JP5903562B2 - Component supply device and component mounting device - Google Patents

Description

The present invention relates to a component supply device that supplies a component to transfer means for transferring a component stored in a tray to a predetermined position, and a component mounting device including the component supply device.

  For a component mounting apparatus that mounts a component on a substrate such as a liquid crystal panel, a component supply device for supplying the component to a transfer means such as a transfer head provided in the apparatus is attached. As the component supply device, a desired tray is pulled out to a first table from a box in which a plurality of magazines storing trays storing a plurality of components are arranged, and the first table is raised to a predetermined position. There is known a configuration in which the tray is transferred from the first table to the second table to transfer the tray to the component extraction position (for example, Patent Document 1).

  The components in the tray transferred to the component extraction position are taken out by the transfer means and then transferred (mounted) on the substrate. When all the parts are removed from the tray, the used tray that has been emptied is pulled back from the second table to the first table, the first table is lowered to a predetermined position, and used at that position. A transfer operation for storing the tray in an empty magazine is executed. Following this, a transfer operation for transferring a desired tray stored in the magazine to the component pick-up position by the above-described method is executed.

  If the used tray in the box reaches a certain amount while the transfer operation of the tray (including the used tray) is executed multiple times, the operator releases the door attached to the box and uses it. Collect used trays and refill new trays. In addition, while the door is opened and the tray is being replenished or collected, the component transfer operation for removing the component from the tray transferred to the component extraction position and transferring it to the substrate is continuously executed. .

Japanese Patent Laid-Open No. 11-346091

  From the viewpoint of ensuring safety for the worker, the tray transfer operation is restricted while the box door is open. Therefore, the tray transfer operation cannot be executed even if the tray transferred to the component extraction position becomes empty during the tray replenishment or collection operation. In such a case, the part transfer operation cannot be executed until the predetermined work by the worker is completed, and as a result, there has been a problem that the productivity is remarkably lowered.

  Therefore, an object of the present invention is to provide a component supply device and a component mounting device that can suppress a situation in which the timing at which tray replenishment or collection work by an operator starts and the transfer of the tray are overlapped.

  The present invention according to claim 1 is a component supply device for supplying a component to a transfer means for transferring a component stored in a tray to a predetermined position, and is disposed at a position accessible by an operator. A tray supply unit capable of stocking a plurality of trays; a tray collection unit disposed at a position accessible to an operator; and a tray collection unit capable of stocking a plurality of empty trays by supplying parts to the transfer means; The tray stocked in the tray supply unit is transferred to a part extraction work position where the part is removed from the tray by the transfer means, and the tray emptied by the supply of the parts to the transfer means is removed. Judgment is made as to whether or not the timing of starting tray transfer by the tray transfer means is approached, and the tray transfer means for transferring from the component pick-up work position to the tray collection unit Based on the determination by the ray transfer start timing determining means and the tray transfer start timing determining means, the tray transfer for notifying the worker that the timing for starting the tray transfer by the tray transfer means is approaching. Timing notification means is provided.

According to a seventh aspect of the present invention, there is provided a component supply device for supplying a component to a transfer means for transferring a component housed in a tray to a predetermined position, wherein the component supplied to the transfer means is a substrate. A component mounting device mounted on the tray, wherein the component supply device is disposed at a position accessible by an operator, and is disposed at a position accessible by the operator, a tray supply unit capable of stocking a plurality of the trays, A tray collection unit capable of stocking a plurality of trays that have been emptied by supplying components to the transfer means, and a component extraction work position at which the components are removed from the tray by the transfer means. Tray transfer means for transferring a tray that has been stocked, and for transferring a tray that has been emptied by supplying parts to the transfer means, from the component take-out operation position to the tray collection unit; Based on the determination by the tray transfer start timing determining means and the tray transfer start timing determining means for determining whether or not the timing at which the tray transfer by the tray transfer means has started is approaching, Tray transfer timing notifying means for notifying that the timing for starting tray transfer by the tray transfer means is approaching is provided.

  According to the present invention, it is determined whether or not the timing at which tray transfer by the tray transfer unit is started is approached, and the timing at which tray transfer by the tray transfer unit is started for the worker based on the determination. Since the operator is notified that the tray is approaching, the operator can know in advance that the timing for starting the transfer of the tray is approaching. As a result, the operator replenishes and collects the tray and transfers the tray. It is possible to suppress a situation in which the timings of starting are overlapped.

The perspective view of the component mounting apparatus in embodiment of this invention The perspective view of the components supply apparatus in embodiment of this invention The front view of the components supply apparatus in embodiment of this invention The top view of the components supply apparatus in embodiment of this invention (A) Partial perspective view of the component supply apparatus in the embodiment of the present invention (b) (c) Partial sectional view of the component supply apparatus in the embodiment of the present invention The block diagram which shows the control system of the component mounting apparatus in embodiment of this invention The flowchart which shows operation | movement of the component mounting apparatus in embodiment of this invention The flowchart which shows operation | movement of the component mounting apparatus in embodiment of this invention The flowchart which shows operation | movement of the component mounting apparatus in embodiment of this invention The flowchart which shows operation | movement of the component mounting apparatus in embodiment of this invention The top view of the tray in embodiment of this invention

  Embodiments of the present invention will be described with reference to the drawings. 1 and 2, the component mounting apparatus 1 has a function of mounting a component 3 on a substrate 2, and includes a transfer head 4, a backup unit 5, an intermediate stage 6, and a component supply device 7. . The backup unit 5, the intermediate stage 6 and the component supply device 7 are arranged in parallel in one direction (Y direction). Hereinafter, a direction orthogonal to the Y direction is referred to as an X direction, and a direction perpendicular to the XY plane is referred to as a Z direction. The Y direction side where the component supply device 7 is disposed is referred to as “front side”, and the Y direction side where the backup unit 5 is disposed is referred to as “rear side”.

  In FIG. 1, the transfer head 4 can be moved in the X and Y directions by a head moving mechanism (not shown), and can be moved up and down by a head lifting mechanism (not shown). Further, the transfer head 4 includes a component holding tool 4a having a suction hole for sucking the component 3, and by operating a suction mechanism (not shown) communicating with the suction hole, the component is held via the component holding tool 4a. 3 and the component holding tool 4a can be rotated around a vertical rotation axis by operating a rotation mechanism (not shown). Specific examples of the component holding tool 4a include a suction nozzle and a crimping tool. The transfer head 4, the head moving mechanism, the head lifting mechanism suction mechanism, and the rotating mechanism constitute a component mounting mechanism 8 (see FIG. 6).

  The backup unit 5 supports the edge of the substrate 2 positioned at a predetermined work position from below. The intermediate stage 6 has a horizontal surface on which the component 3 is placed, and the component 3 taken out from the component supply device 7 by the transfer head 4 is transferred. Further, a first camera 9 having an imaging field of view directed downward is disposed above the intermediate stage 6 and images the component 3 transferred to a predetermined position on the intermediate stage 6.

  1 and 2, the component supply device 7 has a function of supplying the components 3 stored in the tray 10 to the transfer head 4, and includes a tray supply unit 11, a tray transfer unit 12, a tray collection unit 13, and the like. The tray transfer unit 14 is configured, and the whole is covered with a housing 15. Further, the tray supply unit 11, the tray transfer unit 12, and the tray collection unit 13 are arranged on the base 16 in a state of being parallel in the X direction.

  The tray 10 is formed with a plurality of recesses 10a (see FIG. 11) in a lattice shape, and the component 3 is accommodated in the recesses 10a. The tray 10 is transported while being held on a rectangular plate-like pallet 17, and convex portions 17 a (see FIGS. 3 and 4) are formed at the four corner portions of the pallet 17. The convex portion 17a is designed such that the height of the upper surface is equal to or higher than the height of the upper surface of the tray 10 held by the pallet 17, and when the pallets 17 are stacked, the convex portion 17a of the lower pallet 17 is It contacts the lower surface of the upper pallet 17.

  In FIG. 2, a plurality of window portions 18 are formed on the front surface of the housing 15 in a state of being arranged in parallel in the X direction and the Z direction (three in the X direction and two in the Z direction). Of these, the window portion 18a disposed at the center of the upper side and the window portions 18b and 18c respectively disposed on both sides of the lower side are the first door 19a, the second door 19b, and the third door provided on the housing 15. It is united with 19c. Each door 19 a, 19 b, 19 c has handle portions 20 a, 20 b, 20 c and can be opened and closed with respect to the housing 15. Further, a fourth door 19d having a window portion 18d and a handle portion 20d is also provided on one side surface of the housing 15. The doors 19a to 19d are opened and closed during maintenance of the component supply device 7, and the second door 19b and the third door 19c are also opened and closed when performing tray replenishment work and tray collection work described later.

  The component supply device 7 includes a second door lock mechanism 21 and a third door lock mechanism 22 (see FIG. 6), and locks the second door 19b and the third door 19c via the mechanism. Alternatively, the lock can be released. From the viewpoint of ensuring safety for the worker, the second door 19b is normally locked by the second door lock mechanism 21 and the third door 19c is locked by the third door lock mechanism 22 (lock or lock). Details of the release will be described later).

  In FIG. 2, a second door opening / closing request switch 23 and a third door opening / closing request switch 24 are provided on the front surface of the housing 15 and above the second door 19b and the third door 19c, respectively. ing. Each switch 23, 24 has a built-in lamp 23a, 24a (see FIG. 6) that lights or blinks under a predetermined condition. In addition, a signal tower 25 having a built-in lamp that lights or blinks under a predetermined condition is provided on the upper surface of the housing 15.

  1, 3, and 4, the tray supply unit 11 supplies the tray 10 to the take-out position by the tray transfer unit 14, and a tray mounting stage 26 that can stack and stack a plurality of trays 10. It has. A handle 27 is provided on the front upper surface of the tray mounting stage 26, and the tray mounting stage 26 is slid in the Y direction by a slide table 28 (see FIG. 3) provided with a slide mechanism (not shown). It is held freely.

  In FIG. 4, two vertically extending columns 29 </ b> A are erected on each side of the tray placement stage 26 on both sides outside the X direction. In addition, two support columns 29B are erected on the outer position on the rear side of the tray mounting stage 26. When the operator grips the handle 27 and slides the tray mounting stage 26 in the Y direction, the pallet 17 is restricted from moving in the X direction by the support column 29A and moved backward by the support column 29B. The

  In FIG. 3, a rod 30 extending in the vertical direction and a plate-like member 31 are coupled to the lower surface of the slide table 28. The rod 30 and the plate-like member 31 are disposed so as to be movable up and down while penetrating through an opening 16 b formed in the upper plate 16 a of the base 16. The rod 30 is provided with a first drive part 32 having a drive motor fixedly provided below the upper plate 16a.

  The rod 30, the plate-shaped member 31, the slide table 28, and the tray placement stage 26 are moved up and down by the operation of the first drive unit 32. As a result, the uppermost tray 10 can be raised to the tray extraction position A1. This tray take-out position A1 is a position from which the pallet 17 holding the uppermost tray 10 is taken out by a transfer arm 54 (details will be described later) constituting the tray transfer unit 14.

  The predetermined position where the tray mounting stage 26 is lowered to the position corresponding to the second door 19b is a tray replenishment position A2 where the operator replenishes the tray 10 (tray replenishment work). In the tray replenishment operation, the operator opens the second door 19b, slides the tray placement stage 26 lowered to the tray replenishment position A2 to the front side (front side), and pulls it out of the component supply device 7 to mount the tray. This is done by stacking the pallets 17 on the placing stage 26. As described above, the second door 19b is a supply-side door provided corresponding to the tray supply unit 11, and the tray supply unit 11 is disposed at a position accessible to the operator via the second door 19b. ing. Hereinafter, the tray mounting stage 26, the slide table 28, and the rod 30 are collectively referred to as a “supply side lifter 33”.

