JP4780047B2 - Component mounting apparatus and component collection method for component mounting apparatus - Google Patents

Description

  The present invention relates to a component mounting apparatus that picks up a component by a transfer head and mounts the component on a substrate, and a component recovery method of the component mounting apparatus.

  The component mounting apparatus repeatedly performs the operation of picking up the component supplied from the parts feeder by the transfer head and mounting it on the substrate after positioning the substrate by the substrate transport path. The component picked up by the transfer head is recognized by the component camera before being mounted on the substrate, and if an abnormal point (such as a partial deformation of the component) is detected at this time, the component is transferred to the substrate. It is collected in a dedicated tray (component collection tray) without being mounted (Patent Document 1).

  The collected parts (collected parts) are usually placed in a predetermined arrangement on the parts collection tray by the transfer head. The control device of the component mounting apparatus grasps the number of components (the number of recovered components) currently placed in the component recovery tray from the number of operations of mounting the recovered components on the component recovery tray. When there is no more space for placing the recovered parts on the top, a notification to that effect is given. Upon receiving this notification, the operator removes the collected parts from the parts collection tray and then resets the data on the number of parts collected parts stored in the control device. In response to the data reset operation, the control device resumes the part collecting operation.

Also, when resetting the execution of the mounting program itself, such as when changing the type of board (production board) to be produced, the data on the number of recovered parts stored in the control device is also automatically The initial value (0) will be reset, so in this case, the operator must remember to remove the collected parts in the parts collection tray and actually know the state in the parts collection tray that the control device has grasped. It is necessary to match the state in the parts collection tray.
JP 2000-307290 A

  However, when the operator resets the execution of the mounting program itself, if the user forgets to remove the collected parts from the parts collection tray, the collected parts collected first after the reset remain in the parts collection tray. There is a possibility that the recovered parts are placed on top of each other and damaged by bringing the recovered parts into contact with each other or the transfer head is damaged.

  Accordingly, the present invention provides a component mounting apparatus and a component mounting apparatus that do not damage the recovered component or damage the transfer head even if the user forgets to remove the recovered component in the component recovery tray. The purpose is to provide a collection method.

The component mounting apparatus according to claim 1, a substrate transport path for positioning the substrate at a predetermined position on the base, a transfer head for picking up the supplied components and mounting the substrate on the substrate positioned by the substrate transport path A component mounting apparatus comprising a component recovery tray on which recovery components that are determined to be unsuitable for mounting before the components picked up by the transfer head are mounted on the substrate are arranged and placed ; The collection parts collected in the second and subsequent order are placed in a predetermined arrangement in order from the reference position where the collection parts collected first are set as a fixed position regardless of the size of the parts to be collected on the product collection tray. A recovery operation control means for controlling the operation of the transfer head so as to be placed, and an empty space for detecting whether or not the reference position is an empty space when the recovery component is placed at the reference position And means output, said free space detecting means is provided at said reference position of the component collection tray, but when the collecting part to the reference position is not placed is visible from above, recovered in the reference position When a part is placed, the mark is hidden by the recovered part and cannot be seen from above. When the recovered part is placed at the reference position, the mark is moved to the upper side of the part recovery tray to visually check the mark. The collection operation control means determines that the reference position is an empty space when the mark is visually recognized by the camera, and the reference position is not an empty space when the mark is not visually recognized by the camera. Judge .

The component mounting apparatus according to claim 2 is the component mounting apparatus according to claim 1, further comprising a control device that grasps the number of recovered parts, and after the data on the number of recovered parts is reset, the empty space A space detecting means detects whether or not the reference position is an empty space.
The component mounting apparatus according to claim 3 is the component mounting apparatus according to claim 1 or 2, and notifies that when it is determined that the reference position is not an empty space.

According to a fourth aspect of the present invention, there is provided a component collection method for a component mounting apparatus, comprising: a substrate conveyance path that positions a substrate at a predetermined position on a base; In a component mounting apparatus that includes a transfer head and a component collection tray installed in a movable area of the transfer head, it is determined that the component picked up by the transfer head is unsuitable before being mounted on the substrate. If the, a parts collection process of the component mounting apparatus designed to align placed on component collecting tray is recovered without mounting the components on a substrate, the size of the parts to be recovered in part article collecting tray with placing the recovered components recovered components initially collected set as a constant position is recovered in the second and subsequent in sequence from the reference position to be placed not according with a predetermined sequence, to the reference position Time of mounting the yield components, but when the recovery component on the reference position is not placed is visible from above, when the recovery component is placed on the reference position from the upper hidden by the recovered parts the mark to be invisible performs detection of whether the reference position is in the empty space, it is determined that when the mark is visible the reference position is in the free space, the reference when the mark is not visible If it is determined that the position is not an empty space and it is detected that the reference position is an empty space, the recovery component is placed on the component recovery tray.

In the present invention, together with the first recovered recovered parts placed to the reference position set in component collecting tray, recovered components recovered to the second and subsequent placing in a predetermined sequence in order from the criteria position, When the recovered part is placed at the reference position, it is detected whether or not the reference position is an empty space, and if it is detected that the reference position is an empty space (at this time, the parts recovery is It can be said that the collected parts in the tray have been removed), and since the collected parts are placed on the parts collection tray, it should be performed after changing the type of production board, etc. Even if the user forgets to remove the collected parts in the parts collection tray, there is no possibility of damaging the collected parts or damaging the transfer head.

  Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view of a component mounting apparatus according to an embodiment of the present invention, FIG. 2 is a side view of the component mounting apparatus according to an embodiment of the present invention, and FIG. 3 is a component supply apparatus according to an embodiment of the present invention. FIG. 4 is a side view of the manual feed tray of the component supply apparatus according to the embodiment of the present invention, and FIG. 5 is a plan view of the manual feed tray of the component mounting apparatus according to the embodiment of the present invention. 6 (a) and 6 (b) are partial side views of the manual feed tray of the component mounting apparatus according to the embodiment of the present invention. FIG. 7 is a plan view of the manual feed tray of the component mount apparatus according to the embodiment of the present invention. 8 (a), (b), and (c) are partial side views of the manual feed tray of the component mounting apparatus according to the embodiment of the present invention, and FIG. 9 is a control system of the component mounting apparatus according to the embodiment of the present invention. FIG. 10 is a block diagram showing the present invention. Illustrates an example of a display portion of a display panel provided in the component mounting apparatus in the embodiment, FIG. 11 is a diagram showing a configuration of a free space detecting means for the component mounting apparatus is provided in an embodiment of the present invention.

In FIG. 1 and FIG. 2, the component mounting apparatus 1 has a board conveyance path 4 that carries the board 3 on the base 2 and positions the board 3 at a predetermined position on the base 2. Is provided with a transfer head 5 having a plurality of nozzles 5a extending downward. The transfer head 5 extends in a direction (Y-axis direction) in a horizontal plane perpendicular to the direction (X-axis direction) in which the substrate transport path 4 extends, and a pair of Y-axis tables 6a provided opposite to the X-axis direction, both end portions Is supported by a pair of Y-axis tables 6a and is provided to extend in the X-axis direction, and is provided to be movable in the X-axis direction along the X-axis table 6b and to move the transfer head 5 The transfer head moving mechanism 6 including the stage 6c is movable relative to the substrate 3 positioned by the substrate transport path 4. A plurality of tape feeders 7 are detachably provided on one side of the side area of the substrate transport path 4, and a manual feed tray 8 is detachably provided on the other side of the side area of the substrate transport path 4. Yes.

  The upper area of the base 2 is covered with a fixed cover 9a, and the area immediately above the tape feeder 7 and the manual feed tray 8 attached to the base 2 can be opened and closed with respect to the fixed cover 9a (shown in FIG. 2). It is covered with a movable cover 9b indicated by an arrow A).

  The tape feeder 7 and the manual feed tray 8 are detachably attached to a feeder base 2a that is opposed to the base 2 with the substrate transport path 4 interposed therebetween. These feeder bases 2a are originally existing equipment for attaching the tape feeder 7, but in this component mounting apparatus 1, the manual feed tray 8 can be attached to the feeder base 2a for attaching the tape feeder. .

  The tape feeder 7 continuously supplies the components accommodated in the tape wound around the reel 7a to the component supply port 7b. When the tape feeder 7 is attached to the feeder base 2 a, its component supply port 7 b is set in the movable region R of the transfer head 5.

  3, 4, and 5, the manual feed tray 8 includes a pallet table 10 that is detachably attached to the feeder base 2 a, and a plurality of (this embodiment) that are inserted into and removed from the base 2 independently of each other via the pallet table 10. 2), two pallets 40 are provided. On the upper surface of each pallet 40, a plurality of trays 50 in which a large number of components are accommodated are placed.

  The pallet stand 10 includes a lower member 11 attached to the feeder base 2 a and an upper member 12 provided above the lower member 11. On the upper surface of the feeder base 2a, a plurality of guides 2b extending in the front-rear direction of the feeder base 2a (in the horizontal plane direction orthogonal to the substrate transport path 4) having a T-shaped cross section are provided in the left-right direction of the feeder base 2a (substrate transport path 4). And a plurality of protrusions 11a having a T-shaped cross section that fits into a T-shaped slot formed between the guides 2b on the lower surface of the lower member 11 (see FIG. 3) extends in the front-rear direction of the manual feed tray 8.

  A lock member mounting portion 15 extends downward at the rear portion of the lower stage member 11 of the pallet table 10, and the lock member 16 swings around a swing shaft 17 extending horizontally. It is attached freely. The lock member 16 is constantly urged in a direction in which the front end portion moves upward by an urging spring 18 straddling the lock member 16. The lock member mounting portion 15 is provided with a stopper 19 for restricting the upward movement of the front end portion of the lock member 16. The lock member 16 is urged by the urging spring 18 in the direction in which the front end portion moves upward. 19 is in contact with the lower side. A hook-shaped portion 16 a having an inclined surface that is inclined forward and downward is formed at the front end portion of the lock member 16.

When the protrusion 11a of the pallet base 10 is fitted between the adjacent guides 2b of the feeder base 2a and the pallet base 10 is slid forward of the feeder base 2a (arrow B shown in FIG. 6A), A pin (not shown) provided at the front end portion of the pallet table 10 is fitted into a pin fitting portion (not shown) formed on the upper surface of the feeder base 2a to position the pallet table 10 with respect to the feeder base 2a. At this time, the hook-like portion 16a of the lock member 16 is pressed downward by the inclined surface abutting against the rod-like locked member 2c provided on the feeder base 2a (FIG. 6A). The arrow C shown in the figure may be configured such that the rear end portion of the lock member 16 is moved upward and the hook-shaped portion 16a is moved downward). When the pallet base 10 is positioned with respect to the feeder base 2a, the hook-shaped portion 16a of the lock member 16 gets over the locked member 2c and is biased by the biasing spring 18 to move upward. Lock to 2c from below (arrow D shown in FIG. 6B). Thereby, the pallet stand 10 is locked to the feeder base 2a. In order to release the lock, the rear end portion of the lock member 16 may be moved upward to separate the hook-shaped portion 16a downward from the locked member 2c.

