JPWO2005081611A1 - Support pin gripping device and substrate supporting device - Google Patents

Abstract

(EN) Provided is a support pin gripping device that grips and releases a support pin quickly and inexpensively. The advancing/retreating member 364 that holds the gripping device main body 360 so that it can move up and down holds the gripping claw group 362 so that it can open and close. When the gripping device body 360 descends, the support pin 250 fits into the fitting hole 386 and engages with the advancing/retreating member 364, and pushes from the non-acting position to the vicinity of the acting position. The movement conversion mechanism 430 closes the grip claw group 362 to grip the support pin 250 by the relative movement with the grip device main body 360, and in the locking device 432, the engaging portions 482 and 484 move to the locking positions. When the gripping device main body 360 moves up, the engaging portions 482 and 484 engage the locking surfaces to hold the advancing/retreating member 364 in the operating position, and when the gripping device main body 360 descends next, the support pins 250 lower the advancing/retreating member 364. Stop and push near the operating position. As a result, the engagement between the engaging portions 482 and 484 is released, the advancing/retreating member 364 moves to the non-acting position when the grasping device main body 360 moves up, and the grasping claw group 362 opens.

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support pin gripping device that attaches and removes a support pin that supports a plate-shaped member such as a printed circuit board, and in particular, opens and closes a plurality of support pin gripping members that grip and release support pins. The present invention relates to an improvement of the opening/closing device.

A support pin gripping device that includes a plurality of support pin gripping members and grips and releases the support pins by opening and closing the support pin gripping members is already known as described in Patent Document 1, for example. The support pin gripping device includes a pair of support pin gripping members, and the support pin gripping members are configured to grip and release the support pins by being opened and closed by an opening/closing device having a vacuum cylinder as a drive source.
JP 2001-111296 A

However, this support pin gripping device requires a vacuum cylinder which is a dedicated actuator for opening and closing the support pin gripping member, and a control device for controlling the supply and interruption of negative pressure to the vacuum cylinder, which results in high cost. Become. Further, since the gripping and releasing of the support pin are electrically controlled based on the command signal from the control device, the transmission and reception of the signal and the confirmation of the operation of the opening/closing device are performed, so that the support pin gripping member grips the support pin. ，The time required for opening becomes longer.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an inexpensive support pin gripping device that can grip and release a support pin quickly.

  In order to solve the above problems, the present invention provides a support pin gripping device for gripping a support pin to be attached to a pin support member, (a) a gripping device body, and (b) the gripping device body allows relative movement. And (c) an openable/closable gripping member group composed of a plurality of support pin gripping members that are directly or indirectly held, and (c) is operably held by the gripping device main body and includes the gripping device main body and the pin support member. An actuating member that is actuated from the non-acting position toward the actuating position by the engagement of the engaging member that relatively moves with the gripping device body in accordance with the relative movement, and (d) mechanically interlocks with the actuating member. A switching device that alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once.

The support pin gripping member may be directly held by the gripping device body, for example, may be held by the actuating member and indirectly held by the gripping device body. Further, the actuating member may be a turning member that turns around the turning axis or may be an advancing/retreating member that moves back and forth in the axial direction. Further, the gripping device body may be moved to open and close the gripping member group, the pin support member may be moved, or both of them may be moved.
The actuating member and the engaging member are engaged with each other as the gripping device main body and the pin supporting member move relative to each other, the actuating member is actuated from the non-acting position toward the acting position, and mechanically interlocks with the actuation. The gripping member group is opened and closed to grip and release the support pin. In order for the support pin gripping device to attach and detach the support pin to and from the pin support member, relative movement between the support pin gripping device and the pin support member is indispensable, and the indispensable relative movement is used to grip and release the support pin. Since it is not necessary to provide a dedicated actuator for opening and closing the support pin holding member, the support pin holding device can be constructed at low cost. Further, since the support pin gripping member is opened and closed, electrical control by the control device is unnecessary, and the support pin can be quickly gripped and released.

Aspects of the invention

  In the following, an invention recognized as claimable in the present application (hereinafter, may be referred to as "claimable invention". The claimable invention is at least the "present invention" or the invention described in the claims. The present invention includes the "present invention", but may also include subordinate inventions of the present invention, and superordinate inventions of the present invention or inventions of different concepts.). Similar to the claims, each mode is divided into paragraphs, each paragraph is numbered, and the numbers of other paragraphs are referred to as necessary. This is only for facilitating the understanding of the claimable invention, and is not intended to limit the combinations of constituent elements constituting the claimable invention to those described in each of the following items. That is, the claimable invention should be construed in consideration of the description attached to each paragraph, the description of the embodiments, and the like, and as long as the interpretation is complied with, an aspect in which other constituent elements are added to the aspect of each paragraph Also, a mode in which the constituent elements are deleted from the modes of the respective claims can be one mode of the claimable invention.

  In the following items, (1) corresponds to claim 1, (2) to claim 2, (3) to claim 3, (4) to claim 4, and (5) is claim 5, (6) is claim 6, (7) is claim 7, (8) is claim 8, (9) is claim 9, (10) is in claim 10, (11) is in claim 11, (12) is in claim 12, (13) is in claim 13, (14) is in claim 14, Claim (15) is to Claim 15, Claim (16) is to Claim 16, Claim (17) is to Claim 17, Part (50) is to Claim 18, and the remainder of Claim (50). A portion corresponds to claim 19, and a combination of the (50) and (40) corresponds to claim 20.

(1) A support pin gripping device for gripping a support pin to be attached to a pin support member,
The gripping device body,
A gripping member group composed of a plurality of support pin gripping members held directly or indirectly so as to be relatively movable by the gripping device body;
From the non-acting position to the working position by the engagement of the engaging member that is operably held by the gripping device body and that moves relative to the gripping device body with the relative movement of the pin supporting member. An actuating member actuated towards
A switching device that mechanically interlocks with the operating member and alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once. Support pin gripping device.
(2) As the gripping member group and the support pin relatively move to a position where the support pin can be gripped by the gripping member group, the gripping member group engages with the support pin, and the support pin moves from the non-acting position to the acting position. The support pin gripping device according to the item (1), wherein the actuating member is provided at a position where the support pin functions as the engaging member.
The support pin may be engaged with the actuating member at its tip, or may be engaged at a portion other than the tip.
According to the support pin gripping device described in this section, since the actuating member is actuated by the support pin itself which is the gripping target member, the support pin gripping device is gripped as compared with the case where the engaging member is constituted by a member different from the support pin. The device can be simplified and the cost can be reduced.
(3) The support pin according to the item (2), wherein the actuating member is provided at the back of the central portion of the gripping member group, and is provided at a position where it is actuated by the tip portion of the support pin that has entered the gripping member group. Gripping device.
The "central part inner part" includes the central part inner part and the central part inner part part inner part. The operating member may be provided so as to be coaxial with the gripping member group in its entirety including the actuated portion, the actuated portion is provided at a position where it can be engaged with the tip of the support pin, and the other portions are provided with the opening/closing axis of the gripping member group. It may be provided separately in the direction intersecting with. In the former case, the actuating member is provided inside the center of the gripping member group, and in the latter case, the operating member is provided behind the central portion.
According to the support pin gripping device described in this section, the actuating member may be provided at the inner part of the central part of the gripping member group, and as in the case of engaging with a portion other than the tip end portion of the support pin, a member other than the tip end portion is provided. There may be no portion that engages the portion.
(4) The switching device is
A motion conversion mechanism that converts the motion of the operating member into the opening/closing motion of the gripping member group;
When the operating member is pushed to the vicinity of the acting position once by the engagement with the engaging member, the operating member is held at the acting position, and when the pushing member is pushed once again, the holding is released. And a working member control device that allows the working member to return to the non-acting position. 7. The support pin gripping device according to any one of (1) to (3).
If the actuating member is pushed from the non-acting position to the vicinity of the actuating position while the gripping member group is switched to the open state, the gripping member group is switched to the closed state to grip the support pin and the actuating member acts. Holds in position and maintains its closed state. Then, when the actuating member is then pushed back to the non-acting position, the gripping member group is switched to the open state to open the support pin. Switching of the gripping member group from the open state to the closed state and from the closed state to the open state can be performed by pushing the operating member to the vicinity of the working position, and the gripping device main body and the pin support member are the same. The support pin can be grasped and released by the relative movement operation.
(5) The operating member control device is a locking device including a locking member provided on one of the device body and the operating member, and a locked member provided on the other, A locked portion that holds the operating member in the working position by being locked by a locking member; and a locking member that guides the locking member and is caused by one actuation of the operating member. The locking member is guided to a locking position for locking the locked portion with the relative movement of the locked member, and the engagement of the locked portion by the locking member is performed with the next relative movement. The support pin gripping device according to item (4), further comprising a guide portion that releases the stop and guides the locking member to the original position.
If the locking device is used, the desired motion of the locking member can be easily realized by selecting the shape of the locked member, and the relative movement between the gripping device main body and the pin support member can be easily performed by the movement of the operating member. Can be converted to.
(6) The locking member includes a rotating shaft portion, a pair of arm portions extending substantially at right angles from the rotating shaft portion, and a pair of engaging portions provided at free ends of the arm portions. A rotation locking member that is rotatably held by one of the gripping device body and the actuating member at a rotation shaft portion, wherein the locked members cooperate with each other to form the pair of engagement members. The support pin gripping device according to item (5), which includes a pair of guide portions that guide the joint portion.
The rotating shaft portion, the pair of arm portions, and the pair of engaging portions are integrally provided. According to the support pin gripping device of this item, the locking member can have a simple structure.
A roller may be rotatably provided in each of the pair of engaging portions to serve as a rotational engaging portion, and friction between the engaging portion and the guide portion may be reduced.
(7) The pair of guide portions have a shape that causes the pair of engaging portions to perform a preset orbital motion including the locked portion in association with the two actuations of the actuating member. ) The support pin gripping device as described in the above item.
According to the support pin gripping device of this section, the locking member can easily perform two types of operations, i.e., locking with respect to the locked portion and unlocking, with two actuations of the operating member. Can be made.
(8) The support pin gripping device according to any one of (1) to (7), wherein the gripping member group opens and closes symmetrically with respect to the axis of symmetry.
According to the support pin gripping device of this section, for example, the gripping member group can grip the support pin whose axis is positioned without hindering the positioning. Further, by moving one of the plurality of support pin gripping members in the closing direction, the rest can be moved in the closing direction.
It is not essential to open and close the gripping member group in an axially symmetric manner. For example, the cross-sectional shape of the gripped portion of the support pin is asymmetric with respect to the axis of the support pin, and, for example, supports the target member. When the holding member group has an eccentric shape with respect to the support surface, the gripping member group is opened and closed asymmetrically with respect to the opening/closing axis.
(9) The support pin gripping device according to any one of (1) to (8), wherein the actuating member is an advancing/retreating member that moves back and forth in the axial direction.
According to the support pin gripping device of this section, the support pin gripping device can be made compact in the direction intersecting the axis of the gripping device main body, as compared with the case where the actuating member is a rotating member, for example. ..
(10) The support pin gripping device according to item (8), wherein the actuating member is an advancing/retreating member that is disposed on the axis of symmetry and moves back and forth along the axis of symmetry.
The actuating member of the support pin gripping device of this section is entirely located in the center of the gripping member group including the actuated portion, and the support pin gripping device can be made more compact.
(11) The support pin according to any one of (1) to (10), including a biasing means that biases the actuating member with respect to the gripping device main body in a direction from the operating position to the non-operating position. Gripping device.
The biasing means includes gravity in addition to elastic members such as springs.
The actuating member is actuated from the non-acting position toward the acting position against the biasing force of the biasing means, and is returned to the non-acting position by the biasing of the biasing means.
(12) The support pin gripping device according to item (11), wherein the biasing means includes an elastic member disposed between the actuating member and the gripping device body.
According to the support pin gripping device of this form, the operating member can be reliably and quickly returned to the non-acting position by the elastic force of the elastic member.
(13) The motion converting mechanism has a plurality of connection links in which one end is rotatably connected to each of the plurality of support pin gripping members and the other ends are rotatably connected to each other. And a guide means for guiding the other end of the connecting link in the advancing/retreating direction of the advancing/retreating member but immovably in a direction intersecting the advancing/retreating direction (9) to (12). ) The support pin gripping device according to any one of items 1) to 4).
According to the support pin gripping device of this section, a plurality of support pin gripping members can be moved all at once. Further, if one of the plurality of support pin gripping members performs the opening/closing operation, the other support pin gripping members can also be opened/closed via the connecting link. If the plurality of support pin gripping members and the plurality of connecting links are configured to be axially symmetrical, the plurality of support pin gripping members can be moved axially symmetrically, and the gripping member group can be opened and closed axially symmetrically.
(14) A support pin functions as the engaging member, and the advancing/retreating member includes a fitting hole that fits with the support pin to substantially prevent tilting of the support pin, and the plurality of support pin gripping members include: The support pin gripping device according to any one of (9) to (13), wherein the support pins are engaged with the support pins at their respective free ends while permitting relative inclination of the support pins.
The support pin is centered by the fitting with the fitting hole, and the support pin gripping member can grip the support pin in the centered state. By performing the centering, the support pin can be accurately arranged at a preset position of the pin support member or the like.
When the advancing/retreating member has a fitting hole that fits with the support pin and substantially prevents the support pin from tilting, the support pin is positioned by fitting with the fitting hole as described above. Therefore, the support pin gripping member only needs to prevent the support pin from being detached from the fitting hole, and it is possible to use only one support pin gripping member. In this case, the support pin gripping member does not "grip", so it should be referred to as a separation prevention member.
(15) The actuating member is an advancing/retreating member fitted to the grasping device main body so as to be capable of advancing/retreating in the axial direction, and the plurality of support pin grasping members are held by the advancing/retreating member so as to be relatively movable. The gripping device main body is provided with an action portion that moves at least one of the plurality of support pin gripping members in the closing direction by engaging with at least one of the plurality of support pin gripping members as the advancing/retreating member retracts. The support pin gripping device according to item (4), which constitutes at least a part of the motion converting mechanism.
The feature of this item can be adopted in combination with the feature described in any of the items (5) to (14).
(16) The acting portion is provided by the gripping device main body so as to be movable in a direction intersecting the advancing/retreating direction of the advancing/retreating member, and is biased in a direction approaching the at least one support pin gripping member by biasing means. The support pin gripping device according to item (15), which includes the movable acting member.
According to the support pin gripping device of this section, for example, the support pin gripping member can grip the support pin reliably. The action portion may be fixed to the gripping device body. However, in that case, when the plurality of support pin gripping members are moved in axial symmetry, the angle when the support pin gripping members are most closed is determined according to the arrangement of the action portion, and the configuration of the support pin gripping device The closing angle of the support pin gripping member may vary due to a manufacturing error or an assembly error of the member, and if the closing angle is insufficient, the support pin may not be gripped. On the other hand, if the action portion is composed of the movable action member and is biased by the biasing means, the movable action member is closed further than the position where the support pin gripping member is supposed to grip the support pin. By providing the support pin so that the support pin can be moved in any direction, the closing angle does not become insufficient even if there is an error in manufacturing a component member, and the support pin gripping member can surely grip the support pin. After the support pin gripping member grips the support pin, the movable action member moves against the biasing force of the biasing means, so that the support pin gripping member is not excessively moved in the closing direction. The pin gripping member and the support pin are not damaged.
The movable action member may be a rotation type action member that is rotated around a rotation axis that intersects the advancing/retreating direction of the advancing/retreating member, and a linear movement type action member that is linearly moved in a direction intersecting the advancing/retreating direction of the advancing/retreating member. May be
(17) The support pin gripping device according to any one of (1) to (16), wherein each of the plurality of support pin gripping members is a rotatable gripping member that is rotatable about one axis.
The support pin gripping member may be a linear movement type gripping member that is linearly moved in a direction intersecting the axis of the support pin to grip and release the support pin. Can be configured easily and compactly.