  In FIG. 3, a notch 31a is formed in the plate member 31 over a certain range in the vertical direction. In addition, the first detection sensor S1 and the second detection sensor S2 have a predetermined interval in the vertical direction at a position below the upper plate 16a and on the same straight line as the plate-like member 31 in the Y direction. It is arranged by. Any type of detection sensor may be used as long as it can detect the presence / absence of the plate-like member 31 at a predetermined position, and a method of detecting the presence / absence of the plate-like member 31 by arranging the inspection optical axis in the Y direction. Can be mentioned. Further, the optical detection method may be either a light shielding type or a reflection type, and the number of detection sensors is also arbitrary. When the plate-like member 31 moves up and down, the main body 31b and the notch 31a pass on the inspection optical axis emitted from the first detection sensor S1 and the second detection sensor S2, thereby each of the detection sensors S1, S2. The light-receiving state of changes.

  In FIG. 3, a first light receiving unit U1 and a first light emitting unit U2 are provided at positions on both sides outside the tray extraction position A1 in the X direction. The first light receiving unit U1 is disposed on the inspection optical axis emitted from the first light emitting unit U2 in the X direction, and can detect the presence or absence of the tray 10 based on the presence or absence of light reception by the first light receiving unit U1. it can. That is, in a state where the uppermost tray 10 is supplied to the tray extraction position A1, the inspection light from the first light emitting unit U2 is blocked by the tray 10 and does not enter the first light receiving unit U1.

  3, 4, and 5, the tray transfer unit 12 individually transfers the tray 10 supplied from the tray supply unit 11 to a predetermined position, and includes a first tray transfer unit 34 </ b> A and a second tray transfer unit 34 </ b> A. The tray transfer unit 34B (see FIG. 5A) is included. The first tray transfer unit 34A includes a plate-like first table 35 on which the pallet 17 is placed. A standing portion 35a extending in the vertical direction is formed on one side of the first table 35, and a horizontal portion 35b extending in the horizontal direction is formed at the lower end of the standing portion 35a.

  A guide rail 36 having a rail groove 36a extending in the Y direction on the upper surface is provided below the first table 35, and a guide block (not shown) is movably fitted in the rail groove 36a in the Y direction. doing. The lower surface of the horizontal portion 35b is coupled to the guide block, and the first table is moved to the first position B1 shown in FIGS. 4 and 5B by operating a drive motor 37 provided on the guide rail 36. And the second position B2 set rearward from the first position B1 (arrow a in FIG. 5B). Thus, the guide rail 36 and the drive motor 37 serve as a first table moving mechanism 38 (see FIG. 6) that horizontally moves the first table 35 in the Y direction.

  The second tray transfer unit 34B includes a plate-like second table 39 on which the pallet 17 is placed. In FIG. 3 and FIG. 5C, a cylinder 40 is provided below the second table 39, and a rod 40 a protruding from above is coupled to the lower surface of the second table 39. The rod 40a projects up and down by the operation of the cylinder 40, whereby the second table 39 moves up and down between the first position B1 and the third position C1 set below the first position B1. (Arrow b in FIG. 5C). In the third position C1, the height H1 of the upper surface of the tray 10 placed on the second table 39 via the pallet 17 is located in a space surrounded by the first table 35, the standing portion 35a, and the horizontal portion 35b. It is set to do. Thus, the cylinder 40 is a second table lifting mechanism that lifts and lowers the second table 39.

  In FIG. 3, a plate member 41 extending in the horizontal direction is coupled to the cylinder 40. A guide rail 42 having the same structure as that of the above-described guide rail 36 is provided below one side portion of the plate member 41, and is fitted into a rail groove 42a (see FIG. 4) formed on the upper surface of the guide rail 42. The lower surface of the plate member 41 is coupled to a guide block (not shown). By operating a drive motor 43 provided on the guide rail 42, the second table 39 moves in the Y direction. As a result, the second table 39 can move horizontally between the third position C1 and the fourth position C2 below the second position B2 and at the same height as the third position C1. Yes (arrow c in FIG. 5C). That is, the plate member 41, the guide rail 42, and the drive motor 43 serve as a second table moving mechanism 44 (see FIG. 6) that horizontally moves the second table 39 in the Y direction.

  As described above, as the movement mode of the second table 39, as shown in FIG. 5C, the movement between the first position B1 and the third position C1 (arrow b), the third position. In addition to the movement between C1 and the fourth position C2 (arrow c), there are six ways of movement between the fourth position C2 and the second position B2 (arrow d).

  In FIG. 1, a second camera 45 with an imaging field of view directed downward is disposed above the first table 35 and the second table 39 moved to the second position B2. The second camera 45 images the part 3 stored in the tray 10 on the first table 35 and the second table 39.

  1, 3, and 4, the tray collection unit 13 collects all the components 3 and collects an empty tray 10 (hereinafter referred to as a “used tray 10 </ b> A”). Except for the number of sensors, the configuration is the same as that of the tray supply unit 11. That is, the tray collection unit 13 includes a tray collection stage 46 that can stack and stock a plurality of used trays 10A, and a handle 47 is provided on the upper surface on the front side. The tray collection stage 46 is held slidable in the Y direction by a slide table 48 provided with a slide mechanism (not shown) (see FIG. 3).

  In FIG. 4, the tray collection unit 13 is provided with upright columns 49A and 49B similar to the columns 29A and 29B. In FIG. 3, a rod 50 extending in the Z direction and a plate-like member 51 are fixed to the lower surface of the slide table 48, and the rod 50 has a driving motor fixed below the upper plate 16a. A second drive unit 52 is attached. The rod 50, the tray collection stage 46, the slide table 48, and the plate member 51 are moved up and down by the operation of the second drive unit 52. Thereby, the tray collection stage 46 can be raised to the used tray transfer position D1 where the used tray 10A is transferred by the transfer arm 54 (see FIG. 3).

  A predetermined position where the tray collection stage 46 is lowered to a position corresponding to the third door 19c is a tray collection position D2 where the operator collects the used tray 10A. To collect the used tray 10A (tray collection operation), the operator opens the third door 19c, slides the tray collection stage 46 lowered to the tray collection position D2 to the front side, and pulls it out of the component supply device 7. The pallet 17 on the tray collection stage 46 is taken out. Thus, the 3rd door 19c is a collection side door provided corresponding to tray recovery part 13, and tray recovery part 13 is arranged in the position where an operator can access via 3rd door 19c. ing. Hereinafter, the tray collection stage 46, the slide table 48, and the rod 50 are collectively referred to as a “collection side lifter 53”.

