JPS649133B2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a component mounting device.

For example, when attaching many types of parts, such as electronic parts, to a printed circuit board, etc., it is often done manually, resulting in high costs and poor efficiency, especially in production lines with a large amount of work. In addition, manual work has the disadvantage that there are large variations in the accuracy of parts installation, resulting in many defective products.

In order to compensate for the shortcomings of manual work, parts mounting devices have recently been used to mount parts by automatic control, and the basic configuration of the conventional example is the first one.
The explanation will be made based on FIGS. 2, 3, a, b, and c.

In the figure, there is a robot hand 2 on the workbench 1.
is fixed. This robot hand 2 is a so-called horizontal multi-joint robot called a scalar type robot, and has a first arm 2a and a second arm 2b, and can determine planar coordinates by rotating each arm. giving. It behaves just like a human's right arm. Since scalar robots are well known, they will not be discussed in detail here. A head portion 4 is provided at the tip of the second arm 2b to support the chuck 3 and to drive the chuck in the vertical direction. The head section 4 has a so-called cylinder mechanism, and is operated by compressed air supplied at a predetermined timing from, for example, an air compressor (not shown). A conveyor 5 is disposed within the working area of the robot hand 2, and the conveyor transports, for example, a printed circuit board 6 as a work object. At the bottom of chuck 3,
A finger portion 3a capable of gripping an electronic component 7 to be attached to the printed circuit board 6 is provided, and the finger portion preferably receives compressed air supplied at a predetermined timing from the air compressor (not shown). The electronic component 7 is then driven to grip the electronic component 7.

The robot hand 2 is electrically connected to a control panel (not shown) and an operation panel (not shown) for automatically controlling the robot hand.

Frames 8 and 9 are arranged on both sides of the workbench 1. A component supply mechanism for supplying, for example, six types of electronic components is provided on the pedestal 8.
The component supply mechanism includes component sources 11a, 12a, 13a, 14a, and 15a that store various electronic components and send out the electronic components using vibration or gravity.
and 16a, and component transport sections 11b, 12b, and 13 that transport electronic components sent out from each component source.
b, 14b, 15b and 16b, and a component take-out section 11c, 1 that takes out electronic components from the component transport section.
2c, 13c, 14c, 15c, and 16c, the conveyor 5 includes a fixed rail 5a fixed to the workbench 1, a movable rail 5b that is movable toward or away from the fixed rail 5a, It is equipped with a drive mechanism (not shown) consisting of a motor etc. that drives the movable rail, and is configured to adjust the rail spacing according to the dimensions of the printed circuit board 6 to be transported on the conveyor. .

A component mounting procedure using the component mounting device configured as described above will be briefly explained.

By issuing the command signal, the robot hand 2 and the component supply mechanism start operating at a predetermined timing. A desired electronic component is gripped by the chuck 3 of the robot hand 2, and then transported and attached onto the printed circuit board 6. Thereafter, this operation is repeated for each electronic component.

The chuck 17 shown in FIG. 4 is a modified chuck called a match chuck that has been improved to be able to grip four types of electronic components, for example, whereas the chuck 3 described above can only grip one type of electronic component. It is. The chuck 17 is a shaft member 17a
It has a finger attachment part 17b that is rotatable about the finger attachment part 17b. The finger attachment portion 17b has, for example, a cross-shaped branched shape, and a finger portion 17c that is formed to correspond to the shape of each electronic component and capable of gripping the electronic component is fixed to each branch end.

When this chuck 17 is attached to the head section 4 and used, the finger attachment section 17b rotates at a predetermined timing in conjunction with the operation of the robot hand 2.

In addition to the above-mentioned method of increasing the number of types of electronic components that can be mounted using a multi-chuck, there is another method that uses a double-headed head 18 shown in FIG. That is, the head 4 shown in FIG. 2 is a single-head type, and the chuck 3 or chuck 17 is
However, by using this double-headed head 18, the number of chucks can be reduced to two. However, the double-headed head 18 is heavy, and when used in combination with the multi-chuck, the weight of the arm tip of the robot body 2 increases too much, resulting in a reduction in work speed and component mounting accuracy. Further, even if a multi-chuck and a double-headed head are used together, the types of parts that can be attached will not be so large.

