JP7178545B2 - Component mounter - Google Patents

Description

The present invention relates to a component mounting apparatus in which a mounting head picks up a component supplied by a parts feeder using a nozzle and mounts it on a substrate.

A component mounting apparatus is configured to produce a mounted board by mounting a component on a board positioned by a board positioning section after a mounting head sucks a component supplied by a parts feeder connected to a base with a nozzle. . The parts feeder is attached to a feeder carriage that can be freely connected and separated from the base, and is connected to the base by connecting the feeder carriage to the base.

In such a component mounting apparatus, the component picked up by the mounting head by the nozzle is imaged and recognized by the component camera provided on the base before being mounted on the board. If the recognition result is normal, the component is mounted on the board as it is, but if the recognition result is abnormal, it is discarded without being mounted on the board.

For this reason, the component mounting apparatus is equipped with a component discard box into which discarded components (discarded components) are thrown, and the component discard box is held at a predetermined position within the movable range of the mounting head (for example, See Patent Document 1 below). The base is covered with a base cover, and the operator opens the door part of the base cover to replace the parts discard box.

JP 2011-44514 A

However, opening the door of the base cover to replace the parts disposal box is time consuming and laborious, and is difficult to perform. In addition, from the viewpoint of ensuring the safety of workers, a safety device that automatically stops the operation of each part when the door is opened during component mounting operation is activated. Even if one of them is to be replaced and a door in its vicinity is opened, all component mounting operations are stopped by opening the door. For this reason, the replacement work of the component disposal box can be performed only when the component mounting operation is not performed at all, and there is a problem that the work efficiency is not good.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a component mounting apparatus that can easily and efficiently replace a discarded component box.

A component mounting apparatus of the present invention comprises a base, a board positioning portion provided on the base for positioning a board, a feeder carriage that can be freely connected and separated from the base, and a feeder carriage attached to the feeder carriage. a parts feeder that supplies parts while being connected to the base; a mounting head that absorbs the parts supplied by the parts feeder with a nozzle and mounts them on the board positioned by the board positioning part; a parts disposal box into which discarded parts discarded without being attached to the board are thrown in among the parts picked up by the head from the parts feeder, wherein the parts disposal box is detachably attached to the feeder carriage; When the feeder carriage is connected to the base, the parts disposal box is positioned at a position where the discarded parts discarded from the mounting head can be recovered, and the parts disposal box is attached to a box holding member provided on the feeder carriage. The parts disposal box is detachably attached and held, and the parts disposal box is positioned above the base beyond the end of the feeder carriage on the base side in a state where the feeder carriage is connected to the base. do.

According to the present invention, it is possible to easily and efficiently perform the replacement work of the parts disposal box.

1 is a perspective view of a component mounting apparatus according to one embodiment of the present invention; FIG. 1 is a plan view of a component mounting apparatus according to an embodiment of the present invention; FIG. 1 is a side view of a component mounting apparatus according to one embodiment of the present invention; FIG. 1 is a perspective view of part of a component mounting apparatus according to one embodiment of the present invention; FIG. FIG. 2 is a side view showing a state in which the feeder carriage is separated from the base of the component mounting apparatus according to one embodiment of the present invention; 1 is a perspective view of part of a base of a component mounting apparatus according to one embodiment of the present invention; FIG. 1 is a front view of a mounting head included in a component mounting apparatus according to an embodiment of the present invention; FIG. 1 is a perspective view of a feeder carriage provided in a component mounting apparatus according to one embodiment of the present invention; FIG. FIG. 2 is a perspective view showing a state in which a nozzle exchange table is separated from a mounting table of a feeder carriage provided in a component mounting apparatus according to an embodiment of the present invention; (a) and (b) are perspective views of a nozzle exchange table included in a component mounting apparatus according to an embodiment of the present invention. (a) and (b) are plan views of a nozzle exchange table provided in a component mounting apparatus according to an embodiment of the present invention. FIG. 2 is a perspective view of a change table holding portion included in a component mounting apparatus according to an embodiment of the present invention; FIG. 2 is a cross-sectional view of a part of a switchboard holding portion included in a component mounting apparatus according to an embodiment of the present invention; FIG. 2 is a perspective view showing a state in which a nozzle exchange table included in the component mounting apparatus according to one embodiment of the present invention is mounted on a mounting table; FIG. 4 is a side view showing a state of a process in which the nozzle exchange table is held by the exchange table holding portion of the component mounting apparatus according to the embodiment of the present invention; FIG. 4 is a side view showing a state of a process in which the nozzle exchange table is held by the exchange table holding portion of the component mounting apparatus according to the embodiment of the present invention; FIG. 4 is a side view showing a state of a process in which the nozzle exchange table is held by the exchange table holding portion of the component mounting apparatus according to the embodiment of the present invention; FIG. 4 is a side view showing a state of a process in which the nozzle exchange table is held by the exchange table holding portion of the component mounting apparatus according to the embodiment of the present invention; FIG. 2 is a perspective view showing a state in which a nozzle exchange table is held by a exchange table holding portion of a component mounting apparatus according to one embodiment of the present invention; (a) and (b) are perspective views for explaining the positional relationship between the shutter operation part and the operated piece before and after the nozzle exchange table is held by the exchange table holding part of the component mounting apparatus according to the embodiment of the present invention. (a) and (b) are plan views of a nozzle exchange table provided in a component mounting apparatus according to an embodiment of the present invention. (a) and (b) are perspective views explaining how the component discard box of the component mounting apparatus according to the embodiment of the present invention is installed within the movable range of the mounting head. 1 is a flow chart showing an example of the operation flow of a component mounting apparatus according to an embodiment of the present invention; 1 is a flow chart showing an example of the operation flow of a component mounting apparatus according to an embodiment of the present invention; 3 is a flow chart showing an example of the operation flow of a component mounting apparatus according to a modification of one embodiment of the present invention; 1 is a diagram showing a configuration example of a work system including a component mounter according to an embodiment of the present invention; FIG. 1 is a flow chart showing an example of the operation flow of a work system including a component mounter according to an embodiment of the present invention; 1 is a flow chart showing an example of the operation flow of a work system including a component mounter according to an embodiment of the present invention;

An embodiment of the present invention will be described with reference to the drawings. 1, 2 and 3 show a component mounting apparatus 1 according to one embodiment of the present invention. The component mounting apparatus 1 is an apparatus for producing a component-mounted board by mounting components BH on a board KB brought in from the outside, and includes a base 11, a base cover 12, two conveyors 13, and two feeder carts 14. , a parts feeder 15, a head moving mechanism 16, two mounting heads 17, two parts cameras 18, and the like. In this embodiment, for convenience of explanation, the horizontal direction of the component mounting apparatus 1 is defined as the X-axis direction, the front-rear direction as the Y-axis direction, and the vertical direction as the Z-axis direction. Also, one side in the front-rear direction of the component mounting apparatus 1 is referred to as the front side, and the other side is referred to as the rear side.

1, 2 and 3, the two conveyors 13 consist of a front conveyor 13 and a rear conveyor 13. In FIG. The two transport conveyors 13 each extend in the X-axis direction. Each of the two transport conveyors 13 functions as a substrate positioning unit, transports the substrate KB carried in from the outside in the X-axis direction, and positions it at a predetermined working position.

The base cover 12 is provided to cover the base 11 and forms a working space 11S between itself and the upper surface of the base 11 (FIGS. 1 and 3). A door portion 12C formed of a part of the base cover 12 is provided on each of the front side and the rear side of the base cover 12 (FIG. 3). The door portion 12C can be opened and closed in the vertical direction, and the operator OP can manually open and close the door portion 12C. In FIG. 3, the door portion 12C opened upward is indicated by a dashed line.

1, 2 and 3, the feeder carriage 14 is detachably connected to the front side and the rear side of the base 11, respectively. The area on the front side of the front-side transfer conveyor 13 on the base 11 serves as a front-side equipment installation area, and the front-side feeder carriage 14 is connected so as to be adjacent to the front of the front-side equipment installation area. be. The area on the rear side of the rear-side transfer conveyor 13 on the base 11 is a rear-side equipment installation area, and the rear-side feeder carriage 14 is connected so as to be adjacent to the rear side of the rear-side equipment installation area. be done.

1, 2 and 3, each feeder carriage 14 has a flat feeder base 14F. A parts feeder 15 is attached to the upper surface of the feeder base 14F. A plurality of parts feeders 15 can be arranged side by side in the X-axis direction and attached to the feeder base 14F (FIGS. 2 and 4). In each of the feeder truck 14 on the front side and the feeder truck 14 on the rear side, the side facing the center of the base 11 in a state where the feeder truck 14 is connected to the base 11 is defined as the "base side" of the feeder truck 14. ”.

The parts feeder 15 is detachably attached to the feeder base 14F of the feeder carriage 14, and supplies the parts BH to the parts supply port 15K. When the parts feeder 15 is attached to the feeder base 14F, the parts supply port 15K is positioned above the base-side end of the feeder base 14F (FIGS. 2 and 3). Here, it is assumed that the parts feeder 15 is a tape feeder of a type that pitch-feeds the carrier tape containing the parts BH and supplies the parts BH to the parts supply port 15K. A bulk feeder, a stick feeder, or the like may be used.