  In FIG. 3, a notch 51a is formed in the plate member 51 over a certain range in the vertical direction. In addition, the third detection sensor S3, the fourth detection sensor S4, and the fifth detection sensor S5 are vertically arranged at a position below the upper plate 16a and on the same straight line in the Y direction as the plate-like member 51. Each of them is arranged with a certain interval. The kind and number of detection sensors here are also arbitrary. When the plate-like member 51 moves up and down, the main body 51b and the notch 51a of the plate-like member 51 pass on the inspection optical axis emitted from each of the detection sensors S3 to S5, thereby receiving light of each of the detection sensors S3 to S5. The state changes.

  In FIG. 3, a second light receiving unit U3 and a second light emitting unit U4 are provided at positions on both sides outside the used tray transfer position D1 in the X direction. The second light receiving unit U3 is disposed on the inspection optical axis emitted in the X direction from the second light emitting unit U4, and at the used tray transfer position D1 depending on whether light is received by the second light receiving unit U3. The presence or absence of the used tray 10A can be detected. That is, in the state where the uppermost used tray 10A is located at the used tray transfer position D1, the inspection light from the second light emitting unit U4 is blocked by the uppermost used tray 10A, and the second light receiving unit. Not incident on U3.

  In FIG. 1, a tray transfer unit 14 takes out and transfers a pallet 17 between a tray supply unit 11, a tray transfer unit 12, and a tray collection unit 13, and a plurality of (here, four) adsorptions. A transfer arm 54 having a nozzle 54a is provided. By operating the suction mechanism built in the transfer arm 54, the vicinity of the four corners of the pallet 17 can be sucked simultaneously by the suction nozzle 54a.

  The transfer arm 54 can be moved in the X direction from the tray supply unit 11 to the tray collection unit 13 by an X-axis movement mechanism (not shown). Further, a rod 55 of a cylinder (not shown) is coupled to the upper surface of the transfer arm 54. When the cylinder is operated, the rod 55 protrudes and sinks up and down, thereby bringing the transfer arm 54 into the tray removal position. It can be lowered to A1, the first position B1, and the used tray transfer position D1. The suction mechanism, the X-axis movement mechanism, and the cylinder constitute a pallet transfer mechanism 56 (see FIG. 6).

  Next, the configuration of the control unit 57 provided in the component mounting apparatus 1 will be described with reference to FIG. The control unit 57 has an arithmetic processing function, and includes a component mounting operation control unit 58, a component removal position detection unit 59, a component remaining number monitoring unit 60, a tray transfer start timing determination unit 61, a tray replenishment availability determination unit 62, and a notification. A part 63, a pallet transfer operation control part 64, a lifter state monitoring part 65, a supply side lifter control part 66, a collection side lifter control part 67, and a door opening / closing processing part 68. The control unit 57 includes a first driving unit 32, a second driving unit 52, first to fifth detection sensors S1 to S5, a first light receiving unit U1, a second light receiving unit U3, a cylinder (second table lifting / lowering). Mechanism) 40, first table moving mechanism 38, second table moving mechanism 44, pallet transfer mechanism 56, component mounting mechanism 8, second door opening / closing request switch 23, third door opening / closing request switch 24, second door lock mechanism 21, the third door lock mechanism 22 and the signal tower 25.

  The component mounting operation control unit 58 controls the operation of the component mounting mechanism 8 so that the component 3 is taken out from the tray 10 supplied to the second position B2 by the transfer head 4 and placed at a predetermined position on the intermediate stage 6. Further, a component mounting operation is performed in which the component 3 is taken out from the intermediate stage 6 by the transfer head 4 and transferred to the component transfer position set on the substrate 2. Thus, the transfer head 4 is a transfer means for transferring the component 3 stored in the tray 10 to a predetermined position. The second position B2 is a part picking work position where the picking work of the part 3 by the transfer head 4 is performed. In the present embodiment, the component 3 is taken out from the tray 10 in the order of the arrows shown in FIG.

  The component pick-up position detection unit 59 detects the pick-up position by the transfer head 4 of the component 3 stored in the tray 10 supplied to the second position B2. Specifically, the movement position of the transfer head 4 in the XY direction from a predetermined reference point is counted, and the XY coordinates of the component 3 stored in the tray 10 are calculated based on the movement time, thereby taking out the pickup position. Is detected. Note that the take-out position may be detected based on the amount of movement of the transfer head 4 in the XY direction from the reference point.

  The remaining component number monitoring unit 60 monitors the remaining number of components 3 stored in the tray 10 supplied to the second position B2. Specifically, each time the operation of taking out the component 3 from the tray 10 by the transfer head 4 is executed, the remaining number of the component 3 is monitored by subtracting the number of the components 3 stored in the tray 10.

  The tray transfer start timing determination unit 61 determines whether the transfer start timing of the tray 10 is approaching when the component 3 is taken out from the tray 10 supplied to the second position B2. Specifically, the time from when the component 3 stored in a predetermined position of the tray 10 is taken out by the transfer head 4 until the tray 10 becomes empty and tray replacement (that is, transfer of the tray 10) is started. Is calculated. Then, when the calculated time is shorter than the preset time, it is determined that the timing for starting the transfer of the tray 10 is approaching. As described above, the tray transfer start timing determination unit 61 is a tray transfer start timing determination unit that determines whether or not the timing at which the tray transfer unit starts to transfer the tray 10 is approaching.

  The tray replenishment availability determination unit 62 determines whether or not the tray 10 can be replenished to the tray supply unit 11 (that is, tray replenishment work). Specifically, when it is determined by the tray transfer start timing determination unit 61 that the timing at which the transfer of the tray 10 is started is approached, it is determined that the tray replenishment operation is not possible. On the other hand, when it is determined that the timing for starting the transfer of the tray 10 is not approaching, it is determined that the tray replenishment operation is possible.

  When the tray transfer start timing determination unit 61 determines that the timing for starting the transfer of the tray 10 is approaching, the notification unit 63 receives the determination, and the tray replenishment availability determination unit 62 determines that the tray replenishment operation is not possible. The lamp 23a of the two-door opening / closing request switch 23 and the lamp 24a of the third door opening / closing request switch 24 are blinked. Thereby, the operator is notified that the timing at which the transfer of the tray 10 is started, in other words, that the tray replenishment operation is prohibited. That is, the notification unit 63 is based on the determination by the tray transfer start timing determination unit, and notifies the operator that the timing for starting the tray transfer by the tray transfer unit is approaching. It has become.