  In a state where the pallet table 10 is attached to the feeder base 2a, the pallet table 10 has the lower surface of the lower member 11 in contact with the upper surface of the guide 2b of the feeder base 2a from above, and the upper member 12 is more forward than the lower member 11. And the front end portion is close to the substrate 3 (see FIGS. 2 and 7). The lower surface of each tape feeder 7 is provided with a projection similar to the projection 11a, and similarly to the lock member 16, a lock member 16b (see FIG. 2) that is locked to the locked member 2c is provided. The pallet base 10 can be attached to the feeder base 2a in the same manner.

  The pallet 40 is formed of a rectangular basin container made of a magnetic material, and a tray 50 opened upward is placed on the upper surface thereof. Each tray 50 is provided with a large number of component storage spaces 51 partitioned in a grid pattern (FIGS. 3 and 5), and each component storage space 51 is a component to be mounted on the substrate 3 by the component mounting apparatus 1. Are housed one by one. The tray 50 is fixed on the pallet 40 by using a wall 41 (FIG. 5) surrounding the pallet 40 and a magnet 42 detachably attached to the upper surface of the pallet 40. Although eight trays 50 are shown in the drawing, one of these (the leftmost front side in FIG. 5) is a component (hereinafter referred to as “recovery”) that is collected without being mounted on the substrate 3. This is a component recovery tray (hereinafter referred to as a component recovery tray 50a) on which a recovery component is placed.

  The upper member 12 of the pallet base 10 is provided with a front wall 21 extending in the left-right direction at the front, left and right walls 22 extending in the front-rear direction at both left and right ends, and a central wall 23 extending in the front-rear direction at the center. A region surrounded on three sides by the front wall 21 and the central wall 23 and one of the left and right walls 22 is a pallet receiving portion 24 for receiving the pallet 40. In this embodiment, two pallet receiving portions 24 are provided side by side in the left-right direction of the pallet 40, but the number of pallet receiving portions 24 may be three or more. The rear part of each pallet receiving part 24 is a pallet insertion opening 25 opened to the outside.

  The pallet 40 is manually slid and inserted into the pallet receiving portion 24 from the pallet insertion opening 25 opened to the outside with the tray 50 placed and fixed on the upper surface thereof. The pallet 40 inserted from the pallet insertion port 25 is fixed to the pallet table 10 by a fixing means 26 (described later) at a position where the tray 50 placed on the pallet 40 enters the movable region R of the transfer head 5. The

In FIG. 7, when each pallet 40 is fixed to the pallet table 10, the region on the pallet 40 that is in the movable region R of the transfer head 5 is picked up (and collected) by the transfer head 5 as it is. the target area _{S 1.} Conversely, since the area S ₂ on the pallet 40 other than the pickup target area S ₁ is the area that can not pick up the component by transfer head 5, the operator previously, the pallet 40 to be picked up area S ₁ of leave grasp region, to position the components in the positioning of the tray 50 and the tray 50 relative to pallet 40 as part of the mounting object fits to all the pickup target region S _1.

The fixing means 26 positions the pallet 40 by contacting the front end of the pallet 40 at a position where the tray 50 placed on the pallet 40 inserted into the pallet table 10 enters the movable region R of the transfer head 5. It comprises a positioning portion 27 (FIGS. 4 and 5) and a locking portion 29 (FIGS. 3 to 5) for releasably locking the rear end of the pallet 40 whose front end is in contact with the positioning portion 27. The positioning portion 27 includes a front wall 21 of the pallet table 10 and a plurality of elastic members 28 attached to the rear surface of the front wall 21.

  In FIG. 8, the locking portion 29 is swingable about a swing shaft 31 extending in the lateral direction of the pallet table 10 through a hole 30 provided through the upper stage 12 of the pallet table 10 in the vertical direction. A swing member 32 provided, a roller 33 provided at the front end of the swing member 32 so as to be rotatable about a horizontal axis, and a biasing spring 34 that constantly biases the swing member 32 in a direction in which the roller 33 rises. Become. The swing member 32 is biased in a direction in which the front end portion is moved upward by the biasing spring 34, and the extending portion 32 a extending downward is provided as a stopper portion 35 a of the stopper member 35 provided on the lower surface of the pallet base 10. The upward movement is restricted at a position where the contact is made from below. The swing shaft 31 is held by a stopper member 35, and the position of the swing member 32 can be adjusted by changing the position of the stopper member 35 with respect to the pallet table 10.

  The swing member 32 is normally located at a position where the extended portion 32a is in contact with the stopper portion 35a (the initial position) (FIG. 8A), but the pallet 40 is inserted from the pallet insertion port 25. (Arrow E shown in FIG. 8B), when the roller 33 is pressed downward by the lower surface of the pallet 40, it swings in the direction of moving the front end downward and is hidden in the hole 30 (FIG. 8). When the pallet 40 passes over the roller 33 (arrow F shown in (b)), the urging force of the urging spring 34 returns to the initial position (arrow G shown in FIG. 8C). Then, the roller 33 is brought into contact with the rear wall 41 a of the pallet 40 at the returned position, and the pallet 40 is locked in the pallet receiving portion 24.

  4 and 5, the elastic member 28 attached to the front wall 21 of the pallet base 10 is made of, for example, a spring or rubber, and is locked (fixed) in the pallet receiving portion 24 by the locking portion 29. Is biased toward the engaging portion 29 side. Therefore, in a state where the rear end portion of the pallet 40 is locked by the locking portion 29, the pallet 40 is sandwiched between the elastic member 28 and the swinging member 32. On the other hand, in order to remove the pallet 40 from the pallet table 10, it is only necessary to press the swinging member 32 downward to push the roller 33 into the hole 30 and release the locking of the pallet 40 by the swinging member 32. At this time, since the pallet 40 is discharged rearward by the elastic member 28, the pallet 40 can be easily pulled out from the pallet table 10.