2 and 4, two operation units 14S that are operated by the operator OP with both hands are provided on the left and right sides of each feeder carriage 14. As shown in FIG. The operator OP operates the operation unit 14S to bring the feeder base 14F closer to the center of the base 11 so that the end of the feeder base 14F faces the center of the base 11, thereby connecting the feeder carriage 14 to the base 11. FIG. When the feeder carriage 14 is connected to the base 11, a plurality of parts feeders 15 attached to the feeder base 14F are connected to the base 11 collectively.

When the parts feeder 15 is connected to the base 11 by connecting the feeder carriage 14 to the base 11, the parts supply port 15K of the parts feeder 15 is positioned within the work space 11S (FIG. 3). Therefore, when the parts feeder 15 connected to the base 11 feeds the parts BH to the parts supply port 15K, the parts BH are supplied into the working space 11S.

5, a carriage-side connector 14C projecting toward the center of the base 11 is provided at the end of the feeder carriage 14 on the base side. A base-side connector 11C is provided on the base 11 side, and when the feeder carriage 14 is connected to the base 11, the carriage-side connector 14C is fitted into the base-side connector 11C.

When the carriage-side connector 14C is fitted into the base-side connector 11C, each parts feeder 15 attached to the feeder carriage 14 is electrically connected to the controller 20 (FIG. 3) provided to the base 11 through the feeder carriage 14. Connected. When the parts feeder 15 is electrically connected to the control device 20 , the operation of the parts feeder 15 can be controlled by the control device 20 .

5 and 6, the base 11 is provided with a truck detection sensor 11M for detecting a state in which the truck side connector 14C is fitted into the base side connector 11C. The control device 20 detects that the feeder truck 14 is located at a position where it can be connected to the base 11 based on the output of the truck detection sensor 11M.

In FIGS. 2, 5 and 6, a pair of left and right carriage locking portions 11R are provided at portions located on the left and right sides of the feeder carriage 14 to which the base 11 is connected. The carriage lock portion 11R has a connection mechanism (not shown) that mechanically holds the feeder carriage 14 . When the carriage detection sensor 11M detects that the feeder carriage 14 has reached a connectable position, the carriage lock unit 11R is controlled by the controller 20 to operate the coupling mechanism to lock the feeder carriage 14 to the base 11. do. The feeder carriage 14 is thereby connected to the base 11 . When the feeder truck 14 is locked to the base 11 by the truck locking part 11R, the operator OP cannot separate the feeder truck 14 from the base 11 unless the lock is released. As the coupling mechanism, the carriage positioning mechanism described in JP-A-2009-71029 can be applied. Of course, other coupling mechanisms are also applicable.

1, 2 and 3, the head moving mechanism 16 is installed on the base 11. As shown in FIG. The head moving mechanism 16, as shown in FIGS. 2 and 3, includes a fixed beam 16a, two front and rear moving beams 16b, and two front and rear head holding plates 16c.

The fixed beam 16 a has a shape extending in the Y-axis direction and is installed on the base 11 . Each of the two moving beams 16b has a shape extending in the X-axis direction, and one end thereof can move along the fixed beam 16a (that is, move in the Y-axis direction). Of the two head holding plates 16c, the head holding plate 16c on the front side is attached to the moving beam 16b on the front side and is movable in the X-axis direction along the moving beam 16b on the front side. Of the two head holding plates 16c, the rear side head holding plate 16c is attached to the rear side moving beam 16b and is movable in the X-axis direction along the rear side moving beam 16b.

The two mounting heads 17 consist of a mounting head 17 on the front side and a mounting head 17 on the rear side. The front side mounting head 17 is attached to the front side head holding plate 16c, and the rear side mounting head 17 is attached to the rear side head holding plate 16c.

The mounting head 17 on the front side is moved in the Y-axis direction by moving the front-side moving beam 16b relative to the fixed beam 16a and by moving the front-side head holding plate 16c in the X-axis direction relative to the front-side moving beam 16b. It moves in the XY plane direction within the working space 11S (mainly on the front side of the working space 11S). The mounting head 17 on the rear side is moved by the movement of the moving beam 16b on the rear side in the Y-axis direction relative to the fixed beam 16a and the movement of the head holding plate 16c on the rear side in the direction of the X-axis relative to the moving beam 16b on the rear side. It moves horizontally within the work space 11S (mainly on the rear side of the work space 11S).

The movement of the mounting head 17 on the front side and the movement of the mounting head 17 on the rear side are performed separately and independently within a range that does not interfere with each other. The front-side mounting head 17 includes a front-side facility installation area within its movable range, and the rear-side mounting head 17 includes a rear-side facility installation area within its movable range.

3 and 7, each of the two mounting heads 17 has a plurality of downwardly extending nozzle shafts 17S. A nozzle 21 is detachably attached to the lower end of each nozzle shaft 17S. Each nozzle shaft 17S (that is, each nozzle 21) is vertically movable with respect to the mounting head 17 and is rotatable about the vertical axis.

7, each nozzle 21 has a base portion 22, a tube portion 23, and a collar portion 24. As shown in FIG. The base portion 22 is a cylindrical portion fitted onto the lower end of the nozzle shaft 17S. The tubular portion 23 is a tubular portion having an internal conduit that communicates with the interior of the base portion 22 . The collar portion 24 is a disk-shaped portion located between the base portion 22 and the tube portion 23 .

When the base portion 22 is fitted onto the lower end of the nozzle shaft 17S, the pipe portion 23 extends downward from the base portion 22, and the collar portion 24 assumes a horizontally spread posture. When a vacuum pressure is supplied to the nozzle 21 through the nozzle shaft 17S, a suction force is generated at the lower end of the nozzle 21 (the lower end of the tube portion 23).

The mounting head 17 can suck the component BH supplied from the parts feeder 15 to the component supply port 15K by the suction force generated at the lower end of the nozzle 21 . The mounting head 17 on the front side picks up the parts BH supplied by the parts feeder 15 connected to the front side of the base 11 , and the mounting head 17 on the rear side picks up the parts feeder 15 connected to the rear side of the base 11 . The component BH to be supplied is sucked.

When picking up the component BH from the parts feeder 15, the mounting head 17 moves so that the nozzle 21 is positioned above the component supply port 15K of the parts feeder 15, and lowers the nozzle shaft 17S. Then, air is sucked by bringing the lower end of the tube portion 23 of the nozzle 21 closer to the component BH supplied to the component supply port 15K. As a result, the component BH supplied to the component supply port 15K is sucked by the nozzle 21, and the component BH is picked up by the mounting head 17. FIG.

2 and 3, the two part cameras 18 consist of a front part camera 18 and a rear part camera 18. In FIG. The front-side component camera 18 is provided in the equipment installation area on the front side of the base 11 (see also FIG. 4), and the rear-side component camera 18 is installed in the equipment installation area on the rear side of the base 11. is provided in

In FIG. 4, the two component cameras 18 each have an upward imaging field of view, and each image the component BH picked up by the mounting head 17 by the nozzle 21 from below. The component camera 18 on the front side images the component BH picked up by the mounting head 17 on the front side, and the component camera 18 on the rear side images the component BH picked up by the mounting head 17 on the rear side.

In FIG. 3, the control device 20 controls the transport and positioning of the board KB by the two transport conveyors 13, the supply of the parts BH by the parts feeders 15, and the movement of the two mounting heads 17 by the head moving mechanism 16. I do. The control device 20 also controls the elevation and rotation of the nozzle shafts 17S (of the nozzles 21) of each of the two mounting heads 17, the rotation of the nozzles 21 about the vertical axis, the suction operation of the parts BH by the nozzles 21, and the feeder carriage 14 by the carriage lock portion 11R. lock to the base 11 and its unlocking operation. The control device 20 also controls the imaging operations of the two component cameras 18 and recognizes the component BH based on the image of the component BH obtained by the imaging of each component camera 18 . Further, it also controls the operation of each of the front-side switchboard holding section 32 and the rear-side switchboard holding section 32, which will be described later.

In FIGS. 1 and 2, a touch panel TP is provided on each of the front side and the rear side of the base cover 12 . Each touch panel TP has a function of an input section for performing an input operation to the control device 20 and an output section for displaying an output from the control device 20 .

As described above, the base cover 12 is provided with the front side door portion 12C and the rear side door portion 12C, and the operator OP enters the working space 11S through the opening formed by opening the door portion 12C. can reach out. Accordingly, the operator OP can perform inspection work, etc. of the equipment arranged on the base 11 .

The control device 20 constantly monitors the open/closed states of the door portions 12C on the front side and the rear side, respectively. By stopping the operation of the operation mechanism units such as the transport conveyor 13, the parts feeder 15, the head moving mechanism 16, and the mounting head 17, all component mounting operations are stopped. Such a safety device is provided from the viewpoint of ensuring the safety of the operator OP, and when at least one of the front side door portion 12C and the rear side door portion 12C is opened, all to stop the operation of the operating mechanism.

