JPH03133806A - Part feeding device - Google Patents

Abstract

PURPOSE:To facilitate recognition of a pallet to be exchanged by a method wherein, in a part feeding device to draw out a part placing pallet located in a stocker and feed parts, counting is effected each time a part is drawn out from the pallet, and when the number of countings attains a given value, the pallet is protruded. CONSTITUTION:When a pallet 6 is drawn in part feed operation the presence of an in-process mark 37C of an in-process mark providing part 41 mounted on a tray 2 is detected. When parts are not in an in-process state, the number of parts is set as a full tray to a pallet data memory, and when the mark 37C is present and a tray is in an in-process state, through detection of in- process marks 37A and 37B, the number of parts is calculated by the x row calculation and set to the pallet data memory. A CPU subtracts the number of the pallet data memories at each part taking-out operation. When the number of memories is reduced to zero, the number of remaining parts is decided to be 0, protruding operation of the pallet 6 is effected, and a need for exchange is reported.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Industrial Application Field The present invention is a method for removing parts from a pallet that is stored in a stocker in a drawable manner in multiple stages and on which a plurality of parts are placed and supplied to a parts mounting device. Regarding a parts supply device.

(B) Prior Art This type of parts supplying device is described in the specification and drawings attached to Japanese Patent Application No. 1-8380 previously filed by the present applicant.

According to this prior art, when a predetermined number of parts is removed from the pallet and the number of remaining parts reaches a predetermined number, such as zero, a lamp is lit to notify the operator that the pallet needs to be replaced.

(8) Problems to be Solved by the Invention However, the prior art described above has a drawback in that even if the lamp is lit, it is necessary to find out where the stage corresponding to the lamp is.

Therefore, it is an object of the present invention to make it possible to visually determine which stage of pallets should be replaced during a parts supply operation.

(d) Means for Solving the Problems Therefore, the present invention provides a parts supply device in which parts are taken out from a pallet that is retractably stored in a stocker in multiple stages and on which a plurality of parts are placed and supplied to a parts mounting device. In the
protruding means for protruding the pallet from the stocker;
a counter that is provided for each of the pallets and that adds or subtracts ``rl'' each time a component placed on the pallet is taken out; and a pallet that is provided with the counter when the contents of the counter reach a predetermined number. and control means for operating the ejecting means to eject.

*) Each time a component is taken out from the working pallet, the counter adds or subtracts "1", and when the content of the counter reaches a predetermined number, the control means operates the ejecting means, and the counter is Protrude the pallet from inside the stocker.

(f) Example An embodiment of the present invention will be described below based on the drawings.

In FIGS. 1 to 3, (1) is a tray component supply device that supplies electronic components (3) placed on a tray (2) to a component mounting device (4).

The tray component supply device (1) will be explained.

(5) is a stocker section, each of which has 4 pallets (6).
Stocker 1 (7) and stocker 2 (8) loaded on the 0th stage
) are arranged side by side. Pallet (6) has tray (2)
One or more are fixedly placed in a positioned state. The stocker section (5) is equipped with a safety door (9) that opens and closes when the operator replaces the pallet (6).The core layer (9) is transparent or semi-transparent so that the stocker section (5) can be seen. It's transparent and enlightening.

Opening and closing of the safety door (9) is detected by a door sensor (10). (11) is the elevator section, and the stocker section (5)
Pull out the pallet (6) and move it upwards to the parts take-out part (12).
The component (3) placed on the transfer shuttle section (
13).

Next, the elevator section (11) will be explained.

(14) is a drawer table on which the pallet (6) is pulled out from the stocker 1 (7) and placed thereon;
4) The nut (15) attached to the lifting motor <1
A ball screw (17) that can be rotated by the motor (16) is fitted, and the drawer table (1) is driven by the motor (16).
4) is raised and lowered guided by the guide rod (1g>(1g). The drawer table <14> is also provided in the stocker 2 (8), and the above-mentioned mechanism for raising and lowering the table (14) also has its own structure. It is provided on the table (14).Therefore,
The two tables (14) can be raised and lowered independently.

As shown in FIG. 4, the pull-out table (14) is provided with a pull-out claw (20) attached to a pull-out belt (21). The belt (21) is stretched between the drawer driven pulley (22) (22) (22) and the drawer drive pulley (23), and is connected to the drawer motor (24).
As a result, the pull-out claw (20) is guided by two parallel pull-out guide shafts (25) (25) to perform reciprocating excitation.

The pull-out claw (20) has a push-back piece (27) that engages with the end face of the pallet (6) and pushes back the pallet (6), and a support shaft (28) provided on the push-back piece (27). It rotates about the fulcrum and engages with the rising part of the end face of the pallet (6), and the pallet (
6), and a drawer piece (29) for pulling out.

The drawer table (14) further includes a stopper (30).
, pallet detection sensor (31) and vertical movement cylinder (3
2) is installed.

The stopper (30) is cut out only at the part where the pallet (6) stored in one stage of stocker 1 (7) or stocker 2 (8) is pulled out by the pull-out claw (20), and extends vertically. It has a plate-like shape, and has a pallet (6
) is the pull-out table (14) and the elevator part (1) outside the upper body.
1) Prevents it from being extruded.

The pallet detection sensor (31) is installed at a position laterally shifted from the stopper (30), and the pallet detection sensor (31)
It detects whether the pull-out claw (20) is pushed into the stocker 1 (7) or the stocker 2 (8) to a position where it can be engaged, and in this embodiment, a reflective photo sensor is used. .

An opening/closing stopper (34) is attached to the vertically movable rod (33) of the vertically moving cylinder (32) so that the opening/closing stopper (34) is at a position laterally offset from the mounting position of the stopper (30). 32) is raised, the opening/closing stopper (34) is positioned as shown in FIGS. 4 and 6, and the pallet (6)
When the cylinder (32) descends, the pallet (6
) is allowed to enter.

The rod (33) is connected to the opening/closing stopper (3) in FIG.
4) and moves upward to push up the drawer piece (29) against the urging force of the spring (35) when the drawer claw (20) is in the drawer position as shown in Figure 9. It also fulfills its role. When the rod (33) descends, the drawer piece (29) rotates downward due to the biasing force of the spring (35),
The pull-out claw (20) will close.