(20) A base having an inner space inside,
A pin member for supporting the printed circuit board at the tip of a protruding portion protruding from the base, the base end of which is held in the inner space so as to be relatively movable in the axial direction,
At least tiltably disposed in the inner space of the base, the base is placed on a pin support member made of a magnetic material, magnetically attracted to the pin support member, and magnetically attracted to the pin support member. A permanent magnet section that applies a force to the base to press the base to the pin support member based on the force;
The pin member is provided in at least one of the portion located in the inner space and the permanent magnet portion, and when a pulling force is applied to the pin member, the pulling force is applied to the permanent magnet portion and the permanent magnet portion. And a force transmission device that transmits the force as a force to move the portion relative to the pin support member while separating the portion from the pin support member.
A printed circuit board is a printed circuit board on which printed wiring is formed, a printed circuit board that is a product in which electronic circuit components are mounted at predetermined positions and soldered and joined, and a process between them. It includes the semi-finished products in.
The permanent magnet section may be configured by only the permanent magnet, or may be configured by the permanent magnet and a member that fixedly holds the permanent magnet.
The permanent magnet part is at least tiltably arranged in the inner space of the base, and when a tensile force is applied to the pin member, the permanent magnet part is first tilted, thereby reducing the magnetic attraction force. In this state, the base is separated from the pin support member, and the support pin is removed from the pin support member.
If the permanent magnet part is separated from the pin support member, the support pin can be removed from the pin support member, but if it is attempted to separate the entire permanent magnet part from the pin support member at the same time, the entire permanent magnet part is removed. It is necessary to exert a tensile force that overcomes the magnetic attraction force that acts, and a large tensile force is required. On the other hand, when the permanent magnet portion is tilted, the pulling force is smaller than that when the permanent magnet portions are all separated at the same time, and the permanent magnet can be separated from the pin support member with a smaller pulling force. Further, when the permanent magnet portion is tilted, the base and the pin member do not tilt, and the support pin can be removed in the same posture as that supported by the pin support member.
A support pin that has a permanent magnet and is fixed to a pin support member by a magnetic attraction force is described in, for example, JP-A-2003-283197. In the support pin described in this publication, a permanent magnet is fixed to a lever rotatably provided on the support pin. The support pin gripping device having a pair of gripping portions uses the gripping operation when gripping the support pin, whereby the lever is rotated, the permanent magnet is moved away from the pin support member, and then the support pin is removed from the pin support member. .. However, in this support pin, since it is necessary to rotate the lever and it is necessary to increase the gripping operation of the support pin gripping device, the size of the support pin gripping device becomes large, and the gripping and releasing of the support pin is performed. There is a problem that it takes time. Further, when the back surface of the printed circuit board on which the electronic circuit components are already mounted is supported, the lever may interfere with the already mounted circuit components, and there is a problem that the supporting position is limited.
According to the support pin of this form, the magnetic attraction force can be reduced and the support pin can be easily separated from the pin support member without causing such a problem.
Moreover, the permanent magnet portion can be tilted by a simple pulling action of the support pin, which is usually performed when removing the support pin from the pin support member, and the work time required for removing the support pin is lengthened. Without reducing the magnetic attraction force, the support pin can be easily removed. The support pin gripping device according to (1) to (17) can be used for gripping the support pin according to (20) to (31), but the support pin is not limited to this. Any supporting pin gripping device capable of gripping and applying a tensile force can be used. It may be installed and removed by the operator.
(21) The support pin according to item (20), wherein the permanent magnet portion is arranged in the inner space so as to be movable relative to the base.
The permanent magnet part may be provided only in a tiltable manner in the inner space, but if it is arranged so as to be relatively movable, the permanent magnet part is less constrained, and it is easy to install in a tiltable state. is there.
(22) The support pin according to item (20) or (21), wherein the base is provided with a recess having an open bottom as the inner space.
A magnetic attraction force easily acts between the permanent magnet portion arranged in the inner space of the base and the pin support member, and the base is reliably pressed against the pin support member.
(23) The permanent magnet part and the base are engaged with each other in a state where the permanent magnet part is closest to the pin support member, and the magnetic attraction force is transmitted to the base to support the pin on the pin. The support pin according to any one of the items (20) to (22), comprising a force transmitting portion that is pressed against the member.
The permanent magnet part may be brought into contact with the pin support member or may not be brought into contact with it, as long as a magnetic attraction force acts on it. In the former case, the contact may be made directly or indirectly.
(24) The base is provided with a recess whose bottom is opened as the inner space, at least a part of the recess is covered by a bottom plate, and the upper surface of the bottom plate and the bottom surface of the permanent magnet section. The support pin according to the item (23), wherein and function as the force transmission portion.
According to the support pin of this item, the pressing force based on the magnetic attraction force is transmitted from the permanent magnet portion to the base near the pin support member, and the support pin is stably attached to the pin support member.
It is not essential to provide the bottom plate in the recess, and it may be left open. In this case, for example, the base is provided with an engaging portion located in the inner space, and the permanent magnet portion is provided with an engaging portion engaging with the engaging portion from the side opposite to the pin support member, so that the pressing force is increased. To add. These engaging portions form a force transmitting portion.
(25) The support pin according to item (24), wherein the bottom plate is made of a non-magnetic material.
When the permanent magnet part transmits the pressing force to the base, the bottom plate is not magnetized, the permanent magnet part and the bottom plate are not magnetically attracted to each other, and the tensile force when tilting the permanent magnet part may be large. Avoided.
(26) The support pin according to any of (20) to (25), wherein the bottom surface of the base is covered with a rubber layer.
Rubber is a kind of high friction material having a high friction coefficient. By covering the bottom surface of the base with the high friction material layer, a large friction force is obtained between the support pin and the pin support member. Therefore, even if a force in a direction intersecting with the axis of the support pin is applied, the position of the support pin does not easily shift, and the printed circuit board can be stably supported. The high-friction material layer also functions as a cushion, and prevents damage to the support pins when the support pins are placed on the pin support surface of the pin support member, the support pin storage device, or the like.
(27) The force transmission device includes a first engagement portion that moves together with a portion of the pin member located in the inner space, and a second engagement portion that moves together with the permanent magnet portion. The engaging portion and the second engaging portion are engaged with each other at a position deviating from the line of action of the resultant force of the magnetic attractive force acting between the permanent magnet portion and the pin support member, so that the permanent magnet portion The support pin according to any one of the items (20) to (26), which produces a rotational moment in the.
The tensile force for generating the rotational moment may be smaller than the tensile force for separating the entire permanent magnet portion from the pin support member at once.
(28) The force transmission device includes a pair of first engagement portions fixedly provided in a portion of the pin member located in the inner space, and a pair of first engagement portions fixedly provided in the permanent magnet portion. A second engaging portion, one and the other of the pair of first engaging portions, and one and the other of the pair of second engaging portions, the permanent magnet portion closest to the pin support member. Support pin according to any one of (20) to (27), which face each other with a distance different from each other in the axial direction of the pin member in a state in which a force based on the magnetic attraction force is applied to the base. ..
When a pulling force is applied to the pin member, first of the pair of first and second engaging portions, the ones that are closer to each other engage first, and the permanent magnet portion and the first and second engaging portions are far from each other. The portion on the side of the second engaging portion is tilted about the fulcrum to reduce the magnetic attraction force. If the pin member is further pulled, the other of the pair of first and second engaging portions (the ones distant from each other) are engaged, and the portion serving as the fulcrum of the permanent magnet portion is separated from the pin supporting member, Extinguish magnetic attraction. It is possible to separate the entire permanent magnet portion from the pin support member in the inner space and effectively eliminate the magnetic attraction force. The pulling force of the pin member required to tilt the permanent magnet part with its one end as a fulcrum and the pulling force required to separate the one end that has become the fulcrum from the pin support member It is less than the pulling force required to separate it from the support member, so that the support pin can be removed from the pin support member with a relatively small pulling force.
(29) The pair of first engaging portions are fixedly provided in a portion of the pin member located in the inner space, and a cross-sectional shape thereof is generally C-shaped, and the C-shaped opening portion is The pair of second engaging portions, which are formed by both ends of the C-shaped member facing downward, are provided integrally with the permanent magnet, and are formed by a pair of laterally projecting projections. The support pin according to item (28), wherein at least one of the protrusion and the both ends of the C-shaped member makes the position of the pin member different from each other in the axial direction.
(30) The base is formed in a groove shape having a groove opened downward, and the C-shaped member is housed in the groove with both ends thereof extending parallel to the groove. The permanent magnet part is arranged in a space substantially surrounded by a base and a C-shaped member on all four sides, but the permanent magnet part is arranged so as to be prevented from being separated from the space (29). Support pin.
The base and the C-shaped member constitute a detachment preventing means for the permanent magnet, and the support pin can be constructed easily and inexpensively as compared with the case where the detachment preventing means is separately provided.
(31) The support pin according to any one of the items (20) to (30), wherein the base is provided with a movement limit defining portion that defines a movement limit of the pin member toward the base.
When the pulling force is further applied to the pin member from the state where the magnetic attraction force is reduced due to the tilting of the permanent magnet part, the pin member engages with the base and the base is separated from the pin support member according to the regulation of the movement limit. Let The support pin of this section is suitable as a support pin that is automatically attached to and removed from the pin support member by the support pin gripping device.

