JP7408233B2 - Part mounting machine, pallet exchange machine - Google Patents

Description

The present invention relates to a component mounting technique for mounting components supplied on a pallet onto a board.

2. Description of the Related Art Conventionally, a component mounting machine is known in which a mounting head picks up components supplied via a tray on a pallet and mounts them on a board. In such a component mounting machine, components are supplied using a tray feeder (pallet exchanger). For example, the tray feeder disclosed in Patent Document 1 includes a magazine holding section (magazine mounting section) that detachably holds a magazine. This magazine has a plurality of pallet holding plates (pallet slots) arranged in the vertical direction, and a pallet can be inserted into and removed from each pallet slot. Then, the pallet pulled out from the pallet slot by the take-out mechanism is used for parts supply.

JP2016-096260A

In such a pallet exchange machine, the magazine mounting portion into which the magazine is mounted is open on both sides in the horizontal direction. On the other hand, on one side of the magazine mounting section, a pallet transport device for pulling out the pallet operates. Therefore, in order to prevent objects entering from the opening on one side of the magazine mounting section, that is, the pallet supply port for supplying pallets, from interfering with the pallet transport device, the pallet supply port is configured to be closed by a shutter. are required to do so.

However, the magazine is required to have a height that allows the plurality of pallet slots to be lined up vertically, and the pallet supply port of the magazine mounting section into which the magazine is mounted has a large opening in the vertical direction. Therefore, for example, if the pallet supply port is opened and closed by an elevating shutter plate, the elevating shutter plate needs to have a height sufficient to close the pallet supply port, and when the shutter plate opens the pallet supply port, the shutter plate sticks out upwards. As a result, there was a risk that the pallet exchange machine would become larger.

This invention was made in view of the above problems, and it is possible to open and close the pallet supply port of the magazine mounting section where the magazine is mounted with a shutter, and to compactly accommodate the shutter when the pallet supply port is opened. The purpose is to provide technology that makes it possible.

The component mounting machine according to the present invention includes a magazine mounting section having a first pallet supply port that opens on one side in the horizontal direction, and a first pallet replenishment port that opens on the other side opposite to the one side in the horizontal direction; A first shutter accommodating part provided above the magazine mounting part and extending in the horizontal direction, a first closed position facing the first pallet supply port from one side, and a first open position that is accommodated in the first shutter accommodating part. position, and is movable along a magazine shutter path provided across the first closed position to close the first pallet supply port, and the first open position to close the first pallet supply port. It includes a magazine shutter that opens the mouth, a magazine shutter drive unit that drives the magazine shutter along the magazine shutter path, a pallet transport device provided on one side of the magazine mounting unit, and a mounting head that mounts components on the board. , a magazine can be inserted into and removed from the magazine mounting section from the other side via the first pallet replenishment port, and the magazine has a plurality of pallet slots lined up in the vertical direction, and a , the pallet containing the components can be inserted and removed, the pallet transport device pulls out the pallet from the pallet slot of the magazine to one side through the first pallet supply port, and the mounting head moves the pallet pulled out to the pallet transport device. The magazine shutter has a plurality of magazine slats arranged along the magazine shutter path and rotatably connected to each other, and the magazine shutter is located at a first closed position. When the magazine shutter is in the first open position, the magazine slats included in the magazine shutter are lined up vertically to close the first pallet supply port, and when the magazine shutter is in the first open position, the magazine slats included in the magazine shutter are lined up horizontally. The pallets are lined up and housed in the first shutter accommodating part to open the first pallet supply port.

The pallet exchange machine according to the present invention includes a magazine mounting section having a first pallet supply port that opens on one side in the horizontal direction, a first pallet replenishment port that opens on the other side opposite to the one side in the horizontal direction; A first shutter accommodating part provided above the mounting part and extending horizontally; a first closed position facing the first pallet supply port from one side; and a first open position accommodated in the first shutter accommodating part. It is movable along a magazine shutter path provided across the first closed position to close the first pallet supply port, and the first open position to close the first pallet supply port. a magazine shutter that opens and a magazine shutter drive unit that drives the magazine shutter along a magazine shutter path; a magazine can be inserted into and removed from the magazine mounting unit from the other side via a first pallet replenishment port; The magazine has a plurality of pallet slots arranged in a vertical direction, a pallet containing parts can be inserted into and removed from each of the plurality of pallet slots, and the magazine shutters are arranged along a magazine shutter path, It has a plurality of magazine slats that are rotatably connected to each other, and when the magazine shutter is located at the first closed position, the magazine slats included in the magazine shutter are vertically lined up to close the first pallet supply port. , when the magazine shutter is located at the first open position, the magazine slats included in the magazine shutter are arranged horizontally and accommodated in the first shutter accommodating portion, opening the first pallet supply port.

In the present invention (component mounting machine, pallet exchange machine) configured in this way, the first pallet supply port is closed by being located in the first closed position, and the first pallet supply port is closed by being located in the first open position. A magazine shutter that opens is provided. The magazine shutter has a plurality of magazine slats arranged along a magazine shutter path and rotatably connected to each other. Then, when the magazine shutter is located at the first closed position, the magazine slats included in the magazine shutter are vertically lined up to close the first pallet supply port. On the other hand, a first shutter accommodating portion extending horizontally is provided above the magazine mounting portion, and when the magazine shutter is located at the first open position, the slat included in the magazine shutter closes to the first shutter. They fit into the storage section and line up horizontally.

In this way, by using a shutter in which a plurality of slats are rotatably connected to each other, when the first pallet supply port is opened, the shutter does not protrude significantly upwards as in the case of using the above-mentioned elevating shutter plate. can be suppressed. Furthermore, in the present invention, when opening the first pallet supply port, instead of rolling up the magazine shutter, the slats of the magazine shutter are arranged horizontally and housed in the first shutter housing. Therefore, the height of the first shutter accommodating portion can be suppressed, and the magazine shutter can be accommodated in a compact manner. In this way, it is possible to open and close the pallet supply port of the magazine mounting section where the magazine is mounted using the shutter, and it is possible to compactly accommodate the shutter when the pallet supply port is opened.

The magazine shutter further includes first guide rails provided along the magazine shutter path on both sides of the magazine shutter path, and the magazine shutter has first bearings at both ends of the magazine slat that engage with the first guide rails. The component mounter may be configured such that the first bearing is guided by the first guide rail so that the magazine shutter moves along the magazine shutter path. Thereby, the magazine shutter can be accurately moved along the magazine shutter path.

The invention further includes a magazine cover that opens and closes the first pallet replenishment port, and a first lock that locks the magazine cover with the first pallet replenishment port closed, and the first lock is configured such that the magazine shutter is located at the first closed position. In this case, the component mounting machine may be configured to unlock the magazine cover. With such a configuration, either the magazine shutter or the magazine cover is always closed, and interference between incoming objects and the pallet transport device can be reliably prevented.

The invention further includes a first driven member attached to the magazine shutter, and the first driven member moves in the horizontal direction as the magazine shutter moves between the first closed position and the first open position. However, the component mounter may be configured such that the magazine shutter drive section drives the magazine shutter along the magazine shutter path by horizontally driving the first driven member using a linear actuator. With this configuration, the magazine shutter can be accurately moved along the magazine shutter path by a simple drive such as linearly moving the first driven member in the horizontal direction using a linear actuator.