  In addition, when the second door 19b and the third door 19c are unlocked, the notification unit 63 lights the lamps 23a and 24a, and notifies that fact. It is also possible to notify that the timing for starting the transfer of the tray 10 is approaching by turning on the lamps 23a and 24a, and to notify that the doors 19b and 19c are unlocked by blinking the lamps 23a and 24a. Good.

  Furthermore, the notification unit 63 is empty while the operator opens the second door 19b and the third door 19c and performs tray replenishment (collection), and the tray 10 supplied to the second position B2 becomes empty. If the number of pallets 17 on the tray mounting stage 26 becomes zero, or if the pallet 17 on the tray collection stage 46 becomes full, the signal tower 25 is built in when various troubles occur. Turn on or blink the lamp.

  The pallet transfer operation control unit 64 controls the operation of the pallet transfer mechanism 56 to take out the pallet 17 holding the tray 10 supplied to the tray take-out position A1 with the transfer arm 54 and position it at the first position B1. To the first table 35 or the second table 39. Further, the pallet 17 holding the used tray 10A is taken out by the transfer arm 54 from the first table 35 or the second table 39 located at the first position B1, and the tray collection stage 46 is used at the used tray transfer position D1. To be transferred to. That is, the first position B1 is a pallet transfer / take-out position where the pallet 17 is transferred or taken out. Thereby, the tray 10 can be transferred among the tray supply unit 11, the tray transfer unit 12, and the tray collection unit 13.

  The pallet transfer operation control unit 64 controls the operation of the first table moving mechanism 38 to move the first table 35 between the first position B1 and the second position B2. Further, by controlling the operation of the cylinder 40 and the second table moving mechanism 44, the second table 39 is moved between the first position B1 and the third position C1, and between the third position C1 and the fourth position C2. In the meantime, it is moved between the fourth position C2 and the second position B2. Thereby, the tray 10 can be transferred between the first position B1 and the second position B2. In the above configuration, the first table 35, the second table 39, the transfer arm 54, the pallet transfer mechanism 56, the first table moving mechanism 38, the cylinder 40, and the second table moving mechanism 44 are the tray 10 by the transfer head 4. The tray 10 stocked in the tray supply unit 11 is transferred to the part extraction work position where the part 3 is taken out from the tray, and the tray 10 that has been emptied by the supply of the part 3 to the transfer head 4 is used as the part. Tray transfer means for transferring from the take-out work position to the tray collection unit 13 is provided.

  The lifter state monitoring unit 65 detects the height of the tray mounting stage 26 based on whether or not the inspection light is received by the first light receiving unit U1, the first detection sensor S1, and the second detection sensor S2. Thus, the state of the supply side lifter 33 is monitored. The lifter state monitoring unit 65 detects the height of the tray collection stage 46 based on whether or not the inspection light is received by the second light receiving unit U3 and the third to fifth detection sensors S3 to S5, and thereby collects it. The state of the side lifter 53 is monitored. Based on the monitoring status here, the controller 57 detects the number of trays 10 on each stage.

  The supply-side lifter control unit 66 is configured to supply light according to the light-receiving state of the first light-receiving unit U1, the first detection sensor S1, and the second detection sensor and the operation of the second door opening / closing request switch 23 by the operator. 33 is controlled. The collection-side lifter control unit 67 receives the collection-side lifter 53 in accordance with the light reception state of the second light receiving unit U3 and the third to fifth detection sensors S3 to S5 and the operation of the third door opening / closing request switch 24 by the operator. Controls the lifting and lowering operation.

  The door opening / closing processing unit 68 receives the operation of the second door opening / closing request switch 23 by the operator, and locks or unlocks the second door 19b according to the operating state of the supply-side lifter 33. Further, in response to an operation of the third door opening / closing request switch 24 by the operator, the third door 19c is locked or unlocked according to the operating state of the collection side lifter 53.

  The component mounting apparatus 1 according to the present embodiment is configured as described above, and the operation will be described next. First, the control unit 57 takes out the pallet 17 from the tray supply unit 11 by the transfer arm 54 and transfers it to one of the first table 35 and the second table 39 located at the first position B1. Next, the control unit 57 moves one table on which the pallet 17 is transferred to the second position B2. As a result, the tray 10 held on one table is supplied to the second position B2. In addition, when one table is the 2nd table 39, it moves to 2nd position B2 via 3rd position C1 and 4th position C2 (refer FIG.5 (c)).

  Next, the control unit 57 recognizes the component 3 in the tray 10 supplied to the second position B2 via the second camera 45, and transfers the desired component 3 from the tray 10 based on the recognition result. 4 is taken out and transferred to the intermediate stage 6. The control unit 57 recognizes the component 3 on the intermediate stage 6 via the first camera 9, and then takes out the component 3 by the transfer head 4 and transfers it to the component transfer position on the substrate 2.

  For the transfer of the component 3 to the substrate 2, the position shift of the component 3 on the intermediate stage 6 is calculated from the recognition result by the first camera 9, and the component transfer position is corrected based on the position shift. Made in Further, after one table leaves the first position B1, the control unit 57 moves the other table (the first table 35 or the table 39) to the first position B1, and the pallet 17 from the tray supply unit 11 is moved. Is taken out and transferred onto the other table.

  When all the components 3 are removed from the tray 10, the control unit 57 executes the transfer of the tray 10. That is, the control unit 57 moves one table holding the used tray 10A from the second position B2 to the first position B1, and moves the other table holding the tray 10 to the second position B2. . As a result, the tray 10 that is the target of the component 3 take-out operation is exchanged. When the other table is the second table 39, the control unit 57 moves the second table 39 to the third position C1 or the fourth position during the component mounting operation for the tray 10 on the first table 35. It is moved to position C2.