(40) A conveyance width is changed by including a pair of side frames and a pair of conveyor belts supported by the side frames, one of the pair of side frames is a fixed frame, and the other is close to or away from the fixed frame. A support pin housing device for housing a support pin that supports a printed board that is transported by a board conveyor that is a movable frame from below,
A support pin storage device that is movably attached to the movable frame together with the movable frame.
The carrying width is changed, for example, when the type of the printed circuit board changes and the width changes. The printed circuit board supporting position of the support pin generally differs depending on the type of the printed circuit board, and the support pin is arranged according to the type of the printed circuit board. At this time, the support pin is stored in the support pin storage device, or the support pin is taken out from the support pin storage device and used for supporting the printed circuit board. If attached, the support pin storage device can be always located near the printed circuit board and in the vicinity of the support pin arrangement area regardless of the type of the printed circuit board, and the support pin can be quickly stored and taken out. be able to.
Further, when the support pin housing device is provided in the electronic circuit component mounting system for mounting the electronic circuit component on the printed circuit board, it is possible to avoid a decrease in component mounting efficiency. For example, when the component supply device is provided on the fixed frame side, if the support pin housing device is attached to the fixed frame, the distance between the printed circuit board and the component supply unit of the component supply device becomes longer, and the component mounting head becomes larger. It takes a long time to move, but if it is movably attached together with the movable frame, the moving distance of the component mounting head does not become long, and a decrease in mounting efficiency is avoided.
(41) The support pin storage device according to the item (40), in which a plurality of storage portions for storing the support pins are provided and at least one storage portion row is arranged in parallel in the longitudinal direction of the movable frame.
In the direction parallel to the longitudinal direction of the movable frame, the storage section can be provided at least in the area where the movable frame is provided, and the storage unit is compact in the direction parallel to the moving direction of the movable frame, but the number of storages is small. It is possible to obtain a large number of support pin storage devices.
(42) A support pin position detecting device for detecting a position in the width direction of the substrate conveyor of the support pin housed in the supporting pin housing device, which position changes in accordance with the movement of the movable frame (40) or ( The support pin storage device according to the item 41).
The position of the support pin may be detected, for example, when the support pin storage device is attached to the movable frame, or after the attachment, when a preset condition is satisfied. For example, the position is detected again when the set time elapses, when the mounting of the electronic circuit parts on the set number of printed circuit boards is completed, or the like.
When the movable frame is moved, the position in the width direction of the substrate conveyor of the support pin housing device changes accordingly.However, by detecting the position of the support pin by the support pin position detection device, for example, the support pin of the support pin is detected. When automatically loading and unloading the storage device, the support pin attachment/detachment device is accurately moved to the support pin or empty pin storage part stored in the pin storage device, without damaging the support pin. It can be stored, taken out.
(43) The support pin position detection device is
An imaging device that images a part to be imaged, which is a predetermined part of the support pin housed in the support pin housing device or a member that moves together with the support pin, from a position facing the part to be imaged,
An image pickup device moving device that moves the image pickup device at least in the width direction of the substrate conveyor;
A position calculation device for calculating the position of the support pin based on the position of the image pickup device moved by the image pickup device moving device and the position of the imaged part in the image picked up at the position. The support pin storage device according to the paragraph (42), which includes.
The member that moves together with the support pin includes, for example, the support pin storage device itself and the movable frame. The part to be imaged may be, for example, a mark or unevenness provided on the tip surface of the support pin or the support pin, and the mark or unevenness provided on the support pin storage device or the movable frame can be distinguished from other parts by imaging. It may be a possible part. If the predetermined part of the support pin storage device is the imaged part, the image of the imaged part is imaged even when the support pin is not stored in the support pin storage device, and the position of the support pin scheduled to be stored. Can be detected.
(44) The support pin position detection device is
An encoder that is provided in a frame moving device that moves the movable frame and outputs a signal corresponding to the position of the movable frame,
A support pin storage device according to item (42) or (43), further comprising: a position calculation device that is connected to the encoder and calculates the position of the support pin stored in the storage portion based on the output of the encoder.
The position of the movable frame is automatically obtained along with the movement of the movable frame, and the position of the support pin is quickly detected.
(45) The position calculation unit calculates the position of the support pin based on the output of the encoder and information on the relative position between the movable frame and the storage unit set in advance (44) The support pin storage device according to item.
(46) The support pin storage device according to any one of (40) to (45), wherein the support pin storage device is attached to the movable frame at a position opposite to the fixed frame side of the movable frame. ..
In the support pin storage device of this section, the support pin storage device is provided outside the substrate transfer area, and can be provided without considering interference avoidance with the printed circuit board transferred by the substrate conveyor. The support pin storage device may be attached to a position on the fixed frame side of the movable frame. However, in that case, the support pin storage device is located in the substrate transfer area of the substrate conveyor. For example, the support pin storage device is provided so as to be able to move up and down, and the printed circuit board and the electronic circuit already mounted on the back surface thereof Avoid interference with parts, or fix the support pin storage device at a position that does not interfere with those printed boards in the direction perpendicular to the board transfer surface of the board conveyor. It is necessary that the storage portion of the support pin storage device has an operation stroke that allows storage and removal, but the support pin storage device of this section does not need them.
(47) The support pin storage device according to any one of (40) to (46), wherein the storage portion includes a positioning portion that fits with the support pin to position the support pin.
For example, the support pin is not displaced, and the support pin can be accurately stored and taken out by using the detected position of the support pin. Further, the relative position between the storage part and the support pin is uniquely determined, and the position of the support pin can be detected by detecting the position of the storage part.

(50) The support pin gripping device according to any one of items (1) to (17),
(20) to the support pin according to any one of (31),
A pin support member that supports the support pin,
A support pin storage device for storing the support pin,
A relative movement device that relatively moves the support pin gripping device, the pin support member, and the support pin storage device to an arbitrary relative position in one plane, and relatively moves in one axial direction orthogonal to the one plane.
A control device that controls the relative movement device to take out the support pin from the support pin storage device, mount it on the pin support member, and remove it from the pin support member and store it in the support pin storage device. Substrate support device that can be set up.
The support pin gripping device according to any one of the items (1) to (17) and the support pin according to any one of the items (20) to (31) are automatically operated while enjoying the effects obtained. You can change the setup with.
(51) The relative movement device also serves as a relative movement device that relatively moves a work head for performing work on an arbitrary portion of the printed circuit board supported by the substrate support device relative to the printed circuit board. Substrate support device.
The work head includes, for example, a component mounting head that mounts electronic circuit components on a printed circuit board, a high-viscosity fluid application head that applies a high-viscosity fluid such as adhesive or cream solder, and mounting of electronic circuit components on the printed circuit board. There is a mounting state inspection head for inspecting the state.
The relative movement device may serve as all or part of the relative movement device that relatively moves the work head with respect to the printed circuit board.
According to this form, the substrate supporting device can be configured easily and inexpensively.
(52) The substrate support device according to the item (51), wherein the working head and the support pin gripping device are held by separate holding devices.
The work head and the support pin gripping device can be held by the holding device and attached to the relative moving device together. Thereby, for example, the setup change can be performed immediately after the completion of the work, or the work can be started immediately after the completion of the setup change.
(53) A plurality of holding portions provided with the separate holding device and relatively moved by the relative moving device are prepared, and the plurality of holding portions are selectively attached to the relative moving device (52) Substrate support device according to item.
When the work head mounted on the relative movement device changes, the support pin gripping device changes together with the work head, and the support pin gripping device is always mounted on the relative movement device together with the work head.
The support pin gripping device may remain attached to the relative movement device and may be common to a plurality of work heads that are selectively attached to the relative movement device.
(54) The substrate supporting device according to the item (51), wherein the working head and the support pin gripping device are alternatively held by a common holding device.
When changing the support pin, the work head is removed from the holding device and removed from the relative movement device, and the support pin gripping device is held by the holding device and attached to the relative movement device. The work head is attached to the relative movement device instead of the gripping device.
The relative movement device needs to move only one of the work head and the support pin gripping device, and the moving portion is light, and for example, acceleration and deceleration at the time of movement can be increased.
(55) A plurality of holding portions provided with the common holding device and relatively moved by the relative movement device are prepared, and the plurality of holding portions are selectively attached to the relative movement device (54) Substrate support device according to item.
(56) The substrate support device according to any one of (50) to (55), wherein the support pin storage device is the support pin storage device according to any of (40) to (47). ..
While enjoying the effect of the support pin storage device according to any one of (40) to (47), the support pins can be automatically changed.

It is a perspective view showing an electronic circuit component mounting system in which a plurality of mounting modules including a support pin gripping device or the like which is an embodiment of the claimable invention are arranged. It is a perspective view which shows a part of said mounting module. It is a perspective view showing a nozzle holding head and a nozzle holding head moving device of the mounting module. FIG. 3 is an exploded perspective view showing the nozzle holding head moving device. FIG. 6 is a perspective view showing the nozzle holding head with a head cover removed. It is a perspective view showing three types of nozzle holding heads with different numbers of nozzle holders. It is a top view which shows schematically one of the said mounting modules. It is a front view which shows the movable rail of the board|substrate conveyance apparatus of the said mounting module, and its peripheral part with a support pin and a pin support stand. It is a side sectional view showing the above-mentioned movable rail and support pin storage device. It is a top view which shows the said movable rail and a support pin storage device. It is a front view (partial cross section) which shows the said support pin. It is a side view which shows the said support pin. It is a top view which shows the said support pin. It is a side view which shows the said support pin holding device and a support pin holding device raising/lowering apparatus. It is a front view which shows the said support pin holding device and a support pin holding device raising/lowering apparatus. It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in an inoperative position. It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in a retreat end position. It is a front sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in an operation position. It is a left side sectional view showing the above-mentioned support pin grasping device, and is a figure showing the state where an advancing and retracting member is located in a non-operating position. It is a right side view showing the above-mentioned support pin, and is a figure showing the state where an advance and retract member is located in an operation position. It is a figure explaining the removal of the support pin from the pin support base by the said support pin holding device. It is a figure which shows a pair of guide part provided in the said advancing-and-retracting member, and is a figure explaining the guide from an original position of a pair of engaging part by these guide parts to a locking position. It is a figure explaining guidance to the original position from the locking position of a pair of engaging parts by a pair of above-mentioned guide parts. It is a block diagram which shows schematically the control apparatus which controls the said mounting module. It is a figure which shows schematically the support pin position detection apparatus of the support pin accommodation device which is another Example of the claimable invention. It is a left side sectional view showing a support pin grasping device which is another example of the claimable invention. It is a left side sectional view showing a support pin grasping device which is another example of the claimable invention. It is a front sectional view showing a magnet holding part of a support pin which is another example of the claimable invention, and its circumference.

Explanation of symbols

  28: Substrate support device 40: Nozzle holding head 42: Nozzle holding head moving device 50: Printed circuit board 120: Head body 250: Support pin 252: Support pin gripping device 254: Pin support base 256: Support pin storing device 360: Gripping device Main body 362: Grip claw group 364: Advance/retract member 366: Switching device 374: Compression coil spring 386: Fitting hole 394, 396: Grip claw 430: Motion conversion mechanism 432: Locking device 434, 436: Connection link 438: Guide device 440: Action lever 470: Locked member 472: Rotation locking member 476: Rotation shaft part 478, 480: Arm part 482, 484: Engagement part 486, 488: Groove 490, 492: Guide part 650: Control Device 720: Support pin gripping device 722: Advancement/retraction member 724: Projection 728: Holding body 732: Engagement member 740: Support pin gripping device 742: Advancement/retraction member 744: Engagement arm 770: Support pin

  Hereinafter, some embodiments of the claimable invention will be described in detail with reference to the drawings. In addition, the claimable invention can be implemented in various modes in which various modifications and improvements are made on the basis of the knowledge of those skilled in the art, including the modes described in the above [Aspects of the Invention] can do.

  FIG. 1 shows an electronic circuit component mounting system (hereinafter abbreviated as a mounting system) that is equipped with a wiring board supporting device and the like as one embodiment of the claimable invention and performs an electronic circuit component mounting operation. In this mounting system, a plurality of mounting modules 12 are arranged close to each other and arranged in the same direction on one system base 10 to form a module row. In each of the plurality of mounting modules, mounting of electronic circuit components (hereinafter abbreviated as circuit components) on the printed circuit board is shared. Each of the mounting modules 12 is an electronic circuit component mounting machine. Hereinafter, the direction in which the mounting modules 12 are arranged is referred to as the X-axis direction, and the direction perpendicular to the X-axis direction in the horizontal plane is referred to as the Y-axis direction.

  FIG. 2 shows a perspective view in which a part of the exterior component of one of the plurality of mounting modules 12 is removed. Each of the mounting modules 12 has a module main body 18, a component supply device 22 provided in the module main body 18, a substrate transfer device 24, a component mounting device 26, a substrate support device 28 (see FIG. 8), and the like. The component supply device 22 is provided in the front portion of the module body 18, and is configured to supply an electronic circuit component by a feeder type component supply device or an electronic circuit component by a tray type component supply device, for example. ..

  As shown in FIG. 3, the component mounting device 26 includes a nozzle holding head 40 and a nozzle holding head moving device (hereinafter abbreviated as a head moving device) 42. The nozzle holding head 40 holds a suction nozzle 44 (see FIG. 5) as a component holder, and is moved by the head moving device 42 between the component supply device 22 and the board transfer device 24 to remove the circuit component from the component supply device 22. The circuit components are taken out and transferred by the board transfer device 24, and the circuit components are mounted on the printed board (hereinafter abbreviated as a board) 50 supported by the board support device 28. The nozzle holding head 40 is a component mounting head and is a kind of working head.

  In this embodiment, the head moving device 42 is an XY robot type moving device, is provided in the module main body 18, and as shown in FIGS. 3 and 4, the nozzle holding head 40 is moved in two directions orthogonal to each other. It includes a Y slide device 60 and an X slide device 62 that are two linear movement devices that move in the (X, Y axis directions).