  In the vicinity of the pallet insertion port 25, a height regulating member 37 is provided which is horizontally mounted in a horizontal direction perpendicular to the direction in which the pallet 40 is inserted into the pallet table 10 (the front-rear direction of the pallet table 10). The height regulating member 37 regulates the passage of components having a height higher than a specified height among the components accommodated in the tray 50, and consequently the passage of the tray 50 and the pallet 40 accommodating such components. It is something to regulate. Accordingly, it is possible to prevent the component mounting apparatus 1 from being erroneously supplied with a component of a size that should not be supplied or a component that has floated out of the tray 50. Further, the height restricting member 37 is accidentally inserted by the operator through the pallet insertion port 25 in a state where the pallet 40 is not inserted into the pallet receiving portion 24, and the finger is transferred to the transfer head 5. This also has a function of preventing the movable region R from being reached.

A first pallet holding member 38 having an L-shaped cross section extending in the lateral direction of the pallet table 10 is attached to the front end portion of the pallet table 10, and the left and right walls 22 and the central wall 23 of the pallet table 10 have a flat plate shape. A second pallet holding member 39 is attached. These first and second pallet holding members 38 and 39 extend so as to cover a part of the pallet receiving portion 24 of the pallet stand 10 so that the pallet 40 received by the pallet receiving portion 24 does not come out upward. It has become.

  After the pallet base 10 is attached to the feeder base 2a of the component mounting apparatus 1, the tray 50 containing the components is placed on the pallet 40, and the pallet 40 is opened from the pallet insertion port 25 opened to the inside of the pallet receiving portion 24. When the pallet 40 is manually inserted into the pallet 40, the front wall 41 b of the pallet 40 comes into contact with the positioning portion 27 (elastic member 28) of the pallet base 10 from the rear, and is then locked by the locking portion 29 to be fixed in the pallet receiving portion 24. At this time, the position at which the pallet 40 is fixed to the pallet base 10 is a position where the tray 50 placed on the pallet 40 enters the movable region R of the transfer head 5 as described above. It has become. Therefore, as described above, if the components to be mounted are accommodated in the tray 50 that enters the movable region R of the transfer head 5 when the pallet 40 is fixed to the pallet base 10, the tray 50 is loaded. By simply inserting the placed pallet 40 into the pallet table 10, eight trays 50 (including the component collection tray 50 a) can be supplied into the movable region R of the transfer head 5.

  Here, even when the transfer head 5 tries to attract a component from the component storage space 51 where no component is stored due to some malfunction, the tray 50 is placed on the pallet 40 by the magnet 42 as described above. Further, the pallet 40 is prevented from coming out of the pallet receiving portion 24 of the pallet table 10 by the first and second pallet holding members 38 and 39, so that the transfer head 5 directly moves the tray 50 over the tray 50. Even if it is adsorbed, the tray 50 and the pallet 40 are not lifted upward.

  As shown in FIG. 9, the component mounting apparatus 1 includes a conveyance path drive mechanism 61 that drives the substrate conveyance path 4, an X-axis table movement mechanism 62 that moves the X-axis table 7b along the Y-axis table 7a, and movement. A moving stage moving mechanism 63 that moves the stage 7c along the X-axis table 7b, a nozzle drive mechanism 64 that moves the nozzles 5a up and down and rotates around the vertical axis, and a nozzle suction mechanism 65 that causes the nozzles 5a to perform component suction operations. And a tape feeder drive mechanism 66 for driving each tape feeder 7, and these mechanisms 61 to 66 are controlled by a control device 60 included in the component mounting apparatus 1. The transfer head 5 is provided with a substrate camera 67 (see also FIG. 11) with the imaging surface facing downward, and the component camera 68 (see also FIG. 7) with the imaging surface facing upward on the base 2. ) Is provided. The operation of the board camera 67 and the component camera 68 is controlled by the control device 60, and information on the imaging results of the board camera 67 and the component camera 68 is input to the control device 60.

  In FIG. 9, a mounting program is stored in advance in a storage device 69 connected to the control device 60, and the control device 60 executes a mounting program stored in the storage device 69 to mount components on the board 3. In a component mounting cycle performed on one substrate 3, first, the substrate 3 to be mounted on the component is transported and positioned to a predetermined position by the substrate transport path 4, and the transfer head 5 is moved above the substrate 3. Then, a positioning mark (not shown) provided at the corner of the substrate 3 is visually recognized by the substrate camera 67. The positional deviation of the substrate 3 is detected based on how much the positional deviation detection mark visually recognized at this time is deviated from a predetermined reference position.

  When the control device 60 detects the positional deviation of the substrate 3, it moves the transfer head 5 and repeats the component mounting operation. Each component is mounted on the substrate 3 by picking up (sucking) the components supplied into the movable region R of the transfer head 5 by the tape feeder 7 or the manual feed tray 8 by the nozzles 5a, The component camera 68 images the component so as to pass through the field of view of the component camera 68, and detects the displacement of the component with respect to the nozzle 5a. Then, the component is mounted on the substrate 3 so that the positional deviation of the substrate 3 and the positional deviation of the component are corrected.

When all the components to be mounted on one board 3 have been mounted, the board 3 on which the components have been mounted is sent to the previous process by the board transfer path 4, and the board 3 to be mounted next is connected to the board transfer path. 4 is carried and positioned, and the same component mounting is executed.