When the component mounting apparatus 1 mounts the component BH on the board KB to produce a mounted board, the front-side transport conveyor 13 and the rear-side transport conveyor 13 operate under the control of the controller 20, respectively. The board KB sent from the device is received, transported, and positioned at the working position. After each transport conveyor 13 positions the board KB at the working position, the head moving mechanism 16 moves the front side mounting head 17 and the rear side mounting head 17 to mount the component BH on the board KB.

At this time, the mounting head 17 on the front side mounts the board KB positioned by the front-side transport conveyor 13, and the mounting head 17 on the rear side mounts the board KB positioned by the transport conveyor 13 on the rear side. Note that this is a basic operation, and the substrate KB positioned by the front-side transport conveyor 13 and the substrate KB positioned by the rear-side transport conveyor 13 are positioned by both the front-side mounting head 17 and the rear-side mounting head 17 . The component BH can also be attached to both the substrate KB.

Mounted boards are produced by repeating such component mounting operations, but it is necessary to replace the nozzle 21 of the mounting head 17 according to the shape and size of the component BH. For this reason, the component mounting apparatus 1 is provided with a nozzle exchange table 31 holding a nozzle 21 for exchange. As shown in FIGS. 1 and 2, the exchange table holding portions 32 are provided on the front side and the rear side of the base 11, respectively. Each of the portions 32 holds a nozzle replacement base 31 .

In FIGS. 1 and 2, the front-side exchange table holding portion 32 is provided in the front-side equipment installation area of the base 11 (see also FIGS. 4 and 6), and the front-side nozzle exchange table 31 is It is held and positioned within the facility installation area on the front side (that is, within the movable range of the mounting head 17 on the front side). The rear-side exchange table holding portion 32 is provided in the rear-side equipment installation area of the base 11, and holds the rear-side nozzle exchange table 31 to be mounted in the rear-side equipment installation area (that is, the rear-side installation area). (within the movable range of the head 17).

In FIGS. 1 and 2, a parts disposal box 33 is installed in each of the front side facility installation area and the rear side facility installation area. The parts disposal box 33 has a box shape with an upward opening (see also FIG. 4).

During the component mounting operation by the component mounting apparatus 1, when the component camera 18 picks up the component BH picked up by the mounting head 17 by the nozzle 21, and the normal recognition result is not obtained, the component BH is mounted on the board KB. It is thrown into the component disposal box 33 as a discarded component without being attached to the . Discarded parts are put into the front-side component discard box 33 from the front-side mounting head 17 , and discarded parts are thrown into the rear-side component discard box 33 from the rear-side mounting head 17 .

In FIGS. 4, 8 and 9, a carrier holding member 14A is provided extending in the X-axis direction at the end of the feeder carriage 14 on the base side. A base of a box holding member 34, which is a carrier of the component disposal box 33, is attached to the carrier holding member 14A. The box holding member 34 extends toward the central portion of the base 11 and detachably holds the box holding member 34 at its distal end. The box holding member 34 is positioned at a position protruding toward the base 11 from the feeder base 14F, in other words, at a position protruding toward the transport conveyor 13 as a substrate positioning portion from the feeder base 14F. The tip of the box holding member 34 is positioned within the facility installation area of the base 11 while being connected to the base 11 of the feeder carriage 14. Therefore, the feeder carriage 14 is connected to the base 11. In this state, the component disposal box 33 is positioned within the facility installation area of the base 11 (that is, within the movable area of the mounting head 17) (FIG. 4).

2 and 4, a chute 35 is provided in each of the equipment installation area on the front side of the base 11 and the equipment installation area on the rear side of the base 11 . As also shown in FIG. 6, the shooter 35 is configured in a cylindrical shape as a whole and has an inlet 35P opening upward and an outlet 35Q opening downward. The shooter 35 is attached to the base 11 via a shooter bracket 35B attached to the base 11, and the shooter 35 is relatively fixed to the base 11. As shown in FIG. The opening area of the inlet 35P is larger than the opening area of the outlet 35Q.

The mounting head 17 throws the discarded component into the inlet 35P of the chute 35 when discarding the discarded component in the component discard box 33 . A discarded component inserted into the inlet 35P of the shooter 35 is ejected from the outlet 35Q and accommodated (discarded) in the component discard box 33 .

In FIG. 9, the carrier holding member 14A provided on the feeder carriage 14 is attached with the above-described box holding member 34 and a mounting table 36, which is the carrier of the nozzle exchange table 31, via a bracket 14B. The mounting table 36 has a shape that spreads in the XY plane, and the nozzle changing table 31 before being held by the changing table holding section 32 is placed (temporarily placed) thereon. The upper surface of the mounting table 36 is provided with an insertion hole 36K having a shape recessed downward. As with the box holding member 34 described above, the mounting table 36 is positioned at a position protruding toward the base 11 from the feeder base 14F, in other words, at a position protruding toward the transport conveyor 13 as a substrate positioning portion from the feeder base 14F. positioned.

10(a) and 10(b) show the nozzle exchange base 31. FIG. Although the front side nozzle exchange table 31 is shown here, the configuration of the rear side nozzle exchange table 31 is the same. 10(a) and 10(b), the nozzle exchange base 31 includes a pedestal 41, two supports 42, four rollers 43, a base portion 44, a nozzle support 45 and a shutter . A positioning projection 41K projecting downward is provided at the center of the lower surface of the base 41 (see also FIG. 9). The positioning projection 41K has a shape that allows it to be fitted from above into an insertion hole 36K provided on the upper surface of the mounting table 36. As shown in FIG.

In FIGS. 10A and 10B, two downwardly projecting guide projections 41T are provided at both ends of the base 41 in the X-axis direction (see also FIG. 9). The distance between the two guide projections 41T is slightly larger than the length of the mounting table 36 in the X-axis direction. Of the base 41, the length in the X-axis direction of the half portion on the base side (referred to as base back portion 41B) is smaller than the length in the X-axis direction of the front half portion. Both side surfaces in the X-axis direction of the base inner part 41B are guided surfaces 41G parallel to the YZ plane.

In FIGS. 10A and 10B, two support columns 42 are provided on both ends of the upper surface of the pedestal 41 in the X-axis direction so as to face each other in the X-axis direction, and extend in the Z-axis direction. Two of the four rollers 43 are arranged side by side in the Z-axis direction on the outer side surfaces of each of the two columns 42 . The base portion 44 has a shape that spreads in the XY plane, and the lower surface is supported by two struts 42 .

10(a) and 10(b), the nozzle support 45 is made of a block-shaped member and is provided on the upper surface side of the base portion 44. As shown in FIG. The nozzle support 45 is provided with a plurality of nozzle insertion holes 45H that are open on the upper surface in a matrix (see also FIGS. 11(a) and 11(b)). The inner diameter of each nozzle insertion hole 45H is slightly larger than the outer diameter of the tube portion 23 of the nozzle 21 .

In FIGS. 10(a) and 10(b), the shutter 46 is composed of a rectangular plate-like member extending in the XY plane. The shutter 46 is positioned above the nozzle support 45 and is slidable relative to the nozzle support 45 in the X-axis direction. The shutter 46 has a plurality of circular holes 46C provided in the same arrangement as the plurality of nozzle insertion holes 45H provided in the nozzle support 45 (see also FIGS. 11(a) and 11(b)).

The inner diameter of each circular hole 46</b>C provided in the shutter 46 is larger than the inner diameter of the nozzle insertion hole 45</b>H of the nozzle support 45 and the outer diameter of the flange 24 of the nozzle 21 . A plurality of circular holes 46C aligned in the X-axis direction are penetrated by grooves 46M extending in the X-axis direction (see also FIGS. 11(a) and 11(b)). The width (dimension in the Y-axis direction) of each groove 46M is smaller than the outer diameter of the collar portion 24 of the nozzle 21 and larger than the outer diameter of the base portion 22 of the nozzle 21 .

10(a), (b) and FIGS. 11(a), (b), below the shutter 46 is a frame-shaped member 47 that is coupled to the shutter 46 and moves integrally with the shutter 46 in the X-axis direction. is provided. An end portion of the frame member 47 on the central side of the base 11 is provided with an operated piece 48 that protrudes and extends toward the central portion of the base 11 (FIGS. 10B and 11A). ), (b)). In FIGS. 11A and 11B, an urging member 49 composed of, for example, a tension spring is provided between the frame member 47 and the nozzle support 45. As shown in FIG. The biasing member 49 biases the frame member 47 (that is, the shutter 46) against the nozzle support 45 in the X-axis direction.

When no force acts on the operated piece 48, the shutter 46 is biased by the biasing member 49 and positioned at the closed position (FIG. 11(a)). When the shutter 46 is positioned at the closed position, the center of each of the plurality of circular holes 46C provided in the shutter 46 is shifted in the X-axis direction with respect to the center of each nozzle insertion hole 45H provided in the nozzle support 45. position (FIG. 11(a)).

From the state where the shutter 46 is positioned at the closed position, the operated piece 48 is operated in the X-axis direction (to the left in FIGS. 11A and 11B) against the biasing force of the biasing member 49. Then (arrow F shown in FIG. 11B), the shutter 46 integrated with the operated piece 48 via the frame member 47 is slid in the operating direction. The shutter 46 is located at an open position shifted in the X-axis direction from the closed position (Fig. 11(a) -> Fig. 11(b)).

