the circuit component 20 is also released, but the rack 202 is supplied when the component is supplied. Is not hindered because it cannot be raised or lowered.
The holding of the handle 226 by the holding tool 410 and the release of the pallet 200 by the pallet holding device 320 are performed so that the holding of the handle 266 by the holding device 410 and the holding of the pallet 200 by the pallet holding device 320 are not performed simultaneously. It is desirable that Therefore, in this embodiment, the release of the pallet 200 by the pallet gripping device 320 and the holding of the handle 226 by the holder 410 are performed in parallel, and the gripping claws 322 and 324 are started to rotate to the release position. At the same time, the gripping claws 460 and 462 are started to move to the gripping position, and after the gripping claws 322 and 324 are separated from the engaging surfaces 246 and 248, the gripping claws 460 and 462 engage and hold the grip portion 268. start. Therefore, the pallet 200 is held by the holding tool 410 without being twisted, and the time in a free state in which the pallet 200 is not held by any of the holding tool 410 and the pallet gripping device 320 is short, and there is no possibility of changing the posture. Alternatively, the holding tool 410 starts holding the handle 266 after the holding of the pallet 200 by the pallet holding device 320 is released and the first and second holding claws 322 and 324 are rotated to the release position. Also good.
After the holder 410 holds the handle 266 and holds the pallet 200, the conveyor belts 404 and 406 are rotated in the direction in which the moving member 446 advances, that is, in the direction away from the rack 202. As a result, the pallet 200 held by the holder 410 is pulled out from the rack 202, and the pair of rails 232 are transferred from the rails 282 of the rack 202 onto the support portions 424 of the pair of conveyor belts 404 and 406.
As described above, since the pallet 200 for supplying the circuit components 20 is positioned with high positioning accuracy (in an actual component supply position sufficiently close to an ideal component supply position) by raising and lowering the rack 202, the conveyor belt 404, The support surface 426 of 406 and the support surface 286 of the rail 282 that supports the pallet 200 positioned at the actual part supply position of the rack 202 are positioned at exactly the same height, and the pallet 200 is moved from the rail 282 to the conveyor belt. Transfer smoothly onto 404,406. Further, a guide surface 236 is provided on the lower surface of the end of the rail 232 of the pallet 200 in the pallet transport direction, and the transfer of the pallet 200 is guided by the inclination of the guide surface 236, and the support surface 426, the support surface 286, Even if there is a slight difference in height, the pallet 200 can be transferred smoothly. The lower surface of the rail 232 has a flat surface extending in the pallet conveying direction. If the tip of the rail 232 rides on the conveyor belts 404 and 406, the portion after the tip continues to smoothly transfer to the conveyor belts 404 and 406. . Further, the support portions 426 of the conveyor belts 404 and 406 and the rail 282 are provided close to each other with a very short distance, and the pallet 200 is almost entirely of the rail 232 during the transfer. The belt is supported by the conveyor belts 404 and 406 and is transferred in a stable state.
The holder 410 that holds the pallet 200 is attached to the conveyor belts 404 and 406, moves together with the conveyor belts 404 and 406, and the conveyor belt 404 holds the handle 266 of the pallet 200. , 406 is circulated by the orbital drive 408, the holder 410 inevitably moves at the same speed as the conveyor belts 404, 406, so that the pallet 200 is moved to the rack 202 as shown in FIG. Are transferred onto the conveyor belts 404 and 406 and conveyed by the conveyor belts 404 and 406. Therefore, the pallet 200 moves relative to the holder 410 and the conveyor belts 404 and 406, hardly vibrates, and the tray 50 restrained with respect to the pallet 200 hardly vibrates and is accommodated in the tray 50. Misalignment of the circuit component 20 is avoided.
When the pallet 200 is transferred from the rack 202 onto the conveyor belts 404 and 406, the pallet 200 enters between the fixed rail 490 and the movable rail 492 of the guide device 208, and the rails 232 accommodate parts by the rails 490 and 492. The movement is guided between the side surfaces 238 perpendicular to the plane. The movable rail 492 is positioned at the forward end position by the bias of the spring 510, but the pallet 200 resists the biasing force of the spring 510 by the action of the inclined surface of the guide portion 234 provided at the end of the rail 232. While moving the movable rail 492 away from the fixed rail 490, the movable rail 492 enters between the rails 490 and 492, the movable rail 492 engages the side surface 238, and the pallet 200 is pressed against the fixed rail 490 by the bias of the spring 510. . As described above, the movable rail 492 can bend in a direction intersecting the pallet conveying direction in a horizontal plane parallel to the pallet conveying surface, and the movable rail 492 biased by the spring 510 is separated in the longitudinal direction. The side surface 238 of the rail 232 of the pallet 200 can be brought into contact with the fixed rail 490 at three or more multiple locations. As a result, the pallet 200 is sandwiched between the left and right sides by an appropriate amount of force by the fixed rail 490 and the movable rail 492, and is guided to move to the component removal allowance position while being restricted from moving left and right. Thereby, the vibration of the pallet 200 is suppressed, and the shift of the circuit component 20 accommodated in the tray 50 is avoided. Further, the frictional force between the pallet 200 and the fixed rail 490 and the movable rail 492 is small, so that the pallet 200 can move smoothly and vibrations are suppressed.
In addition, the conveyor belts 404 and 406 are made of rubber in the present embodiment, and vibrations transmitted to the conveyor 206 are absorbed by elastic deformation of the conveyor belts 404 and 406 and transmission to the pallet 200 is suppressed. Further, vibration transmitted from the holder 410 or the like to the pallet 200 is also damped by elastic deformation of the conveyor belts 404 and 406 and internal friction.
Furthermore, since the conveyor belts 404 and 406 support the pallet 200 by the outer peripheral surface provided with the teeth 412 and are guided by the guide pulley 428 on the flat inner peripheral surface without the teeth 412, Less vibration of 406 is required. If the conveyor belts 404 and 406 are guided by the guide pulley 428 on the side where the teeth 412 are provided, the conveyor belts 404 and 406 are vibrated each time the teeth 412 get over the guide pulley 428, whereas the conveyor belts 404 and 406 and the guide pulley 428 come into contact with each other on a smooth surface and continue to be engaged continuously, and the conveyor belts 404 and 406 are rotated with less vibration, and vibration of the pallet 200 is suppressed.
Further, the pallet 200 is formed by laminating the vibration absorbing layer 250 and the magnetic material layers 252 and 254, and, similarly to the case where the pallet 200 is moved up and down by the lifting and lowering of the rack 202, the vibration transmitted by the pallet 200 itself to the tray 50 is transmitted. A reduction effect, a favorable suppression effect such as a shift of the circuit component 20, an early convergence effect of vibration, and the like are obtained.
The conveyor belts 404 and 406 are stopped in a state where the pallet 200 has reached a preset part removal allowable position. The belt drive motor 434 of the orbiting drive unit 408 is controlled by the controller 530 when the conveyor belts 404 and 406 start to circulate, and when the pallet 200 starts to be conveyed, the conveyance speed is smoothly increased and the lap rotation ends. It is controlled so that it is smoothly decelerated at the end of conveyance. Therefore, the acceleration and deceleration are smoothly increased and decreased at the start and end of conveyance of the pallet 200, respectively, and the pallet 200 starts and stops moving with less impact, thereby suppressing the vibration of the tray 50.
