WO2016030946A1 - 部品供給装置 - Google Patents
部品供給装置 Download PDFInfo
- Publication number
- WO2016030946A1 WO2016030946A1 PCT/JP2014/072166 JP2014072166W WO2016030946A1 WO 2016030946 A1 WO2016030946 A1 WO 2016030946A1 JP 2014072166 W JP2014072166 W JP 2014072166W WO 2016030946 A1 WO2016030946 A1 WO 2016030946A1
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- WO
- WIPO (PCT)
- Prior art keywords
- component
- lead
- components
- container
- supplier
- Prior art date
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G11/00—Chutes
- B65G11/02—Chutes of straight form
- B65G11/023—Chutes of straight form for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G11/00—Chutes
- B65G11/18—Supports or mountings
- B65G11/183—Supports or mountings for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G11/00—Chutes
- B65G11/20—Auxiliary devices, e.g. for deflecting, controlling speed of, or agitating articles or solids
- B65G11/203—Auxiliary devices, e.g. for deflecting, controlling speed of, or agitating articles or solids for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
- B65G65/44—Devices for emptying otherwise than from the top using reciprocating conveyors, e.g. jigging conveyors
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
- H05K13/028—Simultaneously loading a plurality of loose objects, e.g. by means of vibrations, pressure differences, magnetic fields
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/043—Feeding one by one by other means than belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
Definitions
- the present invention relates to a component supply apparatus including a component support portion that supports a plurality of components in a scattered state.
- a plurality of components discharged from the opening of the storage unit that stores a plurality of components are scattered on the component support unit, and the component support unit moves to the next process by operating a component holding robot or the like.
- a device to supply There is a device to supply.
- the following patent document describes an example of such a component supply apparatus.
- a component supply apparatus includes a storage unit that stores a plurality of components, a mounting unit to which the storage unit is mounted, and the storage in a state of being mounted on the mounting unit. And a component support unit that supports a plurality of components discharged from the opening of the unit in a scattered state, and the storage unit is detachable from the mounting unit.
- a storage unit that stores a plurality of components is detachable from the mounting unit. For this reason, when a component is supplied to the next process by the operation of a component holding robot or the like from the component support unit, for example, the storage unit is removed from the mounting unit, and a storage unit in which a new type of component is stored is removed. It can be attached to the mounting part. This makes it possible to replace the parts without stopping the parts supply operation. In addition, it is possible to easily replace parts.
- FIG. 1 shows a component mounting apparatus 10.
- the component mounting apparatus 10 is an apparatus for executing a component mounting operation on the circuit substrate 12.
- the component mounting apparatus 10 includes an apparatus main body 20, a substrate conveyance holding device 22, a component mounting device 24, imaging devices 26 and 28, a component supply device 30, and a bulk component supply device 32.
- the circuit substrate 12 includes a circuit board, a three-dimensional structure substrate, and the like, and the circuit board includes a printed wiring board and a printed circuit board.
- the apparatus main body 20 includes a frame portion 40 and a beam portion 42 that is overlaid on the frame portion 40.
- the substrate conveyance holding device 22 is disposed in the center of the frame portion 40 in the front-rear direction, and includes a conveyance device 50 and a clamp device 52.
- the conveyance device 50 is a device that conveys the circuit substrate 12
- the clamp device 52 is a device that holds the circuit substrate 12.
- the substrate conveyance holding device 22 conveys the circuit substrate 12 and holds the circuit substrate 12 fixedly at a predetermined position.
- the conveyance direction of the circuit substrate 12 is referred to as an X direction
- a horizontal direction perpendicular to the direction is referred to as a Y direction
- a vertical direction is referred to as a Z direction. That is, the width direction of the component mounting apparatus 10 is the X direction, and the front-rear direction is the Y direction.
- the component mounting device 24 is disposed in the beam portion 42 and includes two work heads 60 and 62 and a work head moving device 64.
- Each work head 60, 62 has a component holder 66 (see FIG. 2) 66 such as a chuck and a suction nozzle, and holds the component by the component holder 66.
- the work head moving device 64 includes an X direction moving device 68, a Y direction moving device 70, and a Z direction moving device 72. Then, the two working heads 60 and 62 are integrally moved to arbitrary positions on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG.
- each work head 60, 62 is detachably attached to the sliders 74, 76, and the Z-direction moving device 72 individually moves the sliders 74, 76 in the vertical direction. That is, the work heads 60 and 62 are individually moved in the vertical direction by the Z-direction moving device 72.
- the imaging device 26 is attached to the slider 74 in a state of facing downward, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. Thereby, the imaging device 26 images an arbitrary position on the frame unit 40. As shown in FIG. 1, the imaging device 28 is disposed between the base material conveyance holding device 22 and the component supply device 30 on the frame portion 40 so as to face upward. Thereby, the imaging device 28 images the components held by the component holder 66 of the work heads 60 and 62.
- the component supply device 30 is disposed at one end of the frame portion 40 in the front-rear direction.
- the component supply device 30 includes a tray-type component supply device 78 and a feeder-type component supply device (not shown).
- the tray-type component supply device 78 is a device that supplies components placed on the tray.
- the feeder-type component supply device is a device that supplies components by a tape feeder (not shown).
- the bulk component supply device 32 is disposed at the other end portion of the frame portion 40 in the front-rear direction.
- the separated component supply device 32 is a device for aligning a plurality of components scattered in a separated state and supplying the components in an aligned state. That is, it is an apparatus that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in a predetermined posture.
- the structure of the component supply apparatus 32 is demonstrated in detail.
- examples of the components supplied by the component supply device 30 and the bulk component supply device 32 include electronic circuit components, solar cell components, and power module components.
- Electronic circuit components include components having leads and components not having leads.
- the bulk component supply device 32 includes a main body 80, a component supply device 82, a component scattered state realization device 84, a component return device 86, an imaging device 88, and a component delivery device 90. is doing.
- the component supplier 82, the component scattered state realizing device 84, and the component returning device 86 are assembled to a frame 96 fixed to the main body 80, and the component supplier 82, the component scattered state realizing device 84, and the component returning device 86 are assembled.
- a component supply unit 98 is configured.
- five component supply units 98 are arranged, and these five component supply units 98 are arranged in a line in the X direction.
- FIG. 3 is a diagram showing an internal structure of the bulk component supply device 32.
- the component supplier 82 includes a component container 100, a housing 102, and a grip 104, as shown in FIGS.
- the component container 100 has a generally rectangular parallelepiped shape, and an upper surface and a front surface are open. As shown in FIG. 6, the interior of the component container 100 is divided into a loading part 110 and a storage part 112 by a pair of inclined surfaces 106 and 108. Specifically, the inclined surfaces 106 and 108 are disposed so that the ends of the inclined surfaces 106 and 108 face each other, and the inclined surfaces 106 and 108 are inclined so that the opposite ends of each other are positioned below. Further, the end portions of the inclined surfaces 106 and 108 facing each other are separated from each other, and an opening 114 is formed between the end portions of the inclined surfaces 106 and 108 facing each other.
- the slope of the inclined surface 106 located on the front side where the component container 100 opens is gentler than the inclination of the inclined surface 108, and the end of the inclined surface 106 on the opening 114 side is the opening of the inclined surface 108. It is located above the end on the 114 side. Further, the opening 114 is larger than the component accommodated in the component container 100.
- the bottom surface of the storage portion 112 that is, the bottom surface of the component storage device 100 is an inclined surface 116, which is inclined toward the front surface of the component storage device 100 that opens.