When the shutter 46 is at the open position (FIG. 11(b)), the centers of the plurality of circular holes 46C provided in the shutter 46 are aligned with the centers of the nozzle insertion holes 45H provided in the nozzle support 45. match. When the shutter 46 is at the open position, the pipe portion 23 of the nozzle 21 can be inserted through the circular hole 46C of the shutter 46 and into the nozzle insertion hole 45H of the nozzle support 45 from above. The nozzle 21 into which 23 has been inserted can also be pulled upward.

When the operating force for operating the operated piece 48 in the X-axis direction is removed from the state in which the shutter 46 is at the open position, the shutter 46 is urged by the urging member 49 to return to the closed position (FIG. 11B). FIG. 11(a)). When the shutter 46 is positioned at the closed position (FIG. 11(a)), the flange 24 of the nozzle 21 with the tube 23 inserted into the nozzle insertion hole 45H interferes with the lower surface of the shutter 46, so the nozzle 21 must be pulled upward. can't. Therefore, the nozzle 21 inserted into the nozzle insertion hole 45H will not fall off the nozzle replacement base 31 when the shutter 46 is in the closed position.

FIG. 12 shows the switchboard holding portion 32 . Although the front-side switchboard holding portion 32 is shown here, the rear-side switchboard holding portion 32 has the same configuration. In FIG. 12, the exchange stand holding section 32 includes a base plate 51, two support plates 52, two roller guides 53, an elevating cylinder 54, an elevating plate 55, a shutter operating cylinder 56, and a shutter operating section 57 as a movable section operating section. I have. The base plate 51 is composed of a flat member. The two support plates 52 are provided on both ends of the base 11 in the X-axis direction so as to face each other in the X-axis direction, and extend in the Z-axis direction. The two roller guides 53 are provided on the inner surface side of each of the two support plates 52 (surfaces on the side where the support plates 52 face each other in the X-axis direction).

12 and 13, each of the two roller guides 53 has a front wall 61 and a rear wall 62 located on the central side of the base 11 of the front wall 61 . A space between the front wall 61 and the rear wall 62 forms a guide groove 63 extending in the Z-axis direction. The guide groove 63 has a lateral width W2 (FIGS. 12 and 13) slightly larger than the outer diameter W1 (FIG. 10A) of the roller 43. As shown in FIG. A groove portion 61M penetrating in the Y-axis direction is provided in the front wall 61 so as to extend in the Z-axis direction (FIG. 13). A vertical width W3 (FIGS. 12 and 13) of the groove portion 61M is larger than the outer diameter W1 of the roller 43. As shown in FIG.

12 and 13, the elevating cylinder 54 as elevating means for elevating the nozzle exchange table 31 is provided with an elevating rod 54R, which is a piston rod thereof, directed downward. The elevating plate 55 is a member that supports the pedestal 41 of the nozzle replacement table 31 from below, and is connected to the lower end of the elevating rod 54R. The lifting plate 55 moves (lifts) in the Z-axis direction when the lifting cylinder 54 operates the lifting rod 54R.

In FIG. 12, two guide rollers 55R extending in the Z-axis direction and rotatable around the Z-axis are provided side by side in the Y-axis direction at both ends of the upper surface of the lifting plate 55 in the X-axis direction. (see also Figure 13). A pressing member 55P is provided extending in the Y-axis direction above each of the two guide rollers 55R on the left and right (two guide rollers 55R aligned in the Y-axis direction) among the four guide rollers 55R. The distance between the two guide rollers 55R facing each other in the X-axis direction (the distance in the X-axis direction) is slightly larger than the width of the base inner part 41B of the nozzle exchange table 31 in the X-axis direction. In addition, the distance between the upper surface of the base plate 51 and the lower surface of each pressing member 55P (the distance in the Z-axis direction) is slightly larger than the thickness direction dimension of the pedestal inner portion 41B of the nozzle exchange base 31. .

In FIG. 12, the shutter operating cylinder 56 is provided at a position closer to the central portion of the base 11 than the elevating cylinder 54 with a shutter operating rod 56R, which is a piston rod thereof, directed in the X-axis direction. The shutter operation portion 57 extends in the Z-axis direction, and its lower end is connected to the tip portion of the shutter operation rod 56R. When the shutter operating cylinder 56 operates the shutter operating rod 56R, the shutter operating part 57 moves in the X-axis direction while maintaining the posture extending in the Z-axis direction.

When the feeder carriage 14 is connected to the base 11 to be held by the exchange table holding portion 32 (that is, when the nozzle exchange table 31 is installed on the base 11), first, the carrier holding member 14A of the feeder carriage 14 is The nozzle exchange table 31 is mounted on the mounting table 36 attached to the . When mounting the nozzle exchange table 31 on the mounting table 36, the pedestal 41 of the nozzle exchange table 31 is mounted on the upper surface of the mounting table 36 (FIGS. 9 to 14). At this time, the positioning projections 41K on the lower surface of the pedestal 41 are fitted into the fitting holes 36K of the mounting table 36 from above, and the mounting table 36 is positioned between the two guide projections 41T. As a result, the nozzle exchange table 31 is positioned at a specified position with respect to the mounting table 36 (FIG. 14).

After placing the nozzle exchange table 31 on the mounting table 36, the operator OP moves the feeder carriage 14 on the floor to convey it to the base 11, and connects the carriage-side connector 14C of the feeder carriage 14 to the base-side connector 11C. infiltrate into. When the fitting is detected by the carriage detection sensor 11M, the carriage lock section 11R controlled by the control device 20 locks the feeder carriage 14 to the base 11 and connects the feeder carriage 14 to the base 11. After the feeder carriage 14 is connected to the base 11, the nozzle exchange table 31 mounted on the mounting table 36 is exchanged in the area between the parts feeder 15 attached to the feeder carriage 14 and the exchange table holder 32. It is transferred to the table holding part 32 .

When the feeder carriage 14 is pushed into the base 11, the pedestal inner portion 41B of the nozzle exchange table 31 mounted on the mounting table 36 is positioned in the space between the lifting plate 55 of the exchange table holding portion 32 and the pressing member 55P. Enter (Fig. 15 → Fig. 16 → Fig. 17). As a result, the exchange table holder 32 receives the nozzle exchange table 31 from the mounting table 36 . When the pedestal back portion 41B of the nozzle replacement table 31 enters between the lifting plate 55 of the replacement table holding portion 32 and the pressing member, the two guided surfaces 41G at both ends of the pedestal inner portion 41B of the nozzle replacement table 31 are replaced. It is guided from the side (in the X-axis direction) by four guide rollers 55R (two each on the left and right) provided in the table holding portion 32 .

The pedestal back portion 41B of the nozzle replacement table 31, which has entered between the lifting plate 55 and the pressing member 55P as described above, rises by a small amount while pressing the pressing member 55P upward. As a result, the nozzle changing table 31 is moved obliquely upward toward the central portion of the base 11 with respect to the changing table holding portion 32 while raising the elevating plate 55 (FIGS. 16 to 17).

When the nozzle exchange table 31 moves obliquely upward toward the central portion of the base 11 with respect to the exchange table holding portion 32, the left, right, upper and lower rollers 43 move toward the two left and right roller guides of the exchange table holding portion 32. 53 (FIGS. 16→17; see arrows M1 and M2 shown in FIG. 16). Specifically, the upper roller 43 of the upper and lower rollers 43 enters the guide groove 63 through the groove 61M provided in the front wall 61 (arrow M1), and the lower roller 43 enters the lower front wall. It enters the guide groove 63 from below 61 (arrow M2).

The left and right upper and lower rollers 43 complete entry into the guide grooves 63 of the left and right roller guides 53 when the feeder carriage 14 is connected to the base 11 . When the feeder truck 14 is locked to the base 11 by the truck lock portion 11R and connected to the base 11, the lift cylinder 54 lifts the lift plate 55. As shown in FIG. As a result, the nozzle changing table 31 is lifted by the lifting cylinder 54 via the lifting plate 55 (FIGS. 17 to 18), and the pedestal 41 of the nozzle changing table 31 is separated from the lifting plate 55 of the changing table holder 32 (thus, , mechanically decoupled from the feeder carriage 14) and move upwards. The lifting cylinder 54 stops lifting the lifting plate 55 when the nozzle exchange table 31 reaches a predetermined height position corresponding to the holding position described above.

When the nozzle changing table 31 is lifted by the lifting cylinder 54, the four rollers 43 (left, right, upper and lower rollers 43) of the nozzle changing table 31 are guided by the guide grooves 63 of the left and right roller guides 53, Move (rise) straight vertically upward. When the nozzle replacement table 31 is positioned at the holding position, the left, right, upper, and lower rollers 43 are held between the front wall 61 and the rear wall 62, respectively. Therefore, the nozzle replacement base 31 is firmly held at a predetermined holding position by the replacement base holder 32 (FIGS. 18 and 19).

As described above, the component mounting apparatus 1 according to the present embodiment includes a nozzle exchange table 31 that holds a replacement nozzle 21 that can be attached to and detached from the mounting head 17 , and a and a mounting table 36 provided on the feeder carriage 14 on which the nozzle exchange table 31 before being held by the exchange table holder 32 is placed. It is equipped with Then, when the feeder carriage 14 is connected to the base 11 , the exchange table holder 32 receives the nozzle exchange table 31 from the mounting table 36 and raises it, and holds the nozzle exchange table 31 in a state separated from the mounting table 36 . It is designed to hold in place.

