JP6854372B2 - Loose parts picking device, loose parts picking method - Google Patents

Description

The present invention relates to a picking device and a picking method for picking up at least one of a plurality of parts in a loose state one by one.

In the loose component picking device described in Patent Document 1, a plurality of loose components supported on the component support surface are imaged by the image pickup device to obtain image data. Then, based on the image data, the pickup target component that can be picked up is extracted from the plurality of components, and the position of the pickup target component is acquired. The robot is moved to that position and the parts to be picked up are picked up.

Japanese Unexamined Patent Publication No. 10-20259

An object of the present invention is to ensure that each of a plurality of parts in a loose state is picked up well.

Means and effects to solve problems

The present invention is to change the pickup height, which is the height of the component holder when picking up a component, based on the captured image data obtained by imaging a plurality of components in the same type of loose state. Is. The parts have a plurality of planes that intersect each other at right angles and form different shapes from each other. Therefore, for example, if the postures of the parts are different, the heights to the upward plane as a specific plane may be different from each other. On the other hand, if the pickup height is changed based on the specific plane acquired based on the captured image data for each of the plurality of parts, the component holder and the component to be picked up may be damaged. It can be prevented satisfactorily.
The loose state means a state in which each posture is arbitrary, and a plurality of parts of the same type refer to a plurality of parts having the same shape, size, mass, structure, and the like. .. Each of the plurality of parts and the like includes a plurality of surfaces having different shapes from each other, and even if the shapes of the plurality of all surfaces are different from each other, the shape of a part of the plurality of surfaces is the same. It may be.

It is a perspective view which shows the component mounting apparatus which concerns on Example 1 of this invention. The component mounting device includes a loose component picking device according to a first embodiment of the present invention. Further, in the component mounting device, the method of picking loose components according to the first embodiment of the present invention is implemented. It is a perspective view which shows the component mounting apparatus of the said component mounting apparatus. It is a perspective view which shows the said loose parts supply device. It is a perspective view which shows the component supply unit of the said bulk component supply apparatus. It is a side sectional view which shows the component feeder of the said component supply unit. It is a perspective view which shows the state which the component support member is in the retracted end position in the said component supply unit. It is a perspective view which shows the supplier vibrating device of the component scattered state realization apparatus of the said component supply unit. It is a perspective view which shows the component return device of the feeder vibrating device and the component supply unit. It is a side view explaining operation of the said feeder vibrating device. (a)-(c) It is a figure explaining the operation when the component is returned to the component feeder by the said component return device. It is a perspective view which shows the state which the component collection container of the said component return device returns a component to a component feeder. It is a perspective view which shows the component holding head and the component holding head moving device of the said component delivery device. (a) It is a perspective view of the said component holding head when the suction nozzle is in a non-swinging position. (b) It is a perspective view of the said component holding head when the suction nozzle is in a swivel position. (c) It is a figure which conceptually shows the nozzle mounting apparatus included in the said component holding head. It is a perspective view which shows the component carrier of the shuttle device of the said component delivery device. (a) It is a front sectional view which shows the component receiving member of the said component carrier. (b) It is a front sectional view which shows the state in which the lead component is housed in the said component carrier. It is a perspective view which shows an example of the part supplied by the said loose part supply device. (a) It is a perspective view of the part which the front is in the upward posture. (b) It is a perspective view of a part whose back surface is in an upward posture. It is a block diagram which conceptually shows the control device of the said component mounting apparatus. (a)-(f) It is a figure which shows the shape in the plan view of the part in a loose state supported by the said part support part. It is a figure which conceptually shows the part data stored in the storage part of the said control device. It is a figure which shows the captured image data conceptually. It is a flowchart which shows the image processing program stored in the storage part of the control device. It is a flowchart which shows the control program such as a pickup stored in the storage part of the control device. It is a side view which shows the relationship between the component return device at the time of component return in one of five sets of component supply units, and the component holding head of the component delivery device of another component supply unit. (a) It is a front view which shows the chuck which can be attached to and detached from the holder holding member of the part holding head of the loose parts supply device which concerns on Example 2 of this invention. (b) It is a figure which conceptually shows the part data stored in the storage part of the control device of the component mounting apparatus which concerns on Example 2 of this invention. It is a perspective view which shows a part of the loose parts supply apparatus which concerns on Example 3 of this invention.

Hereinafter, examples of the present invention as an embodiment will be described with reference to the drawings.

FIG. 1 shows a component mounting device (an example of an electronic circuit assembly device) according to a first embodiment of the present invention. The component mounting device relates to a device main body 10, a board transfer holding device 14, a component supply device 16, and a first embodiment of the present invention for transporting and holding a circuit board 12 (hereinafter abbreviated as substrate 12) as a circuit base material. It includes a loose component supply device 18, a component mounting device 20, an image pickup device 22, 24, a control device 26 (see FIG. 17), and the like. The circuit base material includes a printed wiring board, a printed circuit board, a base material having a three-dimensional shape, and the like. Circuit board is a general term for printed wiring boards and printed circuit boards. This component mounting device is configured in the same manner as the electronic circuit assembly device described in Japanese Patent Application Laid-Open No. 2011-253869 except for the part related to the present invention, and the same part will be briefly described.

The board transfer holding device 14 is located at the center in the front-rear direction of the component mounting device, and includes a transfer device 30 that conveys the board 12, a clamp device 32 as a holding device that holds the board 12, and the like. The substrate transfer holding device 14 horizontally conveys the substrate 12 in a horizontal posture and holds the substrate 12 at a predetermined position. In this embodiment, the transport direction of the substrate 12 (hereinafter abbreviated as the substrate transport direction) is the X direction, the width direction of the substrate 12 is the Y direction, and the vertical or vertical direction is the Z direction. The X, Y, and Z directions are orthogonal to each other. Further, the width direction or the lateral direction of the component mounting device is the X direction, and the front-rear direction is the Y direction.

The component supply device 16 is provided in front of the substrate transport holding device 14, and components are supplied by a tray-type component supply device 42 that supplies electronic circuit components (hereinafter abbreviated as components) by a tray 40 and a tape feeder (not shown). Includes feeder type parts supply device to supply. The loose component supply device 18 is provided behind the substrate transfer holding device 14, but details will be described later. The parts supplied by the parts supply device 16 and the loose parts supply device 18 include electronic circuit parts, solar cell components, power module components, and the like. Electronic circuit components include those having reeds and those having no reeds.

The component mounting device 20 includes work heads 50 and 52 and a work head moving device 54. The work head moving device 54 includes an X-direction moving device 60 (see FIG. 2), a Y-direction moving device 62, and Z-direction moving devices 64 and 66. The work heads 50 and 52 are integrally moved to an arbitrary position in the horizontal plane by the X-direction moving device 60 and the Y-direction moving device 62, and are individually and independently moved by the Z-direction moving devices 64 and 66, respectively. Moved in the direction. The work head moving device 54 is configured so that the work heads 50 and 52 can be moved within a region from the tray 40 or the like of the parts supply device 16 to the component delivery position of the loose parts supply device 18. The work heads 50 and 52 are equipped with component holders 70 (see FIG. 2) such as a chuck and a suction nozzle, respectively, and are mounting heads that pick up the components and mount them on the substrate 12.
The image pickup apparatus 22 is moved together with the work head (hereinafter referred to as a mounting head) 50 in the X direction, the Y direction, and the Z direction. The image pickup apparatus 24 is fixedly provided in a portion of the apparatus main body 10 between the substrate transfer holding device 14 and the component supply section of the component supply device 16.

The loose component supply device 18 is in a loose state, in other words, a state in which a plurality of parts in an arbitrary posture can be aligned in a predetermined posture and delivered to the component mounting device 20, in other words, the component mounting device 20. Is ready to be received. As shown in FIG. 1, a part or the whole of the loose component supply device 18 is detachably provided at the rear part of the device main body 10 behind the substrate transfer holding device 14. As shown in FIG. 3, the loose parts supply device 18 includes a main body 80, a parts supply device 82, a parts scattered state realization device 84, a parts delivery device 86, a parts return device 88, and an image pickup device 90. The parts feeder 82, the parts scattered state realizing device 84, and the parts returning device 88 are assembled to a common frame 94 to form an assembly. Hereinafter, this set will be referred to as a component supply unit 96. A plurality of component supply units 96 (five in this embodiment) are provided, and the component supply units 96 are provided in a row in the horizontal direction (X direction) on the main body 80.