  In the Y-slide device 60, a Y-axis motor 66 as a drive source rotates a Y-ball screw 68, which is a kind of a screw shaft, to move a Y-nut 70, and a Y-axis slide 72 as a moving member has a Y-axis slide 72. It is configured to be movable in the axial direction. In the present embodiment, the Y-axis motor 66 is composed of, for example, a servomotor with an encoder. The servo motor is an electric motor that can control the rotation angle with high accuracy. A step motor may be used instead of the servo motor.

  In the present embodiment, the X slide device 62 is a multi-stage moving device, that is, a two-stage moving device, and includes two slide devices, a first X slide device 80 and a second X slide device 82. It is composed of. Similar to the Y slide device 60, the first and second X slide devices 80 and 82 respectively have X axis motors 84 and 86 as drive sources, X ball screws 88 and 90 which are a kind of screw shafts, nuts 92, 94 and X-axis slides 96 and 98 as moving members. The X-axis motors 84 and 86 are composed of servomotors with encoders in this embodiment. The nozzle holding head 40 is held by the second X-axis slide 98, which is the X-axis slide of the second X-slide device 82, and the rotation of the Y-axis motor 66 and the X-axis motors 84, 86 is controlled to control the nozzle holding head 40. Can be moved to any position in a horizontal plane.

  In the present embodiment, the nozzle holding head 40 is attachable to and detachable from the head moving device 42, and can be selected and held from a plurality of different configurations. The component mounting device 26 can replace the nozzle holding head 40 with a different type. FIG. 6 shows three nozzle holding heads 40a, 40b, 40c as an example of the nozzle holding head 40 that can be held by the head moving device 42. The nozzle holding head 40, as shown in FIG. 5 as a representative of the nozzle holding head 40a, includes a head main body 120, various constituent parts and constituent devices arranged at various places of the head main body 120, and those constituent parts. And a head cover 122 (see FIG. 3) for covering. FIG. 5 does not include the head cover 122. A holding body 126 that holds the nozzle holding head 40a and is attached to the head moving device 42 is integrally provided in the head body 120, and constitutes a holding device. The nozzle holding head 40a is positioned by the head positioning device 123 with respect to the second X-axis slide 98 in the holding body 126, and can be quickly attached/detached and attached/detached by the head attaching device 124 (see FIG. 3).

  The nozzle holding heads 40a, 40b, 40c are different in the number of nozzle holders 130 and the number of suction nozzles 44 to be held, respectively, depending on the type of the board 50 and the type of circuit components to be mounted. Alternatively, it is held by the head moving device 42. Although the head positioning device 123, the head mounting device 124, and the nozzle holding heads 40a, 40b, 40c have not been disclosed yet, they are described in the specification of Japanese Patent Application No. 2002-337739 by the present applicant, and a detailed description will be given. Is omitted.

  The second X-axis slide 98 has a CCD camera 160 and an illuminating device 162, which are devices for imaging a reference mark or the like attached to the surface (upper surface) of the substrate 50, on the lower part thereof. A mark image pickup device 164, which is a kind of recognition device including the above, is provided (see FIGS. 3 and 24 ). The mark imaging device 164 is moved together with the nozzle holding head 40 to an arbitrary position within a horizontal plane by the head moving device 42.

  As shown in FIG. 2, each mounting module 12 is a type of recognition device having a CCD camera as an imaging device and a lighting device in the module body 18 between the component supply device 22 and the board transfer device 24. A certain component imaging device 170 is provided, and the component imaging device 170 images the posture and the like of the circuit component held by the nozzle holding head 40. As described above, each mounting module 12 is a modularized device that includes the component supply device 22, the component transfer device 24, and the component mounting device 26, respectively, and has a structure that can be easily separated from the system base 10. , It is also possible to replace each other.

  The substrate transfer device 24 will be described. In this system, the substrate 50 is transported by the substrate transport device 24 in the X-axis direction, which is the direction in which the mounting modules 12 are arranged. The X-axis direction is the substrate transfer direction. The substrate transfer device 24 is a conveyor device in this embodiment, and has two conveyor parts, a front conveyor part 200 and a rear conveyor part 202, and a guide rail 210 and a guide rail 212 as shown in FIG. The main body of the front conveyor section 200 is formed, and the guide rails 214 and 216 form the main body of the rear conveyor section 202. The guide rails 210, 212, 214, 216 are examples of side frames, but since they are provided with guide portions for guiding the substrate 50 and a conveyor belt described later, they will be referred to as guide rails, and hereinafter simply referred to as rails. ..

  The rail 210 is a fixed rail fixedly provided in front of the system base 10 (on the side of the component supply device 22 in the Y-axis direction), and the rails 212, 214, and 216 are guides 218 arranged on the system base 10. It is a movable rail provided so as to be movable in the Y-axis direction along (see FIG. 8). These rails 212, 214, 216 are respectively driven by a rail moving device 226 including a rail position changing motor 220 (see FIG. 24), which is a drive source, a ball screw 222 and a nut 224, as shown in FIG. The transfer widths of the front conveyor section 200 and the rear conveyor section 202 are independently movable, and can be arbitrarily changed. The rail 214 is a movable rail, but in the rear conveyor 202, the rail 216 is moved toward and away from the rail 214 to adjust the conveyance width. In that sense, the rail 214 can be considered as a fixed rail.

  A plurality of pulleys including a pulley 230 are rotatably provided on each of the rails 210 to 216, as typically shown in FIG. 8 for the rail 212, and an annular conveyor belt 232 is wrapped around the pulleys. The conveyor belt 232 is rotated by rotating the pulley 230 and the like by the belt driving device using the substrate transfer motor 234 (see FIG. 24) as a drive source, and the substrate 50 placed on the upper surface thereof is guided by the guide member 236. While being guided, it is conveyed in the X-axis direction. The surface including the upper surface of the conveyor belt 232 is the substrate transfer surface 238. The board carrying motor 234 and the rail position changing motor 220 are constituted by servomotors with encoders which are electric motors in this embodiment. As shown in FIGS. 8 and 9, each of the rails 210 to 216 is also provided with a clamp member or push-up member 242 that pushes up the substrate 50 from above the conveyor belt 232 and presses it against the pressing portion 240 to clamp it. The holding portion 240, the pushing-up member 242, and the like constitute a substrate clamp device.

  The substrate support device 28 will be described. As shown in FIGS. 8, 10 and 14, the substrate support device 28 includes a support pin 250, a support pin gripping device 252, a pin support base 254 as a pin support member, a support pin storage device 256, and a relative movement device. The support pin gripping device moving device and the control device for controlling the moving device are provided. The support pin 250, the pin support base 254, and the support pin storage device 256 are provided for each of the front conveyor unit 200 and the rear conveyor unit 202, and the others are shared.

  The support pin 250 and the pin support base 254 will be described. As shown in FIGS. 11 to 13, the support pin 250 is supported by the base 272 while the base 272 is pressed against the pin support 254 based on the magnetic force of the permanent magnet 270 to be detachably fixed. The substrate 50 is supported by the pin member 274. As schematically shown in FIG. 8, the pin support base 254 has a rectangular plate shape in transverse cross section, and the support pin 250 is mounted on the pin support surface 276 constituted by the upper surface thereof. Therefore, at least the pin support surface 276 of the pin support base 254 is made of a magnetic material such as steel.

  The pin support base 254 is indicated by a solid line in FIG. 8 and a substrate support position where the support pin 250 supports the substrate 50, as indicated by a two-dot chain line in FIG. 8, by the support base elevating device 280 as a pin support member moving device. As shown, the support pin 250 is moved to the retracted position that is retracted below the substrate transport surface 238. The support platform lifting device 280 uses an air cylinder, which is a type of fluid pressure actuator, as a drive source in this embodiment. The pin support base 254 is used to support a plurality of types of substrates 50 transported by the front conveyor unit 200 and the rear conveyor unit 202, and the movable rails 212 and 216 are arranged in the Y-axis direction with respect to the pin support base 254 when the transport width is adjusted. Be moved to.

  In this embodiment, the base 272 of the support pin 250 is made of a non-magnetic material such as an aluminum alloy, and has a circular cross section as shown in FIGS. 11 and 13 and is opened downward. In addition, it has a groove 288 penetrating in a direction orthogonal to the axis of the support pin 250 to form a groove shape, and has an inner space 290 inside. The inner space 290 is also a recess having an open bottom. A bottom plate 292 is fixed to the lower surface, which is the bottom surface of the base 272, by an appropriate fixing means such as bonding to cover the entire inner space 290. In this embodiment, the bottom plate 292 is made of a non-magnetic material such as stainless steel, and a rubber plate 294 is adhered to the lower surface which is the outer surface opposite to the upper surface 293 which is the surface on the base 272 side. It is fixed by a fixing means, and the bottom surface of the base 272 is covered with a rubber layer. The surface of the rubber plate 294 opposite to the bottom plate 292 constitutes a supported surface supported by the pin support base 254 of the support pin 250.

  As shown in FIGS. 11 and 12, the pin member 274 includes a first member 300 and a second member 302, both of which have an axial shape. The second member 302 is fitted to the top wall 314 forming the bottom of the groove 288 of the base 272 so as to be relatively movable in the axial direction, and is held by the base 272, and the lower end portion thereof is inside the inner space 290. The C-shaped member 304 is fixed while being positioned to form the base end portion. The C-shaped member 304 has a main body 308 having a rectangular transverse cross section and both ends of the main body 308 in the longitudinal direction, which extend from the center in the width direction thereof at right angles to the plate surface of the main body 308. And a pair of plate-shaped engaging portions 310 and 312 that are parallel to the main body 308 by bending the extending ends toward each other, and have a generally C-shaped cross section. The engaging portions 310 and 312 are located at the same position in the axial direction of the pin member 274. The C-shaped member 304 is accommodated in the groove 288 with the engaging portions 310 and 312 extending parallel to the groove 288, and is attached and detached by an appropriate fixing means 316 such as a bolt with the C-shaped open portion facing downward. It is fixed to the second member 302 as much as possible, and the engaging portions 310 and 312 are projected downward from both end portions of the main body portion 308. The movement limit of the pin member 274 toward the base 272 side is defined by the ceiling wall 314 engaging with the C-shaped member 304, and the ceiling wall 314 constitutes a movement limit defining portion. In this embodiment, the first and second members 300 and 302 and the C-shaped member 304 are made of a non-magnetic material such as an aluminum alloy.

  The first member 300 is detachable and axially position-adjustable by an appropriate fixing means such as screwing the protrusion of the second member 302 outward from the base 272, that is, the protruding portion opposite to the inner space 290. It is fixed. The tip of the protruding portion forms a flat surface orthogonal to the axis of the support pin 250, constitutes a support surface 324, and supports the substrate 50. By adjusting the screwing amount of the first member 300, the position of the support surface 324 in the axial direction or the height direction can be adjusted. Further, an annular groove 326 is provided in an axially intermediate portion of the first member 300, and a grasped portion 328 and an annular engaging portion 329 each having a circular transverse cross section are provided.

  In this embodiment, as shown in FIG. 13, the permanent magnet 270 has a circular cross section and is held by a magnet holding member 330. The magnet holding member 330 has a recessed portion 332 having an opening on the bottom surface thereof to form a container shape, and the permanent magnet 270 is fixed in the recessed portion 332 by an appropriate fixing means such as bonding, and is integrated with the permanent magnet 270. The permanent magnet 270 and the magnet holding member 330 form the permanent magnet portion 334. The magnet holding member 330 is made of a magnetic material such as steel. The permanent magnet 270 is fixed in a state where it is slightly retracted from the bottom surface 335 of the magnet holding member 330 into the recess 332, whereby the permanent magnet 270 is protected and the magnetic force generated on the pin support 254 made of a magnetic material is generated. The suction power is strengthened.

  As shown in FIGS. 11 and 13, the magnet holding member 330 is provided with a pair of protrusions 336 and 338 protruding laterally in opposite directions. As shown in FIGS. 11 and 12, in the magnet holding member 330, the protrusions 336 and 338 are positioned inside the engaging portions 310 and 312 with the opening of the concave portion 332 facing downward, and the C-shaped member 304 is engaged. A gap is formed between the engaging portions 310 and 312 in the direction parallel to the arrangement direction of the portions 310 and 312 and a direction perpendicular to the main body portion 308, and the arrangement direction of the engaging portions 310 and 312 and the main body portion 308 are respectively formed. Although there is a slight gap between the base 272 and the base 272 in a direction perpendicular to both directions, the base 272 and the C-shaped member 304 are relatively movable in a space substantially surrounded on all four sides. It is arranged in a state in which it is prevented from being separated from the space. As shown in FIG. 11, the protrusions 336 and 338 have engaging surfaces 340 and 342 which have different thicknesses and which make the axial positions of the pin members 274 different from each other. In the state where the entire magnet holding member 330 is in contact with the bottom plate 292, the engaging surface 340 which is a plane perpendicular to the axis of the pin member 274 of the protrusion 336 and which is constituted by the downward surface is the protrusion surface of the protrusion 338. It is located below the engaging surface 342, and the position of the pin member 274 in the axial direction is different. In this embodiment, the engaging portions 310 and 312 form a pair of first engaging portions, and the protrusions 336 and 338 form a pair of second engaging portions, which form a force transmitting device. ..