- the housing 102 has a pair of side walls 120.
- the pair of side walls 120 are generally rectangular and are disposed to face each other so as to sandwich the component container 100.
- a pair of projecting portions 122 and 124 projecting in a U-shape are formed at the rear end portion of each side wall 120.
- the pair of side walls 120 are connected by connecting members 126 and 128 at the protrusions 122 and 124.
- the pair of side walls 120 are connected by a connecting rod 130 at the front end and connected by a connecting rod 132 at the lower end.
- the dimension between the pair of side walls 120 is slightly longer than the width of the component container 100 sandwiched between the pair of side walls 120.
- a support shaft 134 is bridged between the pair of side walls 120 at the base end portion of the projecting portion 122, and the component container 100 is slidably supported by the support shaft 134 at the lower end portion on the rear side. Yes. That is, the component container 100 swings around the support shaft 134 inside the housing 102. Further, a bar-shaped stopper 136 is bridged between the pair of side walls 120 at the upper end, and a bar-shaped stopper 138 is bridged at the lower end. In the parts container 100, the stopper 136 is restricted from swinging upward, and the stopper 138 is restricted from swinging downward.
- a notch 140 is formed on the front side of the side wall of the component container 100, and a brush holding member 142 is bridged between the pair of side walls 120 so as to be positioned in the notch 140.
- the brush 144 is fixed to the lower end portion of the brush holding member 142 so as to extend downward.
- the brush 144 is formed in a plate shape, and the size of the brush 144 formed in the plate shape in the width direction is slightly smaller than the size in the width direction inside the component container 100. Thereby, when the component storage device 100 swings upward, the brush 144 relatively moves toward the inside of the component storage device 100.
- a component discharge member 150 is fixedly disposed between the pair of side walls 120 so as to be positioned in front of the lower end portion of the front surface of the component container 100.
- the component discharge member 150 includes an inclined plate 152 and a pair of side plates provided upright at both ends in the width direction of the inclined plate 152 (however, only one of the pair of side plates is shown in FIG. 5).
- the inclined plate 152 is composed of three different inclined surfaces. First, the first inclined surface 156 closest to the component container 100 is inclined in the same direction as the inclined surface 116 of the component container 100, and is inclined to the same extent as the inclined surface 116.
- the second inclined surface 158 that is continuous with the first inclined surface 156 is inclined in the same direction as the first inclined surface 156, and is inclined at a steeper angle than the first inclined surface 156.
- the third inclined surface 160 continuing to the second inclined surface 158 is inclined in the same direction as the second inclined surface 158, and is substantially inclined in the vertical direction.
- the grip 104 includes a fixed holding member 170 and a movable holding member 172, as shown in FIG.
- the fixed gripping member 170 has a rectangular tube shape, and one side surface is open.
- the fixed gripping member 170 is fixed to the connecting member 128 at the upper end portion and fixed to the connecting member 126 at the lower end portion with the side surface that opens between the pair of side walls 120.
- the movable gripping member 172 also has a square cylindrical shape, and one side surface is open.
- the dimension in the width direction of the movable gripping member 172 is slightly smaller than the dimension in the width direction of the fixed gripping member 170.
- the movable gripping member 172 is fitted into the fixed gripping member 170 so that the side surface of the movable gripping member 172 faces the side surface of the fixed gripping member 170 opened.
- a support shaft 174 is stretched over the pair of side walls 120 at the protruding portion 122, and the movable gripping member 172 is supported by the support shaft 174 at the lower end portion so as to be swingable. That is, the movable gripping member 172 swings around the lower end portion, and the upper end portion of the movable gripping member 172 approaches and separates from the fixed gripping member 170.
- the movable gripping member 172 is connected to the rear surface of the component container 100 by a connecting arm 176 at the upper end. For this reason, as the movable gripping member 172 swings, the parts container 100 also swings.
- a notch 178 is formed on the side surface of the fixed gripping member 170.
- the notch 178 includes a first notch 180 that is notched in a horizontal direction from the open side of the fixed gripping member 170 toward the inside, and a downward notch from the inner end of the first notch 180.
- a second cutout portion 182 is formed.
- an engaging member 184 that engages with the notch 178 is fixed to the side surface of the movable gripping member 172.
- a spring (not shown) is compressed between the fixed gripping member 170 and the movable gripping member 172. For this reason, the movable gripping member 172 is biased in a direction away from the fixed gripping member 170 by the elastic force of the spring.
- the engaging member 184 of the movable gripping member 172 is engaged with the first notch portion 180 of the notch portion 178.
- the movable gripping member 172 in a normal state, the movable gripping member 172 is biased in a direction away from the fixed gripping member 170, and the upper end portion of the movable gripping member 172 swings in a direction away from the fixed gripping member 170.
- the component container 100 swings downward, and the component container 100 contacts the stopper 138 as shown in FIG.
- the front end portion of the inclined surface 116 of the component container 100 faces the rear end portion of the first inclined surface 156 of the inclined plate 152 with almost no gap.
- the brush 144 does not move relatively toward the inside of the parts container 100, so that the lower end portion of the brush 144 and the parts container 100 are not moved.
- a large opening is formed between the inclined surface 116 and the inclined surface 116. For this reason, normally, the components stored in the storage portion 112 of the component storage device 100 roll down on the upper surface of the inclined plate 152.
- the component supplier 82 is detachably attached to the frame 96.
- the frame 96 has a pair of side frame portions 190 as shown in FIG.
- the pair of side frame portions 190 are generally plate-shaped and are arranged to face each other at a predetermined distance.
- the distance between the pair of side frame portions 190 is slightly longer than the dimension in the width direction of the component feeder 82, that is, the distance between the pair of side walls 120. For this reason, the component supplier 82 is inserted between the pair of side frame portions 190.
- an engagement pin 192 that protrudes toward the inside of the frame 96 is fixed to the inner wall surface of each side frame portion 190.
- a notch 196 is formed at the lower edge of each side wall 120 of the component supplier 82.
- a longitudinal support member 200 is fixed to the inner wall surface of each side frame portion 190 so as to extend in the front-rear direction.
- An inclined surface 202 that is inclined downward as it goes forward is formed at the front end of the support member 200.
- an engagement pin 206 is erected on the outer wall surface of each side wall 120 of the component supplier 82.
- the engagement pin 192 engages with the notch portion 196, and the engagement pin 206 is on the inclined surface 202 of the support member 200. Supported. Thereby, the component supplier 82 is positioned between the pair of side frame portions 190.
- a frame main body 210 is disposed below the connecting member 126 of the component supplier 82 positioned between the pair of side frame portions 190.
- a pair of support blocks 212 are fixed to the upper surface of the frame main body 210 side by side in the width direction of the frame 96.
- An engagement rod 214 is bridged between the pair of support blocks 212.
- a claw member 216 is fixed to the lower end portion of the movable gripping member 172 of the grip 104 of the component supplier 82.
- the claw member 216 is generally L-shaped, and a bent tip portion extends toward the engagement rod 214.
- the movable gripping member 172 is biased in the direction away from the fixed gripping member 170 by the elastic force of the spring, that is, in a normal state, the tip of the claw member 216 is engaged with the engagement rod 214. Yes.
- the component supplier 82 is locked to the frame 96 while being positioned between the pair of side frame portions 190.
- the movable gripping member 172 approaches the fixed gripping member 170 against the elastic force of the spring.
- the claw member 216 fixed to the lower end portion of the movable gripping member 172 swings in a direction away from the engagement rod 214. Thereby, the engagement of the claw member 216 with the engagement rod 214 is released. For this reason, the component supplier 82 is removed from the frame 96 by lifting the component supplier 82 while the operator holds the grip 104 of the component supplier 82.