<Parts feeder 82>
As shown in FIG. 4, the parts feeder 82 includes a parts accommodating unit 100 and a parts supply unit 102. The component accommodating portion 100 is provided in the upper part of the component feeder 82 and has a container shape that is opened upward, and the bottom surface thereof is composed of a pair of inclined surfaces 104 and 106. As shown in FIG. 5, the inclined surfaces 104 and 106 are inclined so as to approach each other toward the lower side, and an opening 108 is provided between the lower ends thereof so as to penetrate in the vertical direction and extend in the lateral direction. Of the inclined surfaces 104 and 106, the inclined surface 104 provided on the front side of the component feeder 82 has a gentler inclination than the inclined surface 106, and the opening 108 is located at the rear portion of the component accommodating portion 100. The component supply unit 102 includes a component supply surface 110 provided below the component accommodating unit 100. The component supply surface 110 is an inclined surface that is inclined downward toward the front, and a front end portion that is a tip portion thereof constitutes a component discharge portion 112. The inclination of the component supply surface 110 is gentler than that of the inclined surface 104. Further, at the front end of the component supply surface 110, a plate-shaped scraping member 114 extending downward from the component supply surface 110 is provided. The anteroposterior dimension of the opening 108 is slightly larger than the contained parts.

As shown in FIG. 4, the component feeder 82 has a pair of hooks 120 provided at both ends in the horizontal direction at the rear upper end of the component accommodating portion 100 (one hook 120 is shown in FIG. 4). Is hung from above on a support shaft 122 provided at the upper end of the rear portion of the frame 94, and is rotatably and detachably supported around a horizontal axis parallel to the lateral direction (X direction). As shown in FIG. 6, the component feeder 82 is also provided on the frame 94 by horizontally projecting plate-shaped supported portions 124 at the lower part of each front portion of a pair of outer surfaces parallel to the front-rear direction. It is placed on the horizontal plate-shaped support portion 126 so as to be relatively movable in the vertical direction, and is supported from below. In the state where the component feeder 82 is supported by the frame 94, the inclined surface 104 and the component supply surface 110 are inclined at a preset angle with respect to the horizontal plane, respectively, and in the present embodiment, about 15 degrees and about 10 degrees. The scraping member 114 is positioned within the vertical plane. There are a plurality of types of component feeders 82 that differ in at least one of the inclination angle of at least one of the inclined surfaces 104 and 106 and the component supply surface 110 and the dimension of the opening 108. The type of parts supplied by the parts supply unit 96 can be changed only by replacing them.

<Parts scattered state realization device 84>
As shown in FIG. 4, the component scattered state realization device 84 includes a component support member 150, a component support member moving device 152 which is a relative moving device for relatively moving the component supporting member 150 and the component feeder 82, and a feeder. Includes a vibrating device 154.
The component support member 150 includes a component support portion 156 having a long plate shape and a pair of leg portions 158. The leg portion 158 has a plate shape, and is projected from the flat upper surface 160 of the component support portion 156 to both the upper and lower sides. The component support member moving device 152 includes a slide 164 and a slide drive device 166 (see FIG. 17). The slide drive device 166 is configured by a rodless cylinder in this embodiment.

The component support member 150 is fixed to the slide 164 by the pair of legs 158, the slide 164 is guided by the slide drive device 166 to the pair of guide rails 168, and the upper surface 160 is slightly below the lower end of the scraping member 114. It is moved parallel to, i.e. horizontally, in the anteroposterior direction. Further, the component support member 150 has a component supply position in which the entire upper surface 160 is located in front of the component feeder 82 as shown in FIG. 4, and a front portion thereof is below the component feeder 82 as shown in FIG. It is located and the front end of the top surface 160 is moved to and from the retracted position located at the front end of the component feeder 82.

As shown in FIG. 7, the feeder vibrating device 154 of the present embodiment includes a cam member 180, a cam follower 182, and a stopper 184 which is a rotation limit defining member. The cam member 180 has a plate shape and is fixed to one outer surface of the pair of legs 158 in parallel in the front-rear direction. A large number of teeth 190 are provided on the cam member 180 at equal intervals in a direction parallel to the front-rear direction. Each of the numerous teeth 190 is defined by an inclined surface 192 that is inclined upward toward the rear and a vertical surface 194 that extends vertically downward from the upper end of the inclined surface 192, and these inclined surfaces 192. And the vertical plane 194 constitutes a cam surface 196 in which a large number of irregularities are arranged along a straight line parallel to the front-rear direction. In the present embodiment, as shown in FIG. 4, the cam member 180 is provided on a part of the component support member 150 in the front-rear direction, and the portion of the upper surface 160 corresponding to the cam member 180 in the front-rear direction is the component support surface 198. Functions as.

As shown in FIG. 8, the cam follower 182 has a lever 202 rotatably attached to the outer surface of the component feeder 82 by a bracket 200 around an axis parallel to the lateral direction, and a lever 202 at a free end of the lever 202 in the lateral direction. Includes rollers 204 rotatably mounted around an axis parallel to. The lever 202 is urged in a direction in which the roller 204 is directed forward by a torsion coil spring 206 (see FIG. 9) which is a spring member which is a kind of urging means. The stopper 184 is provided on the bracket 200 and has a protruding shape, and defines a rotation limit of the lever 202 due to the urging of the torsion coil spring 206. In the state where the rotation limit is specified, as shown in FIG. 7, the cam follower 182 is in a posture of protruding downward from the component feeder 82 in the vertical direction.

<Parts return device 88>
As shown in FIG. 11, the parts return device 88 includes the scraping member 114, the parts recovery container 220, the parts recovery container lifting device 222 as a relative lifting device, and the motion conversion mechanism 224. The parts collection container elevating device 222 includes an elevating member 226 which is a movable member and an air cylinder 228 which is an elevating member driving device. The air cylinder 228 is arranged upward at a position between the pair of guide rails 168, and the elevating member 226 is moved up and down with respect to the component feeder 82 by the expansion and contraction of the piston rod 230. The air cylinder 228 is fixed to the front end of the slide 164, and the elevating member 226 is moved in the front-rear direction together with the component support member 150.

The parts collection container 220 is rotatably attached to the elevating member 226 by a shaft 232 in parallel with the horizontal direction (X direction) and around a horizontal rotation axis, and is provided at the front end portion of the parts supporting member 150 so as to be rotatable. Has been done. As the lifting member 226 moves up and down, the parts collecting container 220 has a lowering end position located below the upper surface 160 of the parts supporting member 150 as shown in FIG. 10A and above the parts feeder 82 as shown in FIG. It can be raised and lowered to the rising end position located at.

Further, on the elevating member 226, the parts collection container 220 has a parts receiving position in which the bottom surface is in a horizontal posture and opens upward, and a parts discharging position in which the parts are discharged to the parts feeder 82 in a vertical posture. It is rotated to and. The component collection container 220 is urged in a direction of rotating toward the component receiving position side by a torsion coil spring (not shown) which is an urging means. The rotation limit of the parts collection container 220 due to this urging is defined by a pair of stoppers 234, and the parts collection container 220 is always positioned at the parts receiving position. Further, the rear wall 236 of the parts collection container 220 is inclined so as to be in a downward posture toward the rear at the parts discharge position.

As shown in FIG. 11, the motion conversion mechanism 224 includes a pair of rollers 240 provided on the parts collection container 220 to form an engaged portion and a pair of engaging portions provided on the frame 94 to form an engaging portion. Includes surface 242 and. FIG. 11 shows one roller 240 and the engaging surface 242. As shown in FIG. 8, the roller 240 is rotatably attached to the protruding end of the support member 244, which is fixed by projecting rearward from the component collecting container 220 at the component receiving position, around an axis parallel to the lateral direction. There is. The engaging surface 242 is provided at a portion corresponding to the upper end portion of the component accommodating portion 100 of the frame 94, and is formed as a downward horizontal plane.

At the tip of the front end of the component support member 150, a shutter 250 is arranged so as to be able to move up and down between the component collection container 220 and the tip. The shutter 250 is raised and lowered as the parts collection container 220 is raised and lowered, and the shutter 250 is raised and lowered in a pair of elongated holes 252 at the tip of the slide 164 as shown in FIG. 10 (c). The protrusion 254 is guided by being fitted so as to be relatively movable. The shutter 250 is also urged upward by a compression coil spring 255 as an urging means fitted to a pair of rods 253 erected on the slide 164.
As shown in FIG. 10 (a), at the lower end position of the parts collection container 220, the protruding engaging portion 256 provided at the rear end portion of the elevating member 226 has a protruding shape provided at the lower end portion of the shutter 250. Engage with the engaged portion 258 from above. As a result, the shutter 250 is prevented from rising due to the urging force of the compression coil spring 255, and the shutter 250 is held in a non-shielding position below the upper surface 160 of the component support member 150.
As shown in FIG. 10B, the shutter 250 is allowed to move upward as the parts collection container 220 moves upward. The shutter 250 is also moved upward as the parts collection container 220 is moved upward, but the upper limit of the shutter 250 is defined by the lower end portion of the elongated hole 252 coming into contact with the protrusion 254. The shutter 250 projects upward from the component supply surface 110 of the component supply unit 96, and is in a shielding position to prevent the component from falling from the component supply surface 110.

