Component supply device

0001The present invention relates to a component supply device including a component support portion that supports a plurality of components in a scattered state.

0002The parts supply device includes a device in which a plurality of parts are scattered on the parts support portion, and the parts scