JP6799970B2 - Parts supply device - Google Patents

Description

The present invention relates to a parts supply device that supplies parts to a mounting work machine.

In a parts supply device having a part support part that supports a plurality of parts in a scattered state, parts are scattered from a part container to the part support part, and a part holder among the parts supported by the part support part. Holds parts in a holdable position. Next, the parts held by the parts holder are placed in a state of being aligned with the mounting portion, so that the parts are supplied. Then, using the supplied parts, mounting work on the substrate is performed in the mounting work machine. Further, the parts supply device has a parts return device for returning parts from the parts support portion to the parts container. Therefore, for example, when there are no more parts in the parts support portion that can be held by the parts holder, the parts are returned from the parts support part to the parts container, and the parts returned to the parts container are returned to the parts container. , Scattered in the component support. As a result, the parts in a posture that can be held by the part holder are scattered again in the part support portion, so that the part is held by the part holder from the part support portion. The following patent document describes an example of a component supply device having such a structure.

Japanese Unexamined Patent Publication No. 10-20259

According to the parts supply device described in the above patent document, the parts return work to the parts container and the scattered work of the parts returned to the parts container are performed from the parts supply device. It is possible to supply a large number of parts. However, since it takes some time to return the parts to the parts container and to scatter the parts to the parts support part, the supply of parts is delayed and the cycle time of the mounting work on the mounting machine is reduced. There is a risk of The present invention has been made in view of such circumstances, and an object of the present invention is to prevent a decrease in the cycle time of mounting work of parts supplied to a parts supply device.

In order to solve the above problems, the parts supply device according to the present invention includes a parts storage device that stores a plurality of parts, and parts that support the parts scattered from the parts storage device in the scattered state. A support portion, a component return device for returning parts scattered in the component support portion to the component container, a first component holder for holding the component supported by the component support portion, and the component support. The above description includes an imaging device for imaging a component supported by the unit, a mounting unit for mounting the component held by the first component holder in an aligned state, and a control device. A component supply device that supplies parts aligned in a mounting portion to a mounting work machine, and the control device acquires the required number of parts, which is the number of parts required for mounting work in the mounting work machine. A number acquisition unit and a component number calculation unit that calculates the number of receivable parts, which is the number of components that can be held from the component support unit by the first component holder, based on the imaging data captured by the imaging device. The first determination unit for determining whether or not the required number of required parts acquired by the number of parts acquisition unit exceeds the number of receivable parts calculated by the number of parts calculation unit, and the first determination unit. The operation of the component return device causes the component return device to operate before the component is held from the component support portion by the first component holder, provided that the required number of components exceeds the number of retainable components. After returning the parts scattered in the component support portion to the component accommodator, it is characterized by having the component interspersed portion in which the components are scattered from the component accommodator to the component support portion again.

In the component supply device according to the present invention, whether or not the required number of components, which is the number of components required for mounting work, exceeds the number of retainable components, which is the number of components that can be held from the component support portion by the component holder. Is judged. Then, on condition that the required number of parts exceeds the number of receivable parts, the parts are returned to the parts container and the parts are returned to the parts container before the parts are held from the parts support by the parts holder. Parts are scattered on the support. As a result, it is possible to perform the work of returning the parts to the parts container and the work of scattering the parts to the parts support portion at the right time, and it is possible to prevent a decrease in the cycle time of the mounting work by the mounting work machine. It becomes.

It is a perspective view which shows the component mounting machine. It is a perspective view which shows the component mounting apparatus of a component mounting machine. It is a perspective view which shows the loose part supply apparatus. It is a perspective view which shows the component supply unit. It is a perspective view which shows the parts supply unit in the state which the parts collection container is raised to the raised end position. It is a perspective view which shows the component holding head. It is a figure which shows the part receiving member in the state which the lead part is housed. It is a block diagram which shows the control device of a component mounting machine. It is a perspective view which shows the component scattered state realization apparatus. It is a figure which shows the component support member in the state which a plurality of lead components are scattered. It is a perspective view which shows the component scattered state realization apparatus and component return apparatus. It is a figure which shows the flowchart of the control program. It is a figure which shows the flowchart of the control program. The best mode for carrying out the invention

Hereinafter, examples of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings.

<Configuration of component mounting machine>
FIG. 1 shows a component mounting machine 10. The component mounting machine 10 is a device for executing component mounting work on the circuit base material 12. The component mounting machine 10 includes an apparatus main body 20, a base material transfer holding device 22, a component mounting device 24, an imaging device 26, 28, a component supply device 30, a loose component supply device 32, and a control device (see FIG. 8) 34. There is. Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.

The apparatus main body 20 is composed of a frame portion 40 and a beam portion 42 mounted on the frame portion 40. The base material transfer holding device 22 is arranged at the center of the frame portion 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit base material 12, and the clamp device 52 is a device that holds the circuit base material 12. As a result, the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit base material 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting machine 10 is the X direction, and the front-rear direction is the Y direction.

The component mounting device 24 is arranged in the beam unit 42, and has two work heads 60 and 62 and a work head moving device 64. Each work head 60, 62 has a suction nozzle (see FIG. 2) 66, and the parts are held by the suction nozzle 66. Further, the work head moving device 64 has an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72. Then, the two work heads 60 and 62 are integrally moved to an arbitrary position on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG. 2, the work heads 60 and 62 are detachably attached to the sliders 74 and 76, and the Z-direction moving device 72 individually moves the sliders 74 and 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.