<Image pickup device 90>
As shown in FIG. 3, the image pickup apparatus 90 includes, for example, a CCD camera or a CMOS camera as an image pickup device. The image pickup device moving device 270 for moving the image pickup device 90 includes a slide 272 and a slide drive device 274 (see FIG. 17). The slide drive device 274 includes an electric motor (not shown) and a feed screw mechanism 278. The feed screw mechanism 278 includes a nut 280 and a feed screw 282, and the feed screw 282 is rotated by an electric motor so that the slide 272 is guided to the guide rail 284 and moved to an arbitrary position in the lateral direction. The slide drive device 274 is provided on the main body 80 so that the image pickup device 90 provided on the slide 272 is located above the component support surface 198 of the component support member 150 at the component supply position. Further, the image pickup apparatus 90 is in a posture in which the lens faces downward and faces the component support surface 198.
The image pickup device 90 is moved by the image pickup device moving device 270 and is selectively opposed to each of the component support surfaces 198 of the five sets of component supply units 96, and is placed on each component support surface 198 at each of the five imaging positions. Image multiple parts of.
The image pickup region of the image pickup apparatus 90 is determined by the characteristics of the lens, the distance from the image pickup target, and the like, but in this embodiment, it is set to the region including the entire component support surface 198. Therefore, the captured image data of the entire component support surface 198 can be obtained by one imaging of the imaging device 90.
It is not essential that the imaging region includes the entire component support surface 198, but it can be a part of the component support surface 198. Further, when the imaging region is a part of the component support surface 198 and image data for the entire component support surface 198 is required, the component support surface 198 is imaged in a plurality of times. In this case, it is desirable that the image pickup device moving device 270 is a device capable of moving the image pickup device 90 in the front-rear direction as well.

<Parts delivery device>
As shown in FIG. 12, the component delivery device 86 includes a component holding head 300, a component holding head moving device 302, and a plurality of (two in this embodiment) shuttle devices 304 and 306 (see FIG. 3). Including.

{Parts holding head moving device}
The component holding head moving device 302 includes an X direction moving device 320, a Y direction moving device 322, and a Z direction moving device 324, and moves the component holding head 300 in each of the X, Y, and Z directions. The Y-direction moving device 322 is provided on the main body 80 and includes a Y slide 326 and a Y slide driving device 328. The Y slide drive device 328 includes an electric motor 330y and a feed screw mechanism 336y including a feed screw 332y and a nut 334y, and the Y slide 326 provided so as to be integrally movable with the nut 334y is formed into a pair of guide rails 338y. While guiding, move to an arbitrary position in the Y-axis direction.
The X-direction moving device 320 is provided on the Y-slide 326 and includes an X-slide 340 and an X-slide drive device 342. The Z-direction moving device 324 is provided on the X-slide 340 and includes a Z-slide 344 and a Z-slide drive device 346. The X-slide drive device 342 and the Z-slide drive device 346 are configured in the same manner as the Y-slide drive device 328, and components having the same function are indicated by adding subscripts x and z to the same reference numerals to indicate the correspondence. , The description is omitted.

{Parts holding head}
The component holding head 300 is provided on the Z-axis slide 344. The component holding head 300 is moved by the component holding head moving device 302 together with the Z direction moving device 324 in a height region between the image pickup device 90 and the component supporting surface 198. Within this height region, the component holding head 300 is moved to any position in the horizontal and vertical directions. Therefore, the image pickup apparatus 90 and the component holding head 300 can be simultaneously positioned on the component supporting surface 198 of the same component supply unit 96, and the component holding head 300 can be moved in at least one of the X direction and the Y direction. Therefore, by moving in the horizontal direction, the component is moved to a functional position located above the component support surface 198 and capable of holding the component on the component support surface 198, and a retracted position retracted from the functional position. As shown in FIGS. 13 (a), 13 (b), and (c), the component holding head 300 includes (1) a head body 360 integrally provided with the Z slide 344, and (2) a suction nozzle as a component holder. 362, (3) Nozzle rotating device as a holder rotating device 364, (4) Nozzle rotating device as a holder swivel device 366, (5) Nozzle mounting device 368 as a holder mounting device and the like are included.

The nozzle swivel device 366 is a device that swivels the suction nozzle 362 around a horizontally extending axis, and includes a link mechanism 370 and a link mechanism drive device 372. The link mechanism drive device 372 includes an elevating member 374 as a driving member and an elevating member driving device 376. The elevating member drive device 376 includes an electric motor 378 and a feed screw mechanism 384 including a feed screw 380 and a nut 382, and the rotation of the electric motor 378 is transmitted to the feed screw 380 by the timing pulleys 386 and 388 and the timing belt 390. , The elevating member 374 is elevated and lowered. A spline shaft 392 is attached to the elevating member 374 so as to extend vertically downward. One end of the lever 394 is rotatably attached to the lower end of the spline shaft 392 by the shaft 395, and the suction nozzle 362 is attached and detached by the nozzle holding member 396, which is a component holder holding member provided on the lever 394. It is held possible.

The arm 400 is projected from the lever 394 in a direction in which the arm 400 crosses the rotation axis of the lever 394 at a right angle, and a pair of rollers 402 (only one roller is described) are provided at the protruding end of the lever 394. It is rotatably attached around an axis parallel to the rotation axis of the cam follower. Each of the pair of rollers 402 is fitted into a pair of horizontal elongated holes 406 (only one elongated hole 406 is described) of a cam member 404 provided in the head body 360 so as not to be movable in the vertical direction. As shown in FIG. 13A, when the elevating member 374 is in the ascending end position, the suction nozzle 362 is in a non-turning position whose axis is concentric with the spline axis 392. When the elevating member 374 is lowered, the lowering of the roller 402 is blocked by the cam member 404 to rotate the lever 394, and the suction nozzle 362 is swiveled around the horizontal swivel axis. In the state where the elevating member 374 is lowered to the lowering end position, as shown in FIG. 13B, the suction nozzle 362 is swiveled 90 degrees and its axis becomes horizontal. The non-turning position and the 90-degree turning position are determined by the position control of the elevating member 374 under the control of the electric motor 378. The suction nozzle 362 can be held in any swivel position between the non-swivel position and the 90 degree swivel position.

The nozzle rotation device 364 includes an electric motor 410 and a rotation transmission device 412, which are attached to the head body 360 via a mounting member (not shown). The rotation transmission device 412 includes a gear 414 attached to the output shaft of the electric motor 410, and a gear 418 fixed to the spline member 416 fitted to the spline shaft 392 so as to be relatively non-rotatable and axially movable. , The spline shaft 392 is rotated around the vertical axis by an arbitrary angle in both forward and reverse directions. Rotation is transmitted to the spline shaft 392 at any position in the vertical direction, and the suction nozzle 362 can be rotated at an arbitrary angle around a vertical axis that is an axis perpendicular to the horizontal component support surface 198. The cam member 404 is fixed to the spline member 416 and is rotated together with the spline shaft 392 and the suction nozzle 362, so that the suction nozzle 362 can be swiveled in any rotation position.

The nozzle mounting device 368 attaches the suction nozzle 362 to the nozzle holding member 396 in a detachable manner. As shown in FIG. 13 (c), the nozzle mounting device 368 includes (1) a recess 420 provided on the contact surface of the nozzle holding member 396 with the suction nozzle 362, (2) a negative pressure source 422v, and a positive pressure source. 422p, (3) Includes solenoid valves (electromagnetic on-off valves) 424c, d, etc. provided between the recess 420 and the negative pressure source 422v and between the recess 420 and the positive pressure source 422p, respectively. Negative pressure and positive pressure are selectively supplied to the recess 420 by controlling the solenoid valves 424c and d. When the suction nozzle 362 comes into contact with the contact surface of the nozzle holding member 396 and negative pressure is supplied in a state where the opening of the recess 420 is closed, the recess 420 or the like forms a negative pressure chamber. The suction nozzle 362 is attached to the nozzle holding member 396 in a state where the negative pressure chamber is maintained at a negative pressure, and the suction nozzle 362 is removed by supplying a positive pressure to the recess 420.

The suction nozzle 362 picks up and holds a component by a negative pressure, and the suction nozzle 362 can be represented by the size of the suction surface of the suction tube (for example, the nozzle diameter which is the diameter of the suction tube). ) Are different. Since the strength of the negative pressure supplied to the suction nozzle 362 is substantially constant, the larger the nozzle diameter, the larger the force (hereinafter, may be referred to as a holding force) for holding the component.
On the other hand, as shown in FIG. 3, a nozzle accommodating device 430 accommodating a plurality of types of suction nozzles 362 having different nozzle diameters is provided in the main body 80. The nozzle accommodating device 430 moves a nozzle holding member 432 having a plurality of recesses capable of accommodating the suction nozzle 362 and a shutter (not shown) arranged on the upper surface of the nozzle holding member 432 between the detachment prevention position and the take-out allowable position. The shutter moving device 434 (see FIG. 17) and the like are included. The component holding head 300 is moved to the nozzle accommodating device 430 as needed, and the suction nozzle 362 is automatically replaced.