  Next, the control unit 57 takes out the pallet 17 on one table moved to the first position B1 by the transfer arm 54 and transfers it to the tray collection stage 46 at the used tray transfer position D1. In response to this operation, the controller 57 lowers the collection side lifter 53 by one pallet. And the control part 57 takes out the pallet 17 from the tray supply part 11 with the transfer arm 54, and transfers it to one table in 1st position B1. In response to this operation, the controller 57 raises the supply side lifter 33 by one pallet. By executing the above operation, the transfer of the tray 10 including the tray replacement is completed. Then, after the other table has moved to the second position B2, the control unit 57 performs a component mounting operation for the tray 10 on the other table.

  As the operations described so far are repeated, the number of trays 10 stacked on the tray mounting stage 26 decreases, while the number of used trays 10A stacked on the tray collection stage 46 increases. Therefore, in order to continue production without stopping the operation of the apparatus, the operator appropriately replenishes the tray supply unit 11 with the tray 10 before the tray supply unit 11 becomes empty, and the tray collection unit 13 becomes full. Before being used, it is necessary to collect the used tray 10A from the tray collection unit 13 as appropriate. In the present embodiment, tray replenishment availability determination processing is performed to determine whether tray replenishment (collection) work is possible.

  Next, the tray replenishment availability determination process based on the tray replenishment availability determination program stored in the control unit 57 will be described with reference to FIG. First, the control unit 57 stands by until the part 3 is taken out from the tray 10 supplied to the second position B2 (ST1: part take-off standby step). Then, at the timing when the part 3 is removed from the tray 10, the control unit 57 determines whether the timing of tray replacement (that is, transfer of the tray 10) is close (ST2: tray replacement timing determination step). The determination here is made by the tray transfer start timing determination unit 61 described above.

  If the tray replacement timing is not close at this point, the process returns to (ST1) and enters a standby state until the part 3 is taken out. On the other hand, when the tray replacement timing is near, the control unit 57 determines that the tray refilling operation is not possible, and blinks the lamp 23a of the second door opening / closing request switch 23, so that the operator can refill the tray. Is notified (ST3: Tray replenishment work prohibition notification step) to the effect that the timing of starting the transfer of the tray 10 is approaching.

  After blinking the lamp 23a, the control unit 57 determines whether or not the transfer of the tray 10 is completed (ST4: tray transfer completion determination step). Then, after the transfer of the tray 10 is completed, the control unit 57 determines that the tray 10 can be replenished, turns off the lamp 23a, and notifies that the prohibition of the tray replenishment work has been canceled (ST5: Tray replenishment work prohibited). Notification release step). That is, the notification by the blinking of the lamp 23a is continuously performed until the transfer of the tray 10 by the tray transfer means is completed. The specific timing for turning off the lamp 23a is set after the pallet 17 is taken out from the tray supply unit 11 and the supply side lifter 33 is raised by one pallet.

  Further, whether or not the tray collection work can be performed may be determined under the same conditions as in the tray replenishment work described above. That is, the lamp 24a of the third door opening / closing request switch 24 blinks at the same timing as the blinking of the lamp 23a of the second door opening / closing request switch 23 to notify that the tray collection operation is prohibited. In addition, the lamp 24a is turned off at the same timing as the lamp 23a to notify that the prohibition of the tray collection work has been canceled. The timing at which the lamp 24a is turned off may be set after the pallet 17 is transferred onto the tray collection stage 46 and the collection side lifter 53 is lowered by one pallet.

  As described above, in this embodiment, it is determined whether or not the timing at which the tray 10 is started to be transferred by the tray transfer unit is approached, and the operator determines whether the tray 10 is transferred by the tray transfer unit based on the determination. Since the notification that the timing at which the transfer is started is approaching is performed, the operator can grasp that the timing at which the transfer of the tray 10 is started is approaching. As a result, the worker has a psychology to refrain from the tray replenishment (collection) work until the transfer of the tray 10 is completed, so that the worker carelessly immediately before the transfer of the tray 10 is started. By performing the tray replenishment (collection) operation, it is possible to suppress a situation in which the transfer of the tray 10 cannot be executed and production is stagnated.

  The determination by the tray transfer start timing determination unit 61 can be based on various things. For example, the transfer of the tray 10 is started when the XY coordinates of the take-out position P (see FIG. 11) of the part 3 that is the starting point of the determination are specified in advance and the part take-out position detection unit 59 detects the take-out position P. You may make it judge that the timing to be approached. That is, in this example, it is determined whether or not the timing for starting the transfer of the tray 10 is approaching based on the take-out position of the component 3 stored in the tray 10 transferred to the component take-out operation position.

  In addition, when the number of remaining parts as a starting point of determination is set in advance and the remaining number of parts stored in the tray 10 matches the set remaining number of parts based on the monitoring status by the remaining part number monitoring unit 60, It may be determined that the timing at which the transfer of the tray 10 is started is approaching. That is, in this example, it is determined whether or not the timing for starting the transfer of the tray 10 is approaching based on the remaining number of the components 3 stored in the tray 10 that has been transferred to the component extraction work position.

  Next, the control of the supply side lifter 33 based on the supply side lifter control program stored in the control unit 57 will be described in detail with reference to FIG. Here, the state where the first light receiving unit U1, the first detection sensor S1, and the second detection sensor S2 do not receive the inspection light is “ON”, and the state where the inspection light is received is “OFF”. Will be described.

  First, the control unit 57 determines the light receiving state of the first light receiving unit U1 (ST6). Here, when the first light receiving unit U1 is OFF, the control unit 57 raises the supply side lifter 33 (ST7). Next, the control unit 57 determines the light receiving state of the first light receiving unit U1 in the process of raising the supply side lifter 33 (ST8), and raises the supply side lifter 33 until the first light receiving unit U1 is turned on. Let it continue. Then, the raising of the supply side lifter 33 is stopped at the timing when the first light receiving unit U1 is turned on, that is, the timing when the tray 10 is supplied to the tray extraction position A1 (ST9).

  Next, when the first light receiving unit U1 is ON in (ST6), or after the ascent of the supply side lifter 33 is stopped in (ST9), the control unit 57 enters the monitoring status by the lifter state monitoring unit 65. Based on this, it is determined whether the number of pallets 17 placed on the tray placement stage 26 is zero (ST10). Here, when the number of pallets 17 is not zero, the control unit 57 determines whether the remaining number of pallets 17 placed on the tray placement stage 26 is sufficient based on the monitoring status by the lifter state monitoring unit 65 ( ST11).