In Fig. 5, the parts storage areas (36) where parts are placed are arranged in multiple rows and columns on the tray (2), and the pull-out direction of the pallet (6) is the X direction, and the direction perpendicular thereto. If is the Y direction, then the parts storage area (36) in the X direction is...
The arrangement of parts storage areas (36) in the Y direction will be called columns. In this arrangement of parts storage (36), the first column is the far right side in Figure 5, and the first row is the fifth
Assume that it is on the upper side of the diagram.

In Fig. 5, (37A) is the in-process mark, and the parts in the tray (2) remain in the stocker 1 (in-process).
7) When the pallet (6) is supplied to the stocker 2 (8), it is placed in the parts storage area (36) one place before the part (3) to be taken out next. . The in-process mark (37B) is further placed in the parts storage area (36) at the head of the column where the in-process mark (37A) is placed.

(41) is a tray in-process mark placement part on which the in-process mark (37C) is placed to indicate the in-process status of the tray (2) of the supplied pallet (6); 37C) are provided. Four mark placement locations (42) are provided. By doing this, the pallet (6)
The tray (2) placed above can identify up to four in-process trays, and the in-process mark (37C) placed at the position corresponding to each tray (2) is detected by the sensor ( 40) is detected and which tray (2) is in progress is detected.In addition, in-process marks (37A) (37B>
(37C) are all the same, but they may be of different sizes and shapes if the sensor (40) can determine whether there is a mark at the placement location. Also, the work-in-progress mark (
37A) (37B) (37C) are made of metal and P&P
It is detected by a tray in-process detection sensor (40) which is a proximity sensor attached to the head (39). however,
It is also possible to use a photo sensor as the detection sensor (40) and use a non-metallic work mark.

Furthermore, the mark (37C) has four mark placement locations (
42), but instead of simply being placed, it may be attached removably, or it may be attracted by a magnet. Furthermore, the mark <37C) is 4
Instead of placing the mark in the same place as the mark (37C), there is a structure in which a plate-like or rod-like member with only one part made of a metal part of the same size as the mark (37C) is slid, so that the metal part is the same as the mark placement place (42). It is also possible to have the sensor (40) detect this when the tray (2) is in the position and determine which tray (2) is in the process.

Next, the component extraction section (12) will be explained. In Fig. 2, the P&P head (39) has two suction nozzles (44) that suction the component (3) from the tray (2), each of which is mounted so that it can move up and down independently, and the Y-axis belt (45). ) is installed. The belt (45) is connected to the Y-axis motor (46
) and a driven pulley (47) attached to the drive pulley (47) and the driven pulley (4
8), and by the rotation of the Y-axis motor (46), the P&P head (39) is guided by the Y guide rail (49) via the belt (45) and moves in the Y direction.

(50) is the driving pulley (47) and the driven pulley (48).
) and a Y guide rail (49) are attached to the X-axis belt (51).

The X-axis belt (51) is stretched between a driving pulley (53) and a driven pulley (54) attached to the X-axis motor (52), and is rotated by the X-axis motor (52) to rotate the X-axis moving body ( 5
0) is guided by the X guide rails (55) (55) and moves in the X direction.

Therefore, the P&P head (39) moves in the
Move and pick up the part (3) at any position with the suction nozzle (44)
The component (3) can be taken out by suction and moved further to be transferred to the component receiver (56) of the transfer shuttle section (13).

The component receiver (56) is located in the transfer shuttle section (13) at a position where the component (3) picked up by the suction nozzle (44) is placed by a cylinder drive source (not shown) and the mounting nozzle (4) of the component mounting device (4). 57) and the component suction position (3).
It moves back and forth while being placed almost horizontally. The parts receiver (5
Up to three parts (3) stored in the tray (2) can be placed on the tray (2) by the suction nozzle (44) on the 6).
The three parts (3) are placed at positions where three mounting nozzles (57) can be picked up at the same time as shown in FIG. 16 at the same intervals as the mounting nozzles (57).

(59) is an operation panel, which includes a pallet replenishment switch (60) that is pressed by the operator to notify the end of the exchange when the exchange of the pallet (6) is completed.

In FIG. 17, (62) is a CPU, which supplies tray components based on component request information from the component mounting device (4), information from various switches, sensors, etc., and information stored in the RAM (63). Controls the operation of the device (1). (64) is a ROM that stores programs related to the operation of the CPU (62). (65) is the pass line,
Connect the CPU (62), RAM (63), ROM (64) and I10 interface (66). (67)
is a CRT connected to the pass line (65) via a CRT interface (68), on which various data are displayed. (69) is a keyboard provided on the operation panel (59), including a numeric keypad (70) for entering numbers;
CRT (67) Cursor keys (72) to move the cursor (71) on the screen, SET key (73), CRT (
CRT key (74) for displaying the screen 67), alphabet key (75) for inputting alphabetic characters,
It is equipped with a NEXT key (76), a BACK key (77), etc.

The RAM (63) stores model data and a product library, and is also provided with an old execution model memory, a new execution model memory, a total number of parts memory, and a palette data memory. As shown in FIG. 18, the model data is prepared for each model of the board (61) and stores the parts type for each stocker stage number, and each model data includes PRO, NO, and FILE. NAME (model name) is attached.

Variety library (TRAY DATA LIBRAR
Y) is made up of data groups as shown in FIG. 19 for each part type, and each data in FIG. 19 will be explained.

What is displayed on the PALLET MATRIX is the number of component placement columns and component placement rows when tray (2) is fully loaded with components (3), as well as the number of component placement columns and component placement rows when tray (2) is fully loaded with components (3).
) is a pallet matrix showing the number of pallets (6) placed on the pallet (6). Therefore, according to FIG. 19, one pallet is placed, the number of component placement columns is 9, and the number of component placement rows is 5.
You can see that it is a column.

TRAM 0RIGIN indicates the origin position of each tray (2) from the origin of the pallet (6) for each tray (2).