{Shuttle device}
As shown in FIG. 3, the shuttle devices 304 and 306 include the component carriers 450 and 452 and the component carrier moving devices 454 and 456, respectively, and are provided side by side in front of the component supply unit 96 of the main body 80. .. In the present embodiment, a plurality of component receiving members 460 (five in this embodiment) are detachably held in the component carriers 450 and 452, respectively, in a state of being arranged in a row in the horizontal direction. As shown in FIG. 14, the component receiving member 460 is fitted in the recesses 462 of the component carriers 450 and 452, and is positioned in the front-rear direction and the lateral direction by the protrusions 464 and 466, respectively.

In this embodiment, the loose component supply device 18 supplies an electronic circuit component (hereinafter, abbreviated as a lead component) 480 having the leads shown in FIGS. 16A and 16B. The lead component 480 is composed of a block-shaped component body 482 and two leads 484 projecting from the bottom surface of the component body 482.

As shown in FIG. 14, the component receiving member 460 is provided with the component receiving recess 500. The component receiving recess 500 is provided according to the shape and dimensions of the receiving component, and the component receiving recess 500 of the component receiving member 460 into which the lead component is inserted has a stepped shape as shown in FIG. 15A, for example. It also includes a main body receiving recess 502 that opens on the upper surface of the component receiving member 460 and a lead receiving recess 504 that opens on the bottom surface of the main body receiving recess 502. The open end of the main body receiving recess 502 is chamfered to form a guide surface 506 for guiding the fitting of the parts, forming the guide. As shown in FIG. 15B, the lead component 480 is housed in the lead receiving recess 504 in a downward posture by the component receiving member 460, and the component body 482 is fitted into the body receiving recess 502 in the horizontal direction. It is supported from below by the upward component support surface 508 formed by the bottom surface of the main body receiving recess 502, and is received in a vertically positioned state.
As illustrated in FIG. 14, there are a plurality of types of component receiving members 460 having different dimensions and shapes of the component receiving recesses 500, which are replaced by an operator. The component carriers 450 and 452 can also hold the component receiving members having the dimensions of a plurality of component receiving members 460.

As shown in FIG. 3, the component carrier moving devices 454 and 456 are configured in the same manner, and one of them will be described, and the other components will be designated by the same reference numerals and the description thereof will be omitted.
The moving device main body 520 of the component carrier moving device 454 is provided parallel to the main body 80 in the front-rear direction, and is provided with an endless belt 522 and a belt circulation device 524 (see FIG. 17). The belt 522 is wound around a plurality of pulleys (not shown) rotatably provided around an axis parallel to the horizontal direction of the moving device main body 520, and is locked to a component carrier 450. The belt 522 is rotated by rotating a pulley by an electric motor (not shown), and the component carrier 450 is guided by a pair of guide rails 530 (one guide rail 530 is shown in FIG. 3). While being moved in the front-back direction. The component carrier 450 is located at the front of the moving area of the component holding head 300, is close to the component holding head moving device 302, has a component receiving position adjacent to the component supply unit 96, and has moving areas of the mounting heads 50 and 52. It is located at the rear part of the above and is moved independently of each other from the component delivery position close to the component mounting device 20. The component carrier 450 is positioned at the component receiving position and the component delivery position by a stopper (not shown) provided on the moving device main body 520.

<Control device>
As shown in FIG. 17, the control device 26 is provided in each of (a) a general control device 26a, (b) a board transfer holding device 14, a component supply device 16, a loose component supply device 18, a component mounting device 20, and the like. The individual control device (only the individual control device 550 of the loose component supply device 18 is described), (c) the image processing device 552 as the captured image data processing device, and the like are included. The integrated control device 26a, the individual control device 550, etc., the image processing device 552, etc. are each configured mainly by a computer, and are connected to each other so as to be able to communicate with each other. The integrated control device 26a comprehensively controls the board transfer holding device 14, the component supply device 16, the loose component supply device 18, the component mounting device 20, and the like via the individual control device 550 and the like.
In the loose parts supply device 18, the individual control device 550 includes an execution unit 550c, an input / output unit 550i, and a storage unit 550m. The component holding head moving device 302, the nozzle accommodating device 430, the shuttle devices 304, 306, the image processing device 552, and the like are connected.
The configuration of the control device 26 is not limited to this embodiment. For example, each device 14, 16, 18, 20 and the like is controlled by an individual control device 550 and the like (preferably, the individual control devices are connected in a communicable state) without providing the integrated control device 26a. Or, each device 14, 16, 18, 20 and the like can be controlled by the integrated control device 26a without providing the individual control device 550 and the like. Further, the image processing device 552 may be configured as a part of the individual control device 550 or a part of the integrated control device 26a.

<Operation>
The board 12 is carried into the component mounting device by the board transfer holding device 14, stopped at a predetermined position, and clamped. Then, the mounting heads 50 and 52 are moved, and the components supplied by the component supply device 16 and the loose component supply device 18 are assembled to the substrate 12.
In the loose component supply device 18, lead components 480 are supplied by five sets of component supply units 96. Since the parts supply operation by the five sets of parts supply unit 96 is the same, the operation of one set of the five sets of parts supply unit 96 will be described.
A plurality of lead parts 480 of the same type are put into the parts accommodating portion 100 of the parts feeder 82 by an operator. At the time of component loading, the component support member 150 is located in the retracted position as shown in FIG. A part of the input component falls on the component supply surface 110 through the opening 108, moves to the component discharge portion 112 side due to the inclination of the component supply surface 110, and spreads on the component supply surface 110. When the lead component 480 is clogged and the opening 108 is closed, the component stops falling to the component supply surface 110, and a plurality of lead component 480s are piled up in an arbitrary posture in the component accommodating portion 100. It will be in a housed state. Even if the lead component 480 that has fallen on the component supply surface 110 may move beyond the component discharge unit 112, it is housed in the component collection container 220. The parts collection container 220 is in the retracted position together with the parts supporting member 150, and is in the descending end position, in other words, the parts receiving position.

After the components are loaded, the component support member 150 is advanced and is pulled out from under the component feeder 82 to the front. When the cam member 180 reaches the cam follower 182, the roller 204 rises along the inclined surface 192 of the tooth 190, and when it reaches the vertical plane 194, it descends to get over the tooth 190. The cam follower 182 is urged by a torsion coil spring in a direction in which it meshes with the teeth 190, and a rotation limit is defined by a stopper 184. When the component support member 150 advances, the roller 204 is kept in a state of meshing with the teeth 190. As shown in FIG. 7, the lever 202 is not rotated, and the cam follower 182 gets over the teeth 190 together with the component feeder 82. The cam follower 182 gets over the plurality of teeth 190 one by one, and repeatedly moves up and down to raise and lower the front part of the component feeder 82 and vibrate in the vertical direction. At this time, the component feeder 82 is prevented from rising from the support shaft 122 due to its own weight.

The parts on the component supply surface 110 move forward due to vibration and the inclination of the component supply surface 110, and are discharged from the component discharge unit 112 onto the component support surface 198 as shown in FIG. 7. At this time, the pair of leg portions 158 projecting upward from the upper surface 160 prevents the lead component 480 from falling. Further, due to the vibration of the component feeder 82, the lead component 480 that closes the opening 108 is disassembled and falls onto the component supply surface 110, and the lead component 480 in the component accommodating portion 100 passes through the opening 108 and falls on the component supply surface 110. It falls up and is ejected. As the component support member 150 advances, different parts of the component support surface 198 are sequentially made to correspond to the component discharge portion 112, the area of the component support surface 198 is increased, and the lead component 480 is sequentially supported. The forward direction of the component support member 150 is the forward direction and the backward direction is the reverse direction. During the advance of the component support member 160, the component feeder 82 is vibrated only when the cam follower 204 gets over the cam member 180, and the component ejects. The lead component 480 is discharged from the unit 112. The cam member 180 is disengaged from the cam follower 182 before the component support member 150 reaches the component supply position, and the component support member 150 is advanced, but the component feeder 82 is not vibrated and the component is not ejected. Therefore, when the component support member 150 reaches the component supply position, a plurality of lead components 480 of the same type are scattered on the component support surface 198 on the upper surface 160 and are supported.

After the component support member 150 is stopped, the image pickup device 90 is moved to image a plurality of lead components 480 on the component support surface 198. The plurality of lead parts 480 are of the same type as each other and are in a loose state. In this embodiment, the component to be picked up is determined based on the captured image data which is the image data obtained by the imaging of the above-mentioned imaging device 90. Further, the parts to be picked up are picked up and held by the suction nozzle 362 according to the parameters (conditions) acquired based on the captured image data, and the part holding head 300 is moved by the holding head moving device 302 to lead the lead parts. The 480 is held by the component receiving member 460 of the component carriers 450 and 452. A plurality of lead components 480 that were in a loose state on the component support surface 198 are aligned on the component carriers 450 and 452.