The exchange table holding unit 32 serves as an exchange table moving means for moving up and down the nozzle exchange table 31 received from the mounting table 36, and a lift cylinder 54 and a nozzle exchange table 31 moved upward by the lift cylinder 54 to move upward toward the holding position. When the nozzle exchange table 31 is moved upward by the lifting cylinder 54, the four rollers of the nozzle exchange table 31 are guided by the left and right roller guides 53. By doing so, it rises straight upward vertically and is held at the holding position.

Further, as described above, the movement of the nozzle replacement table 31 obliquely upward toward the central portion of the base 11 with respect to the replacement table holding portion 32 (FIGS. 16 to 17) causes the nozzle replacement table 31 to move. The operated piece 48 is located on the side of the shutter operation portion 57 provided in the exchange table holding portion 32 (FIGS. 16→17 and FIG. 20(a)→FIG. 20(b)). After that, the nozzle replacement table 31 is moved upward by the elevating cylinder 54. At this time, the nozzle replacement table 31 moves straight upward, so that the operated piece 48 is positioned on the side of the shutter operating portion 57. The state is maintained (FIGS. 17→18).

As described above, when the nozzle exchange table 31 is held at a predetermined holding position by the exchange table holding portion 32, the operated piece 48 is positioned to the side of the shutter operation portion 57, so that the shutter operation cylinder 56 operates the shutter. By moving the operating portion 57 in the X-axis direction, the shutter 46 can be switched from the closed position to the open position (FIG. 21(a)→FIG. 21(b)). After switching the shutter 46 to the open position, when the shutter operating portion 57 is returned to its original position by the shutter operating cylinder 56, the shutter 46 is returned to the closed position by the biasing force of the biasing member 49 (FIG. 21(b)). )→FIG. 21(a)).

Thus, in the present embodiment, the shutter operation part 57 as a movable part operation part for operating the shutter 46 which is the movable part of the nozzle exchange table 31 and the shutter operation cylinder 56 as an actuator for driving the shutter operation part 57 are provided. It is provided in the switchboard holding portion 32 . With the nozzle exchange base 31 held at the holding position by the exchange base holding portion 32, the shutter operation portion 57 is positioned at a position where the shutter 46 of the nozzle exchange base 31 can be operated.

In FIG. 9, the mounting table 36 is provided with a mounting state detection sensor 71 . The mounting state detection sensor 71 detects the state in which the nozzle exchange table 31 is mounted on the mounting table 36 and outputs the detection signal to the control device 20 . Based on the output of the mounting state detection sensor 71 , the control device 20 detects the state in which the nozzle exchange table 31 is mounted on the mounting table 36 .

In FIG. 12, a holding state detection sensor 72 is provided in the exchange table holding section 32 . The holding state detection sensor 72 detects the state in which the nozzle replacement table 31 is held at the holding position based on the amount of downward protrusion of the piston rod (lifting rod 54R) of the lifting cylinder 54 and the magnitude of the load. A detection signal is output to the control device 20 . Based on the output of the holding state detection sensor 72, the control device 20 detects the state in which the nozzle exchange base 31 is held at the holding position.

As described above, when the feeder carriage 14 is pushed into the base 11, the parts disposal box 33 attached to the feeder carriage 14 enters the facility installation area of the base 11 and is pushed below the discharge port 35Q of the shooter 35. located (FIG. 22(a)→FIG. 22(b)). Therefore, the operator OP can install the component disposal box 33 within the movable range of the mounting head 17 by connecting the feeder carriage 14 to the base 11 without opening the door portion 12C of the base cover 12. can.

The replacement work of the nozzle 21 is performed in a state where the nozzle replacement base 31 is held at the holding position by the replacement base holder 32 . The nozzle 21 is replaced by replacing the nozzle 21 attached to the nozzle shaft 17S by holding the nozzle 21 on the nozzle replacement base 31 and removing it from the nozzle shaft 17S. It is done by attaching to the shaft 17S. At this time, when there are a plurality of nozzles 21 to be replaced, the replacement work for the plurality of nozzles 21 is performed collectively.

In the nozzle replacement work, when removing the nozzle 21 from the nozzle shaft 17S, first, the shutter operating cylinder 56 is operated to position the shutter 46 from the closed position to the open position (FIG. 21(a)→FIG. 21(b)). )). Then, the mounting head 17 is moved to align the vertical center axis of the nozzle 21 with the vertical center axis of the nozzle insertion hole 45H of the nozzle exchange base 31. FIG. When the vertical center axis of the nozzle 21 and the vertical center axis of the nozzle insertion hole 45H are aligned, the mounting head 17 lowers the nozzle shaft 17S, and the nozzle 21 attached to the nozzle shaft 17S is inserted into the empty nozzle insertion hole 45H. insert it.

When the nozzle 21 is inserted into the nozzle insertion hole 45H, the shutter operating cylinder 56 is operated to move the shutter 46 from the open position to the closed position (Fig. 21(b) -> Fig. 21(a)). When the mounting head 17 pulls up the nozzle shaft 17S with the shutter 46 positioned at the closed position, the flange 24 of the nozzle 21 interferes with the shutter 46 and is prevented from moving upward. 17S, the nozzle 21 remains on the nozzle exchange table 31. As shown in FIG. As a result, the nozzle 21 is removed from the nozzle shaft 17S.

When the replacement nozzle 21 is attached to the nozzle shaft 17S from which the nozzle 21 has been removed in this way, first, the mounting head 17 is moved, and the replacement nozzle 21 held on the nozzle replacement base 31 is removed. A nozzle shaft 17S to which the nozzle 21 is attached is positioned above. Then, the vertical center axis of the nozzle shaft 17S is aligned with the vertical center axis of the nozzle 21, and the nozzle shaft 17S is lowered. As a result, the base 22 of the replacement nozzle 21 is coupled (fitted) to the lower end of the nozzle shaft 17S.

When the base 22 of the nozzle 21 is connected to the lower end of the nozzle shaft 17S, the shutter operating cylinder 56 is operated to position the shutter 46 from the closed position to the open position (Fig. 21(a) -> Fig. 21(b)). When the shutter 46 is positioned at the open position, the mounting head 17 pulls up the nozzle shaft 17S. As a result, the nozzle 21 is lifted while being connected to the lower end of the nozzle shaft 17S, and the replacement nozzle 21 is attached to the nozzle shaft 17S. This completes the replacement work of the nozzle 21 .

When removing the nozzle changing table 31 held at the holding position by the changing table holding part 32 by separating the feeder carriage 14 from the base 11, the lift cylinder 14 is removed before separating the feeder carriage 14 from the base 11. 54 lowers the lift plate 55 . As a result, the nozzle exchange table 31 lifted by the lifting plate 55 moves along a path opposite to that when held at the holding position, and is mounted on the mounting table 36 provided on the feeder carriage 14 . . At this time, the four rollers 43 of the nozzle exchange base 31 move vertically downward straight through the guide grooves 63 of the two roller guides 53 of the exchange base holder 32 (FIGS. 18 to 17).

After the nozzle exchange table 31 is mounted on the mounting table 36 as described above, when the feeder carriage 14 is separated from the base 11, the nozzle exchange table 31 remains mounted on the mounting table 36. It moves obliquely downward in a direction away from the center of the table 11 and separates from the lifting plate 55 (FIGS. 17→16). Then, after that, it moves together with the feeder carriage 14 while being placed on the placing table 36, and is separated from the base 11 (FIGS. 16 to 15). In this manner, the exchange table holder 32 lowers the nozzle exchange table 31 from the holding position and places it on the mounting table 36 .

As described above, when the feeder carriage 14 is separated from the base 11, the parts disposal box 33 attached to the feeder carriage 14 is retracted outside the facility installation area of the base 11 (FIG. 22(b)→FIG. 22(a)). Therefore, in the present embodiment, by separating the feeder carriage 14 from the base 11 , the component disposal box 33 can be removed from the movable range of the mounting head 17 .

As the production of substrates by the component mounting apparatus 1 progresses, it becomes necessary to supply the component mounting apparatus with nozzles 21 of a type not held on the nozzle exchange table 31 . In this case, the operator OP performs the work of replacing the nozzle replacement table 31 . Further, as the substrate production progresses, it becomes necessary to replace the component discard box 33 in order to recover the discarded components that have been accumulated in the component discard box 33 until then.

Such replacement work of the nozzle replacement table 31 and the component disposal box 33 is carried out in a situation where the component mounting operation on the side where the nozzle replacement table 31 and the component disposal box 33 to be replaced are installed is stopped. With the door 12C open, the operator OP can insert his or her hand into the work space 11S. However, in this case, since the safety device works by opening the door portion 12C, while the nozzle exchange table 31 or the parts disposal box 33 is being exchanged, the parts on the side opposite to the side where the work is being performed The mounting operation is also forcibly stopped.