  As shown in FIG. 11, when the support pin 250 is placed on the pin support base 254 and supported by the pin support surface 276 to support the substrate 50, the base 272 is placed on the pin support surface 276. At the same time, the entire bottom surface 335 of the magnet holding member 330 comes into contact with the top surface 293 of the bottom plate 292, and the permanent magnet portion 334 comes into the state closest to the pin support base 254. In this state, a magnetic field is generated between the permanent magnet portion 334 and the pin support base 254, the permanent magnet portion 334 is magnetically attracted to the pin support base 254, and the magnet holding member 330 moves the bottom plate 292 to the bottom plate 292 based on the magnetic attraction force. A force for pressing the base 272 to the pin support 254 is applied to the base 272 via the support base 250 so that the support pins 250 are fixed and supported on the pin support 254. In this embodiment, the bottom surface 335 of the magnet holding member 330 and the top surface 293 of the bottom plate 292 form a force transmitting portion. The pin member 274 is supported by the base 272 fixed to the pin support 254, and is also supported from below by the pin support 254 via the C-shaped member 304 and the magnet holding member 330 to support the substrate 50.

  The support pin gripping device 252 will be described. As shown in FIGS. 14 and 15, the support pin gripping device 252 is held by the holding body 126 and is mounted on the second X-axis slide 98 of the head moving device 42 together with the nozzle holding head 40. Can be moved to any position in the horizontal plane. The portion of the holder 126 that holds the support pin gripping device 252 constitutes a holding device that holds the support pin gripping device 252, and in this embodiment, the nozzle holding head 40 and the support pin gripping device 252 are held separately. The nozzle holding head 40, the support pin gripping device 252, and the holding body 126 constitute a holding portion while being held by the device and integrally provided with these holding devices. The support pin gripping device 252 is provided for each of the plurality of types of nozzle holding heads 40, and a plurality of holding portions are selectively attached to the head moving device 42.

  As shown in FIG. 16, the support pin gripping device 252 includes a gripping device body 360, a gripping claw group 362, an advancing/retreating member 364 as an operating member, and a switching device 366. The gripping device main body 360 has a generally circular cross-sectional shape, and has a bottomed or bottomed hollow cylindrical shape that is opened downward. The advance/retreat member 364 includes a grip claw group holding portion 370 and a locked member portion 372. The grip claw group holding portion 370 has an oval cross-sectional shape, and as shown in FIGS. 16 and 19, is coaxial with the grip device main body 360 and axially retractable along its axis. It is fitted so that it can move up and down.

  The locked member portion 372 has a circular cross-sectional shape, is concentrically and upwardly extended from the grip claw group holding portion 370, is coaxial with the grip device main body 360, and the advance/retreat member 364 is the grip device main body. A compression coil spring 374 as an elastic member, which is a kind of biasing means provided between the gripping device main body 360 and the actuator 360, biases the gripping device main body 360 in a protruding direction. As shown in FIG. 19, the movement limit of the advancing/retreating member 364 due to the bias of the spring 374 is such that the protrusion 378 provided on the gripping device body 360 is provided on the end surface of the recess 376 provided on the advancing/retreating member 364 and extending in the axial direction. It is defined by the engagement, and as shown in FIG. 16, most of the grip claw group holding portion 370 is in a state of being projected outward from the grip device main body 360 and downward. This position is the non-acting position of the advancing/retreating member 364, and the recessed portion 376 and the projection 378 that form the engaging portion respectively form the non-acting position defining device, the non-acting position locking device, or the non-acting position maintaining device. .. The advancing/retreating member 364 is advanced from this non-acting position toward the acting position. As shown in FIG. 18, the operating position is located inside and above the non-operating position of the gripping device main body 360 relative to the gripping device main body 360, and keeps the grip claw group 362 in a closed state. The spring 374 urges the advancing/retreating member 364 in the direction from the operating position to the non-operating position. The advancing/retreating of the advancing/retreating member 364 with respect to the grasping device body 360 is guided by a guide device including an inner peripheral surface of the grasping device body 360 and a guide surface 382 provided on the grasping device body 360.

  The grip claw group holding portion 370 is provided with a bottomed fitting hole 386 having an opening on the lower surface, extending in the axial direction, and having a bottom surface 384 on the axis thereof. The fitting hole 386 is located on the axis of the grip device main body 360, and the tip end portion of the support pin 250, that is, the portion on the support surface 324 side of the engaging portion 328 of the first member 300 in this embodiment, is fitted. They are formed so as to substantially prevent the support pin 250 from tilting and to be positioned coaxially with the grip device main body 360.

  As shown in FIG. 16, the gripping claw group holding portion 370 also has two locations radially outwardly projecting from the locked member portion 372, with respect to the axes of the gripping device body 360 and the advancing/retreating member 364. Recessed portions 390 and 392 that are open to the outer surface are provided so as to penetrate in the axial direction, respectively, and a plurality of gripping claw groups 362, in this embodiment, two pin gripping claws as support pin gripping members. 394 and 396 (hereinafter simply referred to as gripping claws) are rotatably fitted. The gripping claws 394 and 396 have a longitudinal shape, and at the upper end which is one end in the longitudinal direction, the gripping claw group holding portion 370 is an axis line that intersects the axis line of the advancing and retracting member 364 at right angles with the shafts 398 and 400. Are attached so as to be rotatable around axes parallel to each other, can be opened and closed, and are provided symmetrically with respect to the axis of the grasping device main body 360.

  The lower ends or free ends, which are the other ends of the grip claws 394 and 396, are bent in directions toward each other as shown in FIGS. 16 and 18, and claw parts 410 and 412 serving as grip parts are provided. ing. The surfaces of the claws 410 and 412 that face each other are gripping surfaces 413 and 414 that are partially cylindrical. The free ends of the grip claws 394 and 396 are also provided with protrusions 415 and 416 that project in the opposite direction to the claws 410 and 412, and function as a shield. Applications of the protrusions 415 and 416 will be described later. Further, the lower end surfaces of the grip claws 394 and 396 are subjected to, for example, a black dyeing treatment so as not to reflect light. Further, the gripping claws 394, 396 are separated from the axis of the gripping member holding part 370 by the compression coil springs 418, 420 as elastic members which are a kind of biasing means in the middle part in the longitudinal direction. However, they are urged in the opening direction so that they are separated from each other. The rotation limit of the grip claws 394, 396 by the biasing of the springs 418, 420 is defined by the grip claws 394, 396 contacting the bottom surfaces of the recesses 390, 392.

  The outer surfaces of the grip claws 394 and 396, which are opposite to each other, are acted surfaces 422 and 424 that extend in the longitudinal direction of the grip claws 394 and 396. The portions of the acted surfaces 422 and 424 on the rotation axis side are inclined toward the outside (the lower side) toward the outer side (the outer peripheral surface side of the gripping device body 360) as the distance from the rotation axis increases. It is set to 428.

  As shown in FIG. 16, the switching device 366 includes a motion conversion mechanism 430 and a locking device 432. The motion converting mechanism 430 includes a pair of connecting links (hereinafter abbreviated as links) 434, 436, a guide device 438, and an action lever 440 as a movable action member. One end of each of the links 434 and 436 is connected to the grip claws 394 and 396 by shafts 444 and 446 so as to be relatively rotatable about an axis parallel to the rotation axis of the grip claws 394 and 396, and the other end. The parts are connected to each other by a shaft 448 so as to be relatively rotatable with respect to each other around an axis parallel to the rotation axis of the one end.

  As shown in FIG. 19, the shaft 448 is projected outward from the grip claw group holding portion 370, and is inserted into a notch 452 provided in the grip device main body 360 in a direction parallel to the axis of the grip device main body 360. The member 364 is movable in the advancing/retreating direction, but is immovably fitted in a direction perpendicular to the advancing/retreating direction and parallel to the opening/closing direction of the grip claws 394, 396. The cutout 452 is provided in one plane including the axis of the gripping device body 360, the shaft 448 moves in the plane, and the links 436 and 438 are configured to be axisymmetric with respect to the axis of the gripping device body 360. ing. Therefore, the pair of gripping claws 394 and 396 are simultaneously and axially rotated about the axis of the gripping device main body 360 as a symmetrical axis, the gripping claw group 362 is opened and closed in an axially symmetrical manner, and one of the gripping claws is opened. If the other is rotated, the other is also interlocked. In the present embodiment, the shaft 448 and the cutout 452 form the guide device 438. Further, in this embodiment, the advancing/retreating member 364 that is coaxially fitted to the gripping device main body 360 and holds the gripping claw group 362 coaxially is disposed on the axis of symmetry of the gripping claw group 362 and at the center thereof. It is provided at the back and moves back and forth along the axis of symmetry of the grip claw group 362. The fitting hole 384 provided in the advancing/retreating member 364 is located on the axis of symmetry of the grip claw group 362, and the bottom surface 384 thereof is located at the center back of the grip claw group 362.

  The action lever 440 has an elongated shape and, as shown in FIG. 16, is gripped by a shaft 456 at a position corresponding to one of the pair of grip claws 394 and 396 of the grip device main body 360, for example, the grip claw 394. The claw 394 is provided rotatably around an axis parallel to the rotation axis of the claw 394, and is movable in a direction intersecting with the advancing/retreating direction of the grip claw 394. The action lever 440 is rotatably attached at the upper end which is one end thereof, and is attached to the grip claw 396 by a tension coil spring 458 as an elastic member which is a kind of biasing means wound around the grip device main body 360. It is biased toward you. A roller 460 is rotatably attached to a lower end portion which is the other end portion of the action lever 440, and constitutes a rotary engagement portion.

  The rotation limit of the action lever 440 due to the urging of the spring 458 is defined by the action lever 440 contacting the defining surface 462 (see FIG. 16) provided on the grasping device body 360. In this state, the action lever 440 is located at the action start position as shown in FIG. The action start position is such that a part of the roller 460 is fitted into the recess 390 into which the grip claw 394 is fitted, and as shown in FIG. It is a position located on the axis line side of the gripping device main body 360 (the opening/closing axis line side of the gripping claw group 362) from the position 422.

  As shown in FIG. 16, the locking device 432 includes a locked member 470 provided on the locked member portion 372 of the advancing/retreating member 364 and a rotation member as a locking member provided on the grasping device body 360. A stop member 472 is included. In this embodiment, the locked member 470 is integrally provided with the advancing/retreating member 364, and is provided on the advancing/retreating member 364. The locked member may be provided separately from the actuating member and fixed to the actuating member so as to operate integrally. In the present embodiment, the rotation locking member 472 is provided by bending a steel wire, and is integrally formed with a rotation shaft portion 476 and a pair of arm portions 478 extending from the rotation shaft portion 476 at a substantially right angle. , 480, and a pair of engaging portions 482, 484 provided on the free ends of the arm portions 478, 480 so as to approach each other. It is rotatably held about orthogonal axes. The rotation locking member 472 is elastically deformable.

  The locked member portion 372 is provided with grooves 486 and 488, respectively, at two locations separated in the direction parallel to the rotation axis of the rotation shaft portion 476, so that as shown in FIG. A pair of guide portions 490 and 492 and locked portions 494 and 496 are provided in the guide groove 480, and the engaging portions 482 and 484 fitted in the grooves 486 and 488 are guided and locked. The groove 486 restrains the portion in which one of the pair of groove side surfaces functions as a guide surface and both of the groove side surfaces function as a guide surface or a restraining surface so that the engaging portion 482 is not in a free state, and determines a movement path for guiding. 22A, the guide portion 490 includes the first, second, third, fourth and fifth guide surfaces 500, 502, which are constituted by one groove side surface, as shown in FIG. 504, 506, 508, a first guide groove portion 512, and a locked surface 510 provided between the second guide surface 502 and the third guide surface 504.

  The same applies to the groove 488, and the guide portion 492 includes the sixth and seventh guide surfaces 516, 518, the second, third, fourth, and fifth guide groove portions 524, 526, 527, which are formed by one groove side surface. Each groove side surface of 528 and the locked surface 530 are included. The locked surfaces 510 and 530 are concave downwards, respectively, and are surfaces to which the engaging portions 482 and 484 can engage, and the locked surfaces 510 and 530 of the locked member 470 are provided. The closed portion constitutes the locked portions 494, 496, and the position where the engaging portions 482, 484 of the rotary locking member 472 engage the locked surfaces 510, 530 is the locking position.

  As shown in FIGS. 14 and 15, the support pin gripping device 252 is moved up and down by a support pin gripping device elevating device (hereinafter referred to as an elevating device) 540 provided on the holding body 126, and the pin supporting base 254 is moved. To and away from. In the present embodiment, the lifting device 540 is configured by using the air cylinder 542 as a driving source, and the support pin gripping device 252 is guided by the guiding device 546 including the guide rod 544, and the preset rising end position and the descending position are set. Moved to the end position. The elevating device 540 is an approaching/separating device and constitutes a relative moving device together with the head moving device 42. A part of the relative moving device moves the nozzle holding head 40 relative to the substrate 50. Also serves as a part of the device.

  The support pin storage device 256 will be described. In the present embodiment, as shown in FIG. 7, the support pin housing device 256 has the movable rails 212, 216 outside the movable rails 212, 216, that is, at the positions opposite to the fixed rail 210 side and the movable rail 214 side. 216, movably attached thereto. Regarding the movable rail 216, it may be considered that the support pin storage device 256 is attached to the side opposite to the fixed rail 210 side.

  The support pin storage device 256 attached to the movable rail 212 will be described as a representative. As shown in FIG. 10, the accommodating body 600 of the support pin accommodating device 256 has an elongated shape and is detachably fixed to the movable rail 212 in a posture parallel to the substrate transport direction (left and right direction in FIG. 10). ing. As shown in FIG. 10, the housing 600 has a circular cross-sectional shape, and has a plurality of pin housing holes 602 that open upward and are spaced apart along the longitudinal direction of the housing 600 or the movable rail 122. , For example, one row is provided at equal intervals. Each of the plurality of pin storage holes 602 has a size such that the base 272 of the support pin 250 is fitted and positioned in the radial direction, and a positioning portion that fits with the support pin 250 and positions the support pin 250 concentrically. It constitutes a storage part equipped with. A tapered surface whose diameter increases toward the opening edge side is formed at the opening end of the pin housing hole 602, and a guide surface 606 that guides the fitting of the support pin 250 is provided to form a pin guide portion. In this embodiment, the housing 600 is made of a magnetic material at the portion forming the bottom surface 608 of the pin housing hole 602, and is made of a non-magnetic material at the other portions. Further, reference marks 610 and 612 are provided on both ends of the upper surface of the container 600, which are separated from each other in the longitudinal direction.

  The support pin storage device 256 is provided such that the lower surface thereof is located slightly above the pin support surface 276 of the pin support base 254 in the state of being located at the rising end position. Therefore, the support pin storage device 256 moves together with the movable rail 212, but does not interfere with the pin support base 254 moved to the raised end position. In the state where the support pin 250 is stored in the support pin storage device 256, the support surface 324 is located at substantially the same height as the upper surface of the movable rail 212 as shown in FIG. 9, so that the support pin storage device 256 and the pin support base. While avoiding interference with 254, the support pin 250 is prevented from significantly protruding from the upper surface of the movable rail and becoming an obstacle. Further, when the support pin 250 is attached to or removed from the pin support base 254 and when the support pin 250 is stored in or removed from the support pin storage device 256, the elevating device 540 moves the support pin gripping device 252 with the same setting elevating stroke. Can be raised and lowered.

  In this system, a control device 650 (see FIG. 24) is provided in each of the plurality of mounting modules 12 to control the mounting work of circuit components on the board 50 and the like. The control device 650 mainly includes a computer 660 including a CPU 652, a ROM 654, a RAM 656, and a bus 658 connecting them. An input/output interface 662 is connected to the bus 658, and an image processing unit that processes image data obtained by various devices such as the board transfer device 24, a drive source, and a component imaging device 170 via a drive circuit 664. 670, a system control device 680 that controls all of the plurality of work modules 12, and a control device 650 of the other work modules 12 are connected. The ROM 654 and the RAM 656 store various programs such as a component mounting program and a support pin automatic setup change program, and data, and the like. The control device 650 executes the programs and controls the support pin 250 of the relative movement device. Make automatic setup changes etc. The controller for controlling the head moving device 42 and the like of the control device 650 to mount, remove, and store the support pin 250 between the pin support base 254 and the support pin storage device 256 constitutes the control device for the substrate support device 28. is doing.

Next, the operation will be described.
At the time of mounting the circuit component on the board 50, the board 50 is carried by the board carrying device 24 and stopped at a preset mounting position. Then, the pin support base 254 is raised, the support pins 250 fixed on the pin support base 254 contact the back surface of the substrate 50, and support from below. At this time, the pin support 254 pushes up the push-up member 242 to hold the substrate 50. The support pins 250 are arranged on the pin support base 254 so as to support a preset portion of the back surface of the substrate 50. For example, when the circuit components are already mounted on one surface of the substrate 50, it is necessary to avoid them and support them, and the position on the pin support base 254 that is preset according to the type of the substrate 50. The support pin 250 is mounted on the. In this manner, the substrate 50 is held, and the nozzle holding head 40 is moved by the head moving device 42 while being supported by the support pins 250, receives the circuit component from the component supply device 22, and mounts it on the substrate 50. The component mounting work is well known, and a description thereof will be omitted.

When the type of the board 50 on which the circuit component is mounted changes and the setup is changed, the arrangement of the support pins 250 with respect to the pin support base 254 is automatically changed. Hereinafter, automatic setup change of the support pin 250 will be described.
For the setup change, for example, the position of the support pin 250 currently fixed to the pin support base 254 is changed according to the support position of the substrate 50 on which the circuit component is mounted next, or the unnecessary support pin 250 is supported. It is performed by returning to the pin storage device 256 or taking out the support pin 250 from the support pin storage device 256 and attaching it to the pin support base 254. The pin arrangement data is created according to the type of the board 50 and stored in the computer, and the setup is changed based on the pin arrangement data created for each of the two kinds of boards 50 on which circuit components are mounted one after another. Is done. Here, the removal of the support pin 250 from the pin support base 254 and the storage in the support pin storage device 256 will be described.

  When the support pin 250 is removed from the pin support base 254, the support pin gripping device 252 is moved by the head moving device 42 according to the pin arrangement data, and is moved above the support pin 250 fixed on the pin support base 254. .. In the support pin gripping device 252, as shown in FIGS. 16 and 19, the advancing/retreating member 364 is in the non-acting position, the rotation locking member 472 is in the original position, and the gripping claw group 362 is in the open state. The grip claws 394 and 396 are opened, and the action lever 440 is located at the action start position. Also, the pin support base 254 is raised to the raised end position. The support pin gripping device 252 is moved to a position where the axis of the gripping device main body 360 coincides with the axis of the support pin 250, and is lowered by the elevating device 540 from the ascending end position to the descending end position. 16 to 19 and 21, in order to show the state of the permanent magnet portion 334 of the support pin 250, the state in which the support pin 250 is viewed from the same direction in the direction perpendicular to the axis thereof is shown. There is.

  As the support pin gripping device 252 descends, the tip end portion of the pin member 274 of the support pin 250 is fitted into the fitting hole 386, enters the center of the gripping claw group 362, and is supported as shown in FIG. The surface 324 abuts the bottom surface 384 of the fitting hole 386. The support pin gripping device 252 is further lowered from this state, but since the advancing/retreating member 364 abuts the support pin 250 and is prevented from descending, only the gripping device main body 360 is lowered while compressing the spring 374. .. The advancing/retreating member 364 is pushed by the tip of the support pin 250 and is moved up relative to the grasping device body 360, and is advanced from the non-acting position to the acting position. In this embodiment, the bottom surface 384 constitutes the operated surface or the engaged surface, and the portion of the advancing/retreating member 364 where the bottom surface 384 is provided constitutes the operated portion or the engaged portion. The grip claw group 362 ascends together with the advancing/retreating member 364 with respect to the grip device main body 360, the roller 460 of the action lever 440 engages with the operated surface 422 of the grip claw 394, and the grip claw 394 resists the urging force of the spring 418. And rotate in the closing direction. As a result, the grip claw 396 is also rotated symmetrically in the closing direction, and the claw portions 415 and 416 are fitted into the groove 326 of the support pin 250.

  In the action lever 440, at the action start position, a part of the roller 460 is fitted into the recess 390 in which the grip claw 394 is fitted, and as shown in FIG. 17, the grip claw 394 grips the support pin 250. Although it is located closer to the opening/closing axis of the grip claw 394 than the position of the actuated surface 422 in the state, the grip claw 394 and the action lever 440 are smoothly guided by the inclined surface 426 and the roller 460, and the action lever 440 is engaged. Securely rotates the grip claws 394 in the closing direction and securely grips the support pins 250. While the support pin gripping device 252 is descending, the gripping claws 394 and 396 have the gripping surfaces 413 and 414 engaged with the gripped portion 328 and grip the support pin 250. The support pin gripping device 252 is further lowered from the state where the gripping claws 394 and 396 are gripping the support pin 250 and reaches the lowering end position, while the action lever 440 resists the urging force of the spring 458. The gripping claws 394, 396 are rotated in a direction away from the axis of symmetry of 394, 396, and are further rotated in a closing direction from the state where the gripping claws 394, 396 are in contact with the gripped portion 328, so that the support pin 250, the gripping claws 394, 396, and the operating lever The gripping claws 394 and 396 are surely gripped by the support pin 250 while avoiding damage to the roller 440 and the roller 460. When the support pin gripping device 252 is lowered to the lowering end position, the gripping claws 394 and 396 are switched to the closed state (see FIG. 17), and the gripping surfaces 413 and 414 engage with the gripped portion 328 and are supported. Hold the pin 250. Further, the advancing/retreating member 364 is located at a position near the working position, which is a retracting end position above the working position with respect to the gripping device main body 360.

  In this way, the grip device main body 360 is lowered, and in parallel with the movement of the advancing/retreating member 364 from the non-acting position to the actuating position, the rotation locking member 472 of the locking device 432 is moved from the original position to the locking position. Be moved towards. In the state where the grip device main body 360 is located at the rising end position, the rotation locking member 472 has the engaging portions 482 and 484 located inside the upper ends of the grooves 486 and 488, as shown in FIG. The engaging portion 484 is fitted in the upper end portion of the second guide groove portion 524. This position is the original position of the rotation locking member 472, and the engaging portion 484 is guided by the second guide groove portion 524 as shown in FIG. Then, the rotation locking member 472 relatively moves with respect to the advancing/retreating member 364 in the direction parallel to the axis thereof. Then, first, the engaging portion 482 abuts on the first guide surface 500, and guided by the first guide surface 500, the rotation locking member 472 is guided to the locked surface 510 in the advancing/retreating direction of the advancing/retreating member 364, and In the direction orthogonal to the advancing/retreating direction, it is rotated in a direction away from the locked surface 510. The rotation locus of the rotation locking member 472 is indicated by a chain double-dashed line.

  Thereby, the other engaging portion 484 engages with the sixth guide surface 516 and moves along the sixth guide surface 516. The distance of the sixth guide surface 516 from the rotation axis of the rotation locking member 472 is substantially the same as the distance of the first guide surface 500 from the rotation axis, but opposite to the first guide surface 500. Since the engaging portion 484 comes into contact with the engaging portion 484 from the side, the rotating angle of the engaging portion 484 is smaller than that of the engaging portion 482, the rotating locking member 472 is elastically deformed, and the arm portion 478 becomes the arm portion 480. On the other hand, in FIG. 22(b), it is twisted in the direction of relative rotation in the clockwise direction. For convenience, this twist direction is defined as the positive direction. The position of the engaging portion 484 when there is no twist is shown in FIG. Then, as shown in FIG. 22C, the engaging portion 484 is fitted into the third guide groove portion 526 in a state where the engaging portion 482 is guided by the first guide surface 500, and is inserted into the third guide groove portion 526. It is guided and is moved relative to the locked member 470 while its rotation is restricted. Therefore, when the engagement portion 482 moves to the end of the first guide surface 500, it is rotated in the opposite direction by the elastic restoring force of the rotation locking member 472 and engages with the fourth guide surface 506. It is located directly below the guide surface 502. In the state where the support pin gripping device 252 is lowered to the lowered end position, the engaging portion 482 engages with the fourth guide surface 506 and the engaging portion 484 moves with the third guide, as shown in FIG. 22(c). It is in a state of being fitted in the lower portion of the groove portion 526. Although the guide portions 490 and 492 are provided back to back, they are shown in a line in FIGS. 22 and 23, and the rotation direction of the rotation locking member 472 is opposite. To be done.

  The support pin gripping device 252 is raised toward the rising end position after the gripping device main body 360 is lowered to the lowering end position. At this time, the advancing/retreating member 364 is kept in a state of being engaged with the tip end portion of the support pin 250 by the urging force of the spring 374, the spring 374 extends, and the grasping device main body 360 moves upward with respect to the advancing/retreating member 364. As shown in FIG. 22(d), the rotation locking member 472 is raised, and the pair of engaging portions 482 and 484 are guided by the fourth guide surface 506 and the third guide groove portion 526, respectively, and the locked surface is reached. It is moved to the 510, 530 side. Then, the engaging portion 482 engages with the second guide surface 502, is guided, and eventually engages with the locked surface 510 as shown in FIG. At this time, the engaging portion 482 engages with the second guide surface 502 while the engaging portion 484 is fitted in the third guide groove portion 526. Therefore, after the engagement, the rotation locking member 472 is elastically deformed and twisted in the opposite direction, and when the engagement portion 484 is pulled out from the third guide groove portion 526, the elastic restoring force of the rotation locking member 472 causes it to move. It is moved to the locked surface 530 side and is positioned almost directly below the locked surface 530. At this time, the engaging portion 482 is also located almost directly below the locked surface 510. Therefore, when the support pin gripping device 252 is further raised and the advancing/retreating member 364 is relatively lowered from that state, the engaging portions 482 and 484 engage with the locked surfaces 510 and 530, respectively. That is, the advancing/retreating member 364 is locked to the gripping device main body 360 via the rotation locking member 472, and is held in the operating position as shown in FIG. 18, and the gripping pawl group 362 causes the operating lever 440 to engage the gripping pawl 394. Then, the support pin 250 is kept gripped while being held in the closed state.