It also has a second pallet supply port that opens on one side and a second pallet replenishment port that opens on the other side, and includes a pallet mounting portion provided above the first shutter accommodating portion and an upper side of the pallet mounting portion. A second shutter accommodating portion provided in a pallet shutter movable along a provided pallet shutter path, the pallet shutter being in a second closed position to close the second pallet supply port; and in a second open position to open the second pallet supply port; and a pallet shutter drive unit that drives the pallet shutter along the pallet shutter path, and the pallet mounting unit has a single pallet slot, and the pallet can be inserted into and removed from the single pallet slot. The pallet transport device pulls out the pallet from the single pallet slot to one side through the second pallet supply port, and the pallet shutter has a plurality of pallets rotatably coupled to each other arranged in a line along the pallet shutter path. pallet slats included in the pallet shutter close the second pallet supply port when the pallet shutter is located in the second closed position, and when the pallet shutter is located in the second open position, the pallet slats included in the pallet shutter close the second pallet supply port. The component mounter may be configured such that the pallet slats included in the shutter are arranged horizontally and accommodated in the second shutter accommodating portion to open the second pallet supply port.

In such a configuration, the pallet mounting portion, in which the second pallet supply port opens on one side, is provided above the first shutter accommodating portion. Such a configuration can be said to effectively utilize the advantages of the present invention. In other words, with a configuration in which the elevating shutter plate is raised and lowered or a shutter made of series of slats is rolled up, the shutter cannot be accommodated compactly, so if a pallet mounting part is provided above the shutter accommodating part, the device configuration will become larger. It ends up. In contrast, in the present invention, since the magazine shutter can be compactly accommodated in the first shutter accommodating section, it is possible to further provide a pallet mounting section above the first shutter accommodating section while suppressing the enlargement of the device configuration. can.

In addition, in accordance with the provision of the pallet mounting section, a pallet shutter is provided that closes the second pallet supply port when located in the second closed position, and opens the second pallet supply port when located in the second open position. is equipped. The pallet shutter has a plurality of pallet slats arranged along a pallet shutter path and pivotally connected to each other. When the pallet shutter is located at the second closed position, the pallet slats included in the pallet shutter close the second pallet supply port. On the other hand, a second shutter accommodating portion extending horizontally is provided above the pallet mounting portion, and when the pallet shutter is located at the second open position, the slats included in the pallet shutter are moved to the second shutter accommodating portion. They fit into the storage section and line up horizontally.

In this way, by using a shutter in which a plurality of slats are rotatably connected to each other, when the second pallet supply port is opened, the shutter protrudes significantly upwards as in the case of using the above-mentioned elevating shutter plate. can be suppressed. Moreover, in this configuration, when opening the second pallet supply port, the slats of the pallet shutter are arranged horizontally and housed in the second shutter accommodating portion, instead of rolling up the pallet shutter. Therefore, the height of the second shutter accommodating portion can be suppressed, and the pallet shutter can be accommodated in a compact manner.

The pallet shutter further includes second guide rails provided along the pallet shutter path on both sides of the pallet shutter path, and the pallet shutter has second bearings at both ends of the pallet slat that engage with the second guide rails. The component mounter may be configured such that the second bearing is guided by the second guide rail so that the pallet shutter moves along the pallet shutter path. This allows the pallet shutter to be accurately moved along the pallet shutter path.

The invention further includes a pallet cover that opens and closes the second pallet replenishment port, and a second lock that locks the pallet cover with the second pallet replenishment port closed, and the second lock is configured such that the pallet shutter is located at the second closed position. In such a case, the component mounting machine may be configured to unlock the pallet cover. With this configuration, either the pallet shutter or the pallet cover is always closed, and interference between the intruding object and the pallet transport device can be reliably prevented.

The invention further includes a second driven member attached to the pallet shutter, and the second driven member moves in the horizontal direction as the pallet shutter moves between the second closed position and the second open position. However, the component mounter may be configured such that the pallet shutter drive section drives the pallet shutter along the pallet shutter path by horizontally driving the second driven member using the linear actuator. With this configuration, the pallet shutter can be accurately moved along the pallet shutter path by a simple drive such as linearly moving the second driven member in the horizontal direction using a linear actuator.

According to the present invention, it is possible to open and close the pallet supply port of the magazine mounting section in which the magazine is mounted using a shutter, and it is possible to compactly accommodate the shutter when the pallet supply port is opened.

FIG. 1 is a plan view schematically showing an example of a component mounting machine according to the present invention. FIG. 2 is a perspective view showing the external configuration of a pallet exchange machine. FIG. 3 is a partial cross-sectional view showing the internal configuration of the pallet exchanger shown in FIG. 2; FIG. 3 is a diagram showing both a perspective view and a cross-sectional view of the external configuration of a pallet holding device included in the pallet exchange machine of FIG. 2; FIG. 3 is a diagram showing both a perspective view and a cross-sectional view of the external configuration of a pallet holding device included in the pallet exchange machine of FIG. 2; The figure which shows the structure with which a magazine shutter is provided. FIG. 3 is a perspective view showing a guide rail included in the pallet holding device. FIG. 3 is a perspective view showing a guide rail included in the pallet holding device. FIG. 2 is a block diagram showing the electrical configuration of a pallet exchange machine. FIG. 3 is an enlarged view showing a user operation section of the pallet exchange machine. 5 is a flowchart showing an example of pallet shutter control executed by a controller. 5 is a flowchart illustrating an example of magazine shutter control executed by a controller.

FIG. 1 is a plan view schematically showing an example of a component mounting machine according to the present invention. In FIG. 1 and the following figures, an XYZ orthogonal coordinate system composed of an X direction, a Y direction, and a Z direction that are orthogonal to each other is shown as appropriate. Here, the X direction and the Y direction are each a horizontal direction, and the Z direction is a vertical direction. In this component mounting machine 1, the head unit 3 mounts the component E supplied by the component supply sections 41 and 42 onto the board B carried in by the board transport section 2.

In the component mounting machine 1, a board transport section 2 that transports a board B in the X direction (board transport direction) is arranged on a base 11. The substrate transport section 2 has two conveyors 21 each extending in the X direction. The two conveyors 21 are arranged in parallel in the Y direction (width direction) with an interval corresponding to the width of the substrate B, and transport the substrate B carried in from the upstream side in the X direction to the downstream side in the X direction. Then, it is stopped at a predetermined mounting work position (the position of board B in FIG. 1). Note that the board B stopped at the mounting work position is fixed at the mounting work position by a holding mechanism (not shown). Further, the two conveyors 21 transport the board B on which the component E is mounted at the mounting work position to the downstream side in the X direction from the mounting work position.

The head unit 3 transfers the component E supplied by the component supply sections 41 and 42 to the board B fixed at the mounting work position. The head unit 3 has a plurality of mounting heads 31 arranged in the X direction, and a suction nozzle is attached to the lower end of each mounting head 31. Then, by moving in the X direction and the Y direction above the conveyor 21, the head unit 3 picks up the supplied components E from the component supply sections 41 and 42 with the suction nozzles and transfers them to the board B at the mounting work position. do. Such movement of the head unit 3 is performed by the following drive mechanism.

That is, on the base 11, there are a pair of Y-axis fixed rails 32 provided parallel to the Y direction, a Y-axis ball screw 33 provided parallel to the Y direction, and a Y-axis rotating the Y-axis ball screw 33. A servo motor 34 is arranged. An X-axis beam 35 extending in the X direction is spanned over the pair of Y-axis fixed rails 32 . This X-axis beam 35 is supported movably in the Y direction by a Y-axis fixed rail 32, and a nut 36 attached to the X-axis beam 35 is screwed into the Y-axis ball screw 33. The X-axis beam 35 includes an X-axis rail (not shown) provided parallel to the X direction, an X-axis ball screw 37 provided parallel to the X direction, and an X-axis servo motor that rotates the X-axis ball screw 37. 38 is attached. The head unit 3 is supported movably in the X direction by an X-axis guide, and a nut (not shown) attached to the head unit 3 is screwed into an X-axis ball screw 37.