<Determination of parts to be picked up and determination of pickup and transport conditions>
{Determination of parts to be picked up}
In the lead component 480, as shown in FIGS. 16A and 16B, the four side surfaces 486 constituting the component body 482 intersect each other at right angles. Therefore, when the lead component 480 is placed on the component support surface 198 on one of the four side surfaces 486, the upward surface facing the side surface is parallel to the component support surface 198, and the lead 484. Is parallel to the component support surface 198. Further, three of the four side surfaces 486 (486a, b, c) form a surface to be adsorbed having an area that can be adsorbed by blocking the opening of the suction pipe of the suction nozzle 362 to prevent the leakage of negative pressure. To do. However, since the recess 488 is provided on one side surface (486d) as shown in FIG. 16B, it is difficult to suck even if a suction nozzle having a small nozzle diameter is used.
From the above, the leads 484 are isolated from the other lead components 480 in a posture extending parallel to the component support surface 198, and as shown in FIGS. The lead component 480 in which a is facing upward is referred to as a pickup target component 480 t (hereinafter, the pickup target component of the lead component 480 is represented by a subscript t). On the other hand, as shown in FIGS. 18 (d) to 18 (f), the lead component 480 or lead 484 in an inclined posture is parallel to the component support surface 198, but the side surface 486d, which is difficult to suck, faces upward. The lead component 480 in the posture is referred to as a non-pickup target component 480s (the non-pickup target component of the lead component 480 is represented by a subscript s). Hereinafter, the side surface 486a may be referred to as a front surface, and the side surface 486d may be referred to as a back surface.

{Selection of suction nozzle}
For example, the area of the suctionable portion differs depending on the suction nozzle 362 for each of the suctionable side surfaces 486a to 486c. The area of the adsorbable portion of the side surface (front surface) 486a is large, and the area of the adsorbable portion of the side surfaces 486b and c is small. Therefore, as shown in FIG. 18 (c), the suction nozzle 362 having a large nozzle diameter is selected for the pickup target component 480 t having the upward surface facing the side surface (front) 486 a, and FIGS. 18 (a) and 18 (b). ), The suction nozzle 362 having a small nozzle diameter is selected for the pickup target component 480t in a posture in which the upward surfaces are the side surfaces 486b and c.

{Pickup height}
Even for the same lead component 480, the height {the height from the component supporting surface 198 to the upward surface (held surface), hereinafter abbreviated as height} differs depending on the posture, and the pickup is picked up depending on the posture. The height of the opening at the lower end of the suction pipe of the suction nozzle 362 is determined. As shown in FIGS. 16A and 19, the height of the lead component 480 in which the front surface 486a is an upward surface is Lb, and the height of the lead component 480 in which the side surfaces 486b and c are in an upward surface. The height is La. For this lead component 480, La is larger than Lb (La> Lb).

{Maximum acceleration value}
As described above, when the nozzle diameter is large, the holding force of the lead component 480 by the suction nozzle 362 is larger than when the nozzle diameter is small. Further, when the mass of the lead component 480 held by the suction nozzle 362 is the same, the lead component 480 attracts even if the inertial force, in other words, the acceleration is large, as compared with the case where the holding force is large and small. It becomes difficult to shift with respect to the nozzle 362. Therefore, when the nozzle diameter is large, the transport acceleration of the component holding head 300 can be increased as compared with the case where the nozzle diameter is small. From the above, when a suction nozzle having a large nozzle diameter is selected, the maximum value of the transfer acceleration that can be output (allowed) is larger than that when a suction nozzle having a small nozzle diameter is selected.

<Parts data>
The part data 570 (n) {n = 1,2,3} is defined for each of the pickup target parts 480t shown in FIGS. 18 (a) to 18 (c), which are a part of the plurality of lead parts 480. It is data and is determined based on the posture of the lead component 480. These part data 570 (n) are stored in the storage unit 550 m of the individual control device 550.
The part data 570 (1) is represented by a pickup target part 480t (1) {corresponding to the part data, with a subscript (1) in a posture in which the front surface 486a is facing upward. The same applies to the following parts to be picked up}, and the part data 570 (2) and (3) are the parts to be picked up 480t (2) and (3) in a posture in which the side surfaces 486b and c are facing upward, respectively. ).
As shown in FIG. 19, each of the part data 570 (n) is [1] shape data 572 (n) representing the shape in a plan view (including the shape of the upward surface), and [2] pickup of the part to be picked up 480 t. , Data representing conditions (parameters) relating to the transfer of the component holding head 300 and the like are included. The data representing the parameter of [2] (hereinafter, abbreviated as the parameter related to the pickup of the pip-up target component 480t) includes (i) the nozzle diameter of the suction nozzle 362 (suction nozzle) used when picking up the pickup target component 480t. Nozzle diameter data (an example of holder type regulation data) 574 (n), (ii) The part holding head 300 in the state of holding the lead part, and the part receiving member 460 at the part receiving position Maximum acceleration data 576 (n) representing the maximum value (limit value) of the acceleration (including the absolute value of deceleration) when transporting to, [iii] Pickup height when the suction nozzle 362 picks up the part to be picked up 480t. One or more of the pickup height data 578 (n) and the like representing the speed (the height of the opening which is the lower end surface of the suction pipe of the suction nozzle 362) are included.

<Captured image data>
An example of captured image data is conceptually shown in FIG. As shown in FIG. 20, the captured image data 580 includes individual image data 582 (k) {k = 1,2,3 ...} Which is a plurality of image data corresponding to each of the plurality of lead components 480. Is included. The individual image data 582 (k) is image data representing the shape of each lead component 480 in a plan view. Based on the individual image data 582 (k), it can be determined whether or not the corresponding lead component is the pickup target component.

<Image processing>
[I] The captured image data 580 is processed based on the part data 570 (1). The shape data 572 (1) of the part data 570 (1) and the individual image data 582 (k) {k = 1,2,3 ...} Are compared, and the individual image data 582 (k) is compared. Those that match the shape data 572 (1) of the part data 570 (1) are extracted. Then, the lead component 480 corresponding to the matching individual image data 582 (k) is set as the pickup target component 480t (1). For comparison, at least one of the shape data 572 (1) and the individual image data 582 (1) is rotated. Then, the posture (inclination θ) of the pickup target component 480t (1) is obtained based on at least one rotation angle in the case of matching. The slope θ is parallel to the reference line A on the XY coordinates (for example, a line parallel to the X direction or the Y direction) and the reference line B (for example, the lead wire 484) of the individual image data 572 (k). The angle between (which can be a line) (eg, the clockwise direction can be defined as a positive angle). Further, the position of the individual image data 572 (k) on the XY coordinates is based on the image data or the like corresponding to a predetermined reference position mark (for example, it can be formed on the component support surface 198 or the like). It is acquired, and the position on the XY coordinates of the pickup target component 480t (1) corresponding to the individual image data 572 (k) is acquired. The data representing the position of the pickup target component 480t on the XY coordinates and the data representing the inclination θ (hereinafter collectively referred to as position / inclination data) acquired as described above are stored.
The patterner for picking up the pickup target part 480t (1) is the nozzle diameter data 574 (1), pickup height data 578 (1), maximum acceleration data 576 (1), etc. in the part data 570 (1). It is decided.

[II] The captured image data 580 is processed based on the part data 570 (2). The shape data 572 (2) and the individual image data 582 (k) of the part data 570 (2) {or the individual image data 582 (k) excluding those determined as the parts to be picked up 480t (1). Each of them is compared with each other, and the one that matches the shape data 572 (2) is extracted. The lead component 480 corresponding to the extracted individual image data 582 (k) is set as the pickup target component 480t (2), and the position and inclination θ of each of the pickup target components 480t (2) on the XY coordinates are acquired. The position / tilt data is stored. The patterner for picking up the pickup target part 480t (2) is determined by the nozzle diameter data 574 (2), the pickup height data 578 (2), the maximum acceleration data 576 (2), etc. of the part data 570 (2).
[III] The captured image data 580 is processed based on the part data 570 (3). Similarly, the part corresponding to the individual image data 582 (k) that matches the shape data 572 (3) of the part data 570 (3) is set as the pickup target part 480t (3), and the position / tilt data is acquired. And will be remembered. Further, the patterner related to the pickup of the pickup target component 480t (3) is determined based on the component data 570 (3).

As described above, the image processing is performed a plurality of times. In this embodiment, the shape data 572 (n) of the part data 570 (n) and the individual image data 582 (k) are compared and individually. The process of acquiring the posture of the lead component corresponding to the image data 582 (k) and determining the pickup target component 480 t (n) is regarded as one image process. The image processing can also include acquisition and storage of position / tilt data of the pickup target component 480t (n). Further, the number of times of image processing is determined by the number of part data 570 (n), and is determined by the shape of the lead component 480.

The image processing is performed by executing the image processing program represented by the flowchart of FIG.
In step 1 (hereinafter, abbreviated as S1; the same applies to the other steps), the imaging device 90 performs imaging of a plurality of lead components 480 in a loose state supported by the component supporting surface 198, and images are taken. Image data can be obtained. In S2, the count value n of the counter that counts the number of times of image processing is set to the initial value 1, and in S3, the part data 570 (1) used in the first image processing is read. In S4, each of the shape data 572 (1) and the individual image data 582 (k) is compared one by one, and it is determined whether or not they match. If it is determined that they match, the position and inclination θ of the individual image data 582 (k) on the XY coordinates are acquired. Then, the lead component corresponding to the individual image data 582 (k) is set as the pickup target component 480t (1), and the position / tilt data is stored.