Therefore, in order to increase the number of types of parts to be attached, we have developed a type of component in which a plurality of fingers, which are molded to correspond to the shape of each electronic component and can grip the electronic component, are arranged as a group within the working area of the robot hand. An attachment device has been developed.

This type of component mounting device is basically constructed in the same way as the component mounting device of the type shown in FIGS. 1 to 3c, and the finger portion 3a shown in FIG. 3b is separated from the chuck 3. It has a configuration in which it is provided separately. Also, new to chuck 3,
A finger gripping mechanism for removably gripping the finger portion 3a is added.

A procedure for mounting electronic components using such a finger-exchanging component mounting device will be briefly described.

First, the robot hand 2 is made to select a desired finger from a group of fingers, and the finger is attached to the chuck. The selected finger is conveyed to a component take-out section of a component supply mechanism that supplies the electronic component to be attached, and the electronic component is gripped by the finger. This is then conveyed to a component attachment device and attached, after which the fingers are returned to the finger group. From now on, repeat this operation.

In the above-mentioned finger exchange type component mounting device, by efficiently arranging the component ejecting section of the component supply mechanism and the group of fingers within the working area of the robot hand 2, the type of electronic component to be mounted can be changed by using the finger and the fingers. The number of parts can be increased dramatically compared to a replacement type parts mounting device.

However, industrial products such as electronic devices have become more complex, and there has been a desire to develop a component mounting device that can mount a greater variety of electronic components at high speed.

The present invention has been made in view of the above-mentioned points, and its object is to provide a component mounting device that can mount many types of components at high speed and occupies less space.

A component mounting device according to the present invention includes a component supply means for supplying at least two types of components, a plurality of fingers capable of gripping each of the components, and one finger selected from the plurality of fingers to place a predetermined workpiece on a workpiece. a component mounting mechanism that transports and attaches the plurality of fingers to a component mounting position; the component supply means includes a supporting means that supports each of the plurality of fingers at a predetermined position; After returning to the predetermined position and using the fingers to grip a new component, another finger is selected and another component is attached using the other finger.

Hereinafter, the component mounting device which is an embodiment of the present invention will be described in the sixth example.
This will be explained with reference to FIGS.

In the figure, a robot hand fixing base 31 is fixedly installed on the upper right end surface of the workbench 30. Further, on the workbench 30, a conveyor 33 is provided for transporting a work object such as a printed circuit board 32 in the right direction (arrow x direction), and the conveyor is passed under the robot hand fixing base 31. ing. A robot hand 34 is mounted on the robot hand fixing base 31.
is installed. The robot hand 34 is of a so-called multi-joint type, which is called a scalar type, and has a first arm 34a and a second arm 34b, and each arm rotates around its support point. It gives planar coordinates. In other words, it behaves exactly like a human's right arm. Since such a scalar robot hand is well known, it will not be described in detail here.

A head portion 35 is attached to the tip of the second arm 34b of the robot hand 34. The head portion 35 has a structure using a cylinder mechanism,
For example, the rod portion 35a is provided with a rod portion 35a that is operated in the vertical direction (in the direction of arrow Z and the opposite direction) by compressed air supplied at a predetermined timing from an air compressor (not shown). A chuck 36 is attached to the lower end of the rod portion 35a. The chuck 36 has, for example, nine fingers 41, 42, 43, 44, 45, 46, 47, 4 that can grip electronic components to be attached to the printed circuit board 32.
8 and 49 in a detachable manner.

Here, the basic structure of the finger will be explained using the finger 41 as an example.