In the present embodiment, as described above, by connecting the feeder carriage 14 to the base 11, the nozzle exchange table 31 and the component disposal box 33 are placed within the equipment installation area of the base 11 (that is, the movable range of the mounting head 17). inside), and by separating the feeder carriage 14 from the base 11, the nozzle exchange table 31 and the parts disposal box 33 can be removed from the facility installation area of the base 11, so that the door portion The replacement of the nozzle replacement table 31 and the replacement of the parts disposal box 33 can be performed without opening 12C. In this case, the operator OP does not need to open the door portion 12C of the base cover 12, so the safety device does not operate, and replacement of the nozzle replacement table 31 or replacement of the parts disposal box 33 on either the front side or the rear side is performed. Since the component mounting operation is continued on the other side even while performing the above, the operation of the component mounting apparatus 1 as a whole is maintained.

Therefore, in the component mounting apparatus 1 according to the present embodiment, the replacement work of the nozzle replacement table 31 and the replacement work of the component discard box 33 (that is, the operation of collecting discarded components) can be easily performed without opening the door portion 12C of the base cover 12. can be done. Further, since the door portion 12C cannot be opened, the safety device does not work to forcibly stop the component mounting operation, and the replacement work of the nozzle replacement table 31 and the replacement work of the component disposal box 33 can be performed efficiently. . Next, the operation flow of each part of the component mounting apparatus 1 in the replacement work of the nozzle replacement table 31 by the feeder carriage 14 will be described.

FIG. 23 shows the operation flow of the component mounting apparatus 1 when the feeder carriage 14 connected to the base 11 is separated from the base 11 in the replacement work of the nozzle exchange base 31 . When separating the feeder truck 14 connected to the base 11 from the base 11, the operator OP first performs an input operation requesting permission (separation permission) to separate the feeder truck 14 from the touch panel TP. (Step ST1 in the flow chart of FIG. 23). This separation permission request operation is performed from the touch panel TP on the side where the operator OP wants to separate the feeder carriage 14 . Specifically, when the feeder carriage 14 on the front side of the base 11 is to be separated from the base 11, a separation permission request operation is performed from the touch panel TP on the front side, and the feeder carriage on the rear side of the base 11 is operated. 14 is to be separated from the base 11, a separation permission request operation is performed from the touch panel TP on the rear side.

When the control device 20 detects that there is an operation requesting separation permission from the touch panel TP, when separating the feeder carriage 14 from the base 11, the nozzle change table held by the change table holding unit 32 is removed. 31 is also removed together with the operator OP for confirmation (step ST2). This notification is made by displaying a message asking whether to remove the nozzle exchange base 31 on the screen of the touch panel TP. Then, when the operator OP inputs an answer to the notification on the touch panel TP (step ST3), the control device 20 confirms the content of the answer input by the operator OP in step ST3 (step ST4). Then, if the input answer is to remove the nozzle exchange table 31, the control device 20 operates the elevating cylinder 54 of the exchange table holding section 32 to lower the nozzle exchange table 31 and place it on the mounting table 36. removes the nozzle replacement base 31 from the replacement base holder 32 (step ST5).

After removing the nozzle replacement table 31 from the replacement table holding portion 32, the control device 20 determines whether or not the nozzle replacement table 31 has been removed normally based on the output from the mounting state detection sensor 71 ( step ST6). Specifically, when it is detected that the nozzle replacement table 31 is mounted on the mounting table 36 within a predetermined time after the start of operation of the lifting cylinder 54, the removal of the nozzle replacement table 31 is performed normally. judged to have been On the other hand, if it is not detected that the nozzle replacement table 31 has been placed on the placement table 36 even after the predetermined time has passed, it is determined that the removal of the nozzle replacement table 31 has not been performed normally. .

When the control device 20 determines that the removal of the nozzle replacement base 31 has been performed normally, it causes the carriage lock section 11R to perform an operation to unlock the feeder carriage 14 (step ST7). On the other hand, if it is determined that the removal of the nozzle replacement base 31 has not been performed normally, the control device 20 does not cause the carriage lock section 11R to perform the operation of unlocking the feeder carriage 14, and the operation is performed through the touch panel TP. The operator OP is notified of the error (step ST8). Further, when the control device 20 confirms in step ST4 that the answer input by the operator OP indicates that the nozzle replacement table 31 is not to be removed, the control device 20 removes the nozzle replacement table 31 from the replacement table holding portion 32. Instead, the carriage lock section 11R is caused to unlock the feeder carriage 14 (step ST7).

When unlocking of the feeder carriage 14 by the carriage lock unit 11R is completed, the control device 20 notifies the operator OP that the unlocking of the feeder carriage 14 has been completed through the touch panel TP (step ST9). When the operator OP receives the notification that the feeder carriage 14 has been unlocked through the touch panel TP, the operator OP operates the feeder carriage 14 to separate it from the base 11 (step ST10). This completes the work of separating the feeder carriage 14 from the base 11 .

As described above, in the component mounting apparatus 1 according to the present embodiment, when an input requesting permission to separate the feeder carriage 14 from the base 11 is received from the touch panel TP as an input unit, the control device 20 An inquiry is made to the operator OP as to whether or not the nozzle exchange table 31 held by the holding part 32 is to be removed from the exchange table holding part 32, and if the answer from the operator OP is to remove the nozzle exchange table 31, For example, the exchange table holding unit 32 removes the nozzle exchange table 31 and places it on the mounting table 36, and then the carriage lock unit 11R unlocks the feeder carriage 14, and the answer is to hold the nozzle exchange table 31 on the exchange table. If the content is not to be removed from the unit 32 , the carriage locking unit 11 R unlocks the feeder carriage 14 without causing the exchange table holding unit 32 to remove the nozzle exchange table 31 .

In the above example, when the feeder carriage 14 is separated from the base 11, the nozzle exchange base 31 held by the exchange base holder 32 can be removed together, so the door 12C of the base cover 12 cannot be opened. Even with this, the replacement work of the nozzle replacement table 31 can be easily performed. As described above, when the component mounting operation of the component mounting apparatus 1 is not performed at all, the operator OP opens the door 12C and puts his or her hand into the work space 11S to manually replace the component. It is also possible to replace the nozzle replacement table 31 with respect to the table holding portion 32 . In this case, when manually removing the nozzle replacement table 31 held by the replacement table holding portion 32, the nozzle replacement table 31 positioned at the holding position can be pulled upward as it is. Follow the removal procedure in reverse order.

FIG. 24 shows the flow of operation of the component mounting apparatus 1 when the nozzle replacement table 31 is installed on the base 11 by connecting the feeder carriage 14 to the base 11 in the replacement work of the nozzle replacement table 31 . ing. When installing the nozzle exchange table 31 on the base 11 by connecting the feeder carriage 14 to the base 11, the operator OP first places the nozzle exchange table 31 on the mounting table 36 (Fig. Step ST11 of the flow chart of 24). Then, an input operation for requesting permission (connection permission) for connecting the feeder carriage 14 to the base 11 is performed from the touch panel TP (step ST12). This connection permission request operation is performed from the touch panel TP on the side where the operator OP intends to connect the feeder carriage 14 . Specifically, when the feeder carriage 14 is to be connected to the front side of the base 11 , a connection permission request operation is performed from the touch panel TP on the front side, and the feeder carriage 14 is connected to the rear side of the base 11 . To do so, a connection permission request operation is performed from the touch panel TP on the rear side.

When the control device 20 detects that there is a connection permission request operation from the touch panel TP on the front side or the rear side, the control device 20 connects the switchboard on the side where the feeder carriage 14 is to be connected to the operator OP through the touch panel TP. A request is made to confirm whether the holding unit 32 is empty (step ST13). This request is made by displaying a message on the screen of the touch panel TP to call attention to the operator OP. As a result, the operator OP is prevented from performing an erroneous work of connecting the feeder carriage 14 with the nozzle replacement table 31 in a state where the nozzle replacement table 31 that has not been removed is placed on the replacement table holder 32.例文帳に追加I try not to. Then, after the operator OP visually confirms that the nozzle exchange table 31 is not placed on the exchange table holding portion 32, and then responds to that effect from the touch panel TP (step ST14), the control device 20 , prompts the operator OP to connect the feeder carriage 14 to the base 11 through the touch panel TP (step ST15).

When the operator OP is prompted to connect the feeder carriage 14 to the base 11, the operator OP pushes the feeder carriage 14 into the base 11 (step ST16). After prompting the operator OP to connect the feeder carriage 14 to the base 11 in step ST15, the control device 20 determines a position where the feeder carriage 14 can be connected to the base 11 based on the output of the carriage detection sensor 11M. is reached (step ST17). Then, when the control device 20 detects that the feeder truck 14 has reached the connectable position, the controller 20 locks the feeder truck 14 with the truck lock section 11R and connects it to the base 11 (step ST18). The elevating cylinder 54 of the exchange table holding portion 32 is operated to hold the nozzle exchange table 31 by the exchange table holding portion 32 (step ST19). This completes the installation of the nozzle replacement table 31 on the base 11 .

In the work shown in the flowchart of FIG. 23 , the operator OP determines whether or not to remove the nozzle replacement table 31 together with the feeder carriage 14 , but the component mounting apparatus 1 may determine. FIG. 25 is a flow chart showing a modification thereof.