  If the remaining number of pallets 17 is small, the control unit 57 determines whether the remaining number of parts 3 stored in the tray 10 supplied to the second position B2 is sufficient (ST12). If the remaining number of parts is small, the process returns to (ST6) and the same operation as described above is executed. On the other hand, when the number of remaining parts is sufficient, the control unit 57 lowers the supply side lifter 33 (ST13). Next, the controller 57 determines whether or not the tray mounting stage 26 is located at the tray replenishment position A2 (ST14), and stops the descent at the timing when it is located at the tray replenishment position A2 (ST15). Then, the tray mounting stage 26 is put on standby at the tray replenishment position A2 until it is determined in (ST12) that the remaining number of parts in the tray 10 supplied to the second position B2 is small. In this way, while the tray placement stage 26 is lowered to the tray replenishment position A2, the operator operates the second door opening / closing request switch 23 to open the second door 19b and perform the tray replenishment operation.

  If the number of pallets 17 is zero in (ST10), the control unit 57 notifies that the pallet 17 should be replenished by turning on or blinking a lamp built in the signal tower 25 (ST16). Thereafter, the controller 57 lowers the supply side lifter 33 (ST17). Then, the control unit 57 determines whether or not the tray mounting stage 26 is located at the tray replenishing position A2 (ST18), and stops the descent at the timing when it is located at the tray replenishing position A2 (ST19). Thereafter, the worker performs tray replenishment work.

  Next, the control of the collection side lifter 53 based on the collection side lifter control program stored in the control unit 57 will be described in detail with reference to FIG. Here, the state where the second light receiving unit U3 and the third to fifth detection sensors S3 to S5 are not receiving the inspection light is referred to as “ON”, and the state where the inspection light is received is described as “OFF”. To do.

  First, the control unit 57 determines the light receiving state of the second light receiving unit U3 (ST20). Here, when the second light receiving unit U3 is ON, the control unit 57 lowers the collection side lifter 53 by one pallet (ST21). On the other hand, when the second light receiving unit U3 is OFF, the control unit 57 raises the collection side lifter 53 (ST22). Then, the control unit 57 determines the light receiving state of the second light receiving unit U3 in the process of raising the collection side lifter 53 (ST23), and the collection side lifter 53 is raised at the timing when the second light receiving unit U3 is turned on. And the collection side lifter 53 is lowered by one pallet from the position (ST24).

  Next, the control unit 57 monitors the light receiving state of the second light receiving unit U3 in this state (ST25), the pallet 17 is transferred to the tray collection stage 46 by the transfer arm 54, and the second light receiving unit U3 is moved. When turned ON, the control unit 57 lowers the collection side lifter 53 by one pallet (ST26). Next, the control unit 57 determines whether the pallet 17 placed on the tray collection stage 46 is full based on the monitoring status by the lifter state monitoring unit 65 (ST27).

  Here, when the pallet 17 is not full, the control unit 57 determines whether there is a margin in the recovery of the pallet 17 based on the monitoring status by the lifter state monitoring unit 65 (ST28). Here, when there is a margin in the collection of the pallet 17, the process returns to the above-described (ST25). On the other hand, when there is only a little margin for collecting the pallet 17, the control unit 57 determines whether the remaining number of the parts 3 stored in the tray 10 supplied to the second position B2 is small (ST29). .

  If the remaining number of parts is small, the control unit 57 returns to (ST25), and thereafter performs the same operation. On the other hand, when the number of remaining parts is sufficient, the control unit 57 lowers the collection side lifter 53 (ST30). Then, the control unit 57 determines whether or not the tray collection stage 46 is located at the tray collection position D2 (ST31), and stops the descent at the timing when it is located at the tray collection position D2 (ST32). Then, the tray collection stage 46 is put on standby at the tray collection position D2 until it is determined in (ST29) that the remaining number of parts in the tray 10 supplied to the second position B2 is small. In this manner, while the tray collection stage 46 is lowered to the tray collection position D2, the operator operates the third door opening / closing request switch 24 to open the third door 19c and perform the tray collection operation.

  When the pallet 17 is full in (ST27), the control unit 57 lights or blinks a lamp built in the signal tower 25 to notify that the pallet 17 should be collected (ST33), and then The collection side lifter 53 is lowered (ST34). Then, the control unit 57 determines whether or not the collection side lifter 53 is located at the tray collection position D2 (ST35), and stops the descent at the timing when it is located at the tray collection position D2 (ST36). Thereafter, the worker performs tray collection work.

  Next, lock or unlock of the second door 19b or the third door 19c based on the door opening / closing program stored in the control unit 57 will be described with reference to FIG. Since the lock or unlocking described below is common to each door, the description will be limited to the second door 19b unless the third door 19c requires special explanation.

  When the operator presses the second door opening / closing request switch 23, door opening / closing program processing is executed, and the control unit 57 confirms whether the second door 19b is locked by the second door locking mechanism 21 (ST37). If the second door 19b is unlocked, the controller 57 locks the second door 19b (ST38), and then turns off the lamp 23a of the second door opening / closing request switch 23 (ST39). And the control part 57 starts the action | operation of the supply side lifter 33 based on a supply side lifter control program (ST40).

  On the other hand, when the second door 19b is locked in (ST37), the control unit 57 has stopped the operation of the pallet transfer mechanism 56, that is, the transfer operation of the pallet 17 by the transfer arm 54 is stopped. (ST41). When the operation of the pallet transfer mechanism 56 is stopped, the controller 57 ends the operation of the supply side lifter 33 based on the supply side lifter control program (ST42).

  Next, the control unit 57 determines whether or not the tray placement stage 26 is located at the tray replenishment position A2 (ST43). If the tray placement stage 26 is not positioned at the tray replenishment position A2, the supply side lifter 33 is lowered (ST44). Then, the control unit 57 determines whether or not the tray mounting stage 26 is located at the tray replenishing position A2 (ST45), and stops the descent at the timing when it is located at the tray replenishing position A2 (ST46).