In S6, it is determined whether or not all the individual image data 582 (k) included in the captured image data 580 are compared with the shape data 572 (1). When the determination is NO, S4 to 6 are repeatedly executed, and it is determined whether or not each of the individual image data 582 (k) and the shape data 572 (1) match, and when it is determined that they match. , The position and inclination of the individual image data 582 (k) are acquired.
For example, in FIG. 20, since the individual image data 582 (1) is determined to match the shape data 572 (1), the position and inclination θ1 of the individual image data 582 (1) on the XY coordinates are acquired. The lead component 480 corresponding to the individual image data 582 (1) is set as the pickup target component 480t (1), and the position / inclination of the pickup target component 480t (1) is acquired and stored. Since the individual image data 582 (2) does not match the shape data 572 (1), the determination in S4 is NO, and the position, inclination, and the like are not acquired. The individual image data 582 (3) also does not match. Then, when the determination of whether or not the shape data 582 (k) matches the shape data 572 (1), the acquisition of the position and the inclination when the individual image data 582 (k) matches, the storage, etc. are completed, the determination of S6 becomes YES. , The first image processing is completed.

Next, in S7, the count value is incremented by 1. In S8, the count value n is from a predetermined number Nc (which is a preset number of image processes and corresponds to the number of part data 570 (n). In this embodiment, Nc = 3). Whether it is large or not is determined. When it is Nc or less, the count value 2, that is, the part data 570 (2) used in the second image processing is read in S3, and similarly, the shape data 572 (2) is read in S4 to 6. It is determined whether or not each of the individual image data 582 (k) and {the one determined to match the shape data 572 (1) can be excluded} match, and the individual image data when it is determined to match. The position and inclination of the pickup target component 480t (2) corresponding to the above are acquired and stored.
For example, the individual image data 582 (2) is determined to match the shape data 572 (2), and the lead component corresponding to the individual image data 582 (2) is the pickup target component 480t (2). Further, the position / tilt θ2 is acquired, and the position / tilt data is stored. It is determined that the individual image data 582 (3) and 582 (4) do not match. When the processing for all the individual image data 582 (k) is completed, the determination in S6 becomes YES, and the second image processing is completed.
Next, after the execution of S7 and S8, the third image processing is performed in the same manner, and the part data 570 (3) used for the third image processing is read into the shape data 572 (3). It is determined whether or not each of the individual image data 582 (k) matches, and if it is determined that they match, the position and the inclination are acquired and stored. For example, since the individual image data 582 (5) is determined to match the shape data 572 (3), the lead component corresponding to the individual image data 582 (5) is set as the pickup target component 480t (3), and the pickup target component. The position / inclination θ5 of 480t (3) is acquired and stored. In S7, when the count value n is incremented by 1 and becomes 4, the determination in S8 becomes YES, the program is terminated, and the three image processes are completed.
Of the individual image data 582 (k) included in the captured image data 580, the lead component 480 corresponding to the individual image data 582 (k) that does not match any of the shape data 572 (1) to (3) is , Non-pickup target component 480s.

Next, for each of the parts to be picked up 480t (1) to (3), the suction nozzle 362 is replaced, the parts to be picked up 480t are picked up, transported, etc. under the conditions determined by the part data 570 (1) to (3). The component holding head 300, the holding head moving device 302, and the like are controlled by executing the pickup and the like control program shown in the flowchart of FIG.
In S21, the count value m of the counter that counts the part data 570 (n) is set to the initial value 1, and in S22, the nozzle diameter data 574 (1) and the pickup height data 578 (1) of the part data 570 (1) are set. , The maximum acceleration data 576 (1) is read, and the position / tilt data of each of the pickup target parts 480t (1) stored by executing S5 of the image processing program or the like is read.
Then, in S23, it is determined whether or not it is necessary to replace the suction nozzle 362 based on the nozzle diameter data 574 (1). If it is necessary to replace the nozzle, the determination is YES, and the nozzle is replaced in S24. The component holding head 300 is moved to a predetermined position of the nozzle accommodating device 430, the suction nozzle 362 attached at that time is removed, and the suction nozzle determined by the nozzle diameter data 574 (1) is attached. In the nozzle accommodating device 430, the shutter is moved to an allowable take-out position by the shutter moving device 434, and the suction nozzle 362 is attached / detached in the component holding head 300 under the control of the solenoid valves 424c and d. If it is not necessary to replace the suction nozzle 362, the step S24 is not performed.
In this embodiment, since there is only one suction nozzle as a component holder held by the component holding head 300, if the determination in S23 is YES, the suction nozzle after replacement corresponds to the specific component holder. If the determination in S23 is NO, the suction nozzle held at that time corresponds to the specific component holder.

In S25, the component holding head 300 is moved to a position determined by the position / tilt data, and the pickup target component 480t (1) is picked up at a height determined by the pickup height data 578 (1). The suction nozzle 362 is moved to the pickup height and a negative pressure is supplied, so that the pickup target component 480t (1) is sucked and held.
Further, when the component is picked up, the suction nozzle 362 is located in the non-swivel position and is swiveled to the 90-degree swivel position during the movement to the component carrier so that the lead 484 faces downward. However, since the turning direction is determined in one direction, the suction nozzle 362 is rotated around its own axis in a state where it is located in the non-swing position by an angle determined based on the inclination θ prior to the pickup, and the suction nozzle 362 The vertical swivel plane is parallel to the vertical plane parallel to the longitudinal direction of the lead 484 of the component 480 placed on the component support surface 198, and the lead 484 is rotated in a downward phase by the swivel.
The suction nozzle 362 is also rotated around the axis of the spline shaft 392 after sucking the component to be picked up 480t (1), and the rotation phase around the vertical line of the component body 482 is matched with the rotation phase of the body receiving recess 502. ..

After picking up and holding the component to be picked up, the suction nozzle 362 (component holding head 300) is conveyed to the component receiving member 460 at the component receiving position in S26. The component holding head 300 is accelerated, moved at a constant speed, and then decelerated, but the magnitude of acceleration and deceleration is limited, and is represented by the maximum acceleration data 576 (1). It is transported so as not to exceed the acceleration (deceleration). As a result, the inertial force acting on the lead component 480 held by the suction nozzle 362 is limited, and the lead component 480 can be prevented from slipping. By lowering the component holding head 300 at the component receiving position, the lead component 480 is guided to the guide surface 506 and received by the component receiving recess 500. After that, the supply of the negative pressure to the suction nozzle 362 is cut off, the lead component 480 is released, the component holding head 300 is raised, and the suction nozzle 362 is swiveled and returned to the non-swivel position.

In S27, it is determined whether or not all of the pickup target parts 480t (1) corresponding to the part data 570 (1) are received by the part receiving members 460 of the part carriers 450 and 452. If the determination is NO, S25 to 27 are repeatedly executed. The component holding head 300 is moved to the position of the next pickup target component 480t (1) determined by the position / tilt data, picks up the pickup target component 480 (1), and then transports the component holding head 300 to the component receiving member 460. When there are a plurality of 480t (1) parts to be picked up, they are picked up one by one in a preset order.
Then, when all of the pickup target parts 480t (1) are moved to the parts receiving member 460, the determination in S27 becomes YES, the count value m is incremented by 1 in S28, and the count value is increased in S29. It is determined whether or not it is larger than (Nd = 3). If all the parts to be picked up 480t (1) to (3) have not been moved to the parts receiving member 460, the judgment of S29 becomes NO, the result is returned to S22, and the part data 570 (2) having a count value of 2 is returned. ) Is read, and the position / tilt data of each of the pickup target parts 480t (2) is read.

Hereinafter, S23 to 27 are executed in the same manner. Since the nozzle diameter data 574 (2) is different from the nozzle diameter data 574 (1), the determination in S23 is YES, and the suction nozzle 362 is replaced in S24. Further, in S25 and 26, the pickup target component 480t (2) is moved to the component receiving member 460. When S25 to 27 are repeatedly executed and all the parts to be picked up 480t (2) are moved to the part receiving member 460, the determination in S27 becomes YES, and the count value m is incremented by 1 in S28. When the same execution is performed for the part data 570 (3) and all the pickup target parts 480t (3) are moved to the part receiving member 460, the judgments of S27 and S29 become YES, and this program ends. Be made to. The pickup target parts 480t (1) to (3) supported on the part support surface 198 are moved to the part receiving member 460 and held by the parts carriers 450 and 452 in the same posture predetermined. Be aligned.