  In each tray 50 of the manual feed tray 8, components before being mounted on the substrate 3 (that is, before pickup) are aligned and arranged in a predetermined arrangement. For this reason, the control device 60 can accurately grasp the position of each component on each tray 50, and can sequentially pick up the components by moving the transfer head 5 above each component.

  The control device 60 always recognizes (detects) the remaining number of parts in each tray 50 by counting the number of parts picked up from each tray 50, so that the number of parts in each tray 50 (that is, in each pallet 40). ) The remaining state of the parts is visually (and audibly) notified to the operator via the display panel 70 (FIG. 1) provided on the manual feed tray 8 side of the base 2. The control device 60 displays the remaining number of parts in each tray 50 as a notification of the remaining state of the parts in each pallet 40, and the remaining number is a predetermined number (usually 0, but 1 or 2). Display of the fact that it is necessary to replenish parts.

  FIG. 10 shows an example of the display unit 71 of the display panel 70 provided on the side of the manual feed tray 8 of the base 2, and eight trays 50 (part collection trays) in two pallets 40 inserted into the base 2. 8 lamps 72 corresponding to the eight trays 50 are provided so as to have the same arrangement as the eight trays 50 (an arrangement when the pallet table 10 is viewed from above, see FIG. 7). In FIG. 10, a lamp 72a is attached to the lamp corresponding to the component collection tray 50a.

  The eight lamps 72 are controlled to be turned on / off / flashed by the control device 60, and the remaining number of parts of the seven lamps 72 corresponding to the seven trays 50 excluding the part collection tray 50a has reached the predetermined number. When not, the lighting state is maintained, and when the remaining number of parts reaches a predetermined number, it is turned off (or flashes). For this reason, the operator of the component mounting apparatus 1 should replenish components for each pallet 40 by checking whether or not the components remain in each tray 50 and eventually each pallet 40 by looking at the display unit 71 of the display panel 70. It can be easily determined whether or not. In this example, the pallet 40 whose lamps 72 (excluding the lamps 72a corresponding to the parts collection tray 50a) are all turned off is found to require replenishment of parts, and the operator uses only the pallet 40 as a base. 2 (from the pallet table 10), and after replenishing parts, the pallet 40 is inserted into the base 2. As described above, the control device 60 always recognizes the remaining number of parts in each tray 50 and moves the transfer head 5 above the pallet 40 where the remaining number of parts has reached zero. Therefore, even if the pallet 40 is pulled out from the base 2, the mounting operation of the components of the transfer head 5 is not adversely affected.

  On the other hand, the tape feeder 7 is provided with a component remaining number detecting means (not shown) for detecting the remaining number of components in the tape feeder 7 itself, and the information is sent to the tape feeder 7 side of the base 2 via the control device 60. The operator is notified by means of a display panel (not shown) provided in FIG.

  As described above, the component mounting apparatus 1 according to the present embodiment includes the board conveyance path 4 that positions the board 3 at a predetermined position on the base 2, and the board 3 that picks up the supplied components and is positioned by the board conveyance path 4. Equipped with a plurality of pallets 40 (dish-like members) that are manually inserted into the transfer head 5 and the base 2 mounted on the substrate and supply the mounted components into the movable region R of the transfer head 5 Each pallet 40 can be inserted into and removed from the base 2 independently of each other.

The component mounting method in the component mounting apparatus 1 manually inserts a plurality of pallets 40 on the base 2 and supplies the components placed on each pallet 40 into the movable region R of the transfer head 5. And a step of removing the pallet 40 from which the components need to be replenished and replenishing the components from the base 2, replenishing the components, and inserting the pallet 40 into the base 2.

  In the component mounting apparatus 1 and the component supply method in the component mounting apparatus 1 according to the present embodiment, a plurality of pallets 40 (dish-like members) that can be inserted into and removed from the base 2 are inserted into the base 2 and each pallet is attached. Since the parts placed on 40 are supplied into the movable region R of the transfer head 5, if different types of parts are accommodated in each pallet 40, the conventional structure is inexpensive. Various parts can be supplied in the same way as the tray feeder. Further, since each pallet 40 can be inserted into and removed from the base 2 independently of each other, when the parts need to be replenished, the pallet 40 for replenishing the parts is necessary. The pallet 40 may be inserted into the base 2 after being removed from 2 and replenished with parts. For this reason, it is not necessary to open the cover (movable cover 9b) of the component mounting apparatus 1 during component replenishment, and the safety device does not work, so the mounting operation is not stopped. Further, since the pallet 40 can be inserted and removed from the outside of the base 2, it is not necessary to insert a body into the apparatus 1, and parts can be easily replenished.

  Further, in this component mounting apparatus 1, the remaining component number detecting means (control device 60) for detecting the remaining number of components in each pallet 40 inserted and attached to the base 2, and each detected by the remaining component number detecting means. Since it is provided with notifying means (control device 60 and display panel 70) for notifying the remaining status of the parts in each pallet 40 based on the number of remaining parts in the pallet 40, the operator is notified by the notifying means. Based on the remaining state of the parts in the pallet 40, the replenishment work of the parts in the pallet 40 can be performed at an appropriate time.

  In this component mounting apparatus 1, each pallet 40 inserted and attached to the base 2 via the pallet base 10 is locked to the base 2 so that it cannot be removed, and the remaining number of parts in the pallet 40 is replenished. The pallet 40 that has reached a predetermined quantity (usually 0) to be performed can be configured to include a lock means configured to release the lock. As such a locking means, for example, it is configured such that the swing of the swing member 32 that detachably fixes each pallet 40 to and from the pallet base 10 can be restricted by the expansion and contraction of a pneumatic cylinder provided separately. The operation of the pneumatic cylinder is controlled from the control device 60 so that the swinging member 32 is allowed to swing downward only when the remaining number of parts in the pallet 40 reaches a predetermined number to be replenished. The one that is controlled is conceivable. Alternatively, a mechanism is provided for detecting the movement of the swinging member 32 swinging downward by a separately provided sensor and suppressing the operation of the swinging member 32 or issuing an error warning when necessary. Also good.