- an RFID (abbreviation of radio frequency identifier) 217 is disposed inside the lower end portion of the fixed gripping member 170 of the grip 104.
- the RFID 217 transmits ID information by short-range wireless communication using radio waves, and information on components supplied by the component supplier 82 is transmitted as ID information.
- a receiver 218 capable of receiving ID information transmitted from the RFID 217 is disposed on the upper surface of the frame main body 210.
- the component scattering state realization device 84 includes a component support member 220, a component support member moving device 222, and a feeder vibration device 224, as shown in FIG.
- the component support member 220 includes a component support portion 226 and a pair of legs 228.
- the component support part 226 has a generally longitudinal plate shape and is disposed so as to extend forward from below the inclined plate 152 of the component feeder 82.
- the pair of leg portions 228 are also plate-shaped and face each other in a state of being fixed to both side edges in the longitudinal direction of the component support portion 226. Each leg portion 228 is fixed to a side edge in the longitudinal direction of the component support portion 226 so as to protrude in the vertical direction of the component support portion 226.
- the component support member moving device 222 includes a slider 230 and a slide mechanism 232.
- the slider 230 is fixed to the lower end portion of the leg portion 228 of the component support member 220.
- the slide mechanism 232 is a mechanism that moves the slider 230 in the front-rear direction by driving an electromagnetic motor (not shown).
- the component support member 220 moves in the front-rear direction slightly below the lower end of the inclined plate 152 of the component supplier 82 with the upper surface of the component support portion 226 being horizontal.
- the component support member 220 has a component supply position where substantially the entire component support portion 226 is exposed, and the entire component support portion 226 is located below the component feeder 82 as shown in FIG. 8. Move between the retracted position.
- the feeder vibration device 224 includes a cam member 240, a cam follower 242, and a stopper 244, as shown in FIG.
- the cam member 240 has a plate shape and is fixed to the outer side surface of the leg portion 228 so as to extend in the front-rear direction.
- a plurality of teeth 245 are formed at equal intervals in the front-rear direction.
- each of the plurality of teeth 245 is defined by an inclined surface 246 that extends upward toward the rear, and a vertical surface 248 that extends downward in the vertical direction from the upper end of the inclined surface 246.
- the cam follower 242 includes a bracket 250, a lever 252 and a roller 254.
- the bracket 250 is fixed to the lower end portion on the front side of the side wall 120 of the component supplier 82.
- the lever 252 is disposed so as to extend in the vertical direction, and is held by the bracket 250 at the upper end portion so as to be swingable around an axis parallel to the width direction of the component feeder 82.
- the roller 254 is held by the lower end of the lever 252 so as to be rotatable around an axis parallel to the width direction of the component supplier 82.
- the lever 252 is biased in the forward direction by the elastic force of a coil spring (not shown).
- the stopper 244 is provided on the bracket 250 in a protruding shape, and a lever 252 biased by the elastic force of the coil spring is in contact with the stopper 244. That is, the stopper 244 restricts the forward movement of the lever 252.
- the lever 252 has a posture of extending downward in the vertical direction in a state where the forward swing is restricted.
- the component return device 86 includes a container lifting / lowering device 260, a component recovery container 262, a motion conversion mechanism 264, and a shutter 265, as shown in FIG.
- the container lifting device 260 includes an air cylinder 266 and a lifting member 268.
- the air cylinder 266 has a piston rod 270, and is disposed on the front side of the component support member 220 so that the piston rod 270 expands and contracts in the vertical direction.
- the air cylinder 266 is fixed to the end portion on the front side of the slider 230. Thus, the air cylinder 266 moves in the front-rear direction together with the component support member 220 by the operation of the component support member moving device 222.
- the elevating member 268 is fixed to the tip of the piston rod 270, and a component collection container 262 is disposed on the upper surface of the elevating member 268. Thereby, the parts collection container 262 moves in the vertical direction by the operation of the air cylinder 266. At this time, the component collection container 262 is positioned at the rising end position located above the component feeder 82 as shown in FIG. 10 and below the component support portion 226 of the component support member 220 as shown in FIG. It moves to and from the descending end position.
- the component collection container 262 has a box shape with an upper surface opened, and is held on the upper surface of the elevating member 268 so as to be rotatable about an axis parallel to the width direction of the component feeder 82. Accordingly, the bottom of the parts collection container 262 is horizontal, the parts receiving attitude (the attitude of the parts collection container 262 in FIG. 11) that can receive the parts from the opening, and the bottom of the parts collection container 262 are vertical, and the parts can be removed from the opening. It rotates between a component discharge posture (the posture of the component collection container 262 in FIG. 10) that can be discharged. The component collection container 262 is urged by a coil spring (not shown) in the direction of the component receiving posture. Thereby, the parts collection container 262 is maintained in the parts receiving posture in the normal time. In addition, the rear wall of the component collection container 262 is an inclined wall that is directed downward toward the rear in the component discharge posture.
- the motion conversion mechanism 264 includes a protruding pin 272 and an engagement block 274, as shown in FIG.
- the protruding pin 272 is disposed at the rear end of the component collection container 262 in the component receiving posture, and protrudes outward on the side of the component collection container 262.
- the engagement block 274 is fixed to the inside of the upper end portion on the front side of the side frame portion 190. As shown in FIG. 10, when the component collection container 262 is raised to the rising end position by the operation of the air cylinder 266, the protruding pin 272 is engaged with the engagement block 274. As a result, the component collection container 262 rotates and assumes a component discharge posture.
- the shutter 265 is generally plate-shaped, and the dimension in the width direction thereof is approximately the same as the dimension in the width direction of the component support member 220.
- a long hole 278 is formed in the shutter 265 so as to extend in the vertical direction, and a protrusion 280 fixed to the front end of the slider 230 is inserted into the long hole 278 with a clearance. ing. Thereby, the shutter 265 slides between the component support member 220 and the component return device 86 in the direction along the elongated hole 278, that is, in the vertical direction. Note that the shutter 265 is biased upward by a coil spring 282.
- a projecting portion 284 that projects rearward is formed at the rear end portion of the elevating member 268.
- a bent portion 286 bent toward the front is formed at the lower end portion of the shutter 265.
- the elevating member 268 is also raised. At this time, the shutter 265 is lifted together with the lifting member 268 by the elastic force of the coil spring 282. Further, when the component collection container 262 is raised by the operation of the air cylinder 266 and the elevating member 268 is also raised, the shutter 265 is also raised, but as shown in FIG. 13, the protrusion 280 comes into contact with the lower end of the long hole 278. As a result, the rise of the shutter 265 is restricted. Note that the upper end of the shutter 265 in a state where the ascent is restricted is located above the inclined plate 152 of the component supplier 82.
- the imaging device 88 includes a camera 290 and a camera moving device 292.
- the camera moving device 292 includes a guide rail 296, a slider 298, and an electromagnetic motor (not shown).
- the guide rail 296 is fixed to the main body 80 so as to extend in the width direction of the bulk component feeder 32 above the component feeder 82.
- the slider 298 is attached to the guide rail 296 so as to be slidable along the guide rail 296, and slides to an arbitrary position by the operation of the electromagnetic motor.
- the camera 290 is attached to the slider 298 so as to face downward.
- a component support member 220 at the component supply position is located below the camera 290 mounted on the slider 298.
- the camera 290 moves above the component support member 220 of any component supply unit 98 of the five sets of component supply units 98, and images a plurality of components on the component support portion 226 of the component support member 220. To do.
- the component delivery device 90 includes a component holding head moving device 300, a component holding head 302, and two shuttle devices 304.
- the component holding head moving device 300 includes an X direction moving device 310, a Y direction moving device 312 and a Z direction moving device 314.
- the Y-direction moving device 312 includes a Y slider 316, a pair of guide rails 318, and an electromagnetic motor (not shown).
- the pair of guide rails 318 are provided on the main body 80 so as to extend in the Y direction with the five sets of component supply units 98 interposed therebetween.
- the Y slider 316 is supported at both ends by a pair of guide rails 318 so as to be slidable in the Y direction, and is moved to an arbitrary position in the Y direction by driving an electromagnetic motor.
- the X-direction moving device 310 includes an X slider 320 and an electromagnetic motor (not shown).
- the X slider 320 is slidably held in the X direction on the side surface of the Y slider 316, and moves to an arbitrary position in the X direction by driving an electromagnetic motor.
- the Z direction moving device 314 includes a Z slider 322 and an electromagnetic motor (not shown). The Z slider 322 is held on the side surface of the X slider 320 so as to be slidable in the Z direction, and is moved to an arbitrary position in the Z direction by driving an electromagnetic motor.
- the component holding head 302 is mounted on the Z slider 322. Thereby, the component holding head 302 is moved to an arbitrary position in the horizontal direction and moved in the vertical direction above the component support members 220 of the five sets of component supply units 98 by the operation of the component holding head moving device 300. Is possible. For this reason, the component holding head 302 is located between a holding position at which a component can be held from the component support member 220 of an arbitrary component supply unit 98 of the five sets of component supply units 98 and a retracted position retracted from the holding position. Move with. Note that the vertical movement range of the component holding head 302 by the component holding head moving device 300 is between the upper surface of the component support portion 226 of the component support member 220 and the imaging device 88.
- the moving range of the component holding head 302 by the component holding head moving device 300 is different from the moving range of the camera 290 by the camera moving device 292. Therefore, the camera 290 and the component holding head 302 of the imaging device 88 can be simultaneously moved above the component support member 220 of the same component supply unit 98 among the five sets of component supply units 98.
- the component holding head 302 includes a head main body 330, a suction nozzle 332, a nozzle turning device 334, a nozzle rotating device 336, and a nozzle mounting device (see FIG. 17) 338, as shown in FIG.
- the head body 330 is formed integrally with the Z slider 322.
- the nozzle turning device 334 is a device that turns the suction nozzle 332.
- the electromagnetic motor 340 is fixed to the head body 330 so that the output shaft 341 thereof extends in the vertical direction.
- the screw rod 342 is disposed so as to extend in the vertical direction so as to be rotatable around the axis.
- the rotational force of the electromagnetic motor 340 is transmitted to the screw rod 342 via the timing pulleys 344 and 346 and the timing belt 348.
- a nut 350 is engaged with the screw rod 342, and a slider 352 is fixed to the nut 350.
- the slider 352 slides up and down by the rotation of the screw rod 342, that is, by driving the electromagnetic motor 340.
- a spline shaft 354 is fixed to the slider 352 so as to extend downward, and a lever 356 is attached to a lower end portion of the spline shaft 354 so as to be rotatable around a horizontal axis line by a shaft 357 at one end portion. It has been.
- a nozzle holding member 358 is fixed to the other end of the lever 356, and the suction nozzle 332 is held by the nozzle holding member 358.
- An arm 360 is fixed to the side surface of the lever 356 so as to protrude in a direction perpendicular to the rotation axis of the lever 356.
- a roller 362 is attached to the distal end side of the arm 360, and the roller 362 is rotatable around an axis parallel to the rotation axis of the lever 356.
- a cam member 364 is fixed to the head main body 330, and a long hole 366 extending in the horizontal direction is formed in the cam member 364.
- a roller 362 that functions as a cam follower is fitted in the elongated hole 366 and moves along the elongated hole 366.
- the nozzle rotating device 336 is a device that rotates the suction nozzle 332 around its axis.
- the electromagnetic motor 370 is fixed to the head body 330 such that its output shaft (not shown) extends in the vertical direction, and a gear 372 is attached to the output shaft of the electromagnetic motor 370.
- the spline shaft 354 is fitted with a gear 374 that is relatively movable in the axial direction but is not relatively rotatable.
- the gear 372 and the gear 374 are engaged with each other.
- the spline shaft 354 rotates around the axis by driving the electromagnetic motor 370.
- the spline shaft 354 and the gear 374 can move relative to each other in the axial direction of the spline shaft 354.
- the nozzle mounting device 338 is a device for detachably mounting the suction nozzle 332 to the nozzle holding member 358. As shown in FIG. 17, the nozzle mounting device 338 includes a recess 376, a negative pressure source 378, an electromagnetic valve 380, a positive pressure source 382, and an electromagnetic valve 384.
- the recess 376 is formed on the contact surface of the nozzle holding member 358 with the suction nozzle 332, and functions as a negative pressure chamber.
- a negative pressure source 378 and a positive pressure source 382 are connected to the concave portion 376, and an electromagnetic valve 380 is disposed in a path between the concave portion 376 and the negative pressure source 378, and the concave portion 376 and the positive pressure source 382 are connected.
- An electromagnetic valve 384 is disposed in the path.
- the suction nozzle 332 comes into contact with the contact surface of the nozzle holding member 358 and the negative pressure is supplied to the recess 376 by the operation of the electromagnetic valve 380 in a state where the recess 376 is closed by the suction nozzle 332.
- the suction nozzle 332 is held by the nozzle holding member 358.
- the suction nozzle 332 held by the nozzle holding member 358 is released by supplying positive pressure to the recess 376 by the operation of the electromagnetic valve 384.
- the suction nozzle 332 sucks and holds components by negative pressure, and the suction nozzle 332 includes a plurality of types having different suction nozzle sizes, for example, nozzle diameters that are the diameters of the suction tubes. .
- the bulk component supply device 32 is provided with a nozzle housing device 386 in the main body 80.
- the nozzle accommodating device 386 accommodates a plurality of types of suction nozzles 332 having different nozzle diameters, and the component holding head 302 is moved to the nozzle accommodating device 386 by the component holding head moving device 300 as necessary.
- the suction nozzle 332 mounted on the component holding head 302 and the suction nozzle 332 stored in the nozzle storage device 386 are automatically replaced.
- Each of the two shuttle devices 304 includes a component carrier 388 and a component carrier moving device 390, as shown in FIG. It is fixed to 80.
- Five component receiving members 392 are mounted on the component carrier 388 in a row in the horizontal direction, and the components are placed on each component receiving member 392.
- the component receiving member 392 is detachably fitted into the concave portion 396 of the component carrier 388 and is positioned by the convex portions 398 and 400 in the front-rear direction and the lateral direction, respectively.
- the components supplied by the bulk component supply device 32 are electronic circuit components (hereinafter, may be abbreviated as “lead components”) 410 having leads, and the lead components 410 are blocks.
- the component main body 412 and two leads 414 protruding from the bottom surface of the component main body 412 are included.
- a component receiving recess 416 is formed in the component receiving member 392.
- the component receiving recess 416 is a stepped recess, and includes a main body receiving recess 418 that opens to the top surface of the component receiving member 392 and a lead receiving recess 420 that opens to the bottom surface of the main body receiving recess 418.