Therefore, when the Y-axis servo motor 34 rotates the Y-axis ball screw 33, the head unit 3 moves in the Y direction along with the X-axis beam 35. Further, when the X-axis servo motor 38 rotates the X-axis ball screw 37, the head unit 3 moves in the X direction. In this way, the head unit 3 moves between the position above the component supply sections 41 and 42 and the position above the mounting work position, and picks up and transfers E.

The component supply section 41 is arranged on the front side (one side in the Y direction) of the substrate transport section 2. The component supply section 41 includes a plurality of tape feeders 411 arranged in the X direction. Each tape feeder 411 is configured to feed out a tape containing relatively small chip parts E such as ICs (Integrated Circuits), transistors, and capacitors at predetermined intervals from a reel. The delivered component E is picked up by the head unit 3 and transferred to the board B at the mounting work position.

The component supply section 42 is arranged on the rear side (the other side in the Y direction) of the board transport section 2. In the example shown in FIG. 1, two component supply sections 42 are lined up in the X direction. However, since these components have common configurations and perform similar operations, basically one component supply section 42 will be explained below.

The parts supply section 42 is a QFP (Quad Flat
We supply relatively large package parts E such as Package) and BGA (Ball Grid Array). Specifically, the parts supply unit 42 has a pallet exchanger 9 equipped with a pallet holding device 5 and a pallet transport device 6, and the pallet holding device 5 accommodates a plurality of pallets P arranged in the Z direction and transports the pallets. The device 6 transports the pallet P in the Y direction between the pallet holding device 5 and the component supply position Ls. Components E are placed on the pallet P via a tray T, and a plurality of packaged components E are arranged on this tray T. The pallet P supports a single tray or a plurality of trays T in a fixed state by magnetic force or the like.

As will be described in detail later, the pallet holding device 5 accommodates a plurality of pallets P lined up in the Z direction, and among these pallets P, the pallet P facing the pallet transport device 6 is held by the pallet transport device 6. It becomes possible to carry it out from the device 5. In addition, as the pallet transport device 6 moves up and down in the Z direction, the pallet P facing the pallet transport device 6 is switched, and the pallet P to be carried out by the pallet transport device 6 is changed. Component supply is then carried out by conveying the pallet P from the pallet holding device 5 to the component supply position Ls by the pallet conveyance device 6. That is, the component E on the pallet P transported to the component supply position Ls is picked up by the head unit 3 and transferred to the board B at the mounting work position.

FIG. 2 is a perspective view showing the external configuration of the pallet exchange machine, FIG. 3 is a partial sectional view showing the internal configuration of the pallet exchange machine in FIG. 2, and FIGS. 4 and 5 are pallet holding devices included in the pallet exchange machine in FIG. FIG. 2 is a diagram showing both a perspective view and a cross-sectional view of the external configuration. In these figures and the following figures, an orthogonal coordinate system consisting of the width direction Dw, the drawing direction Dd, and the Z direction is shown as appropriate. Here, the width direction Dw and the drawing direction Dd are horizontal directions parallel to the horizontal plane, the width direction Dw is parallel to the X direction and perpendicular to the drawing direction Dd, and the drawing direction Dd is parallel to the Y direction as described above. be. Furthermore, one side Dda in the pull-out direction Dd (the supply side going from the pallet holding device 5 to the parts supply position Ls) and the other side Ddb in the draw-out direction Dd (the collection side going from the parts supply position Ls to the pallet holding device 5). Indicate as appropriate.

As described above, the pallet exchanger 9 includes the pallet holding device 5 and the pallet conveying device 6 disposed on one side Dda of the pallet holding device 5. Furthermore, the pallet exchanger 9 includes a housing 91 that accommodates the pallet holding device 5 and the pallet transport device 6. In the housing 91, one side Dda of the pallet holding device 5 is a transport device elevating space in which the pallet transport device 6 ascends and descends. It is 60. In the example of FIG. 3, the pallet exchanger 9 includes two pallet transport devices 6, and each of the two pallet transport devices 6 is individually raised and lowered within the transport device elevating space 60 by a lifting device. This pallet transport device 6 is located at the same height as the target pallet slot S among the later-described pallet slots S arranged in the Z direction in the pallet holding device 5, and performs a pull-out operation or a collection operation in the target pallet slot S. Execute. Here, the pulling operation is an operation of pulling out the pallet P from the pallet slot S, and the collecting operation is an operation of inserting the pallet P into the pallet slot S.

The housing 91 has two side wall members 911 arranged in the width direction Dw, and the pallet holding device 5 and the pallet transport device 6 are arranged between the two side wall members 911 in the width direction Dw. In other words, the pallet holding device 5 and the pallet conveying device 6 are housed in the housing space 912 provided between the two side wall members 911 . Further, the housing space 912 has openings on both sides (one side Dda, the other side Ddb) in the drawing direction Dd, and the housing 91 has a plurality of openings (three pieces) that open and close the openings on the other side Ddb in the drawing direction Dd. covers 913, 914, and 915. These multiple covers 913, 914, and 915 are provided side by side in the Z direction and can be opened and closed individually.

As shown in FIG. 3, the pallet holding device 5 includes a pallet mounting section 51, a magazine mounting section 52, and a magazine mounting section 53. The pallet mounting part 51, the magazine mounting part 52, and the magazine mounting part 53 are arranged in the Z direction, the magazine mounting part 52 is located above the magazine mounting part 53, and the pallet mounting part 51 is located above the magazine mounting part 52. To position. This pallet holding device 5 has two side wall plates 50 (FIGS. 4 and 5) lined up in the width direction Dw, and an upper side wall portion 501 occupying the upper layer of the side wall plates 50 constitutes a side wall of the pallet mounting portion 51. , an interrupted side wall portion 502 located below the upper side wall portion 501 and occupying the middle stage of the side wall plate 50 constitutes a side wall of the magazine mounting portion 52, and is located below the interrupted side wall portion 502 and occupies the lower stage of the side wall plate 50. The lower side wall portion 503 constitutes a side wall of the magazine mounting portion 53.

The pallet mounting section 51 has a pallet mounting space 512 between the two upper side wall sections 501 on both sides in the width direction Dw. A single pallet slot S is provided in the pallet mounting space 512, and a pallet P can be inserted into and removed from the single pallet slot S in the pull-out direction Dd. The pallet mounting space 512 has a pallet supply port 512a that opens on one side Dda in the pull-out direction Dd, and a pallet replenishment port 512b that opens on the other side Ddb. Therefore, the pallet conveying device 6 can insert and remove the pallet P into the pallet slot S from one side Dda through the pallet supply port 512a, and the user (operator) can insert and remove the pallet P into the pallet slot S from the other side Ddb through the pallet replenishment port 512b. Pallet P can be inserted into and removed from S.

The cover 913 is provided for the pallet replenishment port 512b of the pallet mounting section 51, and when the cover 913 is opened, the pallet replenishment port 512b is opened and the user can open the pallet slot S of the pallet mounting section 51. Pallet P can be inserted and removed. On the other hand, when the cover 913 is closed, the pallet replenishment port 512b is closed, and the insertion and removal of the pallet P into and from the pallet mounting portion 51 is prohibited.

The magazine mounting section 52 has a magazine mounting space 522 between two interrupted side wall sections 502 on both sides in the width direction Dw. A magazine 54 into which a plurality of pallets P can be mounted can be inserted into and removed from the magazine mounting space 522 in the pull-out direction Dd. The magazine mounting space 522 has a pallet supply port 522a that opens on one side Dda in the pull-out direction Dd, and a pallet replenishment port 522b that opens on the other side Ddb. Then, the user can attach and detach the magazine 54 from the other side Ddb into the magazine attachment space 522 of the magazine attachment section 52 via the pallet replenishment port 522b.