When the pallet 200 reaches the component take-out allowable position, the mounting head 60 is moved to the component take-out position by the XY moving device 96 and lowered by the head lifting / lowering device 104, and the circuit component is removed from the tray 50 supported by the pallet 200. 20 is taken out. At this time, the mounting head 60 is lowered to a position corresponding to the height of the tray 50 that supplies the circuit components 20.
Only one tray 50 may be supported on the pallet 200, or a plurality of trays 50 may be stacked and supported. In the latter case, the uppermost tray 50 supplies the circuit components 20, and when the tray 50 becomes empty, the tray 50 is taken out from the pallet 200 by a tray take-out device (not shown) provided at a component take-out allowance position. The tray 50 discharged to (not shown) and positioned at the uppermost stage by the discharge of the tray 50 supplies the circuit component 20. Therefore, each time the tray 50 is discharged, the distance from the support surface 260 that is the upper surface of the pallet 200 of the uppermost tray 50 is shortened. The height of the pallet 200 at the component removal allowable position is the same as the height supported by the conveyor belts 404 and 406, and the height of the uppermost tray 50 among the plurality of trays 50 supported by the pallet 200 is high. The height decreases each time the tray 50 is discharged, and the distance from the mounting head 60 increases. However, the lower end position of the mounting head 60 is controlled, so that the height of the uppermost tray 50 is increased. The mounting head 60 is lowered to the corresponding position and sucks the circuit component 20 without any trouble.
In the present embodiment, the height of the uppermost tray 50 among the at least one tray 50 supported on the pallet 200 is acquired by detecting the height of the tray 50 with respect to the pallet 200. Therefore, first, the height of the pallet 200 in a state where the tray 50 is not supported is detected by the tray height confirmation sensor 550.
In this embodiment, the tray height confirmation sensor 550 is configured by a transmissive photoelectric sensor that is a kind of photoelectric sensor. The projector and the light receiver (not shown) of the tray height confirmation sensor 550 are provided at positions above the position corresponding to the component supply position of the frame 300 and separated from each other in the pallet transport direction with the rack 202 interposed therebetween. Thus, the heights of the pallet 200 and the tray 50 are detected without interfering with the pallet 200 that is taken in and out of the rack 202 at the component supply position. In the width direction of the rack 202, the light projector and the light receiver of the tray height confirmation sensor 550 receive the light emitted from the light projector by the light receiver without being blocked by the positioning surface 262 and the grip portion 264, and the support surface 260. And the height of the uppermost tray 50 are provided.
When detecting the height of the pallet 200, empty pallets 200 are stored in all the shelves 284 of the rack 202, and the height of each pallet 200 is detected. For example, when the rack 202 is raised from the lowered end position and the pallet 200 reaches the portion where the tray height confirmation sensor 550 is provided, the light emitted from the projector is blocked by the pallet body 230, and the amount of light received by the light receiving unit is reduced. If it decreases and becomes less than or equal to the threshold value, the output signal of the tray height confirmation sensor 550 changes from ON to OFF. It is detected that the pallet 200 has reached the height confirmation position by the change of this signal. In this case, the count value of the encoder that detects the cumulative rotation angle (rotation position) of the rack lifting / lowering motor 302 is the height of the pallet 200, and data for specifying the storage position of the pallet 200 in the rack 202, for example, a plurality of racks 202 Each of the shelves 284 is stored in a pallet height memory provided in the RAM 536 of the computer 540 in association with a number that is shelf identification information or storage position identification information. The height of the pallet 200 is a unique value for each of the plurality of pallets 200 mounted on the rack 202, is detected and stored in advance, is stored in the backup unit of the RAM 536, and the power is turned off. Even data is left.
Then, the tray 50 is mounted on the pallet 200, and the height of the tray 50 supported by the pallet 200 is detected prior to the start of mounting the circuit component 20 on the series of printed wiring boards 14. The rack 202 is raised, and for each of the plurality of pallets 200, the tray 50 blocks the light emitted by the projector of the tray height confirmation sensor 550, and the amount of light received by the light receiver falls below a threshold value. The count value of the encoder of the rack lifting / lowering motor 302 when the signal changes from ON to OFF is acquired as the height of the tray 50, and stored together with the height of the pallet 200 that supports the tray 50. The difference between the encoder value acquired for the pallet 200 and the encoder value acquired for the tray 50 corresponds to the sum of the thicknesses of all the trays 50 supported by the pallet 200, and This represents the height relative to the pallet 200 (support surface 260). For example, the height of the tray 50 is detected every time the tray 50 becomes empty and is discharged from the pallet 200. When one tray 50 continuously supplies a plurality of circuit components 20, the circuit component 20 disappears in the middle of the supply, and when the tray 50 is discharged, from the next tray 50 accommodated in the same pallet 200. Before the circuit component 20 is taken out, the height of the tray 50 is detected and used to control the lowered position of the mounting head 60. When the height is detected, the tray 50 is returned to the rack 202.
The height of the pallet 200 in a state where it is supported by the conveyor belts 404 and 406 of the transfer conveyor 206 at the part removal allowance position is acquired in advance based on the height of the support surface 426 and is stored in the RAM 536 of the computer 540 as an eigenvalue. Yes. The height of the pallet 200 is the same for all the pallets 200, and the error is ignored. Therefore, from the height of the pallet 200 at the component removal allowable position and the height of the tray 50 that is the uppermost tray 50 among the trays 50 supported by the pallet 200 and supplies the circuit components 20 with respect to the pallet 200, A circuit in which the distance between the tray 50 at the take-out allowable position and the mounting head 60 at the rising end position is obtained, and the lower end position of the mounting head 60 is controlled based on the distance, and the suction nozzle 114 is stored in the tray 50. The component 20 is lowered to a position where it can be reliably sucked without damaging it.
When the supply of the circuit component 20 is finished, the pallet 200 is returned to the rack 202. Therefore, the conveyor belts 404 and 406 are rotated in the opposite direction to the case where the pallet 200 is moved to the component take-out allowable position, the holder 410 is moved together with the moving member 466 toward the holding position, and the pallet 200 is racked. It is retracted toward 202 and is transferred from the conveyor belts 404 and 406 to the rack 202. The pair of rails 232 of the pallet 200 is transferred from the pair of conveyor belts 404 and 406 to the rail 282 of the rack 202. Since the pallet 200 is accurately positioned at the component supply position, and the support surface 286 of the rail 282 and the support surface 426 of the conveyor belts 404 and 406 are accurately positioned at the same height, the pallet 200 can be smoothly returned when returned. Change. At this time, the transfer of the pallet 200 is guided by the guide surface 236 provided at the longitudinal end portion of the rail 232 and the guide surface 288 provided at the front end portion of the rail 282, and at the end of the rail 232 in the longitudinal direction. It is guided by a guide part 234 provided in the part. When the pallet 200 is returned to the rack 202 and stored, the pallet 200 is transported while being suppressed in vibration as in the case of being pulled out from the rack 202, and is smoothly transferred from the conveyor belts 404 and 406 to the rack 202. .