PARTS PITCH consists of 5IDE, which represents the position of the center of the part (3) placed at the end of the tray (2) relative to the origin, and BETWEEN, which represents the distance between the parts (3). It is data.PART
S5IZE represents the size of the part (3), and the contents of these product library can also be viewed on the screen of the CRT (67).

The old execution model memory stores component types for each stocker stage number as shown in FIG. 20, but when switching models, the component types that were previously stored in the pallet data memory are stored.

When changing the model, the new model execution memory contains a FIL that corresponds to the board (61) on which you are about to mount components.
The model data of E NAME is stored as shown in FIG. 21, for example.

The total number of parts memory contains the parts (
The maximum number of items 3) is stored for each stocker stage number as shown in FIG.

The contents of the pallet data memory are displayed on the CRT screen as shown in FIG. 23, and the following data is stored for each stocker stage number.

In other words, what is displayed in the TYPE column is the part type;
B (XN, YN) displays a take-out matrix indicating the in-process position of part (3). The in-process position of part (3) is the placement position of part (3) to be taken out next.The tray number indicates which tray (2) the part (3) is placed on. The parts storage area is expressed by the position of the matrix. When the parts (3) are picked up by the P&P head (39), the pick-up matrix is changed in a predetermined order and the parts (3) are picked up in a predetermined order. In this embodiment, the parts (3) in the first column are taken out in order from the part (3) at the intersection of the first column and the first row of the tray (2) with tray number "1", and when the first column is finished, the second part is taken out. The trays are taken out from the beginning of the row, and each time tray (2) is taken out, the trays (2) with the next tray number are taken out in the same order.

What is displayed in the MAXB (XN, YN) column is the aforementioned palette matrix.

What is displayed in the WORK column is the number of parts remaining, and
What can be displayed in the column is pallet protrusion data indicating that the pallet (6) is protruded. As for the pallet protrusion data, rE is stored only in the stocker stage number where the pallet (6) is protruded.

The stocker stage numbers of stocker 1 (7) are 1 to 40, and the stocker stage numbers of stocker 2 (8) are 41 to 80.

Next, the component mounting device (4) will be explained. In FIG. 1, (78) is a mounting head to which three mounting nozzles (57) are attached. A nut (79> attached to the head (78) is fitted into a ball screw (81) that is rotated by a head motor (80), and the mounting head (78) is rotated by the rotation of the motor (80). is guided by a linear guide (82) and moves in the X direction.

(83> is a tape-shaped part (3) attached to the installed nozzle (57)
(84> is a tape component supply unit that supplies parts (84) that are supplied from the tray component supply device (1) or tape component supply unit (83) and are sucked into the mounting nozzle (57).
3) It is a recognition camera that recognizes. (85) is the part (3
) and moved in the X direction (78
) is a component mounting section for mounting the component (3) on the printed circuit board (61).

(87) is a mounting table on which the printed circuit board (61) conveyed to the supply conveyor (88) is placed, and a nut (not shown) to which a ball screw (90) rotated by a motor (89) is fitted is attached. It is being The table (8
7) is a linear guide (
91) and moves in the X direction.

Therefore, the mounting nozzle (67) can mount the component (3) at any position on the printed circuit board (86) placed on the mounting table (87).

In FIG. 17, the component mounting device (4) is provided with an out-of-stock memory (92) and a material-out mode changeover switch (93). In the out-of-stock memory (92), parts types for which the parts (3) have not been mounted due to out-of-material are sequentially stored together with mounting information. The changeover switch (93
) is an abnormal stop mode in which an abnormal stop occurs when the placement device requests a part type that is out of material and is informed by the supply device (1) that it cannot be supplied, and a mode in which it is placed after the normal placement operation as a postponement. The device is configured to switch between two reinstallation modes. (94) is a warning light indicating that part (3) could not be installed due to out of material.

The above-mentioned model data is set in advance for each model of the board (61). The settings will be explained below.

The product type library can also be set on the CRT screen, but here it is assumed that the settings for the various types of parts (3) that can be used have been completed and stored in the RAM (63). First, press the "rO" key while pressing the CRT key (74), and the FIL shown in Fig. 24 will be displayed.
E NAME LIST (7) Screen is CRT (67)
appears in In this state, PRO.

NO, '1' and '2 J Nihaj Teni F I
LE NAME is displayed and this FILENA
MEO>Model data indicates that the setting has been completed.

When setting model data for a new model represented as 'PC-3,-t' as FILENAME, PRO, NO
, 3 using the cursor keys (72) and keying in "PC-3" using the alphabet keys (75) and numeric keypad (7o). Then, when the SE/T key (73) is pressed, a model data screen appears.

Here, move the cursor (71) to the TYPE column and key in the number of the part type for each stage number, resulting in a screen as shown in FIG. 18. Do not write numbers in columns that are not used. On this screen, only up to 10 row numbers are displayed, but by pressing the NEXT key (76)
Screens from 1 to 20 rows can be displayed. By pressing the NEXT key (76), the next 10 screens are sequentially called up, and by pressing the BACK key (77), the previous 10 screens are called up. In this way, by pressing the SET key (73) after completing the key-in of the part type, the key-in data is stored in the RAM (63).
The data is stored in , and the setting of model data is completed.

The operation of the above configuration will be explained below.

When changing the model of the printed circuit board (61) on which parts have been mounted so far and attempting to mount components on a new model of printed circuit board (61), the tray component supply device (1)
It is necessary to change the pallet (6) on which the parts (3) stored in the stocker section (5) of the machine are placed to match the new model board (61). Regarding the model switching operation, it is assumed that the storage state of the component (3) in the stocker section (5) when the component installation of the previous model is completed is the state displayed on the CRT screen as shown in Figure 23. This will be explained according to the flowchart shown in FIG.

First, press the CRT key (73>) and then press the "0" key, and the FILENAME L shown in FIG.
IST is displayed on the CRT (67) screen. cursor(
71) to PRO, NO, "3" and press the SET key (73).
The state of the stocker unit (5) that had been storing 3) is stored in the old execution model memory from the pallet data memory shown in Fig. 23.The part type for each stocker stage number is stored in the old execution model memory, and the part type of the new model PC-3 is stored in the old execution model memory. The model data is stored in the new execution model memory.