- the opening of the lead receiving recess 420 is smaller than the opening of the main body receiving recess 418, and a step surface 422 is formed between the lead receiving recess 420 and the main body receiving recess 418.
- the edge of the opening of the lead receiving recess 420 is chamfered to form a guide surface 426.
- each of the body receiving recess 418 and the lead receiving recess 420 of the component receiving recess 416 has a shape corresponding to the shape, dimensions, etc.
- the component receiving member 392 mounted on the component carrier 388 can be replaced in accordance with the lead component 410 placed in the component receiving recess 416.
- the part carrier moving device 390 includes a moving device main body 430 and a main body slide device 432 as shown in FIG.
- the moving device main body 430 is a plate-like longitudinal member, and is disposed on the front side of the component supply unit 98 so as to extend in the front-rear direction.
- a guide rail 434 is disposed on the upper surface of the moving device main body 430 so as to extend in the longitudinal direction of the moving device main body 430, and a component carrier 388 is engaged with the guide rail 434. As a result, the component carrier 388 slides along the guide rail 434 on the upper surface of the guide rail 434.
- the main body slide device 432 includes an endless belt 436 and an electromagnetic motor (not shown).
- a plurality of pulleys (not shown) that can rotate around an axis parallel to the lateral direction are disposed at both ends in the longitudinal direction of the moving device main body 430, and the endless belt 436 is wound around the plurality of pulleys. ing. Then, the endless belt 436 circulates as the pulley rotates by driving the electromagnetic motor.
- a component carrier 388 is fixed to the endless belt 436. As a result, the component carrier 388 slides to an arbitrary position in the front-rear direction on the upper surface of the guide rail 434.
- the component carrier 388 When the component carrier 388 is slid in the direction approaching the component supply unit 98, the component carrier 388 is slid to the component receiving position located within the movement range of the component holding head 302 by the component holding head moving device 300. On the other hand, when the component carrier 388 slides away from the component supply unit 98, the component carrier 388 slides to the component supply position located within the movement range of the work heads 60 and 62 by the work head moving device 64.
- a component mounting operation is performed on the circuit substrate 12 held by the substrate conveyance holding device 22.
- the circuit substrate 12 is transported to the work position, and is fixedly held by the clamp device 52 at that position.
- the imaging device 26 moves above the circuit substrate 12 and images the circuit substrate 12.
- the component supply device 30 or the bulk component supply device 32 supplies components at a predetermined supply position. It should be noted that the supply of components by the bulk component supply device 32 will be described in detail later.
- one of the work heads 60 and 62 moves above the component supply position, and the component holder 66 holds the component.
- the work heads 60 and 62 holding the components move above the imaging device 28, and the components held by the component holder 66 are imaged by the imaging device 28. As a result, information on the error of the component holding position can be obtained. Then, the work heads 60 and 62 holding the components move above the circuit substrate 12 and correct the held components for errors in the holding position of the circuit substrate 12, errors in the holding position of the components, and the like. And mounted on the circuit substrate 12.
- A) Lead component supply by bulk component supply device In the bulk component supply device 32, the lead component 410 is put into the component container 100 of the component feeder 82 by the operator, and the lead component 410 that is put in is supplied as a component. By the operation of the supply unit 98 and the component delivery device 90, the component is supplied in a state of being placed on the component receiving member 392 of the component carrier 388. Specifically, the operator inputs a plurality of lead components 410 of the same type from the opening on the upper surface of the component container 100 of the component feeder 82 of an arbitrary component supply unit 98 among the five sets of component supply units 98. . At this time, as shown in FIG. 8, the component support member 220 is moved to a retracted position below the component feeder 82 by the operation of the component support member moving device 222, and in front of the component feeder 82, A parts collection container 262 is located.
- the lead component 410 thrown from the opening on the upper surface of the component container 100 falls from the loading part 110 of the component container 100 to the storage part 112 through the opening 114 as shown in FIG. At this time, the dropped lead component 410 rolls on the inclined surface 116 and spreads on the inclined surface 116.
- the lead component 410 is clogged in the opening 114 and the opening 114 is closed, a plurality of lead components 410 loaded from the opening on the upper surface of the component container 100 are stacked in the loading unit 110. It becomes a state. Even if the lead component 410 that has fallen on the inclined surface 116 rolls over the inclined plate 152, the lead component 410 is accommodated in the component recovery container 262 located in front of the component supplier 82.
- the component support member 220 is moved from the lower part of the component feeder 82 to the front by the operation of the component support member moving device 222.
- the cam member 240 reaches the cam follower 242
- the roller 254 of the cam follower 242 moves up along the inclined surface 246 of the teeth 245 of the cam member 240 as shown in FIG.
- the roller 254 gets over the tooth 245 on the vertical surface 248 of the tooth 245.
- the lever 252 of the cam follower 242 is biased in the forward direction by the elastic force of the coil spring, and the forward bias of the lever 252 is restricted by the stopper 244.
- the roller 254 and the teeth 245 are maintained in mesh with each other, the lever 252 does not rotate forward, and the roller 254 has the teeth 245. Get over.
- the component supply device 82 moves up and down by getting over the teeth 245 of the roller 254. That is, when the component support member 220 moves forward while the roller 254 is engaged with the teeth 245, the roller 254 gets over the plurality of teeth 245, and the component supplier 82 continuously vibrates in the vertical direction. .
- the lead component 410 spreading on the inclined surface 116 of the component container 100 moves forward due to the vibration of the component supplier 82 and the inclination of the inclined surface 116, and the component of the component support member 220 via the inclined plate 152. It is discharged onto the upper surface of the support portion 226. At this time, the leg 228 of the component support member 220 prevents the lead component 410 from dropping from the upper surface of the component support 226. Further, the lead component 410 clogged in the opening 114 due to the vibration of the component supplier 82 falls onto the inclined surface 116 through the opening 114 and is discharged to the upper surface of the component support portion 226 through the inclined plate 152. Is done.
- the lead component 410 sequentially reaches the component support portion 226 corresponding to the increased area. Is discharged. At the timing when the roller 254 gets over the teeth 245, the component supplier 82 vibrates, and the lead component 410 is discharged from the component supplier 82 onto the upper surface of the component support portion 226. Further, the cam member 240 is detached from the cam follower 242 before the component support member 220 reaches the component supply position.
- the component supplier 82 does not vibrate, and the lead component is placed on the upper surface of the component support portion 226 from the component supplier 82. 410 is not discharged.
- a plurality of lead components 410 are scattered on the upper surface of the component support portion 226 when the component support member 220 has reached the component supply position.
- the camera 290 of the imaging device 88 is moved above the component support portion 226 in which the lead components 410 are scattered by the operation of the camera moving device 292, and the lead component 410 is imaged. To do.
- a plurality of lead components 410 scattered on the upper surface of the component support portion 226 can be picked up by the suction nozzle 332 based on the imaging data (hereinafter, sometimes referred to as “pickup target component”),
- the suction nozzle 332 divides the lead parts into parts that cannot be picked up (hereinafter may be referred to as “non-pickup target parts”).
- the method of distinguishing between the pickup target component and the non-pickup target component is not related to the present invention, and will be described briefly.
- the lead component 410 and the lead 414 in a state where the surface that is difficult to attract, such as the uneven surface, faces upward.
- the lead component 410 and the like that are in contact with the upper surface of the component support portion 226 and are inclined are classified as non-pickup target components, and the other lead components 410 are classified as pickup target components. Further, information such as the position on the component support unit 226 and the posture of the lead component 410 is acquired for the lead component 410 classified as the pickup target component based on the imaging data.
- the component holding head 302 is moved above the pickup target component by the operation of the component holding head moving device 300 based on the acquired position information of the pickup target component, and the pickup target component is sucked by the suction nozzle 332. Retained. Note that when the pickup target component is sucked and held by the suction nozzle 332, the suction nozzle 332 is located at the non-turning position.
- the component holding head 302 After the pickup target component is held by the suction nozzle 332, the component holding head 302 is moved above the component carrier 388. At this time, the component carrier 388 is moved to the component receiving position by the operation of the component carrier moving device 390. Has moved to. Further, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is pivoted to the pivot position. However, since the turning direction of the suction nozzle 332 is one direction, the lead 414 of the lead component 410 held by the suction nozzle 332 at the turning position may not face downward in the vertical direction. For this reason, the holding posture by the suction nozzle 332 is such that the lead 414 of the lead component 410 held by the suction nozzle 332 in the turning position faces downward in the vertical direction.
- the suction nozzle 332 is rotated by the nozzle rotating device 336 before holding the pickup target component so that the pickup target component can be held in the calculated holding posture. Thereby, in the lead component 410 held by the suction nozzle 332 at the turning position, the lead 414 is directed downward in the vertical direction.
- the lead component 410 with the lead 414 facing downward in the vertical direction is inserted into the component receiving member 392 along the guide surface 426.
- the lead component 410 is placed on the component receiving member 392 with the lead 414 facing downward in the vertical direction.
- the component carrier 388 moves to the component supply position by the operation of the component carrier moving device 390. Since the component carrier 388 moved to the component supply position is located in the movement range of the work heads 60 and 62, the lead component 410 is supplied at this position in the loose component supply device 32.
- the lead component 410 placed on the component receiving member 392 of the component carrier 388 at the component supply position is held by the component holder 66 of the work heads 60 and 62.
- the lead component 410 is supplied in a state where the lead 414 faces downward and the surface facing the surface to which the lead 414 is connected faces upward. For this reason, the component holding head 302 can hold the lead component 410 appropriately.
- the moving range of the component holding head 302 by the component holding head moving device 300 and the moving range of the camera 290 by the camera moving device 292 are different as described above. For this reason, it is possible to obtain the position information of the pickup target component and the like with the camera 290 positioned on the component support member 220 for each pickup of the pickup target component by the component holding head 302. Specifically, the lead component 410 on the component support member 220 is imaged by the camera 290 located on the component support member 220. Then, based on the imaging data, a pickup operation by the component holding head 302 is performed, and the picked up pickup target component is placed on the component receiving member 392.
- the component holding head 302 has moved above the component carrier 388 of the shuttle device 304 and is not positioned above the component support member 220. Therefore, the lead component 410 on the component support member 220 is imaged by the camera 290 at the timing when the component holding head 302 is moved above the component carrier 388. Based on this imaging data, a new pickup target component is picked up by the component holding head 302. Thereby, it becomes possible to perform a pick-up work based on the latest information, and it is possible to ensure an appropriate pick-up work.
- the component collection container 262 is moved by the operation of the container lifting device 260 as shown in FIG. ,To rise.
- the shutter 265 is raised by the elastic force of the coil spring 282 to block the front of the inclined plate 152 of the component feeder 82 as shown in FIG. As a result, discharge of the lead component 410 from the component supplier 82 is prevented.
- the projecting pins 272 arranged in the parts collection container 262 engage with the engagement blocks 274 arranged inside the side frame portion 190. Thereby, as shown in FIG. 10, the component collection container 262 rotates. At this time, the bottom surface of the component collection container 262 is vertical, and the wall surface of the component collection container 262 on the component container 100 side is an inclined surface toward the component container 100. For this reason, all the lead components 410 in the component collection container 262 are returned to the interior of the component container 100.
- the lead component 410 when the lead component 410 is returned to the inside of the component container 100, the lead component 410 is supplied by the component supply unit 98 that is different from the component supply unit 98 in which the lead component 410 is returned. It is possible. Specifically, when the cam follower 242 is engaged with the cam member 240 and the component feeder 82 is vibrating, the lead component 410 is discharged onto the component support member 220. Therefore, the lead components 410 are scattered on the side of the component support member 220 away from the component feeder 82, that is, on the upper surface on the front side. On the other hand, as shown in FIG. 22, the component collection container 262 rises at the position closest to the component supplier 82, and the lead component 410 in the component collection container 262 is returned to the component container 100.
- the component holding head 302 It does not interfere with the parts collection container 262. Thereby, the return operation of the lead component 410 in the predetermined component supply unit 98 and the supply operation of the lead component 410 in the predetermined component supply unit 98 and another component supply unit 98 can be performed simultaneously. is there.
- the engaging member 184 When the engaging member 184 reaches the upper end of the second notch 182, the engaging member 184 falls to the lower end of the second notch 182 due to the weight of the component feeder 82. Thereby, the engagement of the claw member 216 attached to the lower end of the movable gripping member 172 with the engagement rod 214 is released, and the component feeder 82 is removed from the frame 96, that is, between the pair of side frame portions 190. It becomes possible.
- the component container 100 swings backward about the support shaft 134 inside the housing 102. .
- the front end portion of the inclined surface 116 of the component container 100 comes close to or contacts the tip portion of the brush 144. This makes it possible to prevent the lead component 410 from being discharged from the inside of the component container 100 when the component supplier 82 is removed from the frame 96. Further, even when the lead component 410 is sandwiched between the brush 144 and the inclined surface 116, the lead component 410 can be prevented from being damaged by the elastic deformation of the brush 144.
- the engaging member 184 of the movable gripping member 172 has fallen into the lower end of the second notch 182 of the fixed gripping member 170, after the operator removes the component feeder 82 from the frame 96, Even if the hand is released, the movable gripping member 172 does not swing due to the elastic force of the spring, and the position of the component container 100 is maintained. For this reason, even if the operator removes the hand from the grip 104 after removing the parts supplier 82 from the frame 96, the inclined surface 116 of the parts container 100 and the tip of the brush 144 are close to each other. Or the lead component 410 is prevented from being discharged from the inside of the component container 100.
- the component supplier 82 is removed from the frame 96, the component supplier 82 corresponding to the new type of lead component 410 is inserted between the pair of side frame portions 190.
- the notch 196 formed at the lower end of the side wall 120 of the component supplier 82 is engaged with the engagement pin 192 of the side frame 190, and as shown in FIG.
- the engaging pin 206 provided at the front end portion of the side wall 120 is engaged with the inclined surface 202 of the support member 200 of the side frame portion 190.
- the component supplier 82 is positioned between the pair of side frame portions 190.
- the movable gripping member 172 swings away from the fixed gripping member 170 by the elastic force of the spring. .
- the claw member 216 attached to the lower end portion of the movable gripping member 172 engages with the engagement rod 214.
- the component supplier 82 is locked to the frame 96.
- the component container 100 swings forward around the support shaft 134 inside the housing 102.
- the front end portion of the inclined surface 116 of the component container 100 moves downward, and an opening is formed between the tip end portion of the brush 144 and the inclined surface 116.
- the lead component 410 put into the component container 100 can be discharged from the storage unit 112. In this way, in the bulk component supply device 32, the lead component 410 to be supplied can be easily replaced by replacing the component supplier 82.
- ID information is transmitted from the RFID 217 of the component supplier 82 newly attached to the frame 96, and the receiver 218 provided in the frame main body 210 of the frame 96. Receives the ID information. Based on the ID information, the lead component 410 supplied by the component supplier 82 newly attached to the frame 96 is collated.