The image pickup apparatus 26 is attached to the slider 74 in a downward facing state, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. As a result, the image pickup apparatus 26 images an arbitrary position on the frame portion 40. As shown in FIG. 1, the image pickup apparatus 28 is arranged between the substrate transport holding apparatus 22 on the frame portion 40 and the component supply apparatus 30 in a state of facing upward. As a result, the image pickup apparatus 28 images the parts held by the suction nozzles 66 of the work heads 60 and 62.

The component supply device 30 is arranged at one end of the frame portion 40 in the front-rear direction. The parts supply device 30 includes a tray-type parts supply device 78 and a feeder-type parts supply device (not shown). The tray-type component supply device 78 is a device that supplies components in a state of being placed on the tray. The feeder type parts supply device is a device that supplies parts by a tape feeder (not shown) and a stick feeder (not shown).

The loose component supply device 32 is arranged at the other end of the frame portion 40 in the front-rear direction. The loose parts supply device 32 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. That is, it is a device that aligns a plurality of parts in an arbitrary posture in a predetermined posture and supplies the parts in the predetermined posture. The configuration of the component supply device 32 will be described in detail below. Examples of the parts supplied by the parts supply device 30 and the loose parts supply device 32 include electronic circuit parts, solar cell components, power module components, and the like. In addition, electronic circuit parts include parts having leads, parts having no leads, and the like.

As shown in FIG. 3, the loose parts supply device 32 includes a main body 80, a parts supply unit 82, an image pickup device 84, and a parts delivery device 86.

(A) Parts supply unit The parts supply unit 82 includes a parts supply device 88, a parts scattered state realizing device 90, and a parts returning device 92, and includes the parts supply device 88, the parts scattered state realizing device 90, and the parts returning device 92. Is integrally configured. The parts supply unit 82 is detachably assembled to the base 96 of the main body 80, and in the loose parts supply device 32, five parts supply units 82 are arranged in a row in the X direction.

(1) Parts feeder The parts feeder 88 includes a parts storage device 100, a housing 102, and a grip 104, as shown in FIG. The component storage device 100 generally has a rectangular parallelepiped shape, and the upper surface and the front surface are open. The bottom surface of the parts storage device 100 has an inclined surface 116, and is inclined toward the front surface where the parts storage device 100 opens.

The housing 102 has a pair of side walls 120, and a component accommodator 100 is oscillatedly held between the pair of side walls 120. Further, between the pair of side walls 120, the inclined plate 152 is fixedly arranged so as to be located in front of the lower end portion of the front surface of the component storage device 100. The inclined plate 152 is inclined so as to descend toward the front.

The grip 104 is arranged at the rear end of the housing 102, and is composed of a fixed grip member 170 and a movable grip member 172. The movable gripping member 172 is accessible and separated from the fixed gripping member 170. Then, the movable gripping member 172 is connected to the rear surface of the component storage device 100 by a connecting arm (not shown). As a result, when the grip 104 is gripped, the movable grip member 172 approaches and separates from the fixed grip member 170, and the component accommodator 100 swings between the pair of side walls 120.

Further, the component feeder 88 is arranged between a pair of side frame portions 190 assembled to the base 96, and is detachable from the base 96. A lock mechanism (not shown) is provided at the lower end of the movable grip member 172 of the grip 104, and the lock mechanism is released when the grip 104 is gripped. That is, the component supply device 88 is removed from between the pair of side frame portions 190 by lifting the component supply device 88 while the operator holds the grip 104 of the component supply device 88.

(2) Parts Scattered State Realizing Device The parts scattered state realizing device 90 includes a component support member 220, a component support member moving device 222, and a feeder vibration device 224. The component support member 220 generally has a longitudinal plate shape, and is arranged so as to extend forward from below the inclined plate 152 of the component feeder 88. Further, side wall portions 228 are formed on both side edges of the component support member 220 in the longitudinal direction.

The component support member moving device 222 is a device that moves the component support member 220 in the front-rear direction by driving an electromagnetic motor (see FIG. 8) 223. As a result, the component support member 220 moves in the front-rear direction with the upper surface of the component support member 220 horizontal, slightly below the lower end of the inclined plate 152 of the component feeder 88.

The feeder vibrating device 224 includes a cam member 240, a cam follower 242, and a stopper 244. The cam member 240 has a plate shape and is fixed to the outer side surface of the side wall portion 228 so as to extend in the front-rear direction. A plurality of teeth 245 are formed at the upper end portion of the cam member 240 at equal intervals in the front-rear direction. The cam follower 242 includes a lever 252 and a roller 254. The lever 252 is arranged at the lower end of the side wall 120 of the component feeder 88, and can swing around the upper end. The roller 254 is rotatably held at the lower end of the lever 252. The lever 252 is urged in the forward direction by the elastic force of the coil spring (not shown). Further, the stopper 244 is provided on the side wall 120 in a protruding shape, and the lever 252 urged by the elastic force of the coil spring is in contact with the stopper 244.

(3) Parts Returning Device The parts returning device 92 includes a container lifting device 260 and a parts collecting container 262, as shown in FIG. The container elevating device 260 includes an air cylinder 266 and an elevating member 268, and the elevating member 268 moves up and down by the operation of the air cylinder 266. Further, the air cylinder 266 is fixed to the front end portion of the component support member 220. As a result, the air cylinder 266 moves in the front-rear direction together with the component support member 220 by the operation of the component support member moving device 222.

The parts collection container 262 is arranged on the upper surface of the elevating member 268, and moves in the vertical direction by the operation of the air cylinder 266. The parts collection container 262 has a box shape with an open upper surface, and is rotatably held on the upper surface of the elevating member 268. As shown in FIG. 4, a protruding pin 272 is arranged at the rear end of the parts collection container 262. The projecting pin 272 projects outward on the side of the parts collection container 262. Further, the engagement block 274 is fixed inside the upper end portion on the front side of the side frame portion 190. Then, as shown in FIG. 5, when the parts collection container 262 is raised to the rising end position by the operation of the air cylinder 266, the protruding pin 272 engages with the engaging block 274. As a result, the parts collection container 262 rotates.