Then, the movement member 446 reaches the holding position, the movement is stopped in a state where the pallet 200 has been transferred to the rack 202, the gripping claws 460 and 462 of the chuck 458 are opened, the handle 226 is released, The first and second gripping claws 322 and 324 of the pallet gripping device 320 provided for each of the plurality of pallets 200 are rotated to the gripping position to grip the pallet 200 and fix it to the rack 202. The release of the handle 266 by the holding tool 410 and the holding of the pallet 200 by the pallet gripping device 320 are the same as the case of transferring the pallet 200 from the rack 202 to the conveyor belts 404 and 406, It is desirable that the holding and the holding of the pallet 200 by the pallet holding device 320 are not performed at the same time. In this embodiment, the release of the handle 266 by the holding tool 410 and the pallet 200 by the pallet holding device 320 Grasping is performed in parallel. Thereafter, the rack 202 is moved up and down, and then the pallet 200 for supplying the circuit component 20 is positioned at the component supply position.
Although illustration and detailed description are omitted, in the tray-type component supply device 26, the storage of the pallet 200 in the rack 202 and the arrival of the component removal allowable position are detected by a sensor (not shown), and these detections are made. Based on the above, operations to be performed next such as raising and lowering of the rack 202 are performed.
As is clear from the above description, in the present embodiment, all of the pallets 200 mounted on the pallet 200 are based on the height of the tray 50 supported by the pallet 200 of the control device 530 and the height of the pallet 200. The portion of the tray 50 that obtains the height of the tray 50 that supplies the circuit components 20 with respect to the pallet 200 is a tray-pallet height difference-dependent tray together with a tray height confirmation sensor 550 as a height detection device. The height acquisition unit is configured, the head lifting device 104 is controlled in accordance with the height of the tray 50 mounted on the pallet 200, and the portion that controls the descending end position of the mounting head 60 constitutes the height control unit. Yes. Further, the part that controls the belt drive motor 434 of the control device 530 and controls the conveyance speed of the pallet 200 constitutes a pallet conveyance acceleration / deceleration control unit, controls the rack elevating motor 302, and controls the elevating speed of the rack 202. The portion to be configured constitutes an acceleration / deceleration control unit for lifting and lowering the rack. Further, a portion for determining a plurality of stop positions of the rack lifting device 304 of the control device 530 constitutes a stop position determination unit, a portion for controlling the rack lifting device 204 based on the determined stop position, and rack lifting device operation A lifting control unit is configured together with a rack lifting device operating position memory configuring the position storage unit, and a height adjusting device is configured together with the transfer sensor 312 configuring the component container holding unit detection device.
In the above embodiment, the support portions 424 of the conveyor belts 404 and 406 of the transfer conveyor 206 are supported by the guide pulley 428. However, as shown in FIG. You may make it support.
An electronic circuit component mounting machine provided with an electronic circuit component supply apparatus according to another embodiment of the present invention will be described with reference to FIGS. This electronic circuit component supply device is a tray type component supply device, and supports a pallet, a relative movement prevention device, a carrier conveyor holder, a guide device for guiding the movement of the pallet by the conveyor, and a pair of conveyor belts of the conveyor. The belt support member is different from the tray-type component supply device 26 of the embodiment shown in FIGS. Other parts are configured in the same manner as the tray-type component supply device 26 and the electronic circuit component mounting machine including the tray-type component supply device 26, and the description thereof is omitted. Moreover, the same code | symbol is attached | subjected to the component which performs the same effect | action as the component of the said embodiment, description is abbreviate | omitted.
The pallet 640 and the pallet holding device 650 as a relative movement preventing device will be described. As shown in FIGS. 23 and 24, the pallet holding device 650 is provided in the rack 652 in the same manner as the pallet gripping device 320. The rack 652 is configured in substantially the same manner as the rack 202, and the pallet holding device 650 is provided in a portion of the rack body 654 corresponding to each pair of the plurality of pairs of rails 656. Each of the plurality of pallet holding devices 650 includes a pallet holding pin 660 as a component container movable holding member, a pallet holding surface 662 as a component container parallel holding surface of the component container fixing holding member, and a pallet holding pin moving device 664. Including.
The pallet holding pin moving device 664 includes a pin driving member 668 common to the plurality of pallet holding pins 660 and an air cylinder 670 as a driving source. As shown in FIG. 23, a mounting member 674 is provided in the vertical direction on one outer surface of the pair of side walls 672 of the rack body 654, and a pin driving member 668 is provided between the side wall 672 and the pallet of the rail 656. A direction parallel to the support surface 676 that supports 640 from below, and is movable in the width direction of the rack 652 or in the left-right direction (the direction perpendicular to the longitudinal direction of the rail 656 in a plane parallel to the support surface 676). It is installed. The pin driving member 668 has a long plate shape, and is disposed over the whole of the plurality of pairs of rails 656 in the vertical direction, and is moved by the air cylinder 670 attached to the attachment member 674, and on the other side wall 672 side. The pallet holding surface 662 is approached and separated. The movement of the pin driving member 668 is guided by a guide device 682 including a guide rod 678 and a guide block 680 (one of which is shown in FIG. 23) as a pair of guide members.
Each of the pallet holding pins 660 of the plurality of pallet holding devices 650 is arranged in the left and right direction of the rack 652 in a portion corresponding to each of the plurality of pairs of rails 656 of the pin driving member 668, as shown in part in FIG. It is fitted so as to be relatively movable linearly in parallel directions. As shown in FIG. 23, the pallet holding pin 660 has a circular cross-sectional shape in the present embodiment, and a tip portion that is an end portion on the rack 652 side is a conical engaging portion 686. . The pallet holding pin 660 is opposed to the pin driving member 668 with respect to the pin driving member 668 by a compression coil spring 688 as a spring member as an elastic member which is a kind of urging means disposed between the pallet holding member 668 and the pin driving member 668. Is urged to protrude toward the rack 652 and close to the pallet 640 and is fitted to an opening 690 formed through the side wall 672 in the thickness direction so as to be relatively movable. As shown by a solid line in FIG. 23, it can protrude into the rack body 654 and protrudes slightly above the support surface 676 of the rail 656. In this embodiment, the movement limit of the pallet holding pin 660 due to the urging of the spring 688 is such that a retaining ring 689 that is provided on the pallet holding pin 660 and constitutes a defining portion is provided on the pin driving member 688 to constitute the defining portion. It is defined by contacting the contact portion 692.
The plurality of pallet holding pins 660 are moved all at once when the pin driving member 668 is moved by the air cylinder 670, and are moved to a holding position for holding the pallet 640 and a release position for releasing the pallet 640. In this embodiment, the pallet holding surface 662 is formed by a surface perpendicular to the support surface 676 of the other side wall 672 of the rack body 654, and is provided for each of a plurality of pairs of rails 656. A portion of the side wall 672 where the pallet holding surface 662 is provided constitutes a component container fixing and holding member.
As shown in FIGS. 23 and 25, the pallet 640 has an engaging groove 702 having a V-shaped cross section in the vertical direction at the center of one of the pair of rails 700 in the direction parallel to the pallet conveying direction. It is provided to penetrate through.
When the pallet holding device 650 does not hold the pallet 640 but releases it, the pin driving member 668 is positioned at the retracted end position farthest from the rack 652, and the pallet holding pin 660 is shown by a two-dot chain line in FIG. As shown, the engaging portion 686 is pulled out of the engaging groove 702 and positioned in the release position retracted into the opening 690. In this state, the pallet holding pin 660 does not interfere with the rail 700 of the pallet 640 and allows the pallet 640 to enter and exit the rack 652. Interference between the pallet holding pin 660 and the attachment member 674 is avoided by the opening 710 provided in the attachment member 674.