  By the way, during mounting of the above components, before the components picked up by the transfer head 5 are mounted on the substrate 3, it is determined that the mounting on the substrate 3 is inappropriate by image recognition by the component camera 68 or the like. Come out (for example, when a part is partially deformed). Such a determination is made by the control device 60 based on the imaging result of the component camera 68, but the control device 60 does not mount the component determined to be unsuitable for mounting on the substrate 3 by the transfer head 5. The mounting head 5 is moved above the component recovery tray 50a, and the component to be recovered (hereinafter referred to as recovery component P; see FIG. 11) is placed on the component recovery tray 50a.

The control device 60 controls the operation of the transfer head 5 so that the collected collected parts P are placed in a predetermined arrangement in order from the reference position 73 (see FIG. 11 ) set on the parts collection tray 50a. . Here, the reference position 73 is set on the component collection tray 50a as a fixed position that does not depend on the size or the like of the component to be collected, and the placement locations 73a, 73a, on which the second and subsequent collected components P are placed. (See FIG. 11) is set on the component collection tray 50a so as to have a predetermined arrangement with the reference position 73 as a reference. The interval between the mounting positions 73a is determined according to the size of the recovered component P and the like.

  The control device 60 determines the number of components placed in the component collection tray 50a (hereinafter referred to as the number of collected components) from the number of operations of placing the collected components P on the component collection tray 50a during the component mounting operation. ) Until the number of recovered parts reaches the number of recoverable parts (hereinafter referred to as the number of recoverable parts) determined by the size of the parts with respect to the part recovery tray 50a. The lamp 72a to be turned on is turned on, and the recovery operation of the recovery component P (operation of placing the recovery component P on the component recovery tray 50a) is executed. On the other hand, when the number of recovered parts reaches the number of recoverable parts, the lamp 72a is turned on and the “recovered part removal waiting mode” is entered. In this “recovery part removal waiting mode”, the mounting operation is continued until the next operation to recover the recovered component P is reached, but when the next recovery operation is to be performed, the recovery operation is continued. A mode in which the component mounting operation is interrupted without performing the operation.

  In this way, when the number of recovered parts reaches the number of recoverable parts and the control device 60 enters the “recovered part removal mode”, the lamp 72a corresponding to the part recovery tray 50a changes from the lit state to the blinking state. It is possible to accurately grasp the timing for performing the work of removing the recovered component P from the component recovery tray 50a. When the lamp 72a corresponding to the component collection tray 50a starts blinking, the operator quickly removes the pallet 40 (only the pallet 40) on which the component collection tray 50a is placed from the base 2 (from the pallet table 10). Then, the recovered component P is removed from the component recovery tray 50a. Then, after the pallet 40 on which the empty component collection tray 50a is placed is reinserted into the base 2, a predetermined operation is performed on the control device 60, and the control device 60 stores the information. The data on the number of collected parts is reset to the initial value (0).

  When the number of collected parts is reset to the initial value, the control device 60 resumes the operation of placing the collected parts P on the parts collecting tray 50a, and the collected parts P that are collected first after the reset are set to the reference position of the parts collecting tray 50a. 73, and the collected parts P collected thereafter are placed in order at predetermined placement positions 73a, 73a,... (Set to a predetermined arrangement with reference to the reference position 73). To do.

  Here, when the lamp 72a corresponding to the component collection tray 50a changes from the lighting state to the blinking state, the component is picked up from another tray 50 in the same pallet 40 as the pallet 40 on which the component collection tray 50a is placed. In such a situation, a predetermined operation is performed on the control device 60 to interrupt the component mounting operation, and then the removal operation of the recovered component P from the component recovery tray 50a is performed.

  As described above, when the number of recovered parts reaches the number of recoverable parts, the operator removes the recovered part P from the part recovery tray 50a, and sets the data of the number of recovered parts stored in the control device 60 to the initial value. Although it is necessary to reset, when the execution of the mounting program itself is reset, such as when the type of the board 3 to be produced (hereinafter referred to as a production board) is changed, the control device 60 stores it. Since the data on the number of collected parts is automatically reset to the initial value, the operator needs to remove the collected parts P from the parts collection tray 50a in such a case. Otherwise, the first recovered part P recovered after the reset will be placed on the recovered part P remaining in the part recovery tray 50a, and the recovered parts P may be brought into contact with each other and damaged or moved. This is because inconvenience such as damage to the mounting head 5 occurs.

  However, in practice, when the operator resets the execution of the mounting program itself, the operator may forget the removal work of the recovered component P in the component recovery tray 50a that should be originally performed. In the apparatus 1, the above inconvenience does not occur even in such a situation. Hereinafter, the configuration will be described.

  In FIG. 11, when the recovered component P is not placed at the reference position 73 at the reference position 73 of the component recovery tray 50 a, the recovered component P is placed at the reference position 73. Sometimes, a mark 74 is provided which is hidden by the recovered component P and cannot be seen from above.

  After the reset operation of the data on the number of recovered parts or the reset operation of the mounting program, the control device 60 places the recovered part P recovered first on the reference position 73 of the part recovery tray 50a. The mark 74 is visually recognized by the substrate camera 67 positioned above the collection tray 50a, and it is detected whether or not the reference position 73 is an empty space.