- the bulk component supply device 32 is an example of a component supply device.
- the component supplier 82 is an example of a storage unit.
- the frame 96 is an example of a mounting part.
- the brush 144 is an example of a closing member.
- the RFID 217 is an example of an identification information recording body.
- the component support member 220 is an example of a component support portion. ID information transmitted by the RFID 217 is an example of identification information.
- this invention is not limited to the said Example and modification, It is possible to implement in the various aspect which gave various change and improvement based on the knowledge of those skilled in the art.
- the lead component 410 to be supplied is replaced by replacement of the component supplier 82, but the lead component 410 may be replaced by one component supplier 82. That is, after removing the component supplier 82 from the frame 96, all the lead components 410 are taken out from the inside of the component supplier 82. Then, the component supplier 82 may be mounted on the frame 96 again, and a new type of lead component 410 may be inserted into the component supplier 82 mounted on the frame 96.
- a new type of lead component 410 is introduced into the component supplier 82 from which all the lead components 410 have been taken out, and the component supplier 82 in a state in which the new type of lead component 410 is housed therein is provided. It may be attached to the frame 96.
- the opening for discharging the lead component 410 of the component container 100 is closed by the brush 144 as the component container 100 swings inside the housing 102. That is, the opening of the component container 100 is closed by the brush 144 at the timing when the lock of the component supplier 82 to the frame 96 is released, but the opening of the component container 100 can be closed at an arbitrary timing.
- a closing member such as a shutter is disposed so as to be slidable between an open position where the opening of the component container 100 is opened and a closed position where the opening is closed. Then, the closing member is slid by the operation of an actuator such as an electromagnetic motor. Thereby, it is possible to close the opening of the component container 100 at an arbitrary timing.
- information related to the lead component 410 supplied by the component supplier 82 is transmitted as identification information by the RFID 217.
- information related to the component supplier 82 can be transmitted.
- information related to the component supply device 82 and information related to the lead component 410 supplied by the component supply device 82 are stored in association with each other, and the received information related to the component supply device 82 is stored. Based on this, information on the lead component 410 supplied by the component supplier 82 is extracted. Then, parts are collated based on the extracted information. Further, it is possible to record the identification information on a barcode, 2D code, etc., and write the barcode, 2D code, etc. on the component supplier 82. In this case, the identification information is read by a code reader or the like.
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Abstract
Description
図1に、部品実装装置10を示す。部品実装装置10は、回路基材12に対する部品の実装作業を実行するための装置である。部品実装装置10は、装置本体20、基材搬送保持装置22、部品装着装置24、撮像装置26,28、部品供給装置30、ばら部品供給装置32を備えている。なお、回路基材12として、回路基板、三次元構造の基材等が挙げられ、回路基板として、プリント配線板、プリント回路板等が挙げられる。
部品供給器82は、図4および図5に示すように、部品収納器100とハウジング102とグリップ104とを含む。
部品収納器100は、概して直方体形状をなし、上面と前面とが開口している。部品収納器100の内部は、図6に示すように、1対の傾斜面106,108によって、投入部110と収納部112とに区分けされている。詳しくは、傾斜面106,108は、互いの端部が向かい合うように配設されており、互いの向かい合う端部が下方に位置するように、傾斜面106,108は傾斜している。また、傾斜面106,108の互いに向かい合う端部は、離間しており、傾斜面106,108の互いに向かい合う端部の間には、開口114が形成されている。なお、部品収納器100の開口する前面側に位置する傾斜面106の斜度は、傾斜面108の斜度より緩やかであり、傾斜面106の開口114側の端部は、傾斜面108の開口114側の端部より上方に位置している。また、開口114は、部品収納器100に収容される部品より大きく開口している。
ハウジング102は、図4および図5に示すように、1対の側壁120を有している。それら1対の側壁120は、概して矩形をなし、部品収納器100を挟むように、対向して配設されている。各側壁120の後方側の端部には、コの字型に突出する1対の突出部122,124が形成されている。1対の側壁120は、突出部122,124において、連結部材126,128によって連結されている。また、1対の側壁120は、前方側の端部において、連結ロッド130によって連結され、下端部において、連結ロッド132によって連結されている。なお、1対の側壁120の間の寸法は、1対の側壁120によって挟まれる部品収納器100の幅より僅かに長い。
グリップ104は、図4に示すように、固定把持部材170と可動把持部材172とによって構成されている。固定把持部材170は、四角筒形状をなし、1つの側面が開口している。固定把持部材170は、開口する側面を1対の側壁120の間に向けた状態で、上端部において、連結部材128に固定され、下端部において、連結部材126に固定されている。また、可動把持部材172も、四角筒形状をなし、1つの側面が開口している。可動把持部材172の幅方向の寸法は、固定把持部材170の幅方向の寸法より僅かに小さい。そして、可動把持部材172は、それの開口する側面と固定把持部材170の開口する側面とが向かい合うように、固定把持部材170の内部に嵌め入れられている。
部品散在状態実現装置84は、図5に示すように、部品支持部材220と部品支持部材移動装置222と供給器振動装置224とを含む。部品支持部材220は、部品支持部226と1対の脚部228とを含む。部品支持部226は、概して長手形状の板形状をなし、部品供給器82の傾斜板152の下方から前方に延び出すように、配設されている。1対の脚部228も、板状をなし、部品支持部226の長手方向の両側縁に固定された状態で向かい合っている。なお、各脚部228は、部品支持部226の上下方向に突出するように、部品支持部226の長手方向の側縁に固定されている。