As is clear from FIGS. 9a, b, c and d, the finger 41 has a body 41a as a shell member of the finger. The upper part of the body part 41a is a cylindrical part 41c having a groove 41b formed on its outer circumference. A finger 41 is provided inside the cylindrical portion 41c.
A push rod 41d that serves to push the electronic component 51 to be gripped downward is inserted through the push rod 41d. push rod 4
1d is also fitted into a through hole 41f formed in the lower end 41e of the body 41a, and the lower end 41f is also fitted into the through hole 41f.
1g protrudes below the body portion 41a. The outer diameter of the lower end portion 41g is larger than the inner diameter of the through hole 41f, and upward movement of the push rod 41d is restricted. A chuck cam 41h is fitted onto the push rod 41d. A stopper 4 is attached to the upper end of the push rod 41d.
1i is fixed with a small screw or the like, and a coil spring 41j is interposed between the stopper and the upper end of the chuck cam 41h. A male thread 41k is threaded on the upper part of the chuck cam 41h, and a female thread threaded on the lower end of the cylindrical intermediate member 41l is engaged with the male thread. The intermediate member 41l includes a stopper 41i and a coil spring 4.
It is fitted externally to 1j. An enlarged diameter portion 41n is formed at the distal end of the intermediate member 41l, and an overhang portion 41 protrudes from the enlarged diameter portion and the lower end of the inner circumference of the cylindrical portion 41c.
A coil spring 41p is interposed between the coil spring 41p and the coil spring 41p. A pair of chuck levers 41q are supported at the left and right ends of the body 41a via shafts 41r so as to be swingable within a predetermined range. Chuck lever 41q
is a bearing member 4 attached to its upper end.
1s, it smoothly engages with a tapered cam portion 41t formed on the outer periphery of the chuck cam 41h and whose diameter expands downward. chuck lever 4
A coil spring 41u is installed inside the upper end of 1q, and the upper end of this coil spring 41u connects to the enlarged diameter part 4 formed at the lower end of the cylindrical part 41c.
It is in contact with 1v. A pair of finger claws 41w for pinching and gripping the electronic component 51 are fixed to the lower end of the chuck lever 41q by screws 41x. The spacing between each finger claw 41w can be adjusted by loosening a screw 41x. Further, a portion of the body portion 41a that pivotally supports the chuck lever 41q protrudes outward by a predetermined amount so that it can be engaged with a supporting member to be described later. Further, this portion is referred to as an engaging protrusion 41y.

Each of the fingers 42 to 48 other than the finger 41 is
It has substantially the same structure as the finger 41, and can grip various electronic components by, for example, changing the interval between the finger claws 41w.

Next, the structure of the chuck 36 will be explained.

As shown in FIG. 10, the chuck 36 is
Rod portion 3 of head portion 35 of robot hand 34
5a is provided with a substantially cylindrical intermediate member 36a that is fixed to the intermediate member 5a by, for example, a screw connection. A support member 36b fits into the lower end of the intermediate member 36a and is fixed by a screw 36c. Compressed air is supplied to the hollow portion 36d of the intermediate member 36a through the rod portion 35a.
Inside this hollow part 36d, a pipe 3 is supplied with compressed air through a line separate from the air supply line to the hollow part.
6e is inserted, and the pipe 36e passes through the intermediate member 36a and the support member 36b. A male thread 36f is threaded on the small diameter portion of the support member 36b, and a female thread threaded on the upper end of the substantially cylindrical fixed body 36g externally fitted on the small diameter portion is threaded into the male thread. It matches. A substantially cylindrical piston member 36h is provided within the fixed barrel 36g and slidably within a predetermined range between the fixed barrel and the inner circumferential surface of the fixed barrel via a packing. For example, the enlarged diameter portion 41 of the intermediate member 41l of the finger 41 is provided at the lower end of the piston member 36h.
A protrusion 36j that can be engaged with n is formed. Inside the piston member 36h, a push rod piston 36j whose lower end can engage with, for example, the push rod 41d of the finger 41 is slidably provided between the piston member 36h and the inner peripheral surface of the piston member 36h via a packing 36k. ing. Near the lower end of the fixed barrel 36g is a steel ball 36l that can engage with the groove 41b of the finger 41, for example.
It is fitted so as to be movable within a predetermined range in the radial direction of the fixed cylinder. A movable cylinder 36m is slidably engaged with the outer periphery of the fixed tube 36g within a predetermined range via a gasket 36n. Movable tube 3
A male thread 36o is formed at the bottom of the 6m,
A female screw threaded on the upper end of the cylindrical engagement tube 36p is screwed into the male screw. The inner peripheral surface of the engagement cylinder 36p is slidably engaged with the fixed cylinder 36g via a gasket 36q. The lower end of the engagement tube 36p has a tapered cam portion 3 that can engage the steel ball 36l.
6r is formed. Between the upper end of the movable tube 36m and the large diameter part of the support member 36b, there is a movable tube 36m.
A coil spring 36s is interposed therebetween to press the coil spring 36s in a direction away from the large diameter portion. Support member 36b
A through hole 36t extending in the radial direction of the large diameter portion is provided in the large diameter portion, and this through hole 36t communicates with the hollow portion 36d of the intermediate member 36a through an oblique hole 36u. There is a pipe 36v in the through hole 36t.
are connected to each other, and the pipe 36v is connected to the fixed body 36.
g and a pressure receiving space 36w between the movable cylinder 36m.