(B) Imaging device The imaging device 84 includes a camera 290 and a camera moving device 292, as shown in FIG. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 above the component feeder 88 so as to extend in the width direction of the loose component supply device 32. The slider 298 is slidably attached to the guide rail 296 and slides to an arbitrary position by the operation of the electromagnetic motor (see FIG. 8) 299. Further, the camera 290 is attached to the slider 298 in a state of facing downward.

(C) Parts delivery device As shown in FIG. 3, the parts delivery device 86 includes a parts holding head moving device 300, a parts holding head 302, and two shuttle devices 304.

The component holding head moving device 300 includes an X-direction moving device 310, a Y-direction moving device 312, and a Z-direction moving device 314. The Y-direction moving device 312 has a Y slider 316 arranged above the component supply unit 82 so as to extend in the X direction, and the Y slider 316 is driven by an electromagnetic motor (see FIG. 8) 319. , Move to any position in the Y direction. The X direction moving device 310 has an X slider 320 arranged on the side surface of the Y slider 316, and the X slider 320 is moved to an arbitrary position in the X direction by driving an electromagnetic motor (see FIG. 8) 321. Moving. The Z direction moving device 314 has a Z slider 322 arranged on the side surface of the X slider 320, and the Z slider 322 is moved to an arbitrary position in the Z direction by driving an electromagnetic motor (see FIG. 8) 323. Moving.

As shown in FIG. 6, the component holding head 302 includes a head main body 330, a suction nozzle 332, a nozzle swivel device 334, and a nozzle rotation device 335. The head body 330 is integrally formed with the Z slider 322. The suction nozzle 332 holds a component and is detachably attached to the lower end portion of the holder 340. The holder 340 is bendable on the support shaft 344, and the holder 340 is bent 90 degrees upward by the operation of the nozzle swivel device 334. As a result, the suction nozzle 332 mounted on the lower end of the holder 340 turns 90 degrees and is located at the turning position. That is, the suction nozzle 332 is swiveled between the non-swivel position and the swivel position by the operation of the nozzle swivel device 334. The nozzle rotation device 335 also rotates the suction nozzle 332 around its axis.

Further, as shown in FIG. 3, each of the two shuttle devices 304 includes the component carrier 388 and the component carrier moving device 390, is arranged laterally on the front side of the component supply unit 82, and is fixed to the main body 80. Has been done. Five component receiving members 392 are mounted on the component carrier 388 in a line in the horizontal direction, and the components are placed on the component receiving members 392.

Specifically, as shown in FIG. 7, the component supplied by the loose component supply device 32 is an electronic circuit component having a lead (hereinafter, may be abbreviated as “lead component”) 410, and the lead component 410 is a lead component 410. It is composed of a block-shaped component body 412 and two leads 414 protruding from the bottom surface of the component body 412. Further, the component receiving recess 416 is formed in the component receiving member 392. The component receiving recess 416 is a stepped recess, and is composed of a main body receiving recess 418 opening on the upper surface of the component receiving member 392 and a lead receiving recess 420 opening on the bottom surface of the main body receiving recess 418. There is. Then, the lead component 410 is inserted into the component receiving recess 416 with the lead 414 facing downward. As a result, the lead component 410 is placed inside the component receiving recess 416 in a state where the lead 414 is inserted into the lead receiving recess 420 and the component main body 412 is inserted into the main body receiving recess 418.

Further, as shown in FIG. 3, the component carrier moving device 390 is a plate-shaped longitudinal member, and is arranged on the front side of the component supply unit 82 so as to extend in the front-rear direction. A component carrier 388 is slidably arranged on the upper surface of the component carrier moving device 390 in the front-rear direction, and is slid to an arbitrary position in the front-rear direction by driving an electromagnetic motor (see FIG. 8) 430. When the component carrier 388 slides in the direction approaching the component supply unit 82, it slides to the component receiving position located within the moving range of the component holding head 302 by the component holding head moving device 300. On the other hand, when the component carrier 388 slides away from the component supply unit 82, it slides to the component supply position located within the movement range of the work heads 60 and 62 by the work head moving device 64.

Further, as shown in FIG. 8, the control device 34 includes a central control device 450, a plurality of individual control devices (only one is shown in the figure) 452, an image processing device 454, and a storage device 456. Including. The integrated control device 450 is mainly composed of a computer, and is connected to a base material transfer holding device 22, a component mounting device 24, an image pickup device 26, an image pickup device 28, a component supply device 30, and a loose component supply device 32. ing. As a result, the integrated control device 450 collectively controls the base material transfer holding device 22, the component mounting device 24, the image pickup device 26, the image pickup device 28, the component supply device 30, and the loose component supply device 32. The plurality of individual control devices 452 are configured mainly by a computer, and are included in the base material transport holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32. Correspondingly provided (in the figure, only the individual control device 452 corresponding to the loose component supply device 32 is shown). The individual control device 452 of the loose parts supply device 32 is connected to the parts scattered state realization device 90, the parts return device 92, the camera moving device 292, the parts holding head moving device 300, the parts holding head 302, and the shuttle device 304. As a result, the individual control device 452 of the loose parts supply device 32 controls the parts scattered state realization device 90, the parts return device 92, the camera moving device 292, the parts holding head moving device 300, the parts holding head 302, and the shuttle device 304. .. Further, the image processing device 454 is connected to the image pickup device 84 and processes the image pickup data captured by the image pickup device 84. The image processing device 454 is connected to the individual control device 452 of the loose component supply device 32. As a result, the individual control device 452 of the loose component supply device 32 acquires the image pickup data captured by the image pickup device 84. Further, the storage device 456 stores various data and is connected to the individual control device 452. As a result, the individual control device 452 acquires various data from the storage device 456.