  Here, when the board camera 67 visually recognizes the mark 74, the control device 60 determines that the recovery part P is not placed at the reference position 73 and it is detected that the reference position 73 is an empty space. When the board camera 67 does not visually recognize the mark 74, it is determined that the recovered component P is placed at the reference position 73 and it is detected that the reference position 73 is not an empty space. Thus, in the mark 74 provided at the reference position 73 of the component collection tray 50a and the board camera 67 that visually recognizes the mark 74 from above, the reference position 73 becomes an empty space when the collection component P is placed at the reference position 73. It is an empty space detecting means for detecting whether or not it is present.

  When it is detected by the empty space detecting means that the reference position 73 is an empty space, the control device 60 determines that the parts collection tray 50a is in a state where the collected parts P have been removed, and the empty space detecting means. When it is detected that the reference position 73 is not an empty space, it is determined that the parts collection tray 50a is in a state where the parts to be collected P are not removed. When the control device 60 determines that the component recovery tray 50a is in a state where the recovery component P has been removed, the control device 60 performs an operation of placing the recovery component P on the component recovery tray 50a. When it is determined that P is in an unremoved state, in order to prevent the inconvenience that the recovered component P is further placed on the recovered component P already recovered in the component recovery tray 50a, the recovery by the transfer head 5 is performed. A predetermined notification operation for notifying the operator of the fact via the display panel 70 or the like is performed without placing the component P on the component collection tray 50a.

  In this way, when placing the recovered component P at the reference position 73, the control device 60 causes the empty space detecting means to detect whether or not the reference position 73 is an empty space, and the empty space detecting means performs the reference. If it is detected that the position 73 is an empty space, the recovery component P is placed on the component recovery tray 50a. When it is determined that the parts collection tray 50a is in a state in which the parts to be collected P have not been removed, the transfer head 5 does not execute the placement of the parts to be collected P on the parts collection tray 50a, but to that effect (parts collection The tray 50a informs the operator that the recovered part P is not yet removed), so that the operator can recognize that the removal of the recovered part P from the original part recovery tray 50a has not yet been performed. A necessary measure of removing the recovered component P from the component recovery tray 50a can be taken.

  Further, when the control device 60 determines that the component recovery tray 50a is in a state where the recovery component P has not been removed, the control device 60 does not place the recovery component P on the component recovery tray 50a. When the removal of the recovered component P from 50a is executed, the board camera 67 is moved above the component recovery tray 50a so that the mark 74 is visible. As a result, when the mark 74 is not visually recognized by the board camera 67 (that is, when the reference position 73 is detected as an empty space by the empty space detecting means), the recovery in the component recovery tray 50a is performed. It is determined that the component P has been removed, and an operation of placing the recovered component P on the component recovery tray 50a is executed.

  As described above, in the component mounting apparatus 1 according to the present embodiment, the recovered components P that are determined to be unsuitable for mounting before the components picked up by the transfer head 5 are mounted on the substrate 3 are arranged and mounted. And a recovery operation control means for controlling the operation of the transfer head 5 so that the recovery components P are sequentially placed in a predetermined arrangement from the reference position 73 set on the component recovery tray 50a. (Control device 60) and an empty space detecting means (mark 74 and board camera 67) for detecting whether or not the reference position 73 is an empty space when the recovered part P is placed at the reference position 73, If the reference position 73 is detected as an empty space by the empty space detecting means, the control device 60 as the recovery operation control means detects the recovery part P of the recovery part P. It is adapted to perform the placement into the stomach 50a.

  The component collection method in the component mounting apparatus 1 is to mount the component on the substrate 3 when it is determined that the component picked up by the transfer head 5 is unsuitable before being mounted on the substrate 3. The collected components P are collected in order and placed on the component collection tray 50a, and the collected components P are placed in a predetermined arrangement in order from the reference position 73 set on the component collection tray 50a. When the recovery part P is placed on the surface, it is detected whether or not the reference position 73 is an empty space. If it is detected that the reference position 73 is an empty space, the parts of the recovery part P are detected. Placement on the collection tray 50a is executed.

  In the component mounting apparatus 1 and the component recovery method in the component mounting apparatus 1 according to the present embodiment, the recovered components P are placed in a predetermined arrangement in order from the reference position 73 set on the component recovery tray 50a, and the reference position 73, when the recovered part P is placed, it is detected whether or not the reference position 73 is an empty space, and if it is detected that the reference position 73 is an empty space (at this time, Since it can be said that the recovered components in the component recovery tray 50a have been removed), the recovery component P is placed on the component recovery tray 50a. For example, even if the user has forgotten the removal operation of the recovered component P in the component recovery tray 50a, the recovered component P may be damaged or the transfer head 5 may be damaged. No.

  Further, whether or not the reference position 73 of the component collection tray 50a is an empty space is determined by the board camera 67 that has moved the mark 74 provided at the reference position 73 above the component collection tray 50a. Whether or not the component collection tray 50a is in a state in which the collected component P has been removed is extremely surely determined even though the configuration is very simple. Be able to.

  As described above, the mark 74 is provided at the reference position 73 of the component recovery tray 50a. When the recovery component P is not placed at the reference position 73, the mark 74 is visible from above, but the recovery component P is placed at the reference position 73. It is sufficient that it is hidden by the recovered component P and cannot be seen from above when placed on the bottom of the component recovery tray 50a in addition to the mark affixed (or drawn) on the bottom surface of the component recovery tray 50a. It may be a small hole (such as a pinhole).