The robot hand 34 including the chuck 36 includes a control panel (not shown) incorporating a program for automatically controlling the robot hand and an operation panel (not shown) for operating the robot hand.
It has a working area 34c shown in FIG. 6a. robot hand 3
Numeral 4, together with the control panel and operation panel, constitutes a component mounting mechanism that grips electronic components with the fingers, carries them into the component mounting device of the printed circuit board 32 to be worked on, and mounts them. Further, the control panel is provided with a terminal that can be connected to the robot hand 34 and its peripheral equipment in order to determine the operation timing between the robot hand 34 and its peripheral equipment.

As shown in FIG. 8, on the workbench 30,
Longitudinal base member 5 extending parallel to conveyor 33
3 is fixed. On the base member 53, there are nine component supply machines 54, 55, 5 each supplying electronic components to be attached to the printed circuit board 32.
6, 57, 58, 59, 60, 61 and 62 are attached by, for example, bolts. These nine component supply machines constitute a component supply means that supplies, for example, nine types of components.
Each of the component feeders 54 to 62 includes a component source (not shown) that stores various electronic components and sends out the electronic components, and a component source (not shown) that stores various electronic components and sends out the electronic components, and the electronic components sent out from each component source by gravity, mechanical vibration, or a predetermined drive mechanism. Component transport units 54a, 55a, 56 that transport parts using, etc.
a, 57a, 58a, 59a, 60a, 61a and 62a, and component take-out sections 54b, 55b, 56b, 57 that take out electronic components from each component transport section.
b, 58b, 59b, 60b, 61b and 62b
It has

Each of the component transport sections 54a to 62a and each of the component take-out sections 54b to 62b are separate bodies, and when exchanging component types between component feeders, for example, the component transport sections can be connected by simply removing screws, etc. Only the parts can be replaced.

Here, the basic configuration of the component extraction sections 54b to 62b will be explained using the component extraction section 54b as an example.

As shown in FIGS. 11a and 11b, the component takeout section 54b has a seat 54c that is attached to the base member 53 with bolts or the like. seat 54
A lower end portion of a wall member 54d extending upward is fixed to c. One end of a horizontal member 54e extending in a direction substantially perpendicular to the extending direction of the wall member 54d is fixed to the upper end of the wall member 54d, and the horizontal member has a supporting member capable of supporting the finger 41, for example, together with the wall member 54d. It consists of An opening 54f into which the lower end 41e of the body 41a of the finger 41 can be inserted is formed in the horizontal member 54e. A support portion 54g is provided to protrude into the opening 54f, and the finger 41 is supported by this support portion 54g. The horizontal member 54e is also provided with a finger locking mechanism that uses a pair of steel balls 54h, a coil spring 54i, and a screw 54j, so that when the finger 41 is supported on the supporting member, the steel ball 54h is held against the finger. It is adapted to engage with a recess formed in 41. This locking mechanism, together with the supporting portion 54g, acts as means for positioning the finger 41 in the direction of the central axis of the finger.