<Operation of component mounting machine>
With the above-described configuration, the component mounting machine 10 performs component mounting work on the circuit base material 12 held by the base material transfer holding device 22. Specifically, the circuit base material 12 is conveyed to a working position, and is fixedly held by the clamp device 52 at that position. Next, the image pickup apparatus 26 moves above the circuit base material 12 and images the circuit base material 12. As a result, information regarding an error in the holding position of the circuit base material 12 can be obtained. Further, the parts supply device 30 or the loose parts supply device 32 supplies parts at a predetermined supply position. The supply of parts by the loose parts supply device 32 will be described in detail later. Then, one of the work heads 60 and 62 moves above the supply position of the component and holds the component by the suction nozzle 66. Subsequently, the work heads 60 and 62 holding the parts move above the image pickup device 28, and the image pickup device 28 images the parts held by the suction nozzle 66. This provides information about the error in the holding position of the component. Then, the work heads 60 and 62 holding the parts move above the circuit base material 12, and correct the holding position error of the circuit base material 12, the holding position error of the parts, and the like. , Mounted on the circuit substrate 12.

<Operation of loose parts supply device>
(A) Supply of lead parts by the loose parts supply device In the loose parts supply device 32, the lead parts 410 are thrown into the parts storage device 100 of the parts feeder 88 by an operator, and the thrown lead parts 410 are the parts. By operating the supply unit 82 and the component delivery device 86, the components are supplied in a state of being mounted on the component receiving member 392 of the component carrier 388. Specifically, the operator inserts the lead component 410 through the opening on the upper surface of the component storage device 100 of the component feeder 88. At this time, the component support member 220 is moved below the component supply device 88 by the operation of the component support member moving device 222, and the component collection container 262 is located in front of the component supply device 88.

The lead component 410 inserted through the opening on the upper surface of the component storage device 100 falls onto the inclined surface 116 of the component storage device 100 and spreads on the inclined surface 116. At this time, when the lead component 410 that has fallen on the inclined surface 116 rolls down beyond the inclined plate 152, it is housed in the component collection container 262 located in front of the component feeder 88.

After the lead component 410 is put into the component storage device 100, the component support member 220 is moved from below to the front of the component feeder 88 by the operation of the component support member moving device 222. At this time, when the cam member 240 reaches the cam follower 242, as shown in FIG. 9, the roller 254 of the cam follower 242 gets over the teeth 245 of the cam member 240. The lever 252 of the cam follower 242 is urged in the forward direction by the elastic force of the coil spring, and the forward urging of the lever 252 is regulated by the stopper 244. Therefore, when the component support member 220 moves forward, the roller 254 and the teeth 245 are maintained in a meshed state, the lever 252 does not rotate forward, and the roller 254 has the teeth 245. Overcome. At this time, the parts feeder 88 moves up and down by getting over the teeth 245 of the roller 254. That is, with the roller 254 meshing with the teeth 245, the component support member 220 moves forward, so that the roller 254 gets over the plurality of teeth 245 and the component feeder 88 vibrates continuously in the vertical direction. ..

The lead component 410 extending on the inclined surface 116 of the component accommodator 100 moves forward due to the vibration of the component feeder 88 and the inclination of the inclined surface 116, and moves forward through the inclined plate 152 to the upper surface of the component support member 220. Is discharged to. At this time, the side wall portion 228 of the component support member 220 prevents the lead component 410 from falling from the component support member 220. Then, as the component support member 220 moves forward, the lead components 410 are scattered on the upper surface of the component support member 220.

When the lead parts 410 are scattered on the part support member 220 from the inside of the part container 100, the lead parts 410 are scattered on the part support member 220 in various postures as shown in FIG. To. Specifically, the component body 412 of the lead component 410 has a generally rectangular parallelepiped shape and has six surfaces. The six surfaces are a bottom surface 500 on which the lead 414 extends, a top surface 502 on the back side of the bottom surface 500, and four side surfaces 504,506,508,510. The four side surfaces 504, 506, 508, and 510 are the first side surface 504 having a large surface area and many irregularities, and the second side surface 506 which is the back side of the first side surface 504 and has no irregularities. The third side surface 508 and the fourth side surface 510 on the lateral side of the first side surface 504 and the second side surface 506.

When such lead parts 410 are scattered on the part support member 220, the lead parts 410 are supported on the part support member 220 in approximately five postures. Specifically, a posture in which the first side surface 504 is directed directly upward (hereinafter, may be referred to as "first posture") and a posture in which the second side surface 506 is directed directly upward (hereinafter, "second posture"). (May be described as), a posture in which the third side surface 508 or the fourth side surface 510 is directed directly upward (hereinafter, may be described as "third posture"), and the bottom surface 500 is directed directly upward. Posture (hereinafter, may be referred to as "fourth posture") and posture in which the first side surface 504 or the second side surface 506 is directed diagonally upward (hereinafter, may be referred to as "fifth posture"). The lead component 410 is supported on the component support member 220 in any of the six postures. In the lead component 410 in the fifth posture, the tip of the lead component 410 comes into contact with the component support member 220, so that the first side surface 504 or the second side surface 506 faces diagonally upward.

As described above, when the lead components 410 are scattered on the component support members 220 in various postures, the camera 290 of the image pickup apparatus 84 moves above the component support members 220 by the operation of the camera moving device 292. Then, the lead component 410 is imaged. Then, based on the imaging data captured by the camera 290, the lead component to be picked up (hereinafter, may be abbreviated as “pickup target component”) is held by the suction nozzle 332 of the component holding head 302.

Specifically, the posture of the component and the position of the component are calculated for each of the plurality of components scattered on the component support member 220 based on the imaging data of the camera 290. Then, only the lead component 410 whose calculated postures are the second posture and the third posture is specified as the pickup target component. This is because, in the lead component 410 of the first posture, the first side surface 504 having many irregularities faces upward, and the first side surface 504 cannot be held by the suction nozzle 332. Further, in the lead component 410 in the fourth posture, the bottom surface 500 on which the lead 414 is arranged faces upward, and the bottom surface 500 cannot be held by the suction nozzle 332. Further, in the lead component 410 in the fifth posture, the component main body 412 is in an inclined state, and the lead component 410 in that posture cannot be held by the suction nozzle 332.

Therefore, in the component support member 220 shown in FIG. 10, four lead components 410 out of the 11 lead components 410 scattered on the component support member 220 are specified as pickup target components. Specifically, the two lead parts 410 in the second posture and the two lead parts 410 in the third posture are specified as pickup target parts. When the lead parts 410 are scattered on the part support member 220, the lead parts 410 specified as the pickup target parts are present among the lead parts 410 scattered on the part support member 220. The probability, that is, the probability that the suction nozzle 332 can hold (hereinafter, may be referred to as “holdable probability”) is calculated.

Specifically, the total number (11) of the lead components 410 scattered on the component support member 220 is calculated based on the imaging data of the component support member 220 by the camera 290. Then, the ratio of the number of pickup target parts (4 pieces) to the number of lead parts 410 (11 pieces) is calculated as the holdability probability. The calculated holdability probability is stored in the storage device 456 for each component supplied by the loose component supply device 32. The holdability probability is used at the time of returning the parts, which will be described in detail later.

Then, when the pickup target component is specified, the pickup target component is held by the suction nozzle 332 of the component holding head 302. When the pickup target component is sucked and held by the suction nozzle 332, the suction nozzle 332 is located at a non-swinging position. Then, after the lead component 410 is held by the suction nozzle 332, the component holding head 302 is moved above the component carrier 388. At this time, the component carrier 388 moves to the component receiving position by the operation of the component carrier moving device 390. Further, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is swiveled to the swivel position. The suction nozzle 332 is rotated by the operation of the nozzle rotating device 335 so that the lead 414 of the lead component 410 held by the suction nozzle 332 in the turning position faces downward in the vertical direction.

When the component holding head 302 moves above the component carrier 388, the lead component 410 with the lead 414 facing downward in the vertical direction is inserted into the component receiving recess 416 of the component receiving member 392. As a result, as shown in FIG. 7, the lead component 410 is placed on the component receiving member 392 with the lead 414 facing downward in the vertical direction.

Then, when the lead component 410 is placed on the component receiving member 392, the component carrier 388 moves to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388 that has moved to the component supply position is located in the movement range of the work heads 60 and 62, the loose component supply device 32 supplies the lead component 410 at this position. As described above, in the loose component supply device 32, the lead component 410 is supplied with the lead 414 facing downward and the upper surface 502 facing the bottom surface 500 to which the lead 414 is connected facing upward. Therefore, the suction nozzles 66 of the work heads 60 and 62 can appropriately hold the lead component 410.

(B) Recovery of Lead Parts Further, in the loose parts supply device 32, it is possible to collect the lead parts 410 scattered on the part support member 220. Specifically, the component support member 220 is moved downward of the component feeder 88 by the operation of the component support member moving device 222. At this time, as shown in FIG. 11, the lead component 410 on the component support member 220 is blocked by the inclined plate 152 of the component feeder 88, and the lead component 410 on the component support member 220 is the component recovery container 262. It is scraped off inside.

Next, the parts collection container 262 is raised by the operation of the container elevating device 260. At this time, as shown in FIG. 5, the protruding pin 272 arranged in the parts collection container 262 engages with the engaging block 274 arranged inside the side frame portion 190. As a result, the parts collection container 262 rotates, and the lead parts 410 in the parts collection container 262 are returned to the inside of the parts storage container 100.

Then, when the operator grips the grip 104 of the parts feeder 88, the lock of the parts feeder 88 is released as described above, and when the parts feeder 88 is lifted, the parts feeder 88 becomes a pair. It is removed from between the side frame portions 190 of the. As a result, the lead component 410 is collected from the component feeder 88 outside the loose component supply device 32.

(C) Resupply of lead parts In the loose parts supply device 32, the lead parts 410 returned from the parts support member 220 to the parts storage device 100 are not collected from the parts storage device 100, but are again the parts support member. The lead component 410 may be resupplied by being scattered on the 220 and placed on the component receiving member 392 according to the procedure described above.

Specifically, as described above, only the lead parts 410 in the second posture and the lead parts 410 in the third posture scattered on the part support member 220 are transferred to the part receiving member 392, and the like. The lead component 410 in the posture of is left on the component support member 220. Therefore, when all the lead parts 410 in the second posture and the third posture are transferred from the component support member 220 to the component receiving member 392, only the lead component 410 in the non-transferable posture is the component support member 220. The loose component supply device 32 cannot supply the lead component 410. In this way, when only the lead component 410 in a posture that cannot be transferred remains on the component support member 220, the remaining lead component 410 is returned from the component support member 220 to the component storage device 100. Again, it is scattered from the component storage device 100 onto the component support member 220. At this time, the lead parts 410 are scattered on the part support member 220 in various postures of the first to fifth postures. As a result, the lead component 410 in the second posture and the third posture can be transferred from the component support member 220 to the component receiving member 392 again.