Next, the CPU (62) confirms that the contents of the new execution model memory for stocker stage number 1 are not unused, and compares the parts types in the new execution model memory and the old execution model memory.

Since the component types of both memories are "10" and are the same, the CPU
(62) leaves the contents of stage number 1 of the pallet data memory unchanged and looks at the component type of stocker stage number 2 of the new execution model memory. Since stocker stage number 2 is unused, the contents of stage number 2 in the pallet data memory are not changed and stage number 3 is checked.

In stage number 3, the part type stored in the new execution model memory is "1", and the data in both memories is different, so the 25th
According to the flowchart in the figure, "1" is stored in the TYPE memory area of stage number 3 of the pallet data memory. Then, select pallet matrix 1 (9, 5) from the part type “1” type library to MAXB (XN, YN).
memory area. Further, the CPU (62) sets pallet protrusion data rH, in the memory area of P, and sets the number of remaining parts "0" in the memory area of WORKS.

Then, the CPU (62) causes the pallet (6) of stocker stage number 3 to be ejected as follows. First, the lifting motor (16) rotates, and the pole screw (17) rotates, whereby the drawer table (14) is raised or lowered along the guide rods (18) (18) via the nut (15). and stops at the position of the pallet (6) of stage number 3.

Then, the drawer motor (24) rotates, and the drawer claw (20) moves to the stocker 1 (
7) side along the guide shafts (25) (25).

Then, the tip of the drawer piece (29) engages with the end face of the pallet (6), and the pallet (6) is projected from the stocker portion (5) as shown in FIG. 15.

Next, the CPU (62) performs the same operation as described above for stocker stage number 4, but since the part type of the new execution model memory is "20" and is different from the old execution model memory, the CPU (62) performs the same operation as described above for stocker stage number 4. The contents of are changed in the same way as for stage number 3, and the pallet (6) of stage number 4 is projected.

The same operation as described above occurs from stocker stage number 5 onwards.
It will be carried out until When switching to a new model, the stocker section (5) is in a state in which all of the pallets (6), (6), etc. to be replaced are protruded.

Thereafter, the operator pulls out the protruding pallet (6) and stores the pallet (6) of the parts type according to the model data of the new model in the pulled out stocker stage.

At this time, if all the trays (2) placed on the pallet (6) are fully loaded with parts (3), the operator places an in-progress mark on the tray in-progress mark placement section (41). (37C) is not placed, but the pallet (6
) to the stocker section (5), place the in-process mark (37C) on the mark placement location (42) indicating the in-process tray (2) in the storage section (41). At the same time, the next part to be taken out from the tray (2) in progress (
There is a work in progress mark (37A) in the parts storage area (36) just before 3).
), and also place a mark (37B) at the beginning position (end) of the row where the mark (37A) is placed. In the case of the head of the column, only the mark (37B) is placed at the head position. In addition, when the operator pushes the pallet (6), the stopper (30) and the opening/closing stopper (34) which is moved upwardly by the cylinder (32) and positioned above and below the notched portion of the stopper (30). This prevents the pallet (6) from entering the elevator section (11).

Next, the operation of checking whether each replaced pallet (6), (6), etc. has been pushed to a predetermined position will be explained. First, when the replacement of pallets (6) (6)... is completed, the operator presses the pallet replenishment switch (6).
Press 0).

Then, the CPU (6) detects that the switch (60) is turned on.
2) checks whether pallet protrusion data "E" is stored in stage number 1 of the pallet data memory according to the flowchart of FIG. 'E' is not stored, so the CPU (62) checks whether the pallet protrusion data r E of stage number 2 exists, but since it is not stored in this stage number either, it checks stage number 3. Since data r E is stored in stage 0 number 3, C
The PU (62) rotates the lifting motor (16) to move the table (14) up or down, and stops the pallet detection sensor (31) at the position of the pallet (6) of stage number 3. Then, the pallet detection sensor (31) checks whether the pallet (6) has been pushed to a predetermined position, and if the presence of the pallet (6) is detected, the pallet at stocker stage number 3 in the pallet data memory is protruded. Reset the data r E .

Thereafter, the check operation is performed in the same manner in order of stocker stage numbers, but the pallet protrusion data r E is set, and the pallet (6) of that stage is detected by the pallet detection sensor (3).
1), if the absence of the pallet (6) is detected, the pallet protrusion data "E" is not reset and continues to be stored as is.

At this time, while pressing the CRT key (74), press the ``1.'' key on the numeric keypad (70).
You can check the contents of the pallet data memory by displaying the screen shown in the figure on the CRT (67), but if the pallet protrusion data "E" is still stored, the P column of the corresponding stocker stage number ``E'' is displayed on the holder, allowing you to check whether the pallet (6) is firmly pushed in.

In this way, the model change of the stocker section (5>) is completed,
It is assumed that the palette data memory has contents as shown in FIG.

Next, the operation of supplying the component (3) from the tray component supply device (1) to the component mounting device (4) will be explained.

Once the model change is complete, the operator must use the component mounting device (
4) Start automatic operation.

Then, the component supply device (4)
Parts type for adsorption to the book mounting nozzle (57)
1,""6" and "20" one by one from the tray component supply device (1).

The CPU (62) checks the contents of the pallet data memory and confirms that there is a stocker stage number for the requested part type for which the pallet protrusion data rE is not displayed, and supplies the part to the component mounting device (4). inform someone of something.

CPU (62) stores component type “1” in stocker stage number 3.
A decision is made to take out the part (3) from the pallet (6), and the number of parts remaining on the same stage is checked.

Here, since the number of remaining parts "0" is stored, an automatic check operation of the in-process tray is performed. First, the lifting motor (16) is rotated to position the table (14) at the pull-out position of the pallet (6) of stage number 3. Then, by the rotation of the drawer motor (24), the drawer claw (20)
moves toward stocker 1 (7).

Once the drawer claw (20) stops at the home position, the rod (33) moves upward by the operation of the vertical cylinder (32), and the spring (35) moves the drawer piece (29) around the support shaft (28).
) as shown in Fig. 8 to push it up.