As seen in FIG. 11a, the horizontal member 54e
A notch 54k is provided which is continuous with the opening 54f and into which the engagement protrusion 41y of the finger 41 can be engaged. The engaging protrusion 41y and the notch 54k engage with each other when the finger 41 is supported on the support member, and act as an angle regulating means for determining the angular position of the finger 41 with respect to the support member. The angle adjusting means is not limited to the above-mentioned one, but may include, for example, providing a protrusion on the horizontal member 54e,
Any structure may be used as long as the finger 41 is mechanically engaged, such as by providing a recess that can be engaged with the protrusion. Furthermore, it goes without saying that various methods using magnetic force or the like can be implemented, regardless of the mechanical engagement structure.

A cylinder device 54m is attached to the wall member 54d via a support plate 54l. A component pushing member 54o is attached to the tip of the rod portion 54n of the cylinder device 54m. Rod part 5
4n and the component pushing member 54o are pressed upward by a coil spring (not shown) or the like.
The component extrusion member 54o has a guide shaft 54p provided between the support plate 54l and the horizontal member 54e.
and another guide shaft 54q protruding from the seat 54c. The guide shafts 54p and 54q each have a component extrusion member 5.
Expanded diameter part 5 for regulating the movement of 4o within a predetermined range
4r and 54s are formed. The cylinder device 54m is operated, for example, by compressed air, at a predetermined timing in accordance with the operation of the robot hand 34, and is used together with a component extrusion member 54o and the like to transport electronic components sequentially by the component transport section 54a. 51 constitutes a component separation means for separating subsequent components from the first component.
The component separating means is connected to the supporting member via the support plate 54l and the guide shaft 54p as described above. By coupling the component separating means and the supporting member in this manner, the structure of the component extracting section 54b including the component separating means and the supporting member becomes strong.

Note that the component separating means may not be necessary depending on the shape of the electronic component.

Furthermore, the component separating means is not limited to one using the above-mentioned cylinder device, but may have various structures depending on the shape of the component.

As is particularly clear in FIG. 12, the conveyor 33 includes a fixed rail 33a that is fixed to the workbench 30, a movable rail 33b that is movable toward or away from the fixed rail 33a, and a fixed rail 33a. It has a pipe member 33c with a rectangular cross section arranged to sandwich the movable rail 33b. A pair of feed screws 33d are provided between the fixed rail 33a and the pipe member 33c and are threaded over substantially the entire length. Each feed screw 3
One end of 3d is pivotally supported by a support portion 33e provided on the fixed rail 33a. Also, each feed screw 3
The other end of the pipe member 3d is pivotally supported by a support portion 33f provided on a pipe member 33c, and its tip portion protrudes into the pipe member, and a sprocket 33g is fixed to each tip portion. A chain 33h is stretched between each sprocket so that both feed screws 33d rotate synchronously. The feed screw 33d is driven by a motor 33i fixed to the pipe member 33c via, for example, a deceleration belt 33j. Since both feed screws 33d are screwed into a block member 33k fixed to the movable rail 33b, the movable rail 33b
It moves toward or away from the fixed rail 33a in accordance with the rotation of the fixed rail 33a.

A pair of belts 33m is stretched over substantially the entire length of both fixed rails 33a and movable rails 33b via a plurality of pulleys 33l. A pair of motors 33n that are configured to rotate synchronously are fixedly installed on the lower surfaces of the fixed rail 33a and the movable rail 33b, respectively.
m is driven by both motors.

A support member 33o having a generally U-shaped cross section and open at the top is fixed to the surface of the movable rail 33b facing the pipe member 33c. The gauge member 33p is stored in the working area of the robot hand 34 when not in use, and FIG. 12 shows the gauge member 33p in use. As shown in the figure, when in use, the gauge member 33p is transported from the storage position by the robot hand 34 to a predetermined position corresponding to the electronic component gripping position by the robot hand. robot hand 34
The gauge member 33p conveyed to a predetermined position by the robot hand is held by the robot hand so as to extend at right angles to the longitudinal direction of the fixed rail 33a and the movable rail 33b. A notch 33q is formed at a predetermined position in the gauge member 33p.

On the other hand, a light emitting element 33r and a light receiving element 33s are fixed to a support member 33o fixed to the movable rail 33b so as to face each other so as to sandwich the gauge member 33p positioned at the predetermined position. By these light emitting elements 33r and light receiving elements 33s,
The notch 33q of the gauge member 33p positioned at a predetermined position is detected. Notch 33q
The movable rail 33b is driven in response to an output signal generated by detecting this.

The relative position of the movable rail 33b with respect to the component gripping position of the robot hand 34 is detected by the motor 33i, the gauge member 33p, the light emitting element 33r, the light receiving element 33s, etc., and the relative position is determined, for example, by the width of the printed circuit board 32. A rail spacing adjustment device is configured to adjust the rail spacing to a desired position suitable for the rail spacing.

Note that the rail spacing adjustment device is not limited to one that uses optical means such as the above-mentioned light receiving and emitting means, but may also be one that uses, for example, magnetic force.

Further, although only one of the pair of rails of the conveyor 33 is movable, both rails may be movable.

As is clear from FIG. 7, a plurality of support rods 66 are installed on the support rod installation table 65 arranged below the conveyor 33 to support the printed circuit board 32 on its back surface when electronic components are attached. There is. The support rod 66 is replanted by the robot hand 34 in response to changes in the shape of the printed circuit board, and is stored within the work area 34c of the robot hand 34 on the workbench 30 when not in use.

Figures 13 to 15 show a case where the component mounting device is installed in a production line in three series, for example, and shows a component supply mechanism 6 that supplies various components.
8, 69 and 70 are provided in each component mounting device. When a plurality of component mounting devices are installed in series in this manner, the operations of each robot hand and its peripheral devices are centrally controlled.

Next, the process of attaching electronic components to a printed circuit board using the component attaching device having the above-described configuration will be briefly described.

First, the printed circuit board 32 is conveyed by the conveyor 33.
is transported into the working area of the robot hand 34. At this time, support rods 66 are installed on the support rod installation base 65 by the robot hand 34 according to the shape of the substrate 32. When the printed circuit board 32 that has been transported is positioned at a predetermined position, the robot hand 34 selects a desired finger, for example, finger 41, from among the fingers 41 to 49 that hold various electronic components and wait. hold.

Here, the operation of the robot hand 34 holding the finger 41 will be explained based on FIG. 10.

The robot hand 34 operates based on a predetermined program, and the horizontal member 54 of the parts removal section 54b
A chuck 36 is located on the finger 41 positioned and carried at e. This finger 41 grips an electronic component 51 that has already been positioned. When the chuck 36 is positioned on the finger 41, compressed air is supplied to the hollow portion 36d of the intermediate member 36a. Since the compressed air supplied to the hollow portion 36d is sent to the pressure receiving space 36w through the pipe 36V, the movable cylinder 36m and the engagement cylinder 36p are pushed upward against the pressing force of the coil spring 36s. Therefore, the steel ball 36l becomes movable. While maintaining this state, the robot hand 34
The head portion 35 of the chuck 36 is operated, and the chuck 36 is in the finger holding position, that is, the steel ball 36l is in the finger 41 position.
is lowered to a position where it can engage with the groove 41b.
At the same time as the chuck 36 reaches the finger holding position, the supply of compressed air to the hollow portion 36d is cut off. Then, the movable tube 36m and the engagement tube 36p are pushed down by the coil spring 36s. Therefore, the steel ball 36l is pressed toward the groove 41b of the finger 41 by the cam portion 36r of the engagement cylinder 36p, and the steel ball 36l engages with the groove 41b. The finger 41 is thus held on the chuck 36.

When the finger 41 is held on the chuck 36,
The head portion 35 is actuated to raise the chuck 36, and then the robot hand 34 is actuated to carry the finger 41 onto a predetermined mounting position on the printed circuit board 32. Next, the head portion 35 is operated and the chuck 36 and finger 41 are lowered.
As the chuck 36 descends, compressed air is supplied to the pipe 36e inserted into the chuck, the piston member 36h slides within the fixed barrel 36g, and the push rod piston 36j slides within the piston member 36h. Each can be lowered by sliding inside. When the piston member 36h descends, the protrusion 36i of the piston member presses the intermediate member 41l of the finger 41 and the chuck cam 41h shown in FIG. The electronic component 51 is opened by the pressing force, and the electronic component 51 is released from the gripping state. On the other hand, the push rod 41d of the finger 41 is pressed by the lowering of the push rod piston 36j, and the electronic component 51 is pushed out and attached to the component mounting position of the printed circuit board 32.

When the installation work of the electronic component 51 is completed, the chuck 36 is raised. Next, the robot hand 34 operates to return the chuck 36 and finger 41 onto the original parts removal section 54b. When the chuck 36 and the finger 41 reach the top of the component removal section 54b, the chuck 36 and the finger 41 are lowered by the operation of the head section 35. At this time, the finger claw 41w of the finger 41 remains open. The chuck 36 and the finger 41 are lowered, and the finger 41 is fitted into the opening 54f of the horizontal member 54e of the component removal section 54b and is supported by the support section 54g, and at the same time, the engagement protrusion 41y of the finger 41 is the horizontal member 5
4e, the angular position of the finger 41 relative to the support member (consisting of the wall member 54b and the horizontal member 54e) is determined. By lowering the finger 41 with the finger claw 41w open, the finger can grip a new electronic component. In other words, one new electronic component is separated from the group of components by the above-mentioned component separating means so that the fingers 41 can grip it while being supported on the support portion 54g. Therefore, the finger 41 is supported on the support portion 54g, and at the same time the pipe 36e of the chuck 36 is
The supply of compressed air to is cut off, and the coil spring 41p of the finger 41 closes the finger claw 41w to grip a new electronic component. Also,
The push rod 41d of the finger 41 is returned to its original position by a coil spring 41j.

After the fingers 41 are used to grip a new electronic component, compressed air is again supplied to the hollow portion 36d of the chuck 36, and the fingers 4 are gripped by the chuck 36.
The holding state of 1 is released. After that, head part 3
5 is activated and the chuck 36 rises. Then,
The robot hand 34 selects the next finger, for example finger 42, and repeats the above steps to attach another electronic component.

Here, the operation of the component extraction section 54b will be explained.

FIGS. 11a and 11b show the state of the component removal section 54b before operation. Now, assume that the finger 41 is selected by the robot hand 34 and the electronic component 51 gripped by the finger is taken out. Then, the cylinder device 54m is activated and the rod portion 54n of the cylinder device is lowered. Therefore, the component pushing member 54o is 2 in FIG. 11b.
It descends to the position shown by the dotted chain line, and the subsequent parts whose movement has been restricted by the part pushing member moves, and the leading part of the parts pushing out member 54o is pushed out. Then, the supply of compressed air to the cylinder device 54m is stopped, and the rod portion 54n and the component pushing member 54o are pushed upward by the pressing force of a coil spring (not shown). At the same time as the component push-out member 54o rises, movement of the component group is regulated by the component push-out member.

Next, the rail interval adjustment operation of the conveyor 33 will be explained.

For example, the robot hand 34 which receives the width of the printed circuit board 32 by a detection signal conveys the gauge member 33p to a predetermined position as shown in FIG. 12 according to a designated operation program. Gauge member 3 transported to a predetermined position by robot hand 34
3p is a fixed rail 33a and a movable rail 33b
is held by the robot hand to extend perpendicularly to the longitudinal direction of the robot hand. When the gauge member 33p is positioned at the predetermined position, the motor 33i is activated and the movable rail 33b is driven, for example, in a direction closer to the fixed rail 33a. The light emitting element 33r and the light receiving element 33s are located in the notch 33 of the gauge member 33p.
An output signal is generated when g is detected, and motor 3
3i, therefore, the movable rail 33b stops.

In the above embodiment, the robot hand 34 is provided above the conveyor 33, but the conveyor 33 is omitted, and the robot hand 34 is provided above the conveyor 33.
It is also possible to add a parts supply machine within the work area 34c of No. 4. However, in this case, the printed circuit board 32 is placed manually.