The operator OP first performs an input operation requesting permission to separate the feeder truck 14 from the touch panel TP (separation permission) (step ST21). This separation permission request operation is performed from the touch panel TP on the side where the operator OP wants to separate the feeder carriage 14 . When the control device 20 detects that there is an operation requesting separation permission from the touch panel TP, the control device 20 refers to the setup change information stored in the storage unit of the control device 20 or a server device that can communicate with the control device 20. (step ST22).

This setup change information is created in advance based on the production plan. Then, if the control device 20 can confirm that the nozzle change table 31 is to be removed together with the feeder carriage 14 for which separation permission has been requested (step ST23), the control device 20 operates the elevating cylinder 54 of the change table holding section 32. to remove the nozzle replacement table 31 from the replacement table holder 32 (step ST24). Then, when it is confirmed that the removal of the nozzle replacement table 31 has been performed normally (step ST25), the carriage lock section 11R is made to unlock (step ST26). Further, when the control device 20 confirms that the nozzle replacement table 31 is not to be removed (step ST23), it skips steps ST24 and ST25 and causes the carriage lock section 11R to unlock (step ST26). If it is determined that the removal of the nozzle replacement base 31 has not been performed normally, the control device 20 does not cause the carriage lock section 11R to perform the operation of unlocking the feeder carriage 14, and the operator OP through the touch panel TP. is notified of the error (step ST27).

When unlocking of the feeder carriage 14 by the carriage locking unit 11R is completed, the control device 20 notifies the operator OP that the unlocking of the feeder carriage 14 has been completed through the touch panel TP (step ST28). When the operator OP receives the notification that the lock of the feeder carriage 14 has been released through the touch panel TP, the operator OP operates the feeder carriage 14 to separate it from the base 11 (step ST29). As described above, in the modified example, the component mounting apparatus 1 determines whether or not to remove the nozzle exchange table 31 based on the information (changeover information) based on the production plan, so that the operator OP's error in judgment and confirmation can be prevented. can.

FIG. 26 shows a combination of a mounting system including a component mounting apparatus 1, a self-propelled automatic carrier 81, and an automatic carrier system having a management device 82 that guides the automatic carrier 81 to run on the floor surface. A configuration example of a work system 83 is shown. The automatic guided vehicle 81 is equipped with a wireless communication device 81T, and the management device 82 wirelessly exchanges signals with the automatic guided vehicle 81 through the wireless communication device 81T using the wireless communication device 82T. The automatic carrier 81 has a catch mechanism (not shown) that lifts and catches the feeder carriage 14 . The automatic guided vehicle 81 travels while being radio-guided by the management device 82, enters below the feeder carriage 14, catches the feeder carriage 14 by means of a catching mechanism, and conveys in a state of being lifted from the floor surface. In this work system 83 , the feeder carriage 14 can be connected to or separated from the base 11 by the management device 82 causing the automatic carrier 81 to travel to convey the feeder carriage 14 . The catching mechanism is not limited to lifting the feeder carriage 14, and may be engaged with the feeder carriage 14 in a towable state.

The mounting system includes at least the component mounting apparatus 1 and an information management section 205 connected to the control device 200 of the component mounting apparatus 1 . The information management unit 205 functions as a higher-level control unit of the component mounting apparatus 1, downloads data and programs necessary for operating the component mounting apparatus 1 to the component mounting apparatus 1, and stores information indicating the state of the component mounting apparatus 1, Receive log information, etc. The management device 82, the information management unit 205, and the control device 200 are connected by a wired or wireless communication network, and the automatic carrier system and the mounting system carry the feeder carriage 14 while communicating with each other through the communication network.

The management device 82 includes a first notification unit 821 for notifying the mounting system of arrival notification that the automatic guided vehicle 81 has arrived at a position where the feeder carriage 14 can be transported, and an arrival notification from the mounting system to the feeder carriage 14 by the carriage lock unit 11R. has a first processing unit 822 for separating the feeder carriage 14 from the component mounting apparatus 1 by moving the automatic guided vehicle 81 away from the base 11 when receiving a release notification that the lock has been released. .

The control device 200 has a function of controlling the component mounting apparatus 1 and also has a second notification section 202 and a second processing section 203 . When the second processing unit 203 receives the arrival notification from the automatic transport system, the second processing unit 203 transfers the nozzle exchange table 31 from the exchange table holding unit 32 to the mounting table 36 and releases the lock of the feeder carriage 14 by the carriage lock unit 11R. to perform the release operation. The second notification unit 202 notifies the automated transport system of a release notification when the release operation by the carriage lock unit 11R is normally performed.

Further, the control device 200 has a determination section 204 that determines whether or not to remove the nozzle replacement table 31 held by the replacement table holding section 32 . The determination unit 204 refers to the setup change information stored in the control device 200 or the information management unit 205 to determine whether or not the nozzle exchange base 31 is to be removed. This setup change information is created in advance based on the production plan.

FIG. 27 shows the flow of operation when the feeder carriage 14 connected to the base 11 is separated from the base 11 by the automatic carrier 81 . When the feeder carriage 14 connected to the base 11 is separated from the base 11 by the automatic carrier 81, the automatic carrier 81 is first brought to a position near the component mounting apparatus 1 by the management device 82, and then A predetermined feeder carriage 14 mounted on the component mounting apparatus 1 is moved to a position (separation work standby position) where a separation work can be started. In the present embodiment, the position under the feeder carriage 14 is the separation work standby position. Then, when the automatic carrier 81 reaches the separation work standby position (step ST31 in FIG. 27), the first notification unit 821 notifies the controller 20 of the component mounting device 1 that the automatic carrier 81 The mounted system is notified of an arrival notification indicating that the user has arrived at a location near (step ST32). This arrival notification is sent via the information management unit 205 to the controller 20 of the component mounting apparatus 1 on which the feeder carriage 14 to be removed is mounted.

Upon receiving the arrival notification, the determination unit 204 refers to the setup change information and determines whether or not to remove the nozzle exchange table 31 (step ST33). Then, when the determination unit 204 determines to remove the nozzle replacement table 31, the second processing unit 203 causes the replacement table holding unit 32 to remove the nozzle replacement table 31 (step ST34). Then, based on the output from the placement state detection sensor 71, it is determined whether or not the removal of the nozzle replacement base 31 by the replacement base holder 32 has been performed normally (step ST35). When the determination unit 204 determines that the removal of the nozzle replacement table 31 has been performed normally, the second processing unit 203 starts the separation work and causes the carriage lock unit 11R to unlock the feeder carriage 14 (step ST36). .

On the other hand, when the second processing section 203 determines in step ST35 that the removal of the nozzle replacement table 31 was not performed normally, the second processing section 203 does not cause the carriage lock section 11R to unlock the feeder carriage 14, and displays the touch panel. An error notification is sent to the operator OP through the TP (step ST37). Further, when the determination unit 204 determines in step ST23 not to remove the nozzle replacement base 31, the second processing unit 203 starts the separation work without causing the replacement base holding unit 32 to remove the nozzle replacement base 31. Then, the carriage lock section 11R is caused to unlock the feeder carriage 14 (step ST36).

When the carriage lock unit 11R is unlocked in step ST36, the second notification unit 202 notifies the automated transport system of completion of unlocking (hereinafter referred to as unlock notification) through the information management unit 205. (step ST38). Then, when receiving the unlock notification, the first notification unit 821 of the management device 82 instructs the automatic guided vehicle 81 to separate the feeder carriage 14 (carriage separation) (step ST39). The automatic guided vehicle 81 that has received the instruction to separate the carriage lifts the feeder carriage 14 and floats it from the floor to catch it, and moves away from the component mounting apparatus 1 while the feeder carriage 14 is lifted from the floor. Run (step ST40). This completes the separation work for separating the feeder carriage 14 from the base 11 .

As described above, in the work system 83 composed of the mounting system and the automatic transport system, before the management device 82 causes the automatic transport vehicle 81 to transport the feeder carriage 14 to separate the feeder carriage 14 from the base 11, the control device 200 determines whether or not the nozzle exchange table 31 held by the exchange table holder 32 is to be removed from the exchange table holder 32. 31 is removed and placed on the mounting table 36, the lock of the feeder carriage 14 is released by the carriage lock portion 11R, and when the nozzle exchange table 31 is not removed, the nozzle exchange table 31 is attached to the exchange table holding portion 32. The lock of the feeder carriage 14 is released by the carriage lock portion 11R without removing the feeder carriage 14.例文帳に追加

FIG. 28 shows the flow of operation when the feeder carriage 14 is connected to the base 11 by the automatic carrier 81 and the nozzle exchange base 31 is installed on the base 11 . When the automatic guided vehicle 81 connects the feeder carriage 14 to the base 11 , first, the automatic guided vehicle 81 moves the feeder carriage 14 to be connected to the component mounting apparatus 1 to a connection standby position near the component mounting apparatus 1 . transport. Then, when the automatic guided vehicle 81 arrives at the connection work standby position (step ST41 in FIG. 28), the first notification unit 821 that has detected this notifies the information management unit 205 of the mounting system that the automatic guided vehicle 81 is a feeder carriage. 14 is conveyed to the connection work waiting position where the connection work can be started (step ST42). At the connection work standby position, the automatic guided vehicle 81 waits with the mounting table 36 of the feeder carriage 14 facing the component mounting apparatus 1 side.