Further, not only when only the lead component 410 having a posture that cannot be transferred remains on the component support member 220, but also when the lead component 410 having a posture that cannot be transferred remains on the component support member 220. Further, the remaining lead component 410 may be returned from the component support member 220 to the component storage device 100, and may be scattered again from the component storage device 100 onto the component support member 220.

Specifically, at the time of mounting work on the component mounting machine 10, the number of lead parts 410 required for the mounting work (hereinafter, may be referred to as “required number of parts”) is different from the integrated control device 450. It is transmitted to the individual control device 452 of 32. Then, in the individual control device 452 to which the required number of parts is transmitted, the number of lead parts 410 that can be supplied is calculated. That is, the camera 290 images the component support member 220 in which the lead components 410 are scattered, and based on the imaged data, the number of lead components 410 that can be held by the suction nozzle 332 (hereinafter, referred to as "the number of retainable components"). That is, the number of lead parts 410 in the second posture and the third posture is calculated.

Then, whether or not the required number of parts exceeds the number of receivable parts is determined by the individual control device 452. That is, it is determined whether or not the required number of lead parts 410 can be supplied from the part support member 220. At this time, if it is determined that the required number of parts does not exceed the number of receivable parts, that is, the required number of lead parts 410 can be supplied from the part support member 220, the required number of parts is increased according to the above procedure. The lead component 410 is transferred from the component support member 220 to the component receiving member 392 and supplied. Specifically, for example, as shown in FIG. 10, when the number of receivable parts is 4, and the required number of parts is 3, the three lead parts 410 are sequentially arranged according to the above procedure. It is transferred to the component receiving member 392 and supplied.

On the other hand, when it is determined that the required number of parts exceeds the number of receivable parts, that is, the required number of lead parts 410 cannot be supplied from the parts support member 220, the parts are stored from the parts support member 220. It is necessary to return to 100 and scatter from the parts storage device 100 onto the parts support member 220, but some time is required for the work of returning to the parts storage device 100 and the work of scattering to the parts support member 220. .. Therefore, the execution timing of the return work to the parts storage 100 and the scattered work to the parts support member 220 is determined according to the progress of the mounting work by the parts mounting machine 10 and the operation status of the parts carrier 388. ..

Specifically, the progress of the mounting work by the component mounting machine 10 is managed by the integrated control device 450. Therefore, when it is determined that the required number of parts exceeds the number of receivable parts in the individual control device 452 of the loose parts supply device 32, the individual control device 452 is attached to the integrated control device 450 by the parts mounting machine 10. The time remaining until the mounting work of the parts supplied from the loose parts supply device 32 is executed by inquiring about the progress status of the mounting work (hereinafter, may be referred to as "remaining time"). Obtained from the integrated control device 450. That is, the time from the time of inquiry from the individual control device 452 to the integrated control device 450 to the scheduled start time of the mounting work using the parts supplied from the loose parts supply device 32 is the remaining time of the individual control device 452. Is obtained from the integrated control device 450.

Further, in the individual control device 452, when the component carrier 388 is not located at the component receiving position, the time required for the component carrier 388 to move to the component receiving position (hereinafter, referred to as “necessary time”). There is) to get. This is because, for example, when the component carrier 388 is supplying parts at the component supply position, the component carrier 388 cannot move from the component supply position, so that the component carrier 388 moves to the component receiving position. This is because a certain amount of time is required. Since the operation of the component carrier 388 is managed by the individual control device 452, the required time is calculated by the individual control device 452.

When the individual control device 452 acquires the remaining time and the required time, the individual control device 452 determines whether or not the remaining time and the required time exceed the threshold time. The threshold time is set to about the time required for the return work to the parts storage device 100 and the scattered work to the parts support member 220. Then, when it is determined that the remaining time and the required time do not exceed the threshold time, the individual control device 452 transfers all the lead parts 410 that can be transferred from the part support member 220 to the part receiving member 392. After that, the work of returning to the parts storage device 100 and the work of scattering the parts to the parts support member 220 are executed. Then, the parts re-scattered on the part support member 220 are transferred to the part receiving member 392.

Specifically, for example, as shown in FIG. 10, when the number of receivable parts is 4, and the required number of parts is 6, first, the four lead parts 410 are the part support members 220. Will be sequentially transferred to and supplied to. Next, the lead component 410 is returned from the component support member 220 to the component storage device 100, and is scattered again from the component storage device 100 onto the component support member 220. Then, the two lead parts 410 from the part support member 220 are sequentially transferred to the part support member 220 and supplied. As a result, the required number of lead parts 410 are supplied by the loose parts supply device 32.

On the other hand, when it is determined that at least one of the remaining time and the required time exceeds the threshold time, the individual control device 452 does not transfer the lead component 410 from the component support member 220 without performing the transfer work. The lead component 410 is returned from the component support member 220 to the component storage device 100, and is scattered again from the component storage device 100 onto the component support member 220. Then, the required number of lead parts 410 are transferred to the part receiving member 392 from the parts re-scattered on the part supporting member 220.

Specifically, for example, as shown in FIG. 10, when the number of receivable parts is 4, and the required number of parts is 6, the lead part 410 is transferred from the part support member 220. Instead, the lead component 410 is returned from the component support member 220 to the component storage device 100, and is scattered again from the component storage device 100 onto the component support member 220. During this time, for example, the component carrier 388 that has moved to the component supply position moves to the component receiving position. Then, six lead parts 410 are sequentially transferred to and supplied to the part support member 220 from the parts re-scattered on the part support member 220. During this time, the component mounting machine 10 is executing another mounting operation, and the lead component 410 is supplied by utilizing the time of the mounting operation.