When the pallet holding device 650 holds the pallet 640 with the pair of rails 700 mounted on the pair of rails 656 and supported from below by the support surface 676, the pin driving member 668 is advanced by the air cylinder 680. Then, the plurality of pallet holding pins 660 are advanced all at once, protrude into the rack body 654, and are fitted into the engaging grooves 702. At this time, even if the pallet holding pin 660 and the engagement groove 702 are misaligned in the front-rear direction (the direction parallel to the rail 656), the engagement portions 686 and the engagement grooves 792 are affected by the action of the inclined surfaces. The joining portion 686 is fitted into the engaging groove 702 and presses the other of the pair of rails 700 against the pallet holding surface 662. Each of the pallet holding pin 660 and the pallet holding surface 662 engages with each of the pair of rails 700 of the pallet 640 from the direction parallel to the support surface 676 and is parallel to the support surface 676 of the pallet 640 (front and rear direction and The pallet holding pins 660 hold the pallet 640 together with the pallet holding surface 662 and fix it to the rack 652. In this state, the pallet 640 is positioned in the left-right direction by the pallet holding surface 662. The pallet holding surface 662 is also a pallet positioning surface.
The pallet 640 is taken in and out of the rack 652 by, for example, an operator, and moved to a position where the entire rack 652 is out of the parts supply position, for example, a pallet entry / exit area or a pallet storage work area above the parts supply position. It is done in the state. Although not shown in the front part of the pallet loading / unloading area (portion on the conveyor side), the storage end position defining the storage end position of the pallet 640 in the rack 652 in the direction parallel to the longitudinal direction of the rail 656 is defined. The member is fixed in position to a frame (not shown) similar to the frame 300 and provided over the plurality of pairs of rails 656 of the rack 652. The operator opens the door on the rear side (opposite to the conveyor) of the carriage, places the pallet 640 on the rail 656, advances the pallet 640 until it is defined by the storage end position defining member, and places the pallet 640 on the shelf. Store. If the cart door is closed after storage, the pallet 640 is positioned in the front-rear direction. In such a positioned state, the positions of the engagement grooves 702 of the pallet 640 and the pallet holding pins 660 in the front-rear direction substantially coincide with each other, the pallet holding pins 660 are advanced and fitted into the engagement grooves 732, and the pallet 640 can be held. The storage end position defining member is not provided at the component supply position, and the transfer of the pallet 640 to the conveyor is not hindered. In addition, a storage blocking member that prevents the pallet 640 from being stored in the rack 652 is provided at the rear of the region where the storage end position defining member is not provided in the rack ascending / descending direction. 640 is not stored in the rack 652.
The forward end position of the pin driving member 668 is set to a position further advanced than the position where the pallet holding pin 660 is fitted into the engagement groove 702 and is engaged with the groove side surface of the engagement groove 702. The excessive movement of the pin driving member 668 is permitted by the spring 688 being compressed and the pin driving member 668 and the pallet holding pin 660 moving relative to each other. Therefore, the plurality of pallet holding pins 660 are advanced all at once. Even if the advance distance required to fix the pallet 640 to the rack 652 is different, all the pallet holding pins 660 can be fitted into the engaging grooves 702 and the pallet 640 can be fixed to the rack 652. The pallet holding pin 660 is pressed against the groove side surface of the engaging groove 702 by the urging of the spring 688, and the pallet 640 is held together with the pallet holding surface 662. Further, since the engaging groove 702 is provided so as to penetrate the pallet 640 in the vertical direction or the thickness direction, when the pallet holding pin 660 and the engaging groove 702 are engaged, the pallet 640 is in the vertical direction. Not restrained. Therefore, for example, even if the pallet holding pin 660 and the engaging groove 702 are displaced in the vertical direction, the pallet holding pin 660 reliably fits into the engaging groove 702 without causing the pallet 640 to twist. be able to.
When the pallet holding device 650 releases the pallet 640, the pin driving member 668 is retracted by the air cylinder 670 and separated from the rack 652, and the plurality of pallet holding pins 660 are pulled out from the engaging groove 702 at the same time. The engaging portion 686 is retracted into the opening 690 of the side wall 672, and the pallet 640 can be pulled out from the rack 652.
The holder 750 and the guide device 752 of the conveyor 740 will be described with reference to FIGS. As shown in FIG. 25, the conveyor 740 includes a pair of conveyor belts 756 and 758 and a circular drive device 760, as in the conveyor conveyor 206, but the support portions 762 and 764 of the pair of conveyor belts 756 and 758 are respectively provided. It is supported by guide rails 766 and 768 as belt support members. The circular drive device 760 is configured in the same manner as the circular drive device 408, and the pair of guide rails 766 and 768 are attached to the pair of support members 770 and 772 together with the circular drive device 760. The guide rails 766 and 768 have the same configuration, and the guide rail 766 will be representatively described based on FIG.
The conveyor belt 756 supported by the guide rail 766 is a timing belt having teeth on the outer peripheral surface in the same manner as the conveyor belts 404 and 406, and the guide rail 766 contacts the flat inner peripheral surface of the conveyor belt 756. A belt support surface 776 that is supported from below, and regulation portions 778 and 780 that are provided along both edges parallel to the longitudinal direction of the belt support surface 776 and project at right angles from the belt support surface 776. Yes. In this embodiment, the belt support surface 776 is coated with polytetrafluoroethylene and made of a low friction material. In addition, a groove 782 that opens in the belt support surface 776 and extends parallel to the longitudinal direction of the guide rail 766 is provided at the center in the width direction of the belt support surface 776, and a moving member described later is fixed to the conveyor belt 756. To avoid interference with bolts and nuts. The conveyor belt 756 is wound around a guide pulley 784 and the like constituting the circular drive device 760, is placed on the belt support surface 776 of the guide rail 766, and is supported from below by the belt support surface 776. 778 and 780 are rotated while preventing displacement in the width direction. If the belt support member is a guide rail, the number of parts required for the conveyor belt guide can be reduced as compared with the case of using a guide pulley, and installation is easy.
As shown in FIGS. 25 and 27, a plurality of guide devices 752 are attached to the pair of support members 770 and 772, respectively, and three guide rollers 790 (three in the present embodiment) as guide rollers 790 (FIG. 27 includes only one). Each of the three guide rollers 790 is attached to the support members 770 and 772 so as to be rotatable about an axis perpendicular to the pallet transport plane and perpendicular to the component receiving plane, and three guide rollers on each side. The guide rollers 790 are provided along a straight line parallel to the pallet conveying direction. Three guide rollers 790 are provided on both sides in the component accommodation plane of the pallet 640 transported by the transport conveyor 740. In this embodiment, the guide roller 790 is made of rubber, and a part of the outer peripheral surface thereof protrudes on the guide rails 766 and 768.