  The support pin gripping device 252 is further raised from this state, but the advancing/retreating member 364 is raised together with the gripping device main body 360, and the gripping claw group 362 and the support pin 250 are raised. The grip claws 394 and 396 cause the claw portions 410 and 412 to engage with the annular engagement portion 329 to apply a tensile force to the pin member 274 and raise it with respect to the base 272. During the ascending, first, the engaging portion 310 of the C-shaped member 304 engages with the protrusion 336. Therefore, as shown in FIG. 21( a ), the magnet holding member 330 is tilted about the contact portion between the bottom plate 292 and the portion of the bottom surface 335 on the side of the protrusion 338, against the magnetic attraction force, and The magnetic attraction force is reduced by being obliquely separated from the support base 254. The tensile force applied to the pin member 274 is transmitted to the permanent magnet portion 334 as a force for tilting the permanent magnet portion 334. At this time, in addition to the resultant magnetic attraction force that can be considered to act centrally on the permanent magnet portion 334, the force applied by the engaging portion 310 to the protrusion 336 and the bottom plate 292 of the bottom surface 335 of the magnet holding member 330. It suffices to counteract with the force applied to the portion on the side of the protrusion 338, and moreover, the horizontal distance from the resultant force of the magnetic attraction force to the contact point between the engaging portion 310 and the protrusion 338 (direction parallel to the bottom plate 292). Is less than twice the horizontal distance to the contact point between the bottom plate 292 and the portion of the bottom surface 335 on the side of the protrusion 338, the force that the engaging portion 310 should apply to the protrusion 336 is the magnetic attraction force. A little over 1/3 will be enough. The force required for tilting the magnet holding member 330 can be smaller than the force (equal to the total magnetic attraction force) required for separating the magnet holding member 330 at a right angle from the pin support 254. When the pin member 274 is further raised, the engaging portion 312 engages with the projection 338, and the entire permanent magnet portion 334 is separated from the pin support 254, the magnetic attraction force disappears. When the permanent magnet portion 334 is closest to the pin support 254 and applies a magnetic attraction force to the base 272, the engagement surface 340 is located below the engagement surface 342, and the engagement surface 340 is engaged. The engaging surface 310 is closer to the engaging portion 310 than the mating surface 342 and is first engaged, then the engaging surface 342 is engaged with the engaging portion 312, and the engaging portions 310 and 312 and the protrusions 336 and 338 are the pin members. At two positions different from each other in the axial direction of 274, they are engaged with each other with a shifted timing to tilt the permanent magnet portion 334. When the pin member 274 is further raised, the C-shaped member 304 engages with the top wall 314 of the base 272 as shown in FIG. 21B, the base 272 is lifted from the pin support 254, and the support pin 254 is lifted. The entire 250 is easily lifted from the pin support 254.

  The gripping claws 394 and 396 that open and close symmetrically with each other come into contact with and grip the support pins 250 fitted in the fitting holes 382, but they are opened and closed in axial symmetry and the lengths of the gripping surfaces 413 and 414. That is, when the support pin 250 is gripped, the length in the direction along the axis thereof is short, and the support pin 250 is engaged in a state in which the relative inclination of the support pin 250 is allowed, and the support pin 250 is formed by the fitting hole 386. Of the support pin 250 is conveyed in a posture in which the axis of the support pin 250 is vertical.

  The support pin gripping device 252 is moved to the raised end position, and is moved to the support pin housing device 256 over the movable rail 212 or 216 by the head moving device 42, and the support pin 250 is shown in FIG. 21(b). Transport in the state. The support pin gripping device 252 is moved to a position above the vacant pin storage hole 602 of the plurality of pin storage holes 602 of the support pin storage device 256 and then lowered to store the support pin 250. The reference marks 610 and 612 are picked up by the mark image pickup device 164 before the support pin 250 is stored in and taken out of the support pin storage device 256, and the width of the substrate transfer device 24 of the support pin 250 stored in the pin storage hole 602 is reduced. The directional position has been detected.

  The support pin storage device 256 moves together with the movable rails 212 and 216. With the movement of the movable rails 212 and 216, the position of the substrate transfer device 24 in the width direction changes and the position of the stored support pins 250 changes. .. Therefore, the position of the support pin 250 is detected when the movable rails 212 and 216 are moved to change the conveyance width and the position of the support pin storage device 256 is changed. The positions of the movable rails 212 and 216 in the Y-axis direction are set in advance according to the type of the substrate 50, and the reference marks 610 and 612 should be located based on the positions of the movable rails 212 and 216 at the time of imaging the mark. The mark image pickup device 164 is moved to a predetermined position, and the reference marks 610 and 612 are picked up from directly above, that is, from the position facing the reference marks 610 and 612. The mark image pickup device 164 is mounted on the second X-axis slide 98, and is moved by the head moving device 42.

  Then, the actual positions of the reference marks 610 and 612 are acquired based on the position of the mark imaging device 164 and the positions of the reference marks 610 and 612 in the image captured at that position. Based on the relative position information between the plurality of pin storage holes 602 of the storage device 256 and the reference marks 610 and 612, each center position of the pin storage holes 602 is calculated, and each position of the support pin 250 is acquired. In this embodiment, the support pin 250 is fitted into the pin storage hole 602 and positioned concentrically, and the position of the support pin 250 is detected by detecting the position of the pin storage hole 602. These positions are stored in the RAM 656 of the computer 660 in association with the data specifying each of the plurality of pin storage holes 602. In this embodiment, the mark image pickup device 164 also serves as the reference marks 610 and 612, which are the imaged portions of the support pin housing device 256, as the image pickup device, the head moving device 42 also serves as the image pickup device moving device, and the support pin of the control device 650 is provided. A support pin position detection device is configured together with a position calculation device that is configured by a portion that detects a position. When the support pin 250 is returned to the pin storage hole 602, the position stored in association with the pin storage hole 602 is read out, and the support pin gripping device 252 is accurately moved onto the pin storage hole 602. The support pin 250 is accurately stored in the pin storage hole 602.

  When the support pin gripping device 252 descends, the base 272 is guided by the guide surface 606, fitted into the pin storage hole 602 and positioned, and reaches the bottom surface 608 to be seated. When the support pin gripping device 252 is further lowered, the pin member 274 is lowered with respect to the base 272, the entire bottom surface 335 of the magnet holding member 330 is brought into contact with the bottom plate 292, and the pin storage hole 602 is made of a magnetic material. The bottom surface 608 is magnetically attracted, and the base 272 is pressed and fixed to the bottom surface 608 based on the magnetic attraction force. The bottom surface 608 and the permanent magnet portion 334 form a support pin fixing device, and the support pin 250 is fixed in a state of being positioned in the pin storage hole 602. The support pin gripping device 252 is further lowered from this state, but the advancing/retreating member 364 is prevented from descending by the support pin 250 fixed to the pin housing hole 602, and the gripping device main body 360 compresses the spring 374 to advance/retreat. Descend with respect to member 364. Since the advancing/retreating member 364 is pushed by the tip portion of the support pin 250 and is moved up relative to the gripping device main body 360 to move in the direction from the non-acting position to the acting position, and is moved to the retracting end position. is there.

  As a result, in the locking device 432, as shown in FIG. 23(b), the engaging portions 482, 484 of the rotation locking member 472 move from the state shown in FIG. It is separated from 530 and the lock is released. At this time, the rotation locking member 472 keeps the vertical posture and descends relative to the guide portions 490 and 492. 23(b), the engaging portion 484 engages with the seventh guide surface 518, and after that, the engaging portion 484 is moved to the left in the figure, whereas the engaging portion 482 is moved to the right. Is blocked by the third guide surface 504, so that the rotation locking member 472 is twisted in the opposite direction. The engaging portion 484 is positioned by the guide of the seventh guide surface 518 to the left of the position indicated by only the two-dot chain line circle in FIG. 23(b). After the engaging portion 484 is fitted into the fourth guide groove portion 527, as shown in FIG. 23C, the entire engaging portion 482 is disengaged from the third guide surface 504, and due to the elastic restoring force of the rotation locking member 472. It is moved to the right in the figure, and is moved directly below the first guide groove portion 512. Therefore, when the support pin gripping device 252 is lowered to the lower end position and then starts to rise, the engaging portion 482 is fitted into the first guide groove portion 512. When the support pin gripping device 252 is raised, the engagement between the engaging portions 482, 484 and the engaged surfaces 510, 530 is released, and the advancing/retreating member 364 is pressed against the support pin 250 by the urging force of the spring 374. Therefore, only the gripping device body 360 is lifted. In other words, the rotation locking member 472 moves up relative to the locked member 470, and is guided by the first and fifth guide groove portions 512 and 528 and the fifth guide surface 508 in FIG. After the state shown in d), it returns to the original position shown in FIG.

  When the engaging portion 482 is guided by the first guide groove portion 512 and the fifth guide surface 508 and the engaging portion 484 is guided by the fifth guide groove portion 528, the arm portions 478 and 480 are twisted in opposite directions. When the positions of the engaging portions 482 and 484 when there is no twist are not guided by the first and fifth guide groove portions 512 and 528 and the fifth guide surface 508, as shown by the chain double-dashed line in FIG. 23(d). Therefore, the engaging portion 482 has a large rotation angle, the engaging portion 484 has a small rotation angle, and the arm portions 478 and 480 are twisted in opposite directions. When the engaging portion 482 is disengaged from the fifth guide surface 508, the elastic restoring force of the rotating engaging member 472 causes the engaging portion 482 to rotate toward the rotational axis of the rotating engaging member 472, and the engaging portion 484 also. It is rotated to a position where it enters the second guide groove portion 524, and the rotation locking member 472 returns to the original position.

  In parallel with the movement of the rotation locking member 472 to the original position, the advancing/retreating member 364 descends relatively to the gripping device body 360 and moves to the non-acting position, and the gripping claw group is held as shown in FIG. The portion 370 is disengaged from the grip device main body 360, and the grip claws 394 and 396 are rotated in the opening direction by the biasing of the springs 418 and 420, and the support pin 250 is opened. Therefore, the support pin gripping device 252 is further raised after the rotation locking member 472 reaches the original position and the advancing/retreating member 364 returns to the non-acting position, but at that time, the end faces of the protrusion 378 and the recess 376. The engaging/disengaging member raises the advancing/retreating member 364 together with the gripping device main body 360, and the support pin 250 is pulled out from the fitting hole 386, and is held in the support pin storing device 256.

  As described above, the locked member 470 has the pair of guide portions 490 and 492, and the guide portions 490 and 492 move in accordance with the relative movement of the advancing/retreating member 364 and the gripping device main body 370 in the axial direction. In principle, at least one of the engaging portions 482 and 484 is constrained so that the rotation locking member 472 does not freely rotate. When one of the engaging portions is in a free state, the other engaging portion is constrained by the guide groove portion prior to that, so that the moving direction of the one engaging portion is determined, and both engaging portions are together. The engaging portions 482 and 484 are positioned in the guide groove portion, and the engaging portions 482 and 484 engage with the guide surfaces in directions opposite to each other in the rotation direction of the rotation locking member 472 to determine the moving direction. There is. In this way, the pair of guide portions 490 and 492 cooperate with each other, so that the engaging portions 482 and 484 move in a predetermined orbital motion including the locked portion as the advancing and retracting member 364 moves forward and backward twice. Therefore, the opposite operations, that is, the engagement with the locked surfaces 510 and 530 and the release of the engagement are easily performed, and the advancing/retreating member 364 moves from the non-acting position to the acting position twice. By being pushed toward, the support pin 250 is easily gripped, and the gripped state is maintained and released.

  Further, in order to place or store the support pin 250 grasped by the support pin grasping device 252 on the pin support base 254 or the support pin accommodating device 256, it is necessary to perform an approaching/separating operation for them. In the support pin gripping device 252, since the advancing/retreating member 364 is moved forward and backward to open and close the grip claw group 362 by using this operation, the support pin 250 is moved without adding an actuator for opening and closing the grip claw group. Can be grasped and released.

  The grip claw group 362 with the support pin 250 opened is always switched to the open state, and the projection 415 of the grip claw 394 is located below the roller 460 of the action lever 440 and covers the roller 460. Therefore, when the nozzle holding head 40 takes out the circuit component from the component supply device 22 and then the component imaging device 170 images the circuit component from below, the roller 460 is prevented from shining and adversely affecting the image formation of the circuit component. ..