As described above, in the loose parts supply device 32, the free time until the mounting work using the parts supplied by the loose parts supply device 32 and the free time until the part carrier 388 moves to the parts receiving position are used. The work of returning to the parts storage device 100 and the work of scattering the parts to the parts support member 220 are executed. As a result, it is possible to supply the required number of lead components 410 without stopping the mounting work by the component mounting machine 10, and it is possible to improve the cycle time.

However, by utilizing the free time of the mounting work by the component mounting machine 10, the free time until the component carrier 388 moves to the component receiving position, and the like, the return work to the component storage device 100 and the scattered work to the component support member 220 are performed. Even if the work is executed, the cycle time may be deteriorated. That is, depending on the shape of the lead component 410, the holdability probability may be considerably low. In such a case, even if the return operation to the component container 100 and the scattered operation to the component support member 220 are executed, This is because the number of lead parts 410 that can be held from the part support member 220 may not exceed the required number of parts.

Specifically, for example, as shown in FIG. 10, when the number of receivable parts is 4, the required number of parts is 6, and at least one of the remaining time and the required time exceeds the threshold time. If it is determined that the lead component 410 is not transferred from the component support member 220, the return operation to the component storage device 100 and the scattered operation to the component support member 220 are executed. At this time, if the holdability probability of the lead component 410 is about 20%, the lead component 410 is returned from the component support member 220 to the component storage device 100, and is scattered again from the component storage device 100 onto the component support member 220. Even if this is done, the number of receivable parts is likely to be 2 to 3 (11 (total number of lead parts 410 on the part support member 220) x 20%), and 6 lead parts 410 cannot be supplied. .. In such a case, it is necessary to perform the work of returning to the parts storage device 100 and the work of scattering the parts support member 220 again, which may deteriorate the cycle time.

Therefore, in the loose component supply device 32, when it is determined that at least one of the remaining time and the required time exceeds the threshold time, it is determined whether or not the holdability probability exceeds the threshold time. Then, when it is determined that the holdability probability does not exceed the threshold value, the lead that can be transferred from the component support member 220 is the same as when it is determined that the remaining time and the required time do not exceed the threshold time. After all the parts 410 have been transferred to the parts receiving member 392, the work of returning to the parts storage 100 and the work of scattering the parts to the parts supporting member 220 are executed. Then, the parts re-scattered on the part support member 220 are transferred to the part receiving member 392.

On the other hand, when it is determined that the holdability probability exceeds the threshold value, as described above, the work of returning the lead component 410 from the component support member 220 and the operation of returning the lead component 410 to the component storage device 100 are performed. , The scattered work on the component support member 220 is executed, and the required number of lead components 410 are supplied from the scattered components. That is, three conditions are satisfied: the required number of parts exceeds the number of receivable parts, at least one of the required time and the remaining time exceeds the threshold time, and the retentable probability exceeds the threshold time. If this is the case, the work of returning to the parts storage device 100 and the work of scattering the parts to the parts support member 220 are executed by utilizing the free time. This makes it possible to surely improve the cycle time.

As described above, the holdability probability is calculated every time the parts are scattered on the part support member 220, and is stored in the storage device 456 for each part. Therefore, the holdability probability is a value close to the actual probability because it is renewed every time the component is scattered on the component support member 220. In addition, the threshold value of the holdable probability varies depending on the number of required parts, the holdable probability, and the like.

<Control program>
The component supply operation of the loose component supply device 32 described above is performed by executing a control program in the individual control device 452. The flow when the control program is executed will be described below with reference to FIGS. 12 and 13.

In the control program, first, the individual control device 452 acquires the required number of parts from the integrated control device 450 (S100). Next, the individual control device 452 calculates the number of receivable parts (S102). Then, the individual control device 452 determines whether or not the required number of parts exceeds the number of receivable parts (S104). When it is determined that the required number of parts exceeds the number of receivable parts (YES in S104), the individual control device 452 acquires the remaining time and the required time (S106).

Subsequently, the individual control device 452 determines whether or not at least one of the acquired remaining time and the required time exceeds the threshold time (S108). When it is determined that at least one of the remaining time and the required time exceeds the threshold time (YES in S108), the individual control device 452 determines whether or not the holdability probability exceeds the threshold value (YES in S108). S110). When it is determined that the holdability probability exceeds the threshold value (YES in S110), the return operation to the component storage device 100 and the scattered operation to the component support member 220 are executed (S112).

Next, the component support member 220 in which the components are scattered is imaged by the camera 290, and the individual control device 452 calculates the holdability probability based on the imaged data (S114). Then, the calculated holdability probability is stored in the storage device 456 for each component (S116). Subsequently, the component to be picked up from the component support member 220 is held by the suction nozzle 332 and transferred to the component receiving member 392 to supply the lead component 410 (S118). As a result, the execution of the control program ends.

Further, when it is determined in S104 that the required number of parts does not exceed the number of retainable parts (NO in S104), and when it is determined in S108 that at least one of the remaining time and the required time does not exceed the threshold time. (NO in S108), if it is determined in S110 that the holdability probability does not exceed the threshold value (NO in S110), the process of S118 is executed and the control program ends.