The magazine 54 has two side wall plates 541 on both sides in the width direction Dw, and a pallet mounting space 542 is provided between the two side wall plates 541 in the width direction Dw. When the magazine 54 is attached to the magazine attachment part 52, the pallet attachment space 542 is open on both sides in the pull-out direction Dd, and the pallet P cannot be inserted into or removed from the pallet attachment space 542 in the pull-out direction Dd. Can be done. That is, inside each side wall plate 541 (on the pallet mounting space 542 side), a plurality of pallet holding members 543 are attached in line in the Z direction. The pallet holding member 543 extends parallel to the pull-out direction Dd, and protrudes inward from the side wall plate 541 in the width direction Dw. Then, the pallet P can be inserted and removed between a pair of pallet holding members 543 adjacent to each other in the Z direction. That is, the space between the pair of pallet holding members 543 functions as a pallet slot S, and the pallet P inserted into the pallet slot S is held horizontally by the pallet holding member 543 below the pallet slot S. Therefore, the pallet transport device 6 can insert and remove the pallet P into the pallet slot S of the magazine 54 from one side Dda through the pallet supply port 522a, and the user can insert and remove the pallet P into the magazine 54 from the other side Ddb through the pallet replenishment port 522b. A pallet P can be inserted into and removed from the pallet slot S.

The cover 914 is provided for the pallet replenishment port 522b of the magazine mounting section 52, and when the cover 914 is opened, the pallet replenishment port 522b is opened. Therefore, the user can insert and remove the pallet P into and from the pallet slot S of the magazine 54 mounted in the magazine mounting section 52. Furthermore, since the magazine 54 can be inserted into and removed from the magazine mounting section 52, the user can attach and remove the magazine 54 that holds a plurality of pallets P to the magazine mounting section 52, thereby allowing the user to insert and remove the plurality of pallets P into the magazine mounting section 52. It can be inserted and removed all at once. On the other hand, when the cover 914 is closed, the pallet replenishment port 522b is closed. Therefore, insertion and removal of the pallet P and magazine 54 into and from the magazine mounting portion 52 are prohibited.

The magazine mounting section 53 has a magazine mounting space 532 between the two lower side walls 503 on both sides in the width direction Dw. A magazine 55 into which a plurality of pallets P can be mounted is mounted in the magazine mounting space 532 and fixed to the magazine mounting section 53. The magazine mounting space 532 has a pallet supply port 532a that opens on one side Dda in the pull-out direction Dd, and a pallet replenishment port 532b that opens on the other side Ddb.

The magazine 55 has two side wall plates 551 on both sides in the width direction Dw, and a pallet mounting space 552 is provided between the two side wall plates 551 in the width direction Dw. When the magazine 55 is attached to the magazine attachment part 53, the pallet attachment space 552 is open on both sides in the pull-out direction Dd, and the pallet P cannot be inserted into or removed from the pallet attachment space 552 in the pull-out direction Dd. Can be done. That is, inside each side wall plate 551 (on the pallet mounting space 552 side), a plurality of pallet holding members 553 are attached in line in the Z direction. The pallet holding member 553 extends parallel to the pull-out direction Dd, and protrudes inward from the side wall plate 551 in the width direction Dw. The pallet P can be inserted and removed between a pair of pallet holding members 553 adjacent to each other in the Z direction. That is, the space between the pair of pallet holding members 553 functions as a pallet slot S, and the pallet P inserted into the pallet slot S is held horizontally by the pallet holding member 553 below the pallet slot S. Therefore, the pallet transport device 6 can insert and remove the pallet P into the pallet slot S of the magazine 55 from one side Dda through the pallet supply port 532a, and the user can insert and remove the pallet P into the magazine 55 from the other side Ddb through the pallet replenishment port 532b. A pallet P can be inserted into and removed from the pallet slot S.

Note that the magazine 55 is higher in the Z direction than the magazine 54, and the number of pallet slots S in the magazine 55 is greater than the number of pallet slots S in the magazine 54. However, the configuration of the magazine 55 is not limited to this example, and the number of pallet slots S in the magazine 55 may be the same as the number of pallet slots S in the magazine 54, or may be less than the number of pallet slots S in the magazine 54. Good too.

The cover 915 is provided for the pallet replenishment port 532b of the magazine mounting section 53, and when the cover 915 is opened, the pallet replenishment port 532b is opened. Therefore, the user can insert and remove the pallet P into and from the pallet slot S of the magazine 55 mounted in the magazine mounting section 53. On the other hand, when the cover 914 is closed, the pallet replenishment port 532b is closed. Therefore, insertion and removal of the pallet P into and from the magazine mounting portion 53 is prohibited.

Further, as shown in FIG. 4, the pallet holding device 5 includes a pallet shutter 56 that opens and closes the pallet supply port 512a of the pallet mounting section 51 from one side Dda, and a pallet shutter 56 that is provided above the pallet mounting section 51 and opens and closes the pallet supply port 512a of the pallet mounting section 51. It has a shutter accommodating portion 571 for accommodating the shutter. The shutter accommodating portion 571 is a space (shutter accommodating space) provided between the two upper side wall portions 501 on both sides in the width direction Dw, and extends in parallel to the pull-out direction Dd. The pallet shutter 56 is movable along a pallet shutter path Wp from an open position Lpo housed in the shutter accommodating portion 571 to a closed position Lpc facing the pallet supply port 512a from one side Dda.

When the pallet shutter 56 is located at the open position Lpo, the pallet supply port 512a is opened. Therefore, the pallet transport device 6 can insert and remove the pallet P into and from the pallet slot S of the pallet mounting section 51 via the pallet supply port 512a. On the other hand, when the pallet shutter 56 is located at the close position Lpc, the pallet supply port 512a is closed. Therefore, access of the pallet transport device 6 to the pallet mounting space 512 of the pallet mounting section 51 is prohibited.

The pallet holding device 5 also includes a magazine shutter 58 that opens and closes the pallet supply port 522a of the magazine mounting section 52 from one side Dda, and a shutter accommodating section 591 that is provided above the magazine mounting section 52 and accommodates the magazine shutter 58. has. This shutter housing section 591 is located between the magazine mounting section 52 and the pallet mounting section 51 in the Z direction. The shutter accommodating portion 591 is a space (shutter accommodating space) provided between the two interrupted side wall portions 502 on both sides in the width direction Dw, and extends in parallel to the pull-out direction Dd. The magazine shutter 58 is movable along a magazine shutter path Wm from an open position Lmo housed in the shutter accommodating portion 591 to a closed position Lmc facing the pallet supply port 522a from one side Dda.

When the magazine shutter 58 is located at the open position Lmo, the pallet supply port 522a is opened. Therefore, the pallet transport device 6 can insert and remove the pallet P into and from the pallet slot S of the magazine mounting section 52 via the pallet supply port 522a. On the other hand, when the magazine shutter 58 is located at the close position Lmc, the pallet supply port 522a is closed. Therefore, access of the pallet transport device 6 to the magazine mounting space 522 of the magazine mounting section 52 is prohibited.

FIG. 6 is a diagram showing the configuration of the magazine shutter. The magazine shutter 58 has a plurality of slats SL arranged along the magazine shutter path Wm. The length of the magazine shutter 58 along the magazine shutter path Wm is shorter than the length of the magazine shutter path Wm. Each slat SL extends in the width direction Dw orthogonal to the magazine shutter path Wm, and adjacent slats SL in the magazine shutter path Wm are rotatably attached to each other around an axis parallel to the width direction Dw. It is being In this configuration in which a plurality of slats SL are rotatably connected to each other, the magazine shutter 58 moves along the magazine shutter path Wm while the slat SL rotates according to the shape of the magazine shutter path Wm. Furthermore, the magazine shutter 58 has two bearings BR provided at both ends of each slat SL in the width direction Dw. Each bearing BR is rotatable about an axis parallel to the width direction Dw.