Then, when the lead component 480 is held by all the component receiving members 460 of the component carrier located at the component receiving position, the component carrier is moved to the component delivery position. The mounting heads 50 and 52 of the component mounting device 20 are moved to the component carrier located at the component delivery position, and the lead component 480 held by the component receiving member 460 is picked up by the component holder 70. The lead parts 480 are all housed in the part receiving member 460 in the same posture, in other words, in a posture in which the lead 484 faces downward and the top surface facing the bottom surface to which the lead 484 is connected faces upward. The 70 (eg, chuck) can successfully pick up all lead components 480.

As described above, in the present embodiment, the postures of the plurality of lead parts 480 in the loose state are separately acquired by the processing based on the part data 570 (n) of the captured image data 300, and the pickup target parts 480t ( As n) is determined, the nozzle diameter, pickup height, maximum value of transport acceleration, etc. are acquired. As a result, it is possible to satisfactorily pick up the plurality of lead components 480 in a loose state and satisfactorily move them to the component receiving member 460.
For example, as the suction nozzle 362, a nozzle having a nozzle diameter suitable for the shape of the upward surface of the pickup target component 480t or the like is used. If a suction nozzle 362 having a large nozzle diameter is used for all the parts to be picked up 480t, the lead part 480 in the posture shown in FIGS. Because the area of is small, it is considered as a non-pickup target part. In other words, the pickup target component is only the lead component 480 in the posture shown in FIG. 18 (c). On the other hand, if a suction nozzle having a nozzle diameter suitable for the shape of the upward surface or the like is selected, the lead component 480 in the posture shown in FIGS. 18A and 18B is also a pickup target component. As a result, the number of lead parts 480 that can be picked up can be increased by supplying loose parts once, and the number of lead parts 480 returned (the number of non-pickup target parts 480s) can be reduced.

Further, when the suction nozzle 362 having a small nozzle diameter is used for all the parts to be picked up 480t (1) to (3), the replacement time of the suction nozzle 362 becomes unnecessary, but the transport time becomes long. .. In particular, when the pickup height is high, the posture during transportation of parts is unstable, so that the maximum acceleration is usually set to a small value, and as a result, the transportation time becomes long. On the other hand, if a suction nozzle having a large nozzle diameter is used for the pickup target component 480t (1), the maximum acceleration when transporting the pickup target component 480t (1) can be increased. The transport time can be shortened by the minute.

The non-pickup target parts 480s remain on the component support surface 198, but the non-pickup target parts 480s are returned to the component feeder 82 by the component return device 88. As shown in FIG. 8, the non-pickup target component 480s is prevented from retreating by the scraping member 114, is moved forward with respect to the component supporting member 150, and is scraped into the component collection container 220. When the component support member 150 is retracted, a force acts on the cam follower 182 from the cam member 180 in the same direction as the retracting direction of the component support member 150, but the stopper 234 allows the cam follower 182 to freely rotate in this direction. As a result, as shown in FIGS. 8 and 9, the cam follower 182 rotates with respect to the component feeder 82 against the urging force of the torsion coil spring 206 to get over the teeth 190 and vibrate the component feeder 82. The component support member 150 is retracted without causing it to move. Therefore, the component does not fall from the component accommodating portion 100 onto the component supply surface 110, and is not discharged to the component support surface 198.

After moving the component support member 150 to the retracted position as shown in FIG. 10 (a), the component recovery container 220 is raised with respect to the component feeder 82 as shown in FIG. 10 (b). As the parts collection container 220 rises, the shutter 250 is raised by the urging of the compression coil spring 255, and closes the parts discharge portion 112 at the shielding position as shown in FIG. 10 (c). The roller 240, together with the parts collection container 220, is raised along the outer surface of the parts feeder 82. After moving the shutter 250 to the shielding position, the parts collection container 220 is further raised, and at the end of the ascending / descending motion in which the parts collecting container 220 is raised to the vicinity of the rising end position, the roller 240 engages with the engaging surface 242 as shown in FIG. Is in contact with, and the ascent is blocked. As a result, the parts collection container 220 is rotated to the parts discharge position against the urging force of the torsion coil spring while being further raised to the ascending end position, and the collected parts 480 is the part accommodating portion 100. It is discharged in. In the state where the parts collection container 220 is rotated to the parts discharge position, the bottom surface is vertical, the rear wall 236 is in a state toward the parts accommodating portion 100 downward, and the lead parts 480 are guided by the rear wall 236. All the residue is discharged to the component housing unit 100.

While the component is returned to the component feeder 82 in any of the five component supply units 96, the image pickup device 90 and the component holding head 300 capture and pick up the component 480 for another component supply unit 96. Etc. can be done. As shown in FIG. 23, the parts are returned in a state where the part support member 150 is returned to the retracted position, whereas the part support surface 198 is provided on the front side of the part support member 150, and the parts are collected. The image of the component 480 on the component support surface 198 is imaged and held without interfering with the container 220.
Further, by removing the portions of the loose parts supply device 18 other than the shuttle devices 304 and 306 from the device main body 10, maintenance of the loose parts supply device 18 can be easily performed.

Before picking up the pickup target component 480t, the position of the pickup target component 480t can be confirmed based on the captured image data obtained by imaging the component support surface 198 of the image pickup device 90. As a result, the pickup target component 480t can be picked up more accurately.
Imaging by the image pickup apparatus 90 was performed for each pickup of the lead component 480 by the component holding head 300 prior to the pickup, and the suction nozzle 362 (component holding head 300) held the lead component 480 on the component supporting surface 198. After that, it is performed in parallel with being conveyed to the component receiving member 460. Since the component holding head 300 can move the height region between the image pickup device 90 and the component support surface 198, the image pickup device 90 and the component holding head 300 do not interfere with each other. Therefore, the image pickup apparatus 90 is left positioned on the component support surface 198, and the image pickup is performed after the component holding head 300 holding the lead component 480 is retracted. As a result, for example, even if the position and orientation of the pickup target component 480t to be picked up next may change due to the pickup operation of the lead component 480 in one component supply unit 96, the change is acquired. To.

Further, the component holding head 300 is not limited to that in the above embodiment. For example, various types of heads are used, such as a head capable of holding a plurality of suction nozzles having different nozzle diameters in an annular shape, or a head capable of holding a plurality of suction nozzles described above linearly at predetermined intervals. be able to. Further, the component holding head 300 can be changed to each of the above-mentioned heads automatically or manually. When the component holding head 300 is a head capable of holding a plurality of suction nozzles, the suction nozzle determined according to the nozzle diameter data 574 is positioned at a predetermined pickup position, whereby the suction nozzles are positioned at predetermined pickup positions. , The suction nozzle that picks up the parts to be picked up is changed. In this embodiment, the positioned suction nozzle corresponds to the specific component holder.
Further, the component supported by the component support surface 198 can be picked up by the suction nozzle 362 and directly supplied to the substrate 12. In that case, the moving range of the component holding head 300 by the component holding head moving device 302 is defined as the range including the substrate 12 on which the component holding head 300 is held.

In this embodiment, (1) the loose component support portion is composed of the component support surface 198 and the like. (2) The component delivery section is composed of component carriers 450, 452 and the like. (3) It is considered that the holder changing device is composed of the nozzle mounting device 368 or the like, or S24 of the pickup or the like control program represented by the flowchart of FIG. 22 of the nozzle mounting device 368 and the control device 26 is stored. It can be thought that it is composed of a part, a part to be executed, and the like. The holder changing device is also a holder changing unit. (4) The changing moving portion is composed of a portion of the holding head moving device 302 for moving the component holding head 300 between the component supporting surface 198 and the nozzle accommodating device 430. (5) The pickup moving portion is composed of a portion of the holding head moving device 302 that raises and lowers the suction nozzle 362 to the pickup height. (6) The acceleration limiting moving unit is composed of a portion for moving the component holding head 300 without exceeding the acceleration determined by the maximum acceleration data of the holding head moving device 302. (7) The parts data storage unit is composed of a storage unit 550 m or the like of the control device 26. The parts data storage unit may be provided in the integrated control device 26a. (8) The loose parts supply device control device is composed of a part of the control device 26 that stores a control program such as a pickup, a part that executes the control program, a parts data storage unit, and the like. Further, the pickup height acquisition unit is configured as a parts data storage unit, a part for storing S22, a part for executing, etc. in the loose parts supply device control device, and the pickup height control unit is a part for storing S25. It is composed of parts to be executed. (9) The next step is a "step of mounting the component on the board 12" performed in the component mounting device 20, or a component mounted on the board 12 or a "board 12 on which the component is mounted". "Processing process" (for example, a cut-and-clinch process for cutting and bending leads, a soldering process for soldering lead parts, a process for heat-treating the substrate 12, a process for carrying out from a component mounting device, etc.) You can do things like that.