Whether or not the reference position 73 of the component collection tray 50a is an empty space can be visually confirmed by the substrate camera 67 moved above the component collection tray 50a whether or not the collection component P is present at the reference position 73. It may be. When such a configuration is adopted, the empty space detecting means is only the substrate camera 67. However, since the substrate camera 67 is originally provided for visually recognizing a very small misalignment detection mark (described above) provided on the substrate 3, its field of view is very narrow, and the recovered component P is In the case of direct visual recognition, if the entire area of the field of view is occupied by the recovered component P, it is difficult to determine whether the recovered component P is present at the reference position 73. As described above, the mark 74 is provided at the reference position 73 of the component collection tray 50a, and the reference position 73 is an empty space depending on whether or not the mark is visually recognized by the board camera 67 moved above the component collection tray 50a. It is preferable to make a determination as to whether or not, and with such a configuration, even if the field of view of the substrate camera 67 is narrow, accurate determination is possible. Ukoto can. In the case where the mark 74 is a small hole, there is an advantage that the recognition is easy even when the bottom surface of the component collection tray 50a is dark.

  In the above-described embodiment, the number of dish-shaped members (pallets 40) that can be inserted into and removed from the base 2 independently of each other is two. However, the number of dish-shaped members may be plural. , Not necessarily two. In the above-described embodiment, the remaining component number detecting means for detecting the remaining number of components in each pallet 40 inserted into the base 2 indicates the number of components picked up from each tray 50 by the control device 60. The remaining number of parts in each tray 50 is recognized (detected) by counting, but this has another configuration, for example, counts the number of parts that have passed through the field of view of the parts camera 68 For example, the remaining number in each tray 50 may be detected. In the above-described embodiment, the notifying means for notifying the remaining status of the components in each pallet 40 based on the remaining number of components in each pallet 40 detected by the remaining component number detecting means includes the control device 60 and Although the display panel 70 is controlled by the control device 60, a liquid crystal display or the like may be used instead of the display panel 70.

  Even if the user forgets to remove the collected parts in the parts collection tray, there is no possibility of damaging the collected parts or damaging the transfer head.

The perspective view of the component mounting apparatus in one embodiment of this invention The side view of the component mounting apparatus in one embodiment of this invention The perspective view of the manual feed tray of the components supply apparatus in one embodiment of this invention The side view of the manual feed tray of the components supply apparatus in one embodiment of this invention The top view of the manual feed tray of the component mounting apparatus in one embodiment of this invention (A), (b) The partial side view of the manual feed tray of the component mounting apparatus in one embodiment of this invention The top view of the manual feed tray of the component mounting apparatus in one embodiment of this invention (A), (b), (c) The partial side view of the manual feed tray of the component mounting apparatus in one embodiment of this invention The block diagram which shows the control system etc. of the component mounting apparatus in one embodiment of this invention The figure which shows an example of the display part of the display panel with which the component mounting apparatus in one embodiment of this invention is provided. The figure which shows the structure of the empty space detection means with which the component mounting apparatus in one embodiment of this invention is provided.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Base 3 Board | substrate 4 Board | substrate conveyance path 5 Transfer head 50a Parts collection tray 60 Control apparatus (collection action control means)
67 Board camera (free space detection means, camera)
73 Reference position 74 mark (free space detection means)
P Collection parts R Movable area

Claims (4)

A substrate transport path for positioning the substrate at a predetermined position on the base, a transfer head for picking up the supplied components and mounting them on the substrate positioned by the substrate transport path, and a component picked up by the transfer head to the substrate A component mounting apparatus including a component recovery tray on which recovery components that are determined to be unsuitable for mounting before being mounted are collected and arranged ,
Recovering the part article collecting tray does not depend on the size of the components is set as a constant position first collection part and collected in second and subsequent in sequence from a reference position recovered recovered part is placed a predetermined sequence A collection operation control means for controlling the operation of the transfer head so as to be placed, and an empty space for detecting whether or not the reference position is an empty space when the collection component is placed at the reference position Detecting means,
The empty space detecting means is provided at the reference position of the component recovery tray, and is visible from above when the recovery component is not placed at the reference position, but the recovery component is placed at the reference position. A mark that is hidden by the recovered part and cannot be seen from above, and a camera that is moved above the part recovery tray to visually check the mark when the recovered part is placed at the reference position. The operation control means determines that the reference position is an empty space when the mark is visually recognized by the camera, and determines that the reference position is not an empty space when the mark is not visually recognized by the camera. A component mounting device. In addition, it has a control device to grasp the number of recovered parts,
2. The component mounting apparatus according to claim 1, wherein after the data on the number of collected parts is reset, the empty space detecting unit detects whether or not the reference position is an empty space. The component mounting apparatus according to claim 1, wherein when it is determined that the reference position is not an empty space, the fact is notified. A substrate transport path that positions the substrate at a predetermined position on the base, a transfer head that picks up the supplied components and places it on the substrate positioned by the substrate transport path, and is installed in a movable area of the transfer head. If a component picked up by the transfer head is determined to be unsuitable before being mounted on the substrate, the component is recovered without being mounted on the substrate. A component collection method for a component mounting apparatus arranged and placed on a component collection tray ,
Recovering the part article collecting tray does not depend on the size of the components is set as a constant position first collection part and collected in second and subsequent in sequence from a reference position recovered recovered part is placed a predetermined sequence When the recovery part is placed at the reference position, the recovery part is visible from above when the recovery part is not placed at the reference position, but the recovery part is placed at the reference position. Sometimes it is detected whether or not the reference position is an empty space by a mark that is hidden by the recovered part and cannot be seen from above , and when the mark is visually recognized, the reference position is determined to be an empty space. and, when the mark is not visible is determined that the reference position is not the empty space, the reference position is detected to have vacant space Mules, parts collection process of the component mounting apparatus characterized by performing a placement of the component collecting tray collecting part.

Images