Like the magazine shutter 58, the pallet shutter 56 also includes a plurality of slats SL rotatably connected to each other, and two bearings BR attached to both ends of each slat SL. However, the number of slats SL that the pallet shutter 56 has is smaller than the number of slats SL that the magazine shutter 58 has, and the pallet shutter 56 is shorter than the magazine shutter 58. Note that the length of the pallet shutter 56 along the pallet shutter path Wp is shorter than the length of the pallet shutter path Wp.

The pallet holding device 5 includes guide rails 572 and 592 that guide the magazine shutter 58 and the pallet shutter 56 along the magazine shutter path Wm and the pallet shutter path Wp, respectively. This point will be explained using FIG. 7 as well.

7 and 8 are perspective views showing guide rails included in the pallet holding device. In the pallet holding device 5, guide rails 592 are attached to the inner side surfaces of each interrupted side wall portion 502 provided on both sides in the width direction Dw. These guide rails 592 are located on both sides of the magazine shutter path Wm in the width direction Dw, and extend along the magazine shutter path Wm. Each guide rail 592 has a horizontal guide path 593, a curved guide path 594, and a vertical guide path 595. The horizontal guide path 593 extends parallel to the pull-out direction Dd along the guide rail 592, and the curved guide path 594 is located between the horizontal guide path 593 and the vertical guide path 595 and is vertically connected to the horizontal guide path 593. The vertical guide path 595 is connected to the guide path 595 and extends in parallel to the Z direction on one side Dda of the pallet supply port 522a. In this way, the end of one side Dda of the guide rail 592 and the upper end of the vertical guide path 595 are connected via the curved guide path 594. The bearing BR of the magazine shutter 58 is engaged with the guide rail 592 and moves along the guide paths 593, 594, and 595 of the guide rail 592. In this way, the bearing BR is guided by the guide rail 592, so that the magazine shutter 58 moves along the magazine shutter path Wm.

Further, in the pallet holding device 5, guide rails 572 are attached to the inner side surfaces of each upper stage side wall portion 501 provided on both sides in the width direction Dw. These guide rails 572 are located on both sides of the pallet shutter path Wp in the width direction Dw, and extend along the pallet shutter path Wp. Each guide rail 572 has a horizontal guide path 573, a curved guide path 574, and a vertical guide path 575. The horizontal guide path 573 extends parallel to the pull-out direction Dd along the shutter accommodating portion 571, and the curved guide path 574 is located between the horizontal guide path 573 and the vertical guide path 575 and is connected to the horizontal guide path 573. The vertical guide path 575 is connected to the vertical guide path 575 and extends in parallel to the Z direction on one side Dda of the pallet supply port 512a. In this way, the end of one side Dda of the guide rail 572 and the upper end of the vertical guide path 575 are connected via the curved guide path 574. The bearing BR of the pallet shutter 56 is engaged with the guide rail 572 and moves along the guide paths 573, 574, and 575 of the guide rail 572. In this way, the bearing BR is guided by the guide rail 572, so that the pallet shutter 56 moves along the pallet shutter path Wp.

As shown in FIG. 4, when the magazine shutter 58 is located at the close position Lmc, among the plurality of slats SL included in the magazine shutter 58, the slat SL at the downstream end (end on the close position Lmc side) of the magazine shutter path Wm A plurality of opposing slats SL (six in the example of FIG. 4) are lined up in the Z direction on one side Dda of the pallet supply port 522a, and face the pallet supply port 522a from the one side Dda. In this way, the pallet supply port 522a is closed from one side Dda by the opposing number of slats SL of the magazine shutter 58.

On the other hand, as shown in FIG. 5, when the magazine shutter 58 is located at the open position Lmo, the magazine shutter 58 is retracted upward from the pallet supply port 522a, and the magazine shutter 58 is retracted upward from the pallet supply port 522a. A plurality of accommodated slats SL (six in the example of FIG. 4) are lined up in the pull-out direction Dd in the shutter accommodating part 591 from the slat SL at the upstream end (end on the open position Lmo side) of the shutter path Wm. It fits in 591. Here, the number of facing objects and the number of accommodated objects are equal. However, these do not necessarily have to be equal, and the number of accommodated pieces may be greater than the number of facing pieces.

Further, as shown in FIG. 4, when the pallet shutter 56 is located at the close position Lpc, among the plurality of slats SL of the pallet shutter 56, the downstream end (the end on the close position Lmc side) of the pallet shutter path Wp is The slat SL faces the pallet supply port 512a from one side Dda. In this way, the pallet supply port 512a is closed off from one side Dda by the slat SL of the pallet shutter 56.

On the other hand, as shown in FIG. 5, when the pallet shutter 56 is located at the open position Lpo, the pallet shutter 56 is retracted upward from the pallet supply port 522a, and the plurality of slats SL of the pallet shutter 56 are moved into the shutter accommodating part. 571, they are housed in the shutter accommodating portion 571 in line with the pull-out direction Dd.

Furthermore, the pallet holding device 5 includes an opening/closing drive mechanism 581 that drives the magazine shutter 58 to open and close. This opening/closing drive mechanism 581 includes a linear actuator 582 (cylinder) attached to the outside of the interrupted side wall portion 502 (on the opposite side of the magazine mounting space 522), and a movable plate 583 attached to the rod of the linear actuator 582. , the linear actuator 582 moves the movable plate 583 linearly in the drawing direction Dd. Further, among the plurality of slats SL included in the magazine shutter 58, a driven plate 580 is attached to the slat SL at the upstream end of the magazine shutter path Wm (end on the close position Lmc side), and is movable with the driven plate 580. The plates 583 are lined up in the width direction Dw and connected to each other. Therefore, in response to the drive in the drawing direction Dd by the linear actuator 582, the driven plate 580 moves in parallel to the drawing direction Dd together with the movable plate 583. The magazine shutter 58 moves between the open position Lmo and the closed position Lmc along the magazine shutter path Wm as the driven plate 580 moves horizontally.

Further, the pallet holding device 5 includes an opening/closing drive mechanism 561 that drives the pallet shutter 56 to open and close. The opening/closing drive mechanism 561 includes a linear actuator 562 (cylinder) attached to the outside of the upper side wall 501 (on the opposite side of the pallet mounting space 512), and a movable plate 563 attached to the rod of the linear actuator 562. , the linear actuator 562 moves the movable plate 563 linearly in the drawing direction Dd. Further, among the plurality of slats SL of the pallet shutter 56, a driven plate 560 is attached to the slat SL at the upstream end of the pallet shutter path Wp (end on the close position Lpc side), and the driven plate 560 and the slat SL are movable. The plates 563 are lined up in the width direction Dw and connected to each other. Therefore, in response to the drive in the drawing direction Dd by the linear actuator 562, the driven plate 560 moves in parallel to the drawing direction Dd together with the movable plate 563. The pallet shutter 56 moves between the open position Lpo and the closed position Lpc along the pallet shutter path Wp as the driven plate 560 moves horizontally.

FIG. 9 is a block diagram showing the electrical configuration of the pallet exchanger, and FIG. 10 is an enlarged view showing the user operation section of the pallet exchanger. As shown in FIG. 9, the pallet exchanger 9 includes a controller 90, which is a processor including a CPU (Central Processing Unit), etc., and the linear actuator 562 and the linear actuator 582 described above operate according to the control of the controller 90. do. Further, the pallet exchanger 9 includes cover locks 913L, 914L, and 915L. The cover lock 913L locks the cover 913 that closes the pallet refill port 512b, and the cover lock 914L locks the cover 914 that closes the pallet refill port 522b. The cover lock 915L locks the cover 915 that closes the pallet replenishment port 532b. Locking/unlocking of the cover locks 913L, 914L, and 915L is controlled by the controller 90.