Similar to the holder 410, the holder 750 is provided on a moving member 800 in which both end portions in the longitudinal direction are detachably fixed to portions constituting the support portions 762 and 764 of the pair of conveyor belts 756 and 758, respectively. And moved at the same speed as the conveyor belts 756, 758. As shown in FIGS. 26 and 27, the holder 750 includes a pair of engaging pins 802 and 804 as engaging members, and the engaging pins 802 and 804 each move as an engaging pin as an engaging member moving device. It is moved by devices 806 and 808. The pair of engagement pins 802 and 804 and the engagement pin moving devices 806 and 808 are similarly configured, and the engagement pin 802 and the engagement pin moving device 806 will be described as a representative.
In this embodiment, the engagement pin 802 has a circular cross section and is provided with a conical engagement protrusion 810. 26 and 27, the engaging pin 802 is guided by a guide device 820 including a guide rail 816 and a guide block 818 as guide members on the surface of the moving member 800 on the rack 652 side. It is provided so as to be movable in a direction perpendicular to the pallet conveyance direction in a plane parallel to the conveyance plane, and is provided outward, that is, in a state where the engaging protrusion 810 is located on the conveyor belt 756 side.
Further, as shown in FIG. 27, the engaging pin 802 is provided with a shaft-like portion 826 parallel to the moving direction of the engaging pin 802 and opposite to the engaging protrusion 810, and on the moving member 800. The bracket 828 is fitted so as to be capable of relative movement in the axial direction. The engagement pin 802 is urged outward by a compression coil spring 830 as a spring member as an elastic member which is a kind of urging means disposed between the bracket 828 and the engagement protrusion 810 is moved to the pallet. It is biased in a direction to fit into an engaging groove 832 as an engaging recess provided on the front surface of 640. The engaging groove 832 has a substantially triangular cross-sectional shape and is provided so as to penetrate in the vertical direction. The limit of movement of the engagement pin 802 due to the bias of the spring 830 is defined by the stopper portion 834 provided on the shaft-like portion 826 coming into contact with the bracket 828. The engagement pin 802 is fitted into the engagement groove 832 as shown by a two-dot chain line in FIG. 27 by the urging of the spring 830, and holds the held portion, which is a portion where the engagement groove 832 of the pallet 640 is provided. It is kept in the state. The engagement pin 802 fits into the engagement groove 832 and holds the pallet 640 before the movement is defined by the stopper portion 834.
The holding of the pallet 640 of the engagement pin 802 by the bias of the spring 830 is released by the pin release device 840. In this embodiment, the pin release device 840 includes an air cylinder 850 as a drive source and an arm 852 as a drive member, and is provided on a support member 854 (see FIG. 26) held by the pair of support members 770 and 772. The position is fixed. The arm 852 is moved by the air cylinder 850 in a direction parallel to the moving direction of the engaging pin 802, and there are two points in FIG. 27 in a state where the engaging pin 802 is positioned at the moving end position by the bias of the spring 830. As shown by a chain line, a non-operating position or a standby position that is located outside the engaging portion 856 (on the spring 830 side) provided on the shaft-like portion 826 with a gap between the engaging portion 856 and the figure 27, the engagement position is engaged with the engagement portion 856, the engagement pin 802 is moved against the urging force of the spring 830, and the engagement protrusion 810 is pulled out of the engagement groove 832. Moved to. The engaging pin moving device 806 includes the spring 830 and the pin releasing device 840. The same applies to the engaging pin moving device 808. As shown in FIG. 25, the engaging groove 832 is provided at two locations spaced in the width direction of the front surface of the pallet 640 so as to face each other, and the engaging protrusion 810 has a conveyor belt 756, The two engagement pins 802 and 804 provided in the opposite directions in the outward state facing the 758 side are moved in the opposite directions by the engagement pin moving devices 806 and 808 and fitted into the engagement grooves 832. And let them leave.
When the rack 652 is moved up and down, as shown in FIG. 25, the holder 750 is positioned at a holding position adjacent to the rack 652 in the pallet transport direction, and is kept on standby for holding the pallet 640. The arm 852 is positioned at the operating position, and the pair of engaging pins 802 and 804 are positioned at a releasing position where the engaging protrusion 810 is pulled out of the engaging groove 832 and releases the pallet 640. . Therefore, the pallet 640 is raised and lowered without the portion where the engaging groove 832 is provided interfering with the engaging pins 802 and 804. When one of the plurality of pallets 640 is positioned at the component supply position, the arm 852 is moved to the standby position by the air cylinder 850. Along with this, the engaging pins 802 and 804 are respectively advanced by the bias of the spring 830, and the engaging protrusion 810 is inserted into the engaging groove 832. When the holding tool 750 holds the pallet 640, the engaging protrusion 810 before the limit of movement of the engaging pins 802 and 804 due to the bias of the spring 830 is defined by the contact between the stopper portion 834 and the bracket 828. Engages with the groove side surface of the engagement groove 832, and the pair of engagement pins 802 and 804 are moved in opposite directions to hold the pallet 640 in a stretched state. Even after the engagement protrusion 810 is fitted in the engagement groove 832, the arm 852 is moved and moved to a preset standby position, and the arm 852 is separated from the engagement portion 856. The pins 802 and 804 are fitted into the engaging groove 832 by the urging force of the spring 830, and the pallet 640 is held. Further, the arm 852 is separated from the engaging portion 856 and allows the holder 750 to move while holding the pallet 640.
After the holder 750 holds the pallet 640, the conveyor belts 756 and 758 are circulated by the circular drive device 760, the moving member 800 is moved, and the pallet 640 held by the holder 750 is moved to move the rack It is pulled out from 652, transferred to conveyor belts 756 and 758, and conveyed. At this time, the plurality of guide rollers 790 guide the movement of the pallet 640 while rotating. A part of the outer peripheral surface of the guide roller 790 is on the guide rails 766 and 768 and slightly protrudes into the conveying path of the pallet 640, but the cylindrical outer peripheral surface and the pair of rails 700 are arranged. The rubber guide roller 790 enters between the guide rollers 790 on both sides of the pallet 640 while being elastically deformed, and is sandwiched by the guide rollers 790 from both sides. Therefore, the movement is restricted in the left-right direction, and the movement is guided in a positioned state. The position where the pallet 640 can smoothly enter between the guide rollers 790 on both sides when the pallet 640 is held on the rack 652 by the holder 750 and transferred from the rail 700 of the rack 652 to the conveyor belts 756 and 758 in the left-right direction. It is stored in. Further, the support surface 776 of the guide rails 766 and 768 has a low coefficient of friction, the conveyor belts 756 and 758 are smoothly circulated with little vibration and the pallet 640 is conveyed with little vibration.
When the pallet 640 finishes supplying the parts and is returned to the rack 652, the holder 750 is moved to the holding position by the movement of the moving member 800 and the pallet 640 is stored in the rack 652, and then the holder 650. The holding of the pallet 640 is canceled. At this time, the arms 852 of the pair of engaging pin moving devices 806 and 808 are positioned at the standby position, and the engaging portions 856 of the pair of engaging pins 802 and 804 are inserted between the arms 852. It is done. After the holder 750 is moved to the holding position, the arm 852 is moved to the operating position, and is engaged with the engaging portion 856 on the way, and the engaging pins 802 and 804 are resisted against the biasing force of the spring 830. The pallet 640 is released by retracting the engagement protrusion 810 from the engagement groove 832. The timing of holding and releasing the pallet 640 by the holding tool 650 and the holding and releasing of the pallet 640 by the pallet holding device 650 and the positioning of the raising / lowering position of the rack 652 are performed in the same manner as in the above embodiment. Is omitted.