As shown in FIG. 8, the individual control device 452 has a component number acquisition unit 520, a component number calculation unit 522, a first determination unit 524, a probability calculation unit 526, and a second determination unit in order to execute the control program. It has 528, a time acquisition unit 530, a third determination unit 532, and a component scattering unit 534. The component number acquisition unit 520 is a functional unit for executing the process of S100 of the control program, that is, the process of acquiring the required number of components from the integrated control device 450. The number of parts calculation unit 522 is a functional unit for executing the process of S102 of the control program, that is, the process of calculating the number of receivable parts. The first determination unit 524 is a functional unit for executing the process of S104 of the control program, that is, the process of determining whether or not the required number of parts exceeds the number of receivable parts. The probability calculation unit 526 is a functional unit for executing the process of S114 of the control program, that is, the process of calculating the holdability probability. The second determination unit 528 is a functional unit for executing the process of S110 of the control program, that is, the process of determining whether or not the holdability probability exceeds the threshold value. The time acquisition unit 530 is a functional unit for executing the process of S106 of the control program, that is, the process of acquiring the remaining time and the required time. The third determination unit 532 is a functional unit for executing the process of S108 of the control program, that is, the process of determining whether or not at least one of the remaining time and the required time exceeds the threshold time. The component scattering unit 534 is a functional unit for executing the process of S112 of the control program, that is, the return operation to the component storage device 100 and the component scattering operation to the component support member 220.

Further, the present invention is not limited to the above examples, and can be carried out in various embodiments with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the required number of parts exceeds the number of receivable parts, at least one of the required time and the remaining time exceeds the threshold time, and the receivable probability sets the threshold value. When the three conditions of exceeding are satisfied, the work of returning to the parts storage device 100 using the free time is executed, but at least the required number of parts exceeds the number of retainable parts. When the above condition is satisfied, it is possible to execute the work of returning to the parts storage device 100 using the free time. That is, two conditions that at least one of the required time and the remaining time exceeds the threshold time and that the holdability probability exceeds the threshold value can be arbitrarily set.

Further, in the above embodiment, the present invention is applied to the lead component 410 having the lead 414, but the present invention can be applied to various types of components. Specifically, the present invention can be applied to, for example, a component of a solar cell, a component of a power module, an electronic circuit component having no lead, and the like.

10: Parts mounting machine (mounting work machine), 24: Parts mounting device, 66: Suction nozzle (second component holder), 32: Loose parts supply device (parts supply device), 84: Imaging device, 92: Parts return Device, 100: Parts storage, 220: Parts support member (part support part), 332: Suction nozzle (first part holder), 392: Parts receiving member (mounting part), 452: Individual control device (control device) ), 456: Storage device, 520: Number of parts acquisition unit, 522: Number of parts calculation unit, 524: First judgment unit, 526: Probability calculation unit, 528: Second judgment unit, 530: Time acquisition unit, 532: First 3 Judgment part 534: Parts scattered part

Claims (3)

The parts storage device for storing a plurality of parts, the parts support portion for supporting the parts scattered from the parts storage device, and the parts scattered in the parts support portion are the parts. A component return device for returning to the storage device, a first component holder for holding the component supported by the component support portion, an imaging device for imaging the component supported by the component support portion, and the first component. Parts supply that has a mounting unit for mounting the parts held by the holder in an aligned state and a control device, and supplies the parts aligned with the above-described mounting unit to the mounting work machine. It ’s a device,
The control device
The number of parts acquisition unit for acquiring the required number of parts, which is the number of parts required for the mounting work in the mounting work machine,
Based on the imaging data captured by the imaging device, the component number calculation unit that calculates the number of retainable components, which is the number of components that can be held from the component support unit by the first component holder,
A first determination unit for determining whether or not the required number of parts acquired by the component number acquisition unit exceeds the number of receivable parts calculated by the component number calculation unit.
On condition that the number of required parts exceeds the number of holdable parts by the first determination unit, the parts are held before being held from the part support by the first part holder. By operating the return device, the parts scattered in the component support portion are returned to the component accommodator, and then the component having the component scattered portion in which the components are scattered from the component accommodator to the component support portion again. in supplying device,
The control unit
Whether the holdability probability, which is the ratio of the number of parts that can be held from the part support by the first part holder to the number of parts scattered from the part container to the part support, exceeds the threshold value. It has a second judgment part to judge whether or not
The parts scattered portion
On condition that the first determination unit determines that the required number of parts exceeds the number of receivable parts, and the second determination unit determines that the receivable probability exceeds the threshold value. Before holding the component from the component support portion by the first component holder, the component returning device is operated to return the components scattered in the component support portion to the component container, and then again. , A component supply device characterized in that components are scattered from the component container to the component support portion. The component supply device has a storage device that stores the holdability probability.
The control unit
When the parts are scattered from the parts storage device to the parts support portion, the parts scattered on the parts support portion are imaged by the imaging device, and the holding probability is calculated based on the imaging data obtained by the imaging. Has a probability calculation unit
The storage device
The component supply device according to claim 1 , wherein the holdable probability calculated by the probability calculation unit is stored. The control unit
The remaining time remaining until the mounting work of the parts supplied by the parts supply device is executed, or the time required to acquire the required time until the parts can be placed on the above-described mounting portion. Acquisition department and
It has a third determination unit that determines whether or not the remaining time acquired by the time acquisition unit or the required time exceeds the threshold time.
The parts scattered portion
The first determination unit determines that the required number of parts exceeds the number of receivable parts, and the third determination unit determines that the remaining time or the required time exceeds the threshold time. On the condition that the parts are held, the parts in a state of being scattered in the parts support by the operation of the parts return device before the parts are held from the parts support by the first parts holder The component supply device according to any one of claims 1 to 2 , wherein the components are scattered from the component container to the component support portion again after returning to the above.