Further, the pallet exchanger 9 includes a user operation section 901 on the upper surface of the side wall member 911. As shown in FIG. 10, the user operation unit 901 includes a switch 902 that allows the user to select one of three states ("MAGAZINE1", "MAGAZINE2", and "RUN"), and a switch 902 that allows the user to input that the replenishment of parts has been completed. button 903. Then, the controller 90 executes the following control in response to the user's operations on the switch 902 and the supply button 903.

FIG. 11 is a flowchart showing an example of palette shutter control executed by the controller. If the controller 90 determines that there is a pallet P out of parts in the magazine mounting sections 52 and 53 (step S101), the cover 913 is locked by the cover lock 913L (step S102), and then the pallet shutter 56 is moved to the closed position. The pallet shutter 56 moves from Lpc to the close position Lpc and opens (step S103).

Then, the pallet transport device 6 pulls out the empty pallet P from the magazine mounting sections 52 and 53 and transports it to the pallet mounting section 51 (step S104). In this way, when the empty pallet P is inserted into the pallet slot S of the pallet mounting section 51, the pallet shutter 56 moves from the open position Lpo to the close position Lpc, and after the pallet shutter 56 is closed (step S105), The cover 913 is unlocked by the cover lock 913L (step S106).

The user opens the cover 913 and replenishes the pallet P of the pallet mounting section 51 with parts (step S107). Then, when the user closes the cover 913 and presses the supply button 903 (step S108), the cover 913 is locked by the cover lock 913L (step S109).

When pulling out the pallet P from the pallet mounting section 51, the pallet shutter 56 is opened (step S110), and then the pallet transport device 6 pulls out the pallet P from the pallet shutter 56 (step S111). When the operation of pulling out the pallet P from the pallet shutter 56 is completed, the pallet shutter 56 is closed (step S112).

FIG. 12 is a flowchart showing an example of magazine shutter control executed by the controller. When the pallet P mounted on the magazine mounting section 52 runs out of parts (step S201) and the user selects "MAGAZIN1" with the switch 902 (step S201), the magazine shutter 58 moves from the open position Lmo to the closed position Lmc. After the magazine shutter 58 is closed (step S203), the cover 915 is unlocked (step S204).

The user opens the cover 914 and replenishes the pallet P of the magazine mounting section 52 with parts (step S205). Then, when the user closes the cover 914 and selects "RUN" with the switch 902 (step S206), the cover 914 is locked with the cover lock 914L (step S207), and then the magazine shutter 58 moves from the closed position Lmc to the open position. The camera moves to Lmo and the magazine shutter 58 opens (step S208).

In the embodiment configured as described above, the pallet supply port 522a (first pallet supply port) is closed by being located at the closed position Lmc (first closed position), and the pallet supply port 522a (first pallet supply port) is closed by being located at the closed position Lmc (first closed position), while the pallet supply port 522a (first pallet supply port) is located at the open position Lmo (first open position). A magazine shutter 58 is provided which opens the pallet supply port 522a when positioned. The magazine shutter 58 includes a plurality of slats SL (magazine slats) arranged along the magazine shutter path Wm and rotatably connected to each other. Then, when the magazine shutter 58 is located at the close position Lmc, the opposing number of slats SL included in the magazine shutter 58 are lined up in the Z direction while facing the pallet supply port 522a, thereby closing the pallet supply port 522a. On the other hand, a shutter accommodating part 591 is provided above the magazine mounting part 52 and extends in the pull-out direction Dd (horizontal direction). The number of slats SL accommodated are accommodated in the shutter accommodating portion 591 and lined up in the pull-out direction Dd.

In this way, by using the magazine shutter 58 in which a plurality of slats SL are rotatably connected to each other, when the pallet supply port 522a is opened, the shutter moves upward as in the case where the above-mentioned elevating shutter plate is used. It can suppress large protrusion. Moreover, in this embodiment, when opening the pallet supply port 522a, the slats SL of the magazine shutter 58 are arranged in the pull-out direction Dd and housed in the shutter accommodating portion 591, instead of rolling up the magazine shutter 58 into a roll shape. Therefore, the height of the shutter accommodating portion 591 can be suppressed, and the magazine shutter 58 can be accommodated in a compact manner. In this way, the pallet supply port 522a of the magazine mounting section 52 to which the magazine 54 is mounted can be opened and closed by the magazine shutter 58, and the magazine shutter 58 can be housed compactly when the pallet supply port 522a is opened. There is.

Furthermore, guide rails 592 (first guide rails) provided along the magazine shutter path Wm are provided on both sides of the magazine shutter path Wm. On the other hand, the magazine shutter 58 has bearings BR that engage with the guide rail 592 at both ends of the slat SL. Then, the bearing BR of the magazine shutter 58 is guided by the guide rail 592, so that the magazine shutter 58 moves along the magazine shutter path Wm. With this configuration, the guide rail 592 allows the magazine shutter 58 to be accurately moved along the magazine shutter path Wm.

Further, a cover 914 (magazine cover) that opens and closes the pallet replenishment port 522b (first pallet replenishment port) and a cover lock 914L (first lock) that locks the cover 914 that closes the pallet replenishment port 522b are provided. . The cover lock 914L unlocks the cover 914 when the magazine shutter 58 is located at the closed position Lmc (steps S203, S204). In other words, when the magazine shutter 58 is not located at the closed position Lmc, the cover lock 914L does not unlock the cover 914 and keeps it locked. In such a configuration, either the magazine shutter 58 or the cover 914 is always closed, which prevents objects from entering the transport device elevating space 60 from the other side Ddb, thereby preventing interference between the objects and the pallet transport device 6. can be reliably prevented.

Further, a driven plate 580 (first driven member) attached to the magazine shutter 58 is provided, and the driven plate 580 is configured to move the magazine shutter 58 between the closed position Lmc and the open position Lmo. It moves in the pull-out direction Dd accordingly. On the other hand, the opening/closing drive mechanism 581 (magazine shutter drive section) drives the magazine shutter 58 along the magazine shutter path Wm by driving the driven plate 580 in the drawing direction Dd using the linear actuator 582. With this configuration, the magazine shutter 58 can be accurately moved along the magazine shutter path Wm by a simple drive such as linearly moving the driven plate 580 in the drawing direction Dd by the linear actuator 582.

Further, in this embodiment, the pallet mounting portion 51 in which the pallet supply port 512a opens on one side Dda is provided above the shutter accommodating portion 591. Such a configuration can be said to effectively utilize the advantages of the present invention. In other words, in a configuration in which the elevating shutter plate is raised and lowered or the magazine shutter 58 in which the slats SL are connected is wound up into a roll, the magazine shutter 58 cannot be accommodated compactly. If 51 is provided, the device configuration will become larger in the Z direction. In contrast, in the present embodiment, the magazine shutter 58 can be compactly accommodated in the shutter accommodating section 591, so that it is possible to further provide the pallet mounting section 51 above the shutter accommodating section 591 while suppressing the enlargement of the device configuration. Can be done.

Further, in correspondence with the provision of the pallet mounting portion 51, a pallet shutter 56 is provided. The pallet shutter 56 closes the pallet supply port 512a by being located at the close position Lpc (second closed position), and opens the pallet supply port 512a by being located at the open position Lpo. The pallet shutter 56 has a plurality of slats SL (pallet slats) arranged along the pallet shutter path Wp and rotatably connected to each other. Then, when the pallet shutter 56 is located at the close position Lpc, the slat SL included in the pallet shutter 56 faces the pallet supply port 512a and closes the pallet supply port 512a. On the other hand, a shutter accommodating part 571 extending in the pull-out direction Dd is provided above the pallet mounting part 51, and when the pallet shutter 56 is located at the open position Lpo, the slats SL included in the pallet shutter 56 are They are accommodated in the shutter accommodating portion 571 and lined up in the pull-out direction Dd.