The component container parallel holding surface (pallet holding surface 662) of the component container holding device (pallet holding device 650) may be formed of a low friction material. The low friction material can be made of, for example, polytetrafluoroethylene.
Further, the fixed engagement member of the component container holding device may be a pallet holding pin similar to the pallet holding pin 660.
Furthermore, the fixed engagement member of the component container holding device may be a roller. At least one roller is provided at a portion of the rack where the rail is provided so as to be rotatable around a rotation axis perpendicular to the container support surface and with a part of the outer peripheral surface protruding on the rail.
As mentioned above, although several embodiment of this invention was described, the electronic circuit component supply apparatus which concerns on this invention is provided with the container support surface which each of a some component container holding | maintenance part supports a component container from the downward direction. The relative movement preventing device engages with each of the plurality of parts of the component container from a direction parallel to the container support surface, and moves in a direction parallel to at least the component container support surface of the component container. It can be considered to include a parallel movement blocking device that blocks Each of the plurality of parallel movement prevention devices provided corresponding to each of the plurality of component container holders constitutes a relative movement prevention device. The pallet gripping device 320 and the pallet holding device 650 are one aspect of the parallel movement prevention device. Each of the plurality of component container holding portions includes a container support surface that supports the component container from below, and the relative movement blocking device is provided at a plurality of positions of the component container from a direction perpendicular to the container support surface. A perpendicular movement blocking device may be included that engages with each other and prevents movement of the component container in a direction perpendicular to at least the component container support surface.
The apparatus which is one aspect | mode of the said parallel direction movement prevention apparatus is a container support surface which makes the at least 1 of these engagement members engage with each of the some location of the said component container, and these engagement members. And an engaging member moving device that moves in a direction parallel to the moving member. The first and second gripping claws 322 and 324 of the pallet gripping device 320 each correspond to an engagement member, and the first and second gripping claw rotating devices 352 and 374 correspond to an engagement member moving device. At least one of the plurality of engaging members is a stationary engaging member provided stationary, and at least one of the other engaging members is moved toward and away from the fixed engaging member by the engaging member moving device. It can be a movable engagement member. The pallet holding pin 660 of the pallet holding device 650 is the movable engaging member, the portion of the rack body 654 where the pallet holding surface 662 is provided is the fixed engaging member, and the pallet holding pin moving device 664 is the engaging member moving device. Equivalent to. The pallet gripping device 320 is an aspect of a parallel movement prevention device in which all of the plurality of engaging members are movable engaging members.
In addition, the plurality of movable engagement members provided for each of the plurality of component container holding portions include a drive member common to the plurality of movable engagement members and a drive source for driving the drive member. The movable member is moved by the engaging member moving device, the movable members can be moved relative to a common driving member, and the movable members are shared between the movable engaging member and the common driving member. An urging means for urging the drive member in a direction approaching the component container can be provided. The claw holders 326, 360 and the pin driving member 668 correspond to a common driving member, and the air cylinders 340, 366, and 670 correspond to a common driving source. The plurality of engagement member moving devices that respectively move the plurality of movable engagement members may be devices including dedicated drive members and drive sources. In this case, the movable engagement members can be individually engaged with each other for the plurality of component containers, and the engagement can be released. For example, the movable engagement is performed only for the component containers that are pulled out from the rack and supply electronic circuit components. With respect to the component container that does not supply the electronic circuit components, the engagement member can be kept engaged, and there is no fear of movement. Even when the plurality of movable engagement members share the drive member and the drive source, the engagement of the movable engagement members may be released only for the component container that supplies the electronic circuit components. For example, an engagement release device for releasing the engagement of the movable engagement member with respect to the component container is provided at a portion corresponding to the component supply position of the rack. For example, if the pallet is held by the pallet holding device 650, the pallet holding pin 660 is retracted against the urging force of the spring 688 to disengage the engaging portion 686 from the engaging groove 702, and the pallet holding pin A disengagement / engagement permission device that allows the 660 to engage the pallet 640 by the bias of the spring 688 is provided.
In addition, the electronic circuit component supply device according to the present invention holds the held portion of the component container and keeps the holding tool that moves at the same speed as the pair of endless conveying members while holding the held portion. It can be considered to include an urging means and a holder releasing device that causes the holder to release the held portion against the urging force of the urging means. The holder release device can be provided at a fixed position in the conveying direction of the component container by the endless conveying member. The spring 472 of the holder 410 and the spring 830 of the holder 750 each correspond to an urging means, and the chuck driving device 474 and the pin release device 840 each correspond to a holder release device.
Further, it can be considered that the holder includes at least one movable holding member, and the electronic circuit component supply device includes a holding member moving device that moves the at least one movable holding member. The holding member moving device includes the urging means and the holding tool releasing device. Each of the pair of chucks 458 and each of the pair of engagement pins 802 and 804 corresponds to a movable holding member, the spring 472 and the chuck driving device 474 correspond to a holding member moving device, and the engaging pin moving devices 806 and 808. Respectively correspond to holding member moving devices. The holding member moving device may move the at least one movable holding member in a direction intersecting with the conveying direction of the component container by the endless conveying member. The engaging pin moving devices 806 and 808 correspond to the holding member moving device, respectively.
Further, at least one pair of the movable holding members is provided, and the holding member moving device moves the at least one pair of movable holding members in directions opposite to each other in a direction orthogonal to the conveying direction of the component container by the endless conveying member. Can be. The pair of engaging pins 802 and 804 correspond to a movable holding member, and the engaging pin moving devices 806 and 808 correspond to holding member moving devices, respectively. The holding member moving device may be provided in each of the pair of movable holding members, or at least a part thereof may be provided in common. For example, it can be set as the apparatus which moves a pair of movable holding member with one drive source.
One of the held portion and the movable holding member has a recess, and the other has a protrusion that can be fitted to the recess, and the holder is held by the engagement of the recess and the protrusion. Can be held. The positioning recesses 466 and 468 of the grip claws 460 and 462 correspond to recesses, the grip portion 268 of the handle 266 corresponds to a protrusion, the engagement groove 832 corresponds to a recess, and the engagement pins 802 and 804 are engaged. The protrusion 810 corresponds to the engagement protrusion.
Furthermore, when the guide device that guides the movement of the component container by the component container moving device includes a pair of guide members, the pair of guide members are, for example, on both sides of the component container in the component storage plane. It may include a guide roller that is provided so as to be rotatable about an axis that intersects with the component receiving plane. At this time, a plurality of guide rollers are provided on each side of the component container in the component housing plane, for example, three or more on each side, and a plurality of guide rollers on each side are disposed on the component housing. It can be provided side by side along a straight line parallel to the direction of movement of the vessel. Further, at least a portion of the guide roller that contacts the component container is formed of rubber or the like. The guide roller 790 of the guide device 752 corresponds to the guide roller.
Further, the conveyor belt of the conveyor may be a timing belt having a large number of teeth on the inner peripheral surface, and the support portion may be supported by a guide rail, or may be supported by a plurality of guide pulleys.