The drawer motor (24) further rotates, and the drawer claw (2o) moves in an open state and is located at the drawer position as shown in FIG. Then, the rod (33) is moved by the vertical cylinder (32).
) is lowered, the claw (20) is closed by the biasing force of the spring (35), and the rising part of the end of the pallet (6) is clamped as shown in Figure 10.Next, the pull-out motor (24) is rotated. move,
Claw (20) that moves away from stocker 1 (7)
The pallet (6) is pulled out as shown in FIG.

Next, the table (14) is rotated by the lifting motor (16).
) rises and stops at a position where the P&P head (39) can take out the parts.

Here, the rotation of the X-axis motor (52) causes the drive pulley (
53), the X moving body (50) moves along the X guide rail (55) via the driven pulley (54) and the X-axis belt (51), and is driven by the Y-axis by rotation of the Y-axis motor (46). The P&P head (39) moves along the Y guide rail (49) via the pulley (47), the Y-axis drive pulley (48), and the Y-axis belt (45), and the P&P head (39) moves along the Y guide rail (49).
), the tray in-process detection sensor (4o) first detects the in-process mark (3) on the tray in-process mark placement part (41).
7C) is detected. When the sensor (4o) detects the in-process mark (37C) placed on the loading section (41) as shown in FIG.
) is in the in-progress state, the CPU (62) determines.

Then, the CPU (62) allows the P&P head (39) to move and causes the sensor (40) to move the P&P head (39) to the row of the first parts storage area (36) of the tray (2) as shown by the arrow in FIG. Have them search for mark (37B). Said sensor (4o)
When the mark (37B) is detected, the sensor (40) is moved in the direction of the arrow along the row of parts storage areas (36) where the mark (37B) is placed, and the mark (37A) is detected. Find the location where it is placed.

In this way, when the sensor (40) detects the parts storage area (36) where the mark (37A) is placed, the CPU
(62) indicates that the next position of the parts storage area (36) where the mark (37A) is placed (lower parts storage area (36) in Figure 5) is where the next part (3) will be taken out. It is determined that this is the in-process position to be processed, and the take-out matrix 1 (5, 3) indicating this position is stored in the pallet data memory. At this time, if the mark (37A) is not placed and cannot be found, the position next to the mark (37B> is the position of the next part (3).Then, the CPU (62) sets the 30th part as the number of work in progress. According to the flowchart in the figure, (5-1
)X5+(3-1) to calculate 122.

Based on this result and the data in the total number of parts memory, the CPU (6
2) Calculate (total number of parts - number of work in progress) to find the number of remaining parts r2
3" is calculated and stored in the palette data memory.

When the check in progress is completed in this way, P
As the &P head (39) moves, the suction nozzle (44) stops at the position of the next part (3) to be taken out as shown in the take-out matrix, and picks up the part (3). ) subtracts "1" from the remaining number of parts at stocker stage number 3 in the pallet data memory according to the flowchart in FIG. 31 and stores "22" again, and
Change the extraction matrix to 1 (5, 4). SoL-
1: The CPU (62) confirms that the number of parts remaining is not rO'', lowers the table (14) according to the broach yard in Fig. 32, and places the table (14) on the stage of the stocker 1 (7). It is stopped at the drawer position of the pallet storage stage No. 3, and the table (14) is moved by moving the drawer claw (20).
> Store the upper pallet (6) in the stocker 1 (7) as shown in Fig. 12.

After the sheep, the rod (
33) moves upward, and the claw (20) opens as shown in FIG.

The pawl (20) continues to move and stops at the original position as shown in FIG. 14, and the rod (33) is lowered by the operation of the vertical cylinder (32) and the pawl (2o) is closed. Parts (3
) is adsorbed by the nozzle (44), then the P&P head (39
) moves and places the component (3) in a predetermined position on the component receiver (56).The next required component of the zero component bagging device (4) is component type "6" and is placed on the pallet with stage number 41. When it comes to taking out part (3) from <6), the CPU (
Step 62) confirms that the pallet protrusion data r E is not present in the stage number 41 of the pallet data memory, and checks the contents of the remaining number of parts. Then, since the number of remaining parts "0" is stored, the automatic check operation of the in-process tray is performed in the same manner as described above. In the same way as in the case of stage number 3, the pallet (6) is pulled out and placed on the table (1).
4) stops at a position where the P&P head (39) can take out the parts.

Then, when the P&P head (39) moves in the same manner as described above and checks the presence or absence of the work-in-progress mark (37C) on the mounting section (41), if it is detected that there is no work-in-progress mark (37C), Since the replaced pallet (6) is full, the extraction matrix 1 (1°1) that should be extracted first is stored in the pallet data memory, and the remaining number of parts is the data '90 stored in the total number of parts memory.
．． is stored.

When the in-process automatic check is completed in this way, P&
The P head (39) moves and the suction nozzle (44)
, 1) and picks up the component (3) at position 1) and places it on the component receiver (56).
At the same time, the CPU (62) subtracts "rl" from the remaining number of parts of stocker stage number 41 in the pallet data memory, stores "89", and sets the takeout matrix to 1 (1, 2). Change to

The CPU (62) confirms that the number of parts remaining is not "o" and lowers the table (14) to the pallet (6).
are stored in the stage numbered 41 of the stocker 2 (8) in the same manner as described above.

In the operations of stage number 3 and stage number 41 explained above, the drawer of the pallet (6) and the lifting and lowering of the table (14) are performed on the stocker 1 (7) side and the stocker 2 (8) side.
After the drawer and lifting operation on the stocker 1 (7) side is started, the drawer and lifting operation on the stocker 2 (8) side are immediately performed in parallel, and both sides are operated at the same time. The tables (14) (14) are stopped at the parts removal position.

Then, an automatic check for the tray (2) in progress is performed for each table (14) (14), and
The book suction nozzle (44>(44)
) (6) to suck the parts (3) and (3) and place them on the parts receiver (56) at the same time. Part (3) is sucked into the suction nozzle (44
) are adsorbed, the table (14) will be lowered.

Next, stocker 1 (7
) side table (14) is lowered and the pallet (6) of stage number 4 is pulled out. The table (14) on which the pallet (6) is placed rises and stops at the parts removal position. Since the number of parts remaining in the pallet data memory is rO, the automatic tray in-process check described above is performed.