In this way, by using the pallet shutter 56 in which a plurality of slats SL are rotatably connected to each other, when the pallet supply port 512a is opened, the shutter can be moved upward as in the case where the above-mentioned elevating shutter plate is used. It can suppress large protrusion. Furthermore, in this configuration, when opening the pallet supply port 512a, the slats SL of the pallet shutter 56 are arranged in the pull-out direction Dd and housed in the shutter accommodating portion 571, instead of rolling up the pallet shutter 56 into a roll shape. Therefore, the height of the shutter accommodating portion 571 is suppressed, and the pallet shutter 56 can be accommodated in a compact manner.

Furthermore, guide rails 572 are provided along the pallet shutter path Wp on both sides of the pallet shutter path Wp. On the other hand, the pallet shutter 56 has bearings BR that engage with the guide rails 572 at both ends of the slats SL. Then, the bearing BR is guided by the guide rail 572, so that the pallet shutter 56 moves along the pallet shutter path Wp. In this configuration, the guide rail 572 allows the pallet shutter 56 to be accurately moved along the pallet shutter path Wp.

Also provided are a cover 913 that opens and closes the pallet replenishment port 512b, and a cover lock 913L that locks the cover 913 that closes the pallet replenishment port 512b. Then, the cover lock 913L unlocks the cover 913 when the pallet shutter 56 is located at the closed position Lpc (steps S105 and S106). In other words, when the pallet shutter 56 is not located at the closed position Lpc, the cover lock 913L does not unlock the cover 913 and keeps it locked. In such a configuration, either the pallet shutter 56 or the cover 913 is always closed, which prevents objects from entering the transport device elevating space 60 from the other side Ddb, thereby preventing interference between the objects and the pallet transport device 6. can be reliably prevented.

Further, a driven plate 560 (second driven member) attached to the pallet shutter 56 is provided, and the driven plate 560 allows the pallet shutter 56 to move between the closed position Lpc and the open position Lpo. It moves in the pull-out direction Dd accordingly. On the other hand, the opening/closing drive mechanism 561 (pallet shutter drive section) drives the pallet shutter 56 along the pallet shutter path Wp by driving the driven plate 560 in the pull-out direction Dd using the linear actuator 562. With this configuration, the pallet shutter 56 can be accurately moved along the pallet shutter path Wp by a simple drive such as linearly moving the driven plate 560 in the drawing direction Dd by the linear actuator 562.

In this embodiment, the component mounter 1 corresponds to an example of the "component mounter" of the present invention, the mounting head 31 corresponds to an example of the "mounter head" of the present invention, and the pallet mounting section 51 corresponds to an example of the "component mounter" of the present invention. The pallet supply port 512a corresponds to an example of the "pallet mounting part" of the present invention, the pallet supply port 512a corresponds to an example of the "second pallet supply port" of the present invention, and the pallet replenishment port 512b corresponds to an example of the "second pallet replenishment port" of the present invention. Corresponding to one example, the magazine mounting part 52 corresponds to an example of the "magazine mounting part" of the present invention, the pallet supply port 522a corresponds to an example of the "first pallet supply port" of the present invention, and the pallet replenishment port 522b corresponds to an example of the "first pallet supply port" of the present invention. The magazine 54 corresponds to an example of the "first pallet replenishment port" of the present invention, the magazine 54 corresponds to an example of the "magazine" of the present invention, the pallet shutter 56 corresponds to an example of the "pallet shutter" of the present invention, and the driven The plate 560 corresponds to an example of the "second driven member" of the present invention, the opening/closing drive mechanism 561 corresponds to an example of the "pallet shutter drive section" of the present invention, and the linear actuator 562 corresponds to the "linear actuator" of the present invention. Corresponding to one example, the shutter housing portion 571 corresponds to an example of the “second shutter housing portion” of the present invention, the guide rail 572 corresponds to an example of the “second guide rail” of the present invention, and the magazine shutter 58 corresponds to an example of the “second shutter housing portion” of the present invention. The driven plate 580 corresponds to an example of the "magazine shutter" of the present invention, the driven plate 580 corresponds to an example of the "first driven member" of the present invention, and the opening/closing drive mechanism 581 corresponds to an example of the "magazine shutter drive unit" of the present invention. The linear actuator 582 corresponds to an example of the "linear actuator" of the present invention, the shutter accommodating section 591 corresponds to an example of the "first shutter accommodating section" of the present invention, and the guide rail 592 corresponds to an example of the "first shutter accommodating section" of the present invention. The pallet transport device 6 corresponds to an example of the "pallet transport device" of the present invention, the pallet exchange machine 9 corresponds to an example of the "pallet exchange machine" of the present invention, and the cover 913 corresponds to an example of the "first guide rail". The cover lock 913L corresponds to an example of the "pallet cover" of the present invention, the cover lock 913L corresponds to an example of the "second lock" of the present invention, the cover 914 corresponds to an example of the "magazine cover" of the present invention, and the cover lock 914L corresponds to an example of the "magazine cover" of the present invention. corresponds to an example of the "first lock" of the present invention, substrate B corresponds to an example of the "substrate" of the present invention, and bearing BR corresponds to an example of the "first bearing" and "second bearing" of the present invention. Correspondingly, the pull-out direction Dd corresponds to an example of the "horizontal direction" of the present invention, one side Dda corresponds to an example of the "one side" of the present invention, and the other side Ddb corresponds to an example of the "other side" of the present invention. , the part E corresponds to an example of the "component" of the present invention, the closed position Lmc corresponds to an example of the "first closed position" of the present invention, and the open position Lmo corresponds to an example of the "first open position" of the present invention. ", the closed position Lpc corresponds to an example of the "second closed position" of the present invention, the open position Lpo corresponds to an example of the "second open position" of the present invention, and the pallet P corresponds to an example of the "second open position" of the present invention. The pallet slot S corresponds to an example of a "pallet" of the present invention, the pallet slot S corresponds to an example of a "pallet slot" and a "single pallet slot", and the slat SL corresponds to an example of a "magazine slat" and a "pallet slat" of the present invention. Corresponding to one example, the magazine shutter path Wm corresponds to an example of the "magazine shutter path" of the present invention, the pallet shutter path Wp corresponds to an example of the "pallet shutter path" of the present invention, and the Z direction corresponds to an example of the "palette shutter path" of the present invention. This corresponds to an example of the "vertical direction".

Note that the present invention is not limited to the above-described embodiments, and various changes can be made to the above-described embodiments without departing from the spirit thereof. For example, the length and width of the pallet shutter 56 and magazine shutter 58 can be changed as appropriate.

Furthermore, the pallet holding device 5 does not necessarily need to include the pallet mounting section 51, and the pallet mounting section 51 may be omitted.

Furthermore, the pallet holding device 5 does not necessarily need to include the magazine mounting section 53, and the pallet mounting section 51 may be omitted.

Further, the driving mode of the pallet shutter 56 and the magazine shutter 58 is not limited to linear motion.

Further, the specific configuration such as the dimensions and shape of the magazine mounting portion 52 can be changed as appropriate.

Further, the specific configuration of the magazine 54, such as its dimensions and shape, can be changed as appropriate. Therefore, the number of pallet slots S in the magazine 54 may be increased or decreased as appropriate.