  Although the case where the support pin 250 is removed from the pin support base 254 and stored in the support pin storage device 256 has been described above, when the support pin 250 is taken out from the support pin storage device 256 and attached to the pin support base 254, the pin support base Similarly, when the position of the support pin 250 on the 254 is changed, the advancing/retreating member 364 is similarly actuated twice to grip the support pin 250, convey the support pin 250, and release the support pin 250 after mounting.

  Another embodiment of the support pin position detecting device will be described with reference to FIG. The support pin position detection device of this embodiment includes an encoder 702 of a rail moving device 700 that moves a movable rail and a position calculation device 704. The rail moving device 700 has, for example, the same configuration as the rail moving device 226, and the output of the encoder 702 provided for the rail position changing motor 706 outputs a signal corresponding to the position of the movable rail to the control device 708. Is entered. Like the control device 650, the control device 708 is mainly composed of a computer, and in the part that constitutes the position calculation device 704, the output of the encoder 702 and the relative movement of a preset movable rail and pin accommodating hole. The position of the support pin is calculated based on the position information. This information includes, for example, relative position information in the X-axis and Y-axis directions between the reference position or the rail position acquisition position set on the movable rail and the center positions of the plurality of pin storage holes.

  The engaging member with which the actuating member engages may be configured by a member other than the support pin. For example, in the support pin gripping device 720 shown in FIG. 26, the projecting portion 724 is extended from the advancing/retreating member 722 in a direction intersecting with the advancing/retreating direction, in the present embodiment, at a right angle, to form an engaging portion. The holding member 728 is provided with an engaging member 732 having an upward engaging surface 730 facing the protrusion 724. The engagement surface 730 is provided at a position where the protrusion 724 engages when the support pin gripping device 720 is lowered by the lifting device and the gripping claw group 362 just reaches the position at which the support pin 250 is gripped. .. The fitting hole 736 into which the support pin 250 is fitted has a depth such that the bottom surface 738 does not hit the support pin 250. When the support pin gripping device 720 is lowered, the tip end portion of the support pin 250 is fitted into the fitting hole 736, and the gripping claw group 362 reaches the position for gripping the gripped part 328 by switching to the closed state. The engagement between the projection 724 and the engagement surface 730 prevents the advancing/retreating member 722 from descending, and the advancing/retreating member 722 is pushed by the engaging member 732 when the gripping device main body 360 subsequently descends. Is moved in the direction toward. As a result, the grip claw group 362 is closed and the support pin 250 is gripped. Grasping of the support pin 250 in the same manner as when the support pin 250 engages with the advancing/retreating member and operates, except that the engaging member 732 engages with the advancing/retreating member 722 and pushes in the direction from the non-acting position to the acting position. ，Opening is done.

  The pin support member and the support pin storage device may be used as the engagement member. For example, like the support pin gripping device 740 shown in FIG. 27, the engaging arm 744 is extended downward from the advancing/retreating member 742 toward the pin support base 254 to provide an engaging portion. The engagement arm 744 is provided so as to contact the pin support surface 276 when the grip claw group 362 has just reached the position where the support pin 250 is gripped, and the engagement arm 744 and the pin support surface 276 are engaged with each other. As a result, the advancing/retreating member 742 is stopped from descending and is pushed up with respect to the grasping device main body 360. Although illustration is omitted, when the support pin is stored in the support pin storage device, the engagement arm 744 engages with a component of the support pin storage device, for example, the storage body, and the descending/retracting member 742 is stopped. To be done.

  The force transmission device of the support pin may be a device that causes the permanent magnet to generate a rotation moment. For example, the permanent magnet portion 772 of the support pin 770 shown in FIG. 28 includes the permanent magnet 774 and the magnet holding member 776, is arranged in the inner space 780 of the base 778, and the magnet holding member 776 is arranged in the inner space. In the direction parallel to the longitudinal direction of the groove 782 forming the groove 780, the shaft 784 is rotatably attached to the base 778 at a portion separated from the permanent magnet 774. A protrusion 790 is provided at the free end of the magnet holding member 776 so as to form a second engagement portion. The base end portion of the pin member 794 is located in the inner space 780, and the projection portion 790 is provided with an engagement portion 796 that can be engaged from below to form a first engagement portion.

  When a tensile force is applied to the pin member 794, the engaging portion 796 engages with the protrusion 790, the magnet holding member 776 is rotated, and the permanent magnet portion 772 is inclined and separated from the pin support base 254. The protrusion 790 is provided at a position away from the permanent magnet 774, and engages with the protrusion 790 at a position away from the line of action of the resultant magnetic attraction force acting between the permanent magnet 772 and the pin support 254. The mating portion 796 and the mating portion 796 are engaged with each other to generate a rotation moment in the permanent magnet portion 772 and rotate the permanent magnet portion 772. In this case, the force applied by the engaging portion 796 to the protrusion 790 and the force applied by the shaft 784 to the magnet holding member 776 oppose the resultant magnetic attraction force, and the permanent magnet portion 772 is tilted with a small tensile force. , The magnetic attraction force is reduced.

  The C-shaped member of the support pin may be made of a magnetic material such as soft iron. If the C-shaped member is made of a non-magnetic material, no magnetic attraction force acts on the C-shaped member, and the magnet holding member is easily tilted with respect to the pin support base. However, even if the C-shaped member is made of a magnetic material, it can be tilted by engaging with the magnet holding member as long as the magnetic attraction force of the pin support is not exerted. When the magnet holding member is separated from the bottom plate of the base, the magnet holding member can be held in a straight state by being attracted to the main body portion by the magnetic force by the C-shaped member.

  Further, when the reference mark is imaged and the position of the support pin housed in the support pin housing device is detected, only one reference mark may be imaged. If the position of the reference mark is obtained, the position of each support pin can be detected from the relative position information between the plurality of support pins (housing portions) and the reference mark.

  Further, the pair of first engaging portions of the C-shaped member of the support pin may be provided at different positions in the axial direction of the pin member, and at the same time, the pair of second engaging portions of the permanent magnet portion may be connected to the shaft of the pin member. They may be provided at different positions in the direction.

  Further, the pin support member elevating device or the support pin gripping device elevating device may be a device including an electric motor, for example, a servo motor as a drive source, and a motion conversion device having a screw shaft and a nut.

  Further, the claimable invention is a component mounting system other than the modular component mounting system, a component mounting machine other than the component mounting machine in which the nozzle holding head is moved in the X-axis and Y-axis directions by the head moving device, for example, a plurality of component mounting machines. Index type component mounting machine in which the nozzle holding head is swiveled around one axis, work system other than the component mounting system, for example, a screen printing machine, a support pin for an adhesive coating device, a support pin gripping device, a support pin storing device , It can be applied to the substrate support device.

Claims (20)

A support pin gripping device for gripping a support pin to be attached to a pin support member,
The gripping device body,
A gripping member group composed of a plurality of support pin gripping members held directly or indirectly so as to be relatively movable by the gripping device body;
From the non-acting position to the working position by the engagement of the engaging member that is operably held by the gripping device body and that moves relative to the gripping device body with the relative movement of the pin supporting member. An actuating member actuated towards
A switching device that mechanically interlocks with the operating member and alternately switches the gripping member group from the open state to the closed state and from the closed state to the open state each time the operating member is operated once. Support pin gripping device. As the gripping member group and the support pin relatively move to a position where the gripping member group can grip the support pin, the gripping member group engages with the support pin and the support pin moves from the non-acting position to the working position. The support pin gripping device according to claim 1, wherein the actuating member is provided at a position to be moved, and the support pin functions as the engaging member. The support pin grip according to claim 2, wherein the actuating member is provided at the back of the central portion of the gripping member group, and is provided at a position where it is actuated by the tip end portion of the support pin that has entered the gripping member group. apparatus. The switching device is
A motion conversion mechanism for converting the motion of the operating member into the opening/closing motion of the gripping member group;
When the actuating member is pushed to the vicinity of the acting position once by the engagement with the engaging member, the actuating member is held at the acting position, and when the pushing member is pushed once again, the holding is released. 4. The support pin gripping device according to any one of claims 1 to 3, further comprising: an operating member control device that allows the operating member to return to the non-acting position. The operating member control device is a locking device including a locking member provided on one side of the device body and the operating member and a locked member provided on the other side, and the locked member is an engaging member. A locked portion that holds the operating member in the operating position by being locked by a stop member, and a locking member that guides the locking member and is caused by one operation of the operating member The locking member is guided to the locking position for locking the locked portion with the relative movement of the member, and the locking of the locked portion by the locking member is released with the next relative movement. The support pin gripping device according to claim 4, further comprising a guide portion that guides the locking member to the original position. The locking member includes a rotating shaft portion, a pair of arm portions extending from the rotating shaft portion in a direction substantially perpendicular to the rotating shaft portion, and a pair of engaging portions provided at free ends of the arm portions. A rotation locking member that is rotatably held by one of the gripping device main body and the actuating member in a rotation shaft portion, wherein the locked members cooperate with each other to lock the pair of engaging portions. The support pin gripping device according to claim 5, further comprising a pair of guide portions that guide the support pin. 7. The pair of guide portions have a shape that causes the pair of engaging portions to perform a preset circling motion including the locked portion when the operating member is actuated twice. Item 6. A support pin gripping device according to item. The support pin gripping device according to any one of claims 1 to 7, wherein the gripping member group opens and closes axially symmetrically with respect to a symmetry axis. The support pin gripping device according to any one of claims 1 to 8, wherein the actuating member is an advancing/retreating member that advances and retracts in the axial direction. 9. The support pin gripping device according to claim 8, wherein the actuating member is an advancing/retreating member that is disposed on the axis of symmetry and moves back and forth along the axis of symmetry. 11. The support pin gripping device according to claim 1, further comprising a biasing unit that biases the actuating member with respect to the gripping device body in a direction from the operating position to the non-operating position. The support pin gripping device according to claim 11, wherein the biasing means includes an elastic member disposed between the actuating member and the gripping device body. The movement conversion mechanism has a plurality of connection links in which one end is rotatably connected to each of the plurality of support pin gripping members and the other ends are rotatably connected to each other, and 13. Any one of claims 9 to 12 including guide means for guiding the other end of the connecting link in the advancing/retreating direction of the advancing/retreating member but immovably in a direction intersecting the advancing/retreating direction. The support pin gripping device according to claim 1. A support pin functions as the engaging member, and the advancing/retreating member is provided with a fitting hole that fits with the support pin to substantially prevent tilting of the support pin. The support pin gripping device according to any one of claims 9 to 13, wherein the support pin is engaged with the support pin at an end thereof in a state that allows the relative inclination of the support pin. The actuating member is an advancing/retreating member fitted to the gripping device body so as to be able to advance and retreat in the axial direction, and the plurality of support pin gripping members are held by the advancing/retreating member so as to be relatively movable, while the gripping device body is provided. Is provided with an action portion that moves at least one of the plurality of support pin gripping members in the closing direction by engaging with at least one of the plurality of support pin gripping members as the advancing/retreating member retreats. The support pin gripping device according to claim 4, which constitutes at least a part of. The action portion is provided by the gripping device main body so as to be movable in a direction intersecting with the advancing/retreating direction of the advancing/retreating member, and is urged by an urging means so as to approach the at least one support pin gripping member. The support pin gripping device according to claim 15, which is constituted by an action member. The support pin gripping device according to any one of claims 1 to 16, wherein each of the plurality of support pin gripping members is a rotatable gripping member that is rotatable about one axis. A support pin gripping device according to any one of claims 1 to 17,
(a) a base having an inner space inside, and (b) a protrusion protruding from the base, the base end of which is located in the inner space and is axially movable relative to the base. A pin member for supporting the printed circuit board at the tip of, and (c) at least tiltably disposed in the inner space of the base, with the base placed on a pin support member made of a magnetic material. A permanent magnet part that is magnetically attracted to the pin support member and applies a force to the base to press the base to the pin support member based on the magnetic attraction force; and (d) inside the inner space of the pin member. Is provided on at least one of the portion located at and the permanent magnet portion, and when a tensile force is applied to the pin member, the tensile force is applied to the permanent magnet portion, and the permanent magnet portion is applied to the pin support member. And a support pin including a force transmission device that transmits as a force to separate the pin support member from the pin support member while relatively tilting the support pin,
A substrate supporting device including a pin supporting member supporting the supporting pin. A support pin storage device for storing the support pin,
A relative movement device that relatively moves the support pin gripping device, the pin support member, and the support pin storage device to an arbitrary relative position in one plane, and relatively moves in one axial direction orthogonal to the one plane.
A control device that controls the relative movement device to take out the support pin from the support pin storage device, mount the support pin on the pin support member, remove the support pin from the pin support member, and store the support pin in the support pin storage device; 19. The substrate supporting device according to claim 18, which is capable of automatic setup change. The support pin storage device includes a pair of side frames and a pair of conveyor belts supported by the side frames, one of the pair of side frames is a fixed frame, and the other is close to or away from the fixed frame. A support pin housing device for housing a support pin for supporting a printed circuit board, which is a movable frame whose movable width is changed by a substrate conveyor, from below, and is attached to the movable frame so as to be movable together with the movable frame. 20. The substrate supporting device according to claim 19.

Images