First, the tray in-process detection sensor (40) checks the in-process mark placement section (41), and as shown in FIG. 33, the mark (37C) is placed at the third mark placement location. detect that As a result, the CPU (62) determines that the upper left tray (2) in FIG. 33, which corresponds to this loading location, is in the work-in-progress state, and marks the upper left tray (2) in the same manner as described above. (37B) (37A>
Then, the take-out matrix 3 (4°5) is stored in the pallet data memory from the placement position of the mark (37A). The CPU (62) calculates the number of parts in progress in the same manner as described above and calculates "79", calculates the number of remaining parts "41" from the data in the total number of parts memory, and stores it in the pallet data memory.

Thereafter, the component (3) is taken out by the suction nozzle (57) and transferred to the third predetermined position of the component receiver (56).

The contents of the pallet data memory are that the number of remaining parts is 140'' and the take-out matrix is 3 (5°1). The contents of the memory at this time are as shown in Fig. 34. When three parts (3) are placed on the zero part receiver (56) and it is full, the part receiver (56) is moved by a cylinder drive source (not shown). The mounting shuttle section (13) is moved and stopped at the component suction position of the mounting nozzle (57).

When the supply of the requested product is completed in this way, the CPU (62)
notifies the component mounting device (4) that supply has been completed.

The operation of the component mounting device (4) in this state will be described below.

A supply completion signal is sent from the CPU (62) to the component mounting device (
4), the mounting head (78) is driven by the helad motor (80) to move in the Y direction along the linear guide (82) via the ball screw (81) and nut (79), and then moves to the component receiver (56). stop on top. The three mounting nozzles (57) (57) (57) are mounted on the parts receiver (56).
When the three parts (3) placed on the
4> Move in the Y direction to the top.

After the position and orientation of the component (3) are recognized by the recognition camera <84>, the mounting head (78) moves to the component mounting section (85) in the Y direction and stops at a predetermined position. Further, the mounting table (87) on which the printed circuit board (61) that has been supplied to the supply conveyor (88) is mounted is moved along the linear guide (91) via the rehole screw (90) by the rotation of the motor (89). to move in the X direction and stop at a predetermined position. In this state, the mounting nozzle (57) mounts the component (3) at a predetermined position on the printed circuit board (61).

Thereafter, by moving the mounting head (78) in the Y direction and moving the mounting table (87) in the X direction, the remaining two components adsorbed by the mounting nozzles (57) (57) are placed at the position where they should be mounted on the printed circuit board (61). (3) is also installed.

When all three parts (3) have been installed, the installation head (
78) is the parts supply device (1) to take out the next part (3).
).

While the component mounting device (4) is performing the mounting operation, the component receiver (56>) moves to the receiving position of the component (3). When the mounting operation is finished, the component mounting device (4) moves to the 35th position.
According to the flowchart in the figure, a request for the next component group is made to the tray component supply device (1), and the device (1) supplies the next component (3) to the zero-order component mounting device (
4) The request is for "part type r30" and other 2
If the type is a request to the tape parts supply department (83),
Output the supply ready signal and load the pallet with stage number 43 (6)
is pulled out in the same manner as described above and located at the component extraction position of the component extraction section (12). In this stage, since the pallet protrusion data "E" is not stored and the number of remaining parts is not 1"0", the part (3) placed at the position of the take-out matrix 1 (7, 3) The suction nozzle (44) suctions the parts and transfers them to the parts receiver (56). Then, the contents of the pallet data memory are changed to the number of remaining parts to "2" and the take-out matrix 1 (7.degree. 4). Since the two components (3) to be sucked into the other two mounting nozzles (57) are both supplied from the tape component supply section (83), the component receiver (56) is located at the component pickup position of the mounting nozzle (44). The CPU (62) outputs a supply completion signal according to the flowchart in FIG. Then, the installed nozzle (44
) attracts the component (3) on the component receiver (56). The mounting head (78>) is connected to the tape component supply section (83).
The installation nozzle (44) (44) is moved to the part (3) (
3) and the component mounting operation is performed in the same manner as described above.

The above-mentioned operations are performed according to the request of the component (3) of the component mounting device (4), and each time the component (3) is supplied, the number of remaining components decreases.
3 parts types '30. is requested, the remaining number of parts is
1'', when the suction nozzle (44) suctions the component (3) in the same manner as described above, the number of remaining parts in the pallet data memory becomes ro'', and the CPU (62) determines that the number of remaining parts is ``ro''.
It is determined that the result is o.

Then, the drawer table (14) on which the pallet (6) is placed is lowered and stopped at the pallet storage position of step number 43, and the motor (24) is rotated to move the pallet (6) to the position shown in Figure 12. move it. And the cylinder (32
) is operated to open the pull-out claw (2o) and moved to the state shown in FIG. 14, and the cylinder (32) is operated to close the claw (20). At this time, CPU (
62) is the door sensor (
10), it is determined whether to open or close the safety door (9). At this time, if the sensor (1o) detects that the safety door (9) is closed, the CPU (62>
24) so that it rotates at normal speed (high speed), rotate it, and move the pallet (6) to the position shown in Figure 15.
stand out. At the same time, pallet protrusion data "E" is stored in the pallet data memory. The operator selects the palette (
6) is protruding, which indicates that the pallet (6) is empty, and the pallet (6) must be replaced. Also, you can check on the screen of the CRT (67) that "E" is displayed in the P column as shown in the 37th [m].

Next, the operation of exchanging the pallet (6) by the operator will be explained. The operator opens the safety door (9) and pulls out the protruding pallet (6) to find the pallet (6) full of parts (3) or, if the part (3) is in the process, to remove the model. In the same way as when switching, the in-process mark (37A) (
Insert and push in the pallet (6) on which 37B) (37C) is placed. At this time, the pallet (6) is locked by the stopper (30) attached to the table (14), so that it does not protrude into the elevator section (11).