  Then, the control unit 57 unlocks the second door 19b (ST47), and then notifies the unlocking by turning on the lamp 23a of the second door opening / closing request switch 23 (ST48). If it is determined in (ST43) that the tray loading stage 26 is located at the tray replenishment position A2, the control unit 57 releases the lock in (ST47) and then notifies in (ST48). I do.

  As described above, according to the present invention, the operator can grasp that the timing at which the transfer of the tray 10 is started is approaching, and as a result, the tray replenishment (collection) operation by the operator and the transfer of the tray 10. It is possible to suppress a situation in which the timings of starting are overlapped. Further, by notifying the completion of the transfer of the tray 10, the operator can start the tray replenishment (collection) operation immediately after the completion of the transfer of the tray 10. Furthermore, lamps 23a and 24a are built in the second door opening / closing request switch 23 and the third door opening / closing request switch 23 that need to be operated during tray replenishment (collection) work, and various notifications are made via the lamps 23a and 24a. Therefore, it is possible to suppress a situation in which the operator mistakenly performs the tray replenishment (collection) operation without noticing the notification.

  Note that the present invention is not limited to the embodiments described above. For example, the present invention may be applied to a component mounting apparatus in which a component taken out from a tray by a transfer head is directly transferred to a component transfer position on a substrate. Further, in addition to the transfer head 4 described in the present embodiment, a transfer tool (transfer means) having a function of transferring a component is separately provided in the component mounting apparatus or the component supply apparatus, and the transfer tool is used to transfer the component from the tray. The part may be taken out and transferred to a predetermined position on the intermediate stage.

  Further, instead of the first table 35 and the second table 39 described in the present embodiment, a single table may be provided, and components may be supplied by placing a tray on the table. Furthermore, the present invention provides a component supply apparatus that takes out a tray from a box in which a plurality of magazines storing trays are arranged, transfers the tray to a predetermined component extraction work position, and collects an empty used tray in the same box. May be applied.

  ADVANTAGE OF THE INVENTION According to this invention, the situation where the replenishment and collection | recovery operation | work of a tray by an operator and the timing at which a tray transfer is started can be suppressed, and it is useful in the component mounting field | area which mounts components in a board | substrate.

DESCRIPTION OF SYMBOLS 1 Component mounting apparatus 2 Board | substrate 3 Component 4 Transfer head 7 Component supply apparatus 10 Tray 11 Tray supply part 13 Tray collection | recovery part 35 1st table 38 1st table moving mechanism 39 2nd table 40 Cylinder 44 2nd table moving mechanism 54 Transfer Loading arm 56 Pallet transfer mechanism 61 Tray transfer start timing determination unit 63 Notification unit B2 Second position (part extraction work position)

Claims (12)

A component supply device that supplies components to transfer means for transferring components stored in a tray to a predetermined position,
A tray supply unit arranged at a position accessible by an operator and capable of stocking a plurality of the trays;
A tray collection unit that is disposed at a position accessible to an operator and can stock a plurality of trays that are emptied by supplying parts to the transfer means;
The tray stocked in the tray supply unit is transferred to a component extraction operation position where the operation of taking out the component from the tray by the transfer unit is performed, and the tray is emptied by supplying the component to the transfer unit. Tray transfer means for transferring the component from the parts extraction work position to the tray recovery unit;
Tray transfer start timing determination means for determining whether or not the timing at which tray transfer by the tray transfer means is started has approached,
Based on the determination by the tray transfer start timing determination means, the apparatus has a tray transfer timing notification means for notifying an operator that the timing at which the tray transfer by the tray transfer means is started is approaching. A component supply device.   The component supply apparatus according to claim 1, wherein the determination by the tray transfer start timing determination unit is performed when a component is removed from the tray transferred to the component extraction position.   The determination by the tray transfer start timing determination unit is performed based on a time from when a component is removed from the tray transferred to the component extraction position until the tray transfer is started. The component supply apparatus according to 1.   The component supply apparatus according to claim 1, wherein the determination by the tray transfer start timing determination unit is made based on an extraction position of a component stored in a tray transferred to the component extraction operation position.   The component supply apparatus according to claim 1, wherein the determination by the tray transfer start timing determination unit is performed based on a remaining number of components stored in a tray transferred to the component extraction work position.   6. The component supply apparatus according to claim 1, wherein the notification by the tray transfer timing notification unit is continuously performed until the tray transfer by the tray transfer unit is completed. A component supply device for supplying a component to a transfer means for transferring a component stored in a tray to a predetermined position, and mounting the component supplied to the transfer means on a substrate;
The component supply device includes:
A tray supply unit arranged at a position accessible by an operator and capable of stocking a plurality of the trays;
A tray collection unit that is disposed at a position accessible to an operator and can stock a plurality of trays that are emptied by supplying parts to the transfer means;
The tray stocked in the tray supply unit is transferred to a component extraction operation position where the operation of taking out the component from the tray by the transfer unit is performed, and the tray is emptied by supplying the component to the transfer unit. Tray transfer means for transferring the component from the parts extraction work position to the tray recovery unit;
Tray transfer start timing determination means for determining whether or not the timing at which tray transfer by the tray transfer means is started has approached,
Based on the determination by the tray transfer start timing determination means, the apparatus has a tray transfer timing notification means for notifying an operator that the timing at which the tray transfer by the tray transfer means is started is approaching. A component mounting device.   The component mounting apparatus according to claim 7, wherein the determination by the tray transfer start timing determination unit is performed when a component is taken out from the tray transferred to the component extraction work position.   The determination by the tray transfer start timing determination unit is performed based on a time from when a component is taken out from the tray transferred to the component extraction work position until the tray transfer is started. Item 7. The component mounting apparatus according to Item 7.   The component mounting apparatus according to claim 7, wherein the determination by the tray transfer start timing determination unit is performed based on an extraction position of a component stored in a tray transferred to the component extraction operation position.   The component mounting apparatus according to claim 7, wherein the determination by the tray transfer timing determination unit is performed based on a remaining number of components stored in the tray transferred to the component extraction work position.   12. The component mounting apparatus according to claim 7, wherein the notification by the tray transfer timing notification unit is continuously performed until the tray transfer by the tray transfer unit is completed.

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