部品戻し装置86は、図10に示すように、容器昇降装置260と部品回収容器262と運動変換機構264とシャッタ265とを含む。容器昇降装置260は、エアシリンダ266と昇降部材268とを含む。エアシリンダ266は、ピストンロッド270を有しており、ピストンロッド270が上下方向に伸縮するように、部品支持部材220の前方側に配設されている。そのエアシリンダ266は、スライダ230の前方側の端部に固定されている。これにより、エアシリンダ266は、部品支持部材移動装置222の作動により、部品支持部材220と共に前後方向に移動する。また、昇降部材268は、ピストンロッド270の先端部に固定されており、その昇降部材268の上面に、部品回収容器262が配設されている。これにより、部品回収容器262は、エアシリンダ266の作動により、上下方向に移動する。この際、部品回収容器262は、図10に示すように、部品供給器82より上方に位置する上昇端位置と、図11に示すように、部品支持部材220の部品支持部226より下方に位置する下降端位置との間で移動する。
撮像装置88は、図3に示すように、カメラ290とカメラ移動装置292とを含む。カメラ移動装置292は、ガイドレール296とスライダ298と電磁モータ(図示省略)とを含む。ガイドレール296は、部品供給器82の上方において、ばら部品供給装置32の幅方向に延びるように、本体80に固定されている。スライダ298は、ガイドレール296に沿ってスライド可能に、ガイドレール296に取り付けられており、電磁モータの作動により、任意の位置にスライドする。また、カメラ290は、下方を向いた状態でスライダ298に装着されている。なお、スライダ298に装着されたカメラ290の下方には、部品供給位置にある部品支持部材220が位置している。これにより、カメラ290が、5組の部品供給ユニット98のうちの任意の部品供給ユニット98の部品支持部材220の上方に移動し、部品支持部材220の部品支持部226上の複数の部品を撮像する。
部品引渡し装置90は、図3および図14に示すように、部品保持ヘッド移動装置300と部品保持ヘッド302と2台のシャトル装置304とを含む。
部品保持ヘッド移動装置300は、X方向移動装置310とY方向移動装置312とZ方向移動装置314とを含む。Y方向移動装置312は、Yスライダ316と1対のガイドレール318と電磁モータ(図示省略)とを含む。1対のガイドレール318は、5組の部品供給ユニット98を挟むようにして、Y方向に延びるように、本体80に設けられている。また、Yスライダ316は、両端部において、1対のガイドレール318によりY方向にスライド可能に支持されており、電磁モータの駆動によりY方向の任意の位置に移動する。X方向移動装置310は、Xスライダ320と電磁モータ(図示省略)とを含む。Xスライダ320は、Yスライダ316の側面において、X方向にスライド可能に保持されており、電磁モータの駆動によりX方向の任意の位置に移動する。Z方向移動装置314は、Zスライダ322と電磁モータ(図示省略)とを含む。Zスライダ322は、Xスライダ320の側面において、Z方向にスライド可能に保持されており、電磁モータの駆動によりZ方向の任意の位置に移動する。
部品保持ヘッド302は、図15に示すように、ヘッド本体330と吸着ノズル332とノズル旋回装置334とノズル回転装置336とノズル取付装置(図17参照)338とを含む。ヘッド本体330は、Zスライダ322と一体的に形成されている。ノズル旋回装置334は、吸着ノズル332を旋回させる装置である。詳しくは、電磁モータ340が、それの出力軸341が上下方向に延びるように、ヘッド本体330に固定されている。また、ねじロッド342が、軸線周りに回転可能に上下方向に延びるように配設されている。そして、そのねじロッド342に、電磁モータ340の回転力が、タイミングプーリ344,346とタイミングベルト348を介して伝達される。ねじロッド342には、ナット350が噛合されており、そのナット350にスライダ352が固定されている。これにより、スライダ352は、ねじロッド342の回転、つまり、電磁モータ340の駆動により上下方向にスライドする。
2台のシャトル装置304の各々は、図3に示すように、部品キャリヤ388と部品キャリヤ移動装置390とを含み、部品供給ユニット98の前方側に横方向に並んで、本体80に固定されている。部品キャリヤ388には、5個の部品受け部材392が、横方向に一列に並んだ状態で装着されており、各部品受け部材392に、部品が載置される。
部品実装装置10、上述した構成によって、基材搬送保持装置22に保持された回路基材12に対して部品の装着作業が行われる。具体的には、回路基材12が、作業位置まで搬送され、その位置において、クランプ装置52によって固定的に保持される。次に、撮像装置26が、回路基材12の上方に移動し、回路基材12を撮像する。これにより、回路基材12の保持位置の誤差に関する情報が得られる。また、部品供給装置30若しくは、ばら部品供給装置32は、所定の供給位置において、部品を供給する。なお、ばら部品供給装置32による部品の供給に関しては、後で詳しく説明する。そして、作業ヘッド60,62の何れかが、部品の供給位置の上方に移動し、部品保持具66によって部品を保持する。続いて、部品を保持した作業ヘッド60,62が、撮像装置28の上方に移動し、撮像装置28によって、部品保持具66に保持された部品が撮像される。これにより、部品の保持位置の誤差に関する情報が得られる。そして、部品を保持した作業ヘッド60,62が、回路基材12の上方に移動し、保持している部品を、回路基材12の保持位置の誤差,部品の保持位置の誤差等を補正し、回路基材12上に装着する。
(a)ばら部品供給装置によるリード部品の供給
ばら部品供給装置32では、リード部品410が、作業者によって部品供給器82の部品収納器100に投入され、その投入されたリード部品410が、部品供給ユニット98,部品引渡し装置90の作動により、部品キャリヤ388の部品受け部材392に載置された状態で供給される。詳しくは、作業者は、5組の部品供給ユニット98のうちの任意の部品供給ユニット98の部品供給器82の部品収納器100の上面の開口から、同じ種類の複数のリード部品410を投入する。この際、部品支持部材220は、図8に示すように、部品支持部材移動装置222の作動により、部品供給器82の下方の退避位置に移動しており、部品供給器82の前方には、部品回収容器262が位置している。
また、部品支持部材220上に散在するピックアップ対象部品のピックアップ作業が進むと、部品支持部材220上には、非ピックアップ対象部品が多く残存する。このような場合には、部品支持部材220上のリード部品410は、部品戻し装置86の作動により、部品収納器100に戻される。詳しくは、リード部品410が部品収納器100に戻される際には、まず、部品支持部材220が、部品支持部材移動装置222の作動により、部品供給器82の下方に向かって移動させられる。この際、図21に示すように、部品支持部材220上のリード部品410は、部品供給器82の傾斜板152の第3の傾斜面160によって堰き止められる。このため、部品支持部材220が部品供給器82の下方に向かって移動すると、部品支持部材220上のリード部品410は、部品支持部材220に対して前方に相対移動し、部品回収容器262の内部に掻き落とされる。
また、生産対象の回路基材12が変更される際には、供給すべきリード部品410を交換する必要がある。このような場合には、フレーム96から部品供給器82が取り外され、新たな種類のリード部品410に対応する部品供給器82が、フレーム96に装着される。詳しくは、部品支持部材220上のリード部品410が部品収納器100の内部に戻された後に、作業者は、部品供給器82のグリップ104を把持し、図23に示すように、可動把持部材172を固定把持部材170に向かって搖動させる。この際、可動把持部材172の係合部材184は、固定把持部材170の第1切欠部180の内部に進入する。そして、係合部材184が第2切欠部182の上端に至ると、部品供給器82の自重により、係合部材184が第2切欠部182の下端に落ち込む。これにより、可動把持部材172の下端に取り付けられた爪部材216の係合ロッド214への係合が解除され、部品供給器82をフレーム96、つまり、1対のサイドフレーム部190の間から取り外すことが可能となる。
Claims (4)
- 複数の部品を収納する収納部と、
前記収納部が装着される装着部と、
前記装着部に装着された状態の前記収納部の開口から排出された複数の部品を散在された状態で支持する部品支持部と
を備え、
前記収納部が、前記装着部に着脱可能であることを特徴とする部品供給装置。 - 前記収納部が、
前記収納部を識別するための識別情報が記録された識別情報記録体を有することを特徴とする請求項1に記載の部品供給装置。 - 前記収納部が、
前記収納部の開口を開放し、その開口から部品を排出することが可能な開放位置と、前記収納部の開口の少なくとも一部を塞ぎ、その開口からの部品の排出を防止する閉鎖位置との間で移動可能な閉鎖部材を有することを特徴とする請求項1または請求項2に記載の部品供給装置。 - 前記閉鎖部材が、弾性変形可能な素材により成形されていることを特徴とする請求項1ないし請求項3のいずれか1つに記載の部品供給装置。
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PCT/JP2014/072166 WO2016030946A1 (ja) | 2014-08-25 | 2014-08-25 | 部品供給装置 |
EP14900466.5A EP3197254B1 (en) | 2014-08-25 | 2014-08-25 | Component-supplying device |
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JP2018043298A (ja) * | 2016-09-12 | 2018-03-22 | 富士機械製造株式会社 | リード線カット装置および作業装置 |
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WO2020245945A1 (ja) | 2019-06-05 | 2020-12-10 | 株式会社Fuji | 部品供給装置 |
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US20190098806A1 (en) | 2019-03-28 |
US20170273226A1 (en) | 2017-09-21 |
US10492349B2 (en) | 2019-11-26 |
US10172267B2 (en) | 2019-01-01 |
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EP3197254A4 (en) | 2017-08-16 |
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