The information management section 205 relays the arrival notification from the first notification section 821 to the control device 200 of the component mounting apparatus 1 . Upon receiving the arrival notification, the second processing section 203 of the control device 200 checks whether or not the nozzle exchange table 31 remains in the exchange table holding section 32 to which the feeder carriage 14 is connected (step ST43). Specifically, this confirmation is performed by determining whether or not the nozzle exchange base 31 is held by the exchange base holder 32 based on the output of the holding state detection sensor 72 described above.

The second processing unit 203 determines whether or not the nozzle exchange table 31 can be attached to the exchange table holding unit 32 based on whether the nozzle exchange table 31 is held by the exchange table holding unit 32 (step ST44). Then, when the second processing unit 203 determines that the nozzle replacement table 31 is not held by the replacement table holding unit 32 and that the nozzle replacement table 31 can be attached, the information management unit 205 Permission for connection is notified to the automatic carrier system (step ST45), and a standby state waits for the detection of the feeder carriage 14 conveyed by the automatic carrier 81 by the carriage detection sensor 11M (step ST46). On the other hand, if it is determined in step ST44 that the nozzle exchange base 31 cannot be attached, an error notification is sent to the operator OP through the touch panel TP (step ST47).

When the first processing unit 822 of the management device 82 receives the connection permission from the mounting system side, it sends an operation command to the automatic guided vehicle 81 waiting at the connection work standby position to start the connection work (step ST48). . The automatic transport vehicle 81 that has received the operation instruction from the first processing unit 822 transports the feeder carriage 14 toward the base 11 (step ST49).

When the feeder carriage 14 approaches the base 11 and the carriage-side connector 14C fits into the base-side connector 11C, the carriage detection sensor 11M reacts. It is detected that the work standby position has been reached (step ST46). When the second processing unit 203 detects that the feeder truck 14 has reached the connection work standby position, it locks the feeder truck 14 with the truck locking unit 11R and connects it to the base 11 (step ST50). This completes the connection work of the feeder truck 14 . After that, the second processing section 203 operates the elevating cylinder 54 of the exchange table holding section 32 to hold the nozzle exchange table 31 by the exchange table holding section 32 (step ST51). This completes the installation of the nozzle replacement table 31 on the base 11 . Note that when the feeder carriage 14 on which the replacement nozzle replacement table 31 is not set is connected, step ST51 is skipped.

After causing the exchange table holding section 32 to hold the nozzle exchange table 31, the second notification section 202 notifies the automatic transport system of the completion of the connection that the connection work of the feeder carriage 14 is completed (step ST52). The first processing section 822, which has received the notification of the completion of connection, instructs the automatic guided vehicle 81 to leave (step ST53). The automatic guided vehicle 81 that has received the detachment instruction releases the grip on the feeder carriage 14 and detaches from the feeder carriage 14 (step ST54).

As described above, in the component mounting apparatus 1 according to the present embodiment, when the feeder carriage 14 is connected to the base 11 with the nozzle exchange table 31 mounted on the mounting table 36, the exchange table holder 32 is Since the nozzle exchange table 31 is received from the mounting table 36 and held within the movable range of the mounting head 17, the operator OP can easily operate the nozzle exchange table 31 without opening the door portion 12C of the base cover 12. can be installed on the base 11.

In holding the nozzle exchange table 31, the nozzle exchange table 31 is held by the exchange table holder 32 because the exchange table holder 32 holds the nozzle exchange table 31 in a state separated from the mounting table 36. After that, the feeder carriage 14 can be removed from the base 11 as it is. Further, after the exchange table holder 32 returns the held nozzle exchange table 31 to the mounting table 36 , the feeder carriage 14 is separated from the base 11 , so that the nozzle exchange table 31 is moved from the base 11 together with the feeder carriage 14 . It can be retracted to the outside and removed from the base 11 . Therefore, according to the component mounting apparatus 1 of the present embodiment, the operator OP can easily remove the nozzle replacement base 31 from the base 11 without opening the door portion 12C of the base cover 12. can.

Since the door portion 12C of the base cover 12 cannot be opened when installing and removing the nozzle replacement table 31, the safety device does not work to stop the component mounting operation. The nozzle exchange table 31 can be exchanged. Therefore, according to the component mounting apparatus 1 of the present embodiment, the operator OP can easily and efficiently replace the nozzle replacement base 31 without opening a portion of the base cover 12 (the door portion 12C). can be done.

Further, when the feeder carriage 14 is connected to the base 11 , the component disposal box 33 attached to the feeder carriage 14 is positioned within the movable range of the mounting head 17 . The parts disposal box 33 can be easily installed on the base 11 without opening 12C. By separating the feeder carriage 14 from the base 11, the parts disposal box 33 can be pulled out of the base 11 together with the feeder carriage 14 and removed from the base 11. It is possible to collect discarded parts that have been thrown into. Therefore, according to the component mounting apparatus of the present embodiment, the operator OP can easily replace the component discard box 33 (recover the discarded components) without opening the door portion 12C of the base cover 12. can be done.

In addition, since the door portion 12C of the base cover 12 cannot be opened when the component disposal box 33 is installed or removed, the safety device does not work to stop the component mounting operation, and the operator OP can efficiently dispose of the components. The disposal box 33 can be replaced. Therefore, according to the component mounting apparatus 1 of the present embodiment, the operator OP can easily and efficiently replace the component disposal box 33 ( collection work of discarded parts) can be performed.

As described above, according to the component mounting apparatus 1 of the present embodiment, the operator OP can place the component disposal box 33 on the base 11 without opening a portion of the base cover 12 (the door portion 12C). Since the parts disposal box 33 installed on the base 11 can be removed from the base 11, the replacement work of the parts disposal box 33 (recovery of discarded parts) can be performed easily and efficiently. be able to.

Although the embodiments of the present invention have been described so far, the present invention is not limited to those described above, and various modifications and the like are possible. For example, in the above-described embodiment, the feeder carriage 14 is connected to a plurality of locations (the front side and the rear side) of the base 11, but this is an example, and the feeder carriage 14 is connected to one location on the base 11. It does not matter if the configuration is such that it can be attached. Also, the feeder carriages 14 may be connected to a plurality of locations on the front side and the rear side. In addition, the configuration of the nozzle exchange table 31, the configuration of the exchange table holding portion 32, the component disposal box 33, the box holding member 34, etc. are examples, and the configurations other than those shown in the above-described embodiments may be used. good. The carriage detection sensor 11M serves as carriage detection means for detecting that the feeder carriage 14 is positioned at a position where it can be connected to the base 11. As the carriage detection means, an optical sensor, a magnetic sensor, or an electric It is also possible to use a device that detects the target.

Also, in the example of the work system 83, the management device 82 is configured to have the first notification unit 821 and the first processing unit 822, but all or part of these are realized by the automatic guided vehicle 81. may Similarly, the control device 200 is configured to have the second notification unit 202, the second processing unit 203, and the determination unit 204. good.

To provide a component mounting device capable of easily and efficiently exchanging a component disposal box.

1 Component Mounting Device 11 Base 13 Conveyor (Board Positioning Unit)
14 feeder carriage 14F feeder base 15 parts feeder 17 mounting head 21 nozzle 33 parts disposal box 34 box holding member 35 shooter 35P inlet 35Q outlet KB substrate BH parts

Claims (5)

a base;
a substrate positioning portion provided on the base for positioning the substrate;
a feeder carriage that can be freely connected and separated from the base;
a parts feeder attached to the feeder carriage to supply parts while the feeder carriage is connected to the base;
a mounting head that sucks a component supplied by the parts feeder using a nozzle and mounts the component on the substrate positioned by the substrate positioning unit;
a parts disposal box into which discarded parts discarded without being attached to the board are thrown out of the parts picked up from the parts feeder by the mounting head,
The parts disposal box is detachably attached to the feeder carriage, and when the feeder carriage is connected to the base, the parts disposal box is located at a position where discarded parts discarded from the mounting head can be recovered,
The parts disposal box is detachably attached to and held by a box holding member provided on the feeder carriage,
The component disposal box is located above the base beyond the end of the feeder carriage on the base when the feeder carriage is connected to the base. a tip portion of the box holding member is located above the base beyond an end portion of the feeder carriage on the side of the base when the feeder carriage is connected to the base;
2. The component mounting apparatus according to claim 1, wherein said box holding member supports and holds said box-shaped component disposal box whose upper end is open at its tip from below . 3. The component mounting apparatus according to claim 2, wherein the feeder carriage has a feeder base on which a parts feeder is mounted, and the box holding member is positioned at a position protruding from the feeder base toward the board positioning portion. . An inlet is provided on the base and opens upward to receive discarded parts discarded by the mounting head. a shooter having an exit;
4. The component mounting apparatus according to any one of claims 1 to 3, wherein the component disposal box is positioned below the shooter when the feeder carriage is connected to the base. 5. The component mounting apparatus according to claim 4, wherein the opening area of the inlet of the shooter is larger than the opening area of the outlet.

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