Further, the first gripping member driving device and the second gripping member driving device may be provided exclusively for each of the plurality of first gripping members and second gripping members. Thus, for example, the component container that supplies the circuit component by releasing the gripping of only the first and second gripping members that grip the component container positioned at the component supply position and making the component container movable. Other parts containers can remain fixed to the rack.
The first and second gripping members and the first and second gripping member driving devices of the component container gripping device are engaged with the first and second gripping members from the direction intersecting the component housing plane with the component container. And it is good also as what hold | grips.
Furthermore, the tray may be made of a vibration absorbing material.
Further, the electronic circuit component mounting machine is not limited to the so-called XY robot type electronic circuit component mounting machine in which the mounting head is moved to an arbitrary position in the XY coordinate plane by the mounting head moving device. A mounting machine, for example, an electronic circuit component mounting machine of a head turning type such as an index table type (also referred to as a rotary type) may be used. The index table type electronic circuit component mounting machine includes a rotating body and a rotating body rotating device that rotates the rotating body, and at least one of the mounting heads held by the rotating body holds each of the rotating bodies by the rotation of the rotating body. One of the suction holders is sequentially moved to a plurality of stop positions, receives an electronic circuit component from the component supply device at the component receiving position, and mounts the electronic circuit component on the circuit board at the component mounting position. At this time, the substrate holding device is moved by the substrate holding device moving device, and the component mounting position of the circuit board is positioned at a position corresponding to the component holder positioned at the component mounting position. The rotating body and the rotating body rotating device constitute a head turning device, and together with the substrate holding device moving device, constitute a relative moving device that relatively moves the mounting head and the substrate holding device. In some swivel-type electronic circuit component mounting machines, a plurality of mounting heads are respectively provided on a plurality of rotating members that can rotate independently of each other around a common swing axis. Each of the plurality of turning members is provided with a turning motion imparting device that makes a round around the pivot axis and includes a stop at least once during the round and has a certain time difference from each other. The
Furthermore, although the electronic circuit component mounting machine has not been disclosed yet, a plurality of mounting units are connected in series as described in the specification of Japanese Patent Application Nos. 2002-243431 and 2002-338553 according to the present applicant. An electronic circuit mounting machine may be included. Each of these mounting units includes a component supply unit, a circuit board holding unit, and a component mounting unit, and the electronic circuit component supplied from the component supply unit is mounted on the circuit board held by the circuit board holding unit by the component mounting unit, An electronic circuit component is mounted on a single circuit board in cooperation with a plurality of mounting units. The plurality of mounting units can be modularized, and the configuration of the electronic circuit component mounting machine, the replacement of the mounting units, and the like can be easily performed. Each of the plurality of mounting units can be considered as an electronic circuit component mounting machine.
Although several embodiments of the present invention have been described in detail above, these are merely examples, and the present invention is not limited to the knowledge described by those skilled in the art, including the aspects described in the above [Disclosure of the Invention]. Based on the above, various modifications and improvements can be made.

It is a top view which shows the electronic circuit component mounting machine containing the electronic circuit component supply apparatus which is embodiment of this invention. It is a side view which shows the said electronic circuit component mounting machine. It is a front view (partial cross section) which shows the mounting apparatus of the said electronic circuit component mounting machine. It is a side view which shows the mounting head of the said mounting apparatus with a reference mark imaging system. It is a side view which shows the state with which the tray type component supply apparatus of the said electronic circuit component mounting machine was mounted in the trolley | bogie. It is front sectional drawing which shows the state in which the electronic circuit component was accommodated in the tray of the said tray type component supply apparatus. It is a top view (partial cross section) which shows the state by which the pallet of the said tray type component supply apparatus was accommodated in the rack, and was gripped with the pallet gripping apparatus. It is a side view which shows the said pallet. It is a figure which shows a part of pallet main body of the said pallet in cross section. It is a rear view which shows the said rack and rack raising / lowering apparatus. It is a side view which shows the said rack and rack raising / lowering apparatus. It is a top view which expands and shows the state where the said pallet was hold | gripped by the pallet holding apparatus. It is a top view which shows the pallet moving apparatus of the said tray type component supply apparatus. It is a side view which shows the conveyance conveyor of the said pallet moving apparatus. It is a figure which shows the holder of the said pallet moving apparatus with a conveyor belt etc., Fig.15 (a) is a rear view (partial cross section) of the whole, FIG.15 (b) shows the part by which the said pallet was supported by the conveyor belt. FIG. It is a figure explaining holding and release of a pallet by the above-mentioned holder. It is a top view which shows the movable rail which guides the movement of the said pallet. It is a back sectional view showing the state where the above-mentioned movable rail was held movably by the rail holding member, and was prevented from being lifted by the lift preventing member. It is a back surface sectional view showing the state where the above-mentioned movable rail was urged in the direction which approaches a fixed rail with a spring. FIG. 20 is a view illustrating notches provided in the rack and explaining positioning of the pallet to the component supply position. FIG. 20 (a) is a front view showing a portion in which the rack is provided with a notch, and FIG. 20 (b). FIG. 20 (c) is a side view. It is a block diagram which shows roughly the part deeply related to this invention among the control apparatuses which control the said electronic circuit component mounting machine. It is a side view which shows the state by which the conveyor belt of the conveyance conveyor of the tray type component supply apparatus which is another embodiment of this invention was supported by the guide rail. It is a top view (partial cross section) which shows a part of the state with which the pallet holding | maintenance apparatus of the tray type component supply apparatus which is another embodiment of this invention hold | maintained the pallet. It is a side view which shows the pallet holding device shown in FIG. It is a top view which shows the conveyance conveyor and guide apparatus of a tray type | mold component supply apparatus provided with the pallet holding apparatus shown in FIG. 23 with a pallet. It is a front view which shows the holder and engagement pin moving apparatus of the conveyance conveyor shown in FIG. FIG. 27 is a plan view showing one engagement pin of the holder shown in FIG. 26, an engagement pin moving device for moving the engagement pin, a guide device, and the like.

Claims (19)

A plurality of component storage units each having a plurality of component storage units arranged in a plane, each of which is detachably stored with one electronic circuit component;
Each of the plurality of component containers is provided with a plurality of container support surfaces for supporting at least one of the plurality of component containers from below, and each component container is moved in a direction parallel to the component storage plane on which the plurality of component storage portions are arranged. A rack having a plurality of component container holders that hold each of them possible;
A rack lifting and lowering device that lifts and lowers the rack in a direction intersecting the component housing plane;
When the rack lifting device is in a stopped state, each of the plurality of component containers is moved in a loading / unloading direction that is parallel to each of the plurality of component receiving planes. And an electronic circuit component supply device including a component container moving device that moves the electronic circuit component accommodated in the component accommodating portion to a component removal allowance position that allows removal of the electronic circuit component.