Further, the pallet exchanger 9 does not necessarily have to include the pallet conveyance device 6, and the pallet conveyance device 6 may be provided separately from the pallet exchanger 9.

1...Component mounting machine 31...Mounting head 51...Pallet mounting section 512a...Pallet supply port (second pallet supply port)
512b...Pallet replenishment port (second pallet replenishment port)
52...Magazine attachment part 522a...Pallet supply port (first pallet supply port)
522b...Pallet replenishment port (first pallet replenishment port)
54... Magazine 56... Pallet shutter 560... Driven plate (second driven member)
561...Opening/closing drive mechanism (pallet shutter drive unit)
562...Linear actuator 571...Shutter accommodating part (second shutter accommodating part)
572...Guide rail (second guide rail)
58... Magazine shutter 580... Driven plate (first driven member)
581...Opening/closing drive mechanism (magazine shutter drive unit)
582...Linear actuator 591...Shutter housing part (first shutter housing part)
592...Guide rail (first guide rail)
6...Pallet conveyance device 9...Pallet exchange machine 913...Cover 913 (pallet cover)
913L...Cover lock (second lock)
914...Cover (magazine cover)
914L...Cover lock (first lock)
B... Board BR... Bearing (1st bearing, 2nd bearing)
Dd...Drawing direction (horizontal direction)
Dda...one side Ddb...other side E...part Lmc...closed position (first closed position)
Lmo...Open position (first open position)
Lpc...closed position (second closed position)
Lpo...Open position (second open position)
P...Pallet S...Pallet slot (single pallet slot)
SL...Slat (magazine slat, pallet slat)
Wm...Magazine shutter path Wp...Pallet shutter path Z...Z direction (vertical direction)

Claims (7)

a magazine mounting part having a first pallet supply port that opens on one side in the horizontal direction; and a first pallet replenishment port that opens on the other side opposite to the one side in the horizontal direction;
a first shutter accommodating part provided above the magazine mounting part and extending in the horizontal direction;
The magazine shutter is movable along a magazine shutter path provided across a first closed position facing the first pallet supply port from the one side and a first open position accommodated in the first shutter accommodating part; a magazine shutter that closes the first pallet supply port when located in a first closed position and opens the first pallet supply port when located in the first open position;
a magazine shutter drive unit that drives the magazine shutter along the magazine shutter path;
a pallet conveying device provided on the one side of the magazine mounting section;
a mounting head that mounts components on a board ;
a magazine cover that opens and closes the first pallet replenishment port;
a first lock for locking the magazine cover with the first pallet replenishment port closed;
Equipped with
A magazine can be inserted into and removed from the other side of the magazine mounting portion through the first pallet replenishment port,
The magazine has a plurality of pallet slots arranged in a vertical direction, and a pallet containing parts can be inserted into and removed from each of the plurality of pallet slots,
The pallet transport device pulls out the pallet from the pallet slot of the magazine to the one side through the first pallet supply port,
The mounting head mounts the components placed on the pallet pulled out by the pallet transport device on a board,
The magazine shutter has a plurality of magazine slats arranged along the magazine shutter path and rotatably connected to each other,
When the magazine shutter is located at the first closed position, the magazine slats included in the magazine shutter are vertically lined up to close the first pallet supply port;
When the magazine shutter is located at the first open position, the magazine slats included in the magazine shutter are arranged horizontally and accommodated in the first shutter housing part, opening the first pallet supply port;
The first lock is a component mounting machine that unlocks the magazine cover when the magazine shutter is located at the first closed position . Further comprising first guide rails provided along the magazine shutter path on both sides of the magazine shutter path,
The magazine shutter has first bearings at both ends of the magazine slat that engage with the first guide rail,
The component mounting machine according to claim 1, wherein the first bearing is guided by the first guide rail so that the magazine shutter moves along the magazine shutter path. further comprising a first driven member attached to the magazine shutter,
The first driven member moves in a horizontal direction as the magazine shutter moves between the first closed position and the first open position,
3. The component mounting machine according to claim 1 , wherein the magazine shutter drive section drives the magazine shutter along the magazine shutter path by horizontally driving the first driven member using a linear actuator. a magazine mounting part having a first pallet supply port that opens on one side in the horizontal direction; and a first pallet replenishment port that opens on the other side opposite to the one side in the horizontal direction;
a first shutter accommodating part provided above the magazine mounting part and extending in the horizontal direction;
The magazine shutter is movable along a magazine shutter path provided across a first closed position facing the first pallet supply port from the one side and a first open position accommodated in the first shutter accommodating part; a magazine shutter that closes the first pallet supply port when located in a first closed position and opens the first pallet supply port when located in the first open position;
a magazine shutter drive unit that drives the magazine shutter along the magazine shutter path;
a pallet conveying device provided on the one side of the magazine mounting section;
a mounting head that mounts components on a board ;
a pallet mounting portion provided above the first shutter accommodating portion, the pallet mounting portion having a second pallet supply port opening on the one side and a second pallet replenishing port opening on the other side;
a second shutter accommodating part provided above the pallet mounting part and extending in the horizontal direction;
The pallet shutter is movable along a pallet shutter path provided across a second closed position facing the second pallet supply port from the one side and a second open position where the pallet shutter is accommodated in the second shutter accommodating part; a pallet shutter that closes the second pallet supply port when located in a second closed position, and opens the second pallet supply port when located in the second open position;
a pallet shutter drive unit that drives the pallet shutter along the pallet shutter path;
Equipped with
A magazine can be inserted into and removed from the other side of the magazine mounting portion through the first pallet replenishment port,
The magazine has a plurality of pallet slots arranged in a vertical direction, and a pallet containing parts can be inserted into and removed from each of the plurality of pallet slots,
The pallet transport device pulls out the pallet from the pallet slot of the magazine to the one side through the first pallet supply port,
The mounting head mounts the components placed on the pallet pulled out by the pallet transport device on a board,
The magazine shutter has a plurality of magazine slats arranged along the magazine shutter path and rotatably connected to each other,
When the magazine shutter is located at the first closed position, the magazine slats included in the magazine shutter are vertically lined up to close the first pallet supply port;
When the magazine shutter is located at the first open position, the magazine slats included in the magazine shutter are arranged horizontally and accommodated in the first shutter housing part, opening the first pallet supply port;
The pallet mounting part has a single pallet slot, and the pallet can be inserted into and removed from the single pallet slot,
The pallet transport device pulls out the pallet from the single pallet slot to the one side through the second pallet supply port;
The pallet shutter has a plurality of pallet slats arranged along the pallet shutter path and rotatably connected to each other,
when the pallet shutter is located at the second closed position, the pallet slats included in the pallet shutter close the second pallet supply port;
When the pallet shutter is located at the second open position, the pallet slats included in the pallet shutter are lined up horizontally and accommodated in the second shutter accommodating part, and the second pallet supply port is opened for component mounting. Machine. Further comprising second guide rails provided along the pallet shutter path on both sides of the pallet shutter path,
The pallet shutter has second bearings at both ends of the pallet slat that engage with the second guide rail,
5. The component mounting machine according to claim 4 , wherein the second bearing is guided by the second guide rail so that the pallet shutter moves along the pallet shutter path. a pallet cover that opens and closes the second pallet replenishment port;
further comprising a second lock for locking the pallet cover with the second pallet replenishment port closed;
6. The component mounting machine according to claim 4 , wherein the second lock unlocks the pallet cover when the pallet shutter is located at the second closed position. further comprising a second driven member attached to the pallet shutter,
The second driven member moves in the horizontal direction as the pallet shutter moves between the second closed position and the second open position,
The pallet shutter drive unit drives the pallet shutter along the pallet shutter path by horizontally driving the second driven member with a linear actuator, according to any one of claims 4 to 6. Component mounting machine.

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