The chuck 580 shown in FIG. 24A can be attached to the holder holding member of the component holding head. The chuck 580 includes a slide-type drive device 584 that brings the pair of claw portions 582p, q and the pair of claw portions 582p, q held in the chuck body close to each other and separated from each other. The width of the pickup target component that can be gripped by the chuck 580 is predetermined.
In this embodiment, since the component holder is the chuck 580, as shown in FIG. 18D, the lead component 480 in a posture in which the side surface 486d, which is difficult to be attracted, is the upward surface, is also the component to be picked up 480t (4). It is said that. Even if the upward surface is a surface having a difficult shape to be attracted, the side surfaces 486b and c facing each other can be gripped by the pair of claw portions 582p and q. For example, the lead component 480 corresponding to the individual image data 582 (4) included in the captured image data 580 shown in FIG. 20 is set as the pickup target component 480t (4).

An example of the part data 590 (n) of the lead component 480 in this embodiment is conceptually shown in FIG. 24 (b). The part data 590 (n) {n = 1,2,3,4} includes data representing parameters related to [1] shape data 592 (n) and [2] pickup of the pip-up target part 480t, respectively. The data representing the parameters include (i) chuck width data 594 (n), (ii) representing the chuck width (width of the part that can be gripped by the pair of claws 582p, q) for gripping the part to be picked up. ) Includes one or more of pickup height data 596 (n) and the like. A chuck with a large chuck width is selected for the pickup target parts 480t (1) and (4), and a chuck with a small chuck width is selected for the pickup target parts 480t (2) and (3). ..
On the other hand, when the holding force of the lead component 480 by the chuck 580 is almost the same even if the width of the pickup target component 480t is different, the maximum acceleration can be the same even if the posture of the pickup target component 480t changes. .. In that case, it is not always necessary to include the maximum acceleration data in the data representing the parameters related to the pickup of the pip-up target component 480t.
In this embodiment, image processing is performed four times by comparing each of the shape data 592 (1) to (4) with the captured image data 580, and the pickup target parts 480t (1) to (4) are determined. .. Further, these pickup target parts 480t (1) to (4) are picked up by the chuck 580 and moved to the part receiving member 460 so that they are aligned with the component carriers 450 and 452.

As shown in FIG. 25, the hand-held component tray 600, which is a hand-held component support member, may be detachably provided instead of the component supply unit 96. The hand-held component tray 600 includes a one-plane component support surface 602, and a plurality of loose components 604 are supported on the component support surface 602.
The hand-held component tray 600 has a component 604 placed by an operator after or prior to attachment to the main body 80, outside the loose component supply device. The supply of parts using such a hand-held parts tray is suitable for supplying parts whose leads are easily bent, parts for which parts do not want to come into contact with each other, parts for which vibration is not desired to be applied, and large parts. ..
The size of the hand-held parts tray 600 does not matter. The width may be substantially the same as the width of the component supply unit 96, or may be larger than the width of the component supply unit 96.

Other examples

In addition to the above examples, the present invention can be carried out in various forms with various modifications and improvements based on the knowledge of those skilled in the art. In addition, the above-mentioned plurality of examples can be carried out in a form in which they are combined with each other.
For example, when the component support member 150 or the hand-held component tray 600 is arranged within the moving range of the mounting heads 50 and 52 of the work head moving device 54, the mounting heads 50 and 52 are in a loose state. The components 480, 604 can be picked up directly and mounted directly on the substrate 12. In that case, the component support member 150 or the plurality of loose components 480 and 604 supported by the hand-held component tray 600 are imaged by the image pickup device 22 provided on the mounting head 50. be able to.
Further, the parts 480 and 604 in a loose state supported by the parts support member 150 or the hand-held parts tray 600 are held by the mounting heads 50 and 52 so that the parts holder 70 can swivel around the horizontal axis. It can be held by a component holder 70 that can swivel around its horizontal axis. Similar to the case of the first embodiment, the postures of the parts 480 and 604 in the loose state are acquired based on the captured image data, and the parts holder 70 is replaced or the height determined by the posture of the parts to be picked up accordingly. It is picked up by the sword, or transported so as not to exceed the maximum acceleration determined by the posture.

On the other hand, the parts support member 150 or the parts 480 and 604 supported by the hand-held part tray 600 are held by the part holder 70 (non-swivelable part holder) of the mounting heads 50 and 52. It can also be. In this embodiment, based on the captured image data, a component in a posture that can be mounted by being held by the mounting heads 50 and 52 is set as a pickup target component, and a pickup height and the like are acquired. The mounting heads 50 and 52 are moved to the positions of the pickup target parts, and the pickup target parts are picked up at the acquired height. This embodiment is suitable for mounting components that do not have leads.
At least one of the mounting heads 50 and 52 may be a head capable of holding a plurality of component holders provided in an annular shape or in a straight line.
In this embodiment, the hand-held component tray 600 or the like corresponds to the mounting loose component support portion, the imaging device 22 corresponds to the mounting imaging device, and the component holder 70 corresponds to the mounting component holder and mounted. The heads 50 and 52 correspond to the mounting component holding head, and the working head moving device 54 corresponds to the mounting holding head moving device. Further, the mounting holding head movement control device is configured by a portion that controls the work head movement device 54 of the control device 26 (including the individual control device of the mounting device 20). Of the mounting holding head movement control device, a part that acquires the pickup height based on captured image data and the like constitutes a pickup height acquisition unit, and controls the work head movement device 54 based on the pickup height and the like. The pickup height movement control unit is configured by the above.

18: Loose parts supply device 20: Parts mounting device 26: Control device 82: Parts supply device 84: Parts scattered state realization device 86: Parts delivery device 88 Parts return device 90: Imaging device 198: Parts support surface 220: Parts collection container 364: Nozzle rotation device 366: Nozzle swivel device 368: Nozzle mounting device 450, 452: Parts carrier 550: Individual control device 550 m: Storage unit 552: Image processing device 570, 590: Parts data

Claims (3)

The loose state supported by a loose part support portion that supports a plurality of parts of the same type having a plurality of planes that intersect each other at right angles and have different shapes in an arbitrary posture in a loose state. An imaging device that captures the plurality of components in
One is selected from a plurality of different types of component holders that can pick up and hold at least one of the plurality of components in the loose state supported by the loose component support portion one by one. A parts holding head equipped with a specific parts holder and
A vertical moving device that moves the component holding head linearly in the vertical direction,
A horizontal moving device that simultaneously moves the component holding head and the vertical moving device in the horizontal direction,
Specific plane data, which is data representing the shapes of the plurality of specific planes that specify each of the plurality of postures of the scattered parts, and at least one of the plurality of planes of each of the parts having the plurality of postures. At least one of the plurality of parts supported by the loose component support portion, including a storage unit for storing a plurality of association data associated with the held surface data which is data representing a certain held surface. It is a picking device for loose parts that picks up one part at a time.
When the component holding head includes the specific component holder and picks up one component of the plurality of components, the plurality of components are based on the captured image data obtained by imaging of the imaging device. The specific plane of each of the parts is specified, and the holding is stored in association with the specific plane data representing the specific plane based on the specific plane and the plurality of association data stored in the storage unit. The horizontal moving device attaches the specific part holder to the loose part support portion so that at least one held surface represented by the surface data is specified and the specific part holder holds the held surface. The specific component is held by moving the component to a position above the one component to be picked up and the vertical moving device moving the component to a pickup height which is a height at which the component can be picked up. A picking device for loose parts, characterized in that a pickup height changing device for changing the pickup height of the parts of the tool is provided. An imaging device that captures images of the plurality of parts in the loose state supported by the loose part support portion that supports a plurality of parts of the same type in a loose state in which they are scattered in an arbitrary posture.
A component holding head provided with one or more component holders that can pick up and hold at least one of the plurality of components in the loose state supported by the loose component support portion one by one.
A vertical moving device that moves the component holding head linearly in the vertical direction,
A horizontal moving device that simultaneously moves the component holding head and the vertical moving device in the horizontal direction,
Specific plane data representing a specific plane that defines each of the plurality of postures of the component, holder type defining data that defines the type of the component holder that holds the component in each of the plurality of postures, and the plurality of holders. It includes a storage unit that stores a plurality of association data associated with the component data including the pickup height data representing the pickup height when the component in each posture is held, and is supported by the loose component support portion. A method of picking loose parts that picks up at least one of the plurality of parts one by one.
The parts intersect each other at right angles and have a plurality of planes having different shapes from each other.
Based on the captured image data which is the image data obtained by the imaging of the imaging device, the plurality of planes of each of the plurality of components are determined by the posture of the components when scattered on the loose component support portion. The process of acquiring a specific plane, which is one of them,
The holder type related to the specific plane data based on the acquired specific plane data representing the specific plane of each of the at least one component and the plurality of association data stored in the storage unit. The vertical moving device picks up a specific part holder which is one of the one or more part holders determined by the holder type specified data by acquiring the specified data and the pickup height data. The process of moving to the pickup height determined by the height data,
A method of picking loose parts including a step of causing the specific part holder to pick up the parts at the moved height. The pick-up step includes a step in which the horizontal moving device positions the specific component holder at a position above the one picked-up component supported by the loose component support portion, and the vertical moving device. The picking method according to claim 2, wherein the picking method includes a step of moving the component to a pickable height after a step of positioning the component at a position above the component.

Images