Vibration suppression that suppresses vibration of each of the plurality of component containers at least one of when the rack is raised and lowered by the rack lifting device and when each of the plurality of component containers is moved by the component container moving device. A vibration suppressing device comprising: (a) a plurality of movable engagement members provided in each of the plurality of component container holding portions of the rack so as to be movable relative to the rack and moving up and down together with the rack; (B) The movable engagement member is pressed against each of the plurality of component containers to prevent the relative movement of each component container with respect to the rack, and away from each component container. An electronic circuit component supply device including a relative movement blocking device including an engagement member driving device that moves to a non-operation position.   The relative movement blocking device is provided for each of the plurality of component container holding portions, and engages with opposite surfaces of each of the plurality of component containers from a direction parallel to the container support surface. A pair of engagement members that prevent movement of the component container in a direction parallel to at least the container support surface, and at least one of the pair of engagement members is the movable engagement member, The electronic circuit component supply device according to claim 1, wherein the electronic device is moved in a direction parallel to the container support surface by an engagement member driving device, and the relative movement prevention device includes a parallel direction movement prevention device.   One of the pair of engaging members is a fixed engaging member fixed to the rack, and the engaging member driving device is connected to the plurality of movable engaging members corresponding to each of the plurality of component container holding portions. A common drive member, a drive source for driving the drive member, and a plurality of elastic members respectively disposed between the drive member and each of the plurality of movable engagement members, the drive source comprising: By pressing each of the plurality of movable engagement members against each of the plurality of component containers via each of the plurality of elastic members, the drive member is moved to the corresponding fixed engagement member. The electronic circuit component supply apparatus according to claim 2, wherein the electronic circuit component supply device is moved to an operation position to be engaged and a non-operation position in which each movable engagement member is separated from each component container.   The fixed engagement member has a longitudinal shape extending in parallel with the loading / unloading direction, and each of the plurality of movable engagement members is parallel to each of the plurality of container support surfaces and perpendicular to the loading / unloading direction. A pallet holding pin that is held by the drive member so as to be able to advance and retreat in that direction, and the relative movement blocking device is arranged to move away from the drive member by the elastic force of the elastic member of the pallet holding pin. The electronic circuit component supply apparatus according to claim 3, further comprising a defining unit that defines a movement limit. The parallel movement blocking device comprises:
The rack is provided so as to be relatively movable in a direction parallel to each of the plurality of container support surfaces with respect to the rack, and is respectively engaged with two engaging surfaces opposite to each other of the plurality of component containers. A gripping position for gripping each component container in cooperation with each other, and releasing each component container away from the two engaging surfaces, allowing each component container to be pulled out of the rack. A first gripping claw and a second gripping claw as the pair of engaging members movable to a release position to be
5. The electronic circuit according to claim 2, further comprising: a gripping claw driving device as the engagement member driving device that moves the first gripping claw and the second gripping claw to the gripping position and the release position. Parts supply device. The gripping claw driving device is
A first gripping claw driving device that moves the first gripping claw to the gripping position and the release position;
A second gripping claw driving device that moves the second gripping claw to the gripping position and the release position;
6. A stopper for preventing the first gripping claw from moving beyond the gripping position, and the driving force of the second gripping claw driving device is smaller than the driving force of the first gripping claw driving device. The electronic circuit component supply apparatus according to 1.   The first gripping claw is provided corresponding to each of the plurality of component container holding portions of the rack, and the plurality of first gripping claws corresponding to the plurality of component container holding portions is a common claw holder. The plurality of first gripping claws are moved to the gripping position and the release position all at once by driving the claw holder by the first gripping claw driving device, and the second gripping claw is A plurality of second gripping claws corresponding to each of the plurality of component container holding portions of the rack are held by a common claw holding body, and the claws are provided. When the holding body is driven by the second gripping claw driving device, the plurality of second gripping claws are moved simultaneously to the gripping position and the release position, and each of the plurality of second gripping claws is But the parts collection Electronic circuit component supplying device according to claim 6 to absorb surplus operation amount of elastic deformation to the second gripping claws driving device after engagement with the engagement surface of the vessel.   The engaging member driving device keeps (b-1) the movable engaging member provided in each of the plurality of component container holding portions engaged with each of the plurality of component containers. And (b-2) a component container that has been moved to a component supply position that is a position to be moved in the loading / unloading direction by the component container moving device among the plurality of component containers. The electronic circuit component supply device according to claim 1, further comprising an engagement release device that releases an engagement state of the movable engagement member to the container.   The component container moving device includes a conveyor, and the conveyor includes a pair of endless conveying members, a revolving drive device that circulates the endless conveying members along a predetermined path, and the plurality of component containers. A holding tool that holds each of the held parts and moves at the same speed as the pair of endless conveying members, and in the state that the holding tool holds the held part of the component container, the pair of endless When the conveying member is circulated by the circulation driving device, the holder moves at the same speed as the endless conveying member, so that each of the plurality of component containers holds the plurality of component container holders of the rack. Each of which is transferred onto the pair of endless transport members and transported by the endless transport member, the circular drive device, and the holder. Electronic circuit component supplying device according to any one of claims 1 to 8 constituting the vibration suppression apparatus. An urging means for keeping the holder in a state of holding the held portion;
The electronic circuit component supply apparatus according to claim 9, further comprising: a holder release device that causes the holder to release the held portion against an urging force of the urging means. 10. The chuck according to claim 9 , wherein the holder includes a chuck including a pair of gripping claws that grips the held portion in a closed state so as not to move relative to the holder, and releases the held portion in an opened state. The electronic circuit component supply apparatus of description. The holder is provided on a moving member, and the moving member moves at the same speed as the pair of endless transport members while being guided by a guide rail. As a result, the holder is the same as the pair of endless transport members. 12. The electronic circuit component supply apparatus according to claim 11 , which moves at a speed. The holder includes at least one movable holding member, the electronic circuit component supply device includes a holding member moving device that moves the at least one movable holding member, and the holding portion and the movable holding member The electronic device according to claim 9, wherein one has a concave portion and the other has a protrusion that can be fitted to the concave portion, and the holder holds the held portion by engagement of the concave portion and the protrusion. Circuit component supply device. The holding tool moves the pair of engaging members and the pair of engaging members in opposite directions to move to a release position for releasing the held portion and a holding position for holding the held portion. The electronic circuit component supply apparatus of Claim 9 containing a member moving apparatus. The endless conveying member is a timing belt provided with a large number of teeth on the outer peripheral surface, and the rotation driving device is
Two or more guide pulleys around which the timing belt is wound;
A timing pulley that meshes with the teeth of the outer peripheral surface;
A rotational drive device for rotationally driving the timing pulley;
The electronic circuit component supply apparatus of Claim 14 provided with the belt supporting member which supports the internal peripheral surface of the part which supports the said component container of the said timing belt. A guide device for guiding the movement of each of the plurality of component containers by the component container moving device; the guide device includes a pair of guide members; Guiding on a side surface perpendicular to the receiving plane, and the pair of guide members can rotate around an axis intersecting the component receiving plane on both sides of each of the plurality of component containers in the component receiving plane. The electronic circuit component supply device according to claim 9, further comprising: a guide roller provided on the at least one of the plurality of component containers. Each of the plurality of component containers makes a pallet supporting a tray for storing electronic circuit components and a tray supported by the pallet immovable with respect to the pallet in any direction parallel to the component receiving plane. electronic circuit component supplying device according to any one of claims 1 and a restraining device that restrains 16. The electronic circuit component supply device according to claim 17 , wherein the pallet includes a vibration absorption layer made of a vibration absorption material and a metal material layer sandwiching the vibration absorption layer from both the front and back surfaces. The electronic circuit component supply device according to claim 18 , wherein the metal material layer is a magnetic material layer made of a magnetic material, and the restraining device includes a restraining member having at least a permanent magnet portion.

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