Even when the table (14) is being raised or lowered as shown in Fig. 6, the vertical movement cylinder (32) operates, the opening/closing stopper (34) moves upward, and the stopper (30) moves the pallet ( 6) so as not to protrude into the elevator section (11). When the operator presses the pallet supply switch (60) after replacing the pallet (6), the pallet (6) is replaced according to the flowchart in FIG.
6) is checked to see if it is firmly pushed in,
When the presence of the pallet (6) is detected, the pallet protrusion data r E is reset, and when the absence of the pallet (6) is detected, the pallet protrusion data r E remains set. When the pallet (6) of another stage number becomes empty during the above-mentioned exchange of the pallet (6) and the number of remaining parts becomes 10, the CPU (62) detects this and ejects the empty pallet (6). An action is taken. In the same manner as above, when the state shown in Fig. 12 is reached, the CPU (6
2) uses the door sensor (10) to detect the opening and closing of the safety door (9). In order to detect that the safety door (9) is open, the drawer motor (24) is activated according to the flowchart in Data is set to rotate at a low speed, the pallet (6) is rotated at a low speed, and the pallet (6) is projected at a low speed to the position shown in FIG. Pallet protrusion data rH, is stored in the pallet data memory in the same manner as described above.

The door sensor (lO) detects that this safety door (9) is open.
If the empty pallet (6) is to be ejected while being detected, a buzzer or the like will be used to notify the operator who is replacing the pallet (6) that the empty pallet (6) will be ejected. You can.

Next, we will explain the operation when a request for a component type that is out of material is received from the component mounting device (4>) according to the flowcharts in FIGS. 35 and 36. When the pallet (6) to be placed is empty, ejection is performed, pallet ejection data rH, is stored, and all other stocker stages are filled with parts (3), parts are removed from the parts mounting device (4). Variety' I J t
'10 J and '30' shall be required.

It is assumed that the material out mode changeover switch (93) is in the reinstallation mode. Since the pallet protrusion data r E is stored in the stage number 3 where component type "1" is stored in the pallet data memory, the CPU (62) does not load all the requested types to the component mounting device (4). Notify that it cannot be supplied, and indicate that the part type that cannot be supplied is "1".
”. Then, the parts mounting device (4)
The warning light (94) lights up and the parts types '10. and “30”, and the component type r is stored in the missing item memory (92) in the component mounting device (4).
1" is stored together with the installation information.

The PU (62) notifies the component mounting device (4) that these types can be supplied and performs the same component supply operation as described above. Components (3) (3) are placed on the component receiver (56), and when the component receiver (56) is positioned at the component suction position of the mounting nozzle (57), a supply completion signal is output. Then, the component mounting device (4) performs the component mounting operation on the printed circuit board (61) in the same manner as described above.

After this, supply and mounting operations are continued by the mounting device (4) and the supply device (1), but the component mounting on one printed board (61) is the last component (3).
When the above-mentioned out-of-stock memory (92) has stored one type ``1'' that has been postponed, the mounting device (4) supplies only one type ``1'' to the supply device (1). ). Here, if the pallet (6) containing part (3) of type "1." has already been replenished in the stocker stage with stage number 3, a supply ready signal is output to the mounting device (4) and the part (3) of type "1" is replenished. 3) is being supplied, and upon learning that the supply is complete, the mounting device (4) performs suction and mounting operations for the part (3) of type "IJ".

Here, the type "1.
When a request is made, if the pallet (6) is ejected and the pallet ejection data "E" is stored, an abnormality is reported as a material shortage abnormality, and the loading device (4) and supply Device (1) stops operating. In addition, for the postponed parts (3) that could not be supplied, installation information such as type and installation position is stored one by one in the out-of-stock memory (92).
If there are multiple deferred parts (3), multiple parts are stored, but if there are multiple deferred parts (3)
) Requests can be made for up to three parts at a time from a plurality of parts (3) stored in the memory (92). And in one product type request, memory (9
If all the postponed parts (3) stored in the missing parts memory (92) cannot be installed, the parts (3) group stored in the missing parts memory (92) are requested again, and the parts (3) stored in the missing parts memory (92) are requested again.
2) All parts (3) of the part types stored therein are mounted.

On the other hand, the aforementioned material out mode changeover switch (93
> has been switched to abnormal stop mode, when the CPU (62) notifies the placement device (4) that there is a part type that cannot be supplied by requesting a normal part type, the abnormality notification is successful. As a result, devices (1) and (4) will stop.

Note that the supply device (1) notifies the component mounting device (4) that the requested product cannot be supplied when the pallet protrusion data rE is stored in the pallet data memory of the stage number in which the product is stored. , the calculation shows that when multiple items of the same type are requested, the second or third item (3) of the same type cannot be taken out because the total number of remaining parts in the stocker section (5) is rO''. This is a case where it can be determined.

In addition, regarding the operation when there is a request from the component placement device (4) for a component type that is out of material, in this embodiment, after the placement operation has been completed, the next component type stored in the memory (92) is Part (3) is installed. here,
Even if the installation is not completed, the material out pallet (6)
After the pallet supply switch (60) is replaced,
When the pallet (6) is pressed, a check is made to see if the pallet (6) has been pushed in securely according to the flowchart in FIG. The CPU (62) detects that the pallet (6) of the stocker stage number has been replenished and notifies the loading device (4) so that the pallet (6) of the stocker stage number can be requested and supplied without being postponed. You can also make it so that

When checking the in-process state of the pallet, place the in-process mark (37B) at the beginning of the line of in-process marks (37A) placed in the parts storage area (36) immediately before the next part to be taken out (3). However, I made sure to place the in-process mark (37A) at the beginning of the row in the parts storage area (36), and the sensor (4)
0) may first search for the mark (37B) in the first column.At this time, if the part (3) is placed and the mark (37B) is placed, the mark (37B) is found in the first row and column.
7A> cannot be placed, place only the mark (37B) and the detection sensor (40) will be placed on the mark (37B).
It is determined that the part (3) to be taken out next is placed in the parts storage area (36) next to the parts storage area (36) of ).