Further, in the above embodiment, the printed circuit board 32 is used as the work target, and the parts to be attached to the printed circuit board are electronic components. However, the present invention is not limited to this. For example, the work target may be a mechanical device. It goes without saying that the parts may also be machine parts.

As described in detail above, in the component mounting device according to the present invention, in a device that selectively attaches fingers to a robot hand, grips a component with the fingers, and attaches the component to a work object, the device waits for the finger to grip a component. Since this method is adopted, the component mounting process is shortened compared to the conventional finger-replaceable component mounting device. Therefore, it is possible to mount components at a higher speed than with conventional finger-replaceable component mounters.

In addition, in the component mounting device according to the present invention, by using a system in which the fingers holding a component are made to wait, a group of fingers can be placed in the space occupied by the component extraction section of the component supply mechanism within the work area of the robot hand. Since it will be stored away, the robot hand will have more room to work with. Therefore, it is possible to arrange more parts take-out parts within the working area of the robot hand, which increases the variety of parts to be installed. In addition, by increasing the number of parts to be installed, it is possible to reduce the number of parts mounting devices required in conventional production lines, which reduces costs and occupies less space in the workplace. space is reduced.

[Brief explanation of the drawing]

1, 2, 3 a, b, and c are diagrams showing the basic configuration of a conventional component mounting device, and FIGS. 4 and 5 are diagrams showing the basic structure of a conventional component mounting device. A diagram showing a multi-chuck and double-headed head,
6, 7, and 8 are top, front, and side views of the component mounting device according to the present invention, and FIGS. 9a, b, c, and d are top views and partial cross-sections of fingers, respectively. 10 is a side sectional view of a chuck that the component mounting device is equipped with and can hold a finger, and FIGS. 11a and 11b are parts retrieval as part of the component supply means. FIG. 12 is a perspective view of the conveyor, and FIG. 13, FIG. 14, and FIG. 15 are top views showing the state in which the component mounting device according to the present invention is connected. FIG. 2 is a diagram, a front view, and a side view. Explanation of symbols of main parts, 30...Workbench, 31
... Robot hand fixing base, 32 ... Printed circuit board, 33 ... Conveyor, 33a ... Fixed rail,
33b...Movable rail, 33d...Feed screw, 3
3i...Motor, 33p...Gauge member, 33q
...Notch, 33r...Light emitting element, 33s...Light receiving element, 34...Robot hand, 34c...Working area, 35...Head, 36...Chuck, 4
1, 42, 43, 44, 45, 46, 47, 4
8, 49...finger, 41y...engaging protrusion, 5
1... Electronic component, 53... Base member, 54, 5
5, 56, 57, 58, 59, 60, 61, 62
...Parts supply machine, 54a, 55a, 56a, 57
a, 58a, 59a, 60a, 61a, 62a...
...Component conveyance section, 54b, 55b, 56b, 57
b, 58b, 59b, 60b, 61b, 62b...
...Component removal part, 54c... Seat, 54d... Wall member, 54e... Horizontal member, 54f... Opening,
54g...Supporting part, 54h...Steel ball, 54i...
Coil spring, 54j...screw, 54k...
Notch, 54l...Support plate, 54m...Cylinder device, 54n...Rod part, 54o...Component extrusion member, 54p, 54q...Guide shaft, 54
r, 54s... Expanded diameter part.

Claims (1)

[Claims] 1. A component supply means for supplying at least two types of components, a plurality of fingers capable of gripping each of the components, and one finger selected from the plurality of fingers to transport the component to a predetermined component mounting position to be worked on. and a component attaching mechanism for attaching the parts, the component supplying means has a supporting means for supporting each of the plurality of fingers at a predetermined position, and the component attaching mechanism returns the fingers to which the parts have been attached to the predetermined positions. At the same time, the component mounting device is characterized in that, after the finger is used to grip a new component and the component is placed on standby, another finger is selected and another component is mounted using the other finger.