Also, when checking the work-in-progress status of this pallet, if one tray (2) behind the plurality of trays (2) is empty and the next tray (2) is full, mark (37A) is displayed.
(37B) is not placed because there is no parts storage place (36) to place it, and the mark (37C) is marked corresponding to the tray (2) where the first part (3) in the pallet (6) was prevented from being placed. If you leave it at the battlefield (42), you will receive a full tray (2).
), mark (
37B) is detected, and it is determined that the tray (2) is full. Place the mark (37A) at the end of the tray (2) in front of the tray (2) on which the first part (3) is placed, and mark (37A) at the beginning of that row.
B) and place the mark (37C) on the mark placement place (4) corresponding to the tray (2) where the mark (37A) is placed.
2) may be placed.

Also, if the mark (37B) is not placed, the mark (37A)
), if the sensor (40) checks the order in which parts (3) are taken out, it is possible to check the work-in-progress position, or even if there is no mark (37C), it is possible to check the position of the parts (3) on the pallet (6). , install the sensors (4) in order from the beginning.
0) and detects the go mark (37A), the position of the leading part can be found.

Furthermore, mark placement place (37C) is placed (
In addition to 42>, a placement position may be provided where a mark is placed to detect only whether the pallet 6> is full or a work in progress.

In addition, a memory is provided for storing the takeout matrix for each tray (2), a place is provided for each tray (2) to place a mark, and a sensor (40) is installed for each tray (2) after replacing the pallet. It may also be possible to detect whether the tray (2) is full or not based on the presence or absence of a mark at the mark placement location.

In this case, if it is detected that the tray is not full, the same in-process check operation as described above is performed for each tray (2).
This result will be stored in memory for each extraction matrix. If the tray (2) is empty, place a mark indicating empty in the last part storage area of the tray (2) and place another mark at the beginning of the column. ) so that it can be determined that it is empty. Alternatively, it is also possible to provide a separate mark placement location for each tray (2) to distinguish between empty and in-process trays.

In this way, when replacing the pallet, the unfinished or full tray (2) can be placed at any position on the pallet (6).

Furthermore, instead of placing a work-in-progress mark (37A) in the parts storage area (36) of the immediately preceding pick-up order to indicate the position of the leading part in each tray (2) or in the pallet (6), as shown in FIG. As shown in the figure, the frame part of the tray (2) (other than the parts storage area (36)) or the pallet (
6) Mark storage area (9) corresponding to the row and column of the parts storage area is shown above.
6), place the in-process mark (97) in the mark storage area (96) corresponding to the row and column where the leading part is placed, and make the detection sensor (40) detect the mark (97). You can.

Alternatively, the work-in-progress mark may be moved sideways to change its position instead of being placed on it, or it may be attached to a magnet, or it may be coated with ink that can be easily wiped off. It may also be possible to detect this by letting the user wear the device.

Furthermore, as a mark to indicate the position of the first part, a mark surrounding the part may be placed in the parts storage area (36) where the first part is placed, or a mark surrounding the part (3) in this parts storage area (36) may be placed.
Place a mark that reflects light so that it will not be hidden by the parts (3) below, or a mark that will be hidden if parts (3) are placed in all the parts areas of the tray (2). Alternatively, a mark may be attached to the leading part itself so as not to affect the suction, and a detection sensor capable of detecting these marks may be used to detect the mark.

Furthermore, as a method for detecting the position of the leading component, the above-mentioned mark or the leading component itself to which no mark is attached may be imaged and recognized using a camera or the like.

(g) Effects of the Invention As described above, according to the present invention, it is possible to see at a glance which stage of pallets should be replaced during a parts supply operation, and the time required for the operator to replace the pallets can be shortened.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a component supply device and a component mounting device to which the present invention is applied, FIG. 2 is a perspective view of the component supply device, FIG. 3 is a side view of the component supply device and component mounting device, and FIG. An enlarged side view of the drawer table, stocker section, etc.; FIG. 5 is a plan view of the pallet pulled out on the drawer table;
Figures 6 and 7 are side views showing the state in which the stopper and the opening/closing stopper are locked to the pallet, and Figures 8 to 14 are
Figure 15 is a side view of the stocker and drawer table showing the pallet drawer storage operation, Figure 15 is a side view of the stocker and pullout table showing the pallet being extended, and Figure 16 is the state where the mounting nozzle is positioned on the component. FIG. 17 is a control block diagram of the present invention, FIG. 18 is a diagram illustrating model data, FIG. 19 is a diagram illustrating a product library, and FIG. 20 is an example of contents of old execution model memory. 21 is a diagram illustrating the contents of the new execution model memory,
Figure 22 is a diagram illustrating the contents of the total number of parts memory;
The figure is a CRT screen diagram illustrating the contents of the palette data memory, and Figure 24 is a CRT screen diagram of FILENAME LIST.
25 is a flowchart of the model switching operation, FIG. 26 is a CRT screen diagram of FILE NAME LIST, FIG. 27 is a flowchart of the pallet detection operation for replacement, and FIGS. FIG. 29 is a CRT screen diagram illustrating the contents of the pallet data memory;
Fig. 30 is a flowchart of the automatic check operation of the in-process tray, Fig. 31 is a flowchart of the subtraction operation of the number of remaining parts, and Fig. 32 is the operation of storing the pallet in the stocker and ejecting it from the stocker. 33 is a plan view of the pallet being pulled out onto the drawer table, FIG. 34 is a diagram illustrating the contents of the pallet data memory, and FIG. 35 is a diagram showing the component mounting operation of the component mounting device. FIG. 36 is a diagram showing a flowchart of the supply operation of the parts supply device;
FIG. 7 is a CRT screen diagram illustrating the contents of the pallet data memory, and FIG. 38 is a plan view of the pallet on which a tray is placed. (1)...Tray component supply device, (3)...Electronic components, (4)...Component mounting device, (5)...Stocker section, (6)...Pallet, <20) ...Drawer claw, (21)...Drawer belt, (24)...
Pull-out motor, (27)...Push-back piece, (62)
...CPU, (63) ...RAM.

Claims (1)

[Claims] (1) In a component supply device in which components are taken out from a pallet on which a plurality of components are placed and which is stored in a stocker in a drawable manner in multiple stages and is supplied to a component mounting device, a protrusion that protrudes the pallet from the stocker. means, a counter that is provided for each of the pallets and that adds or subtracts "1" each time a component placed on the pallet is taken out; and control means for activating the ejecting means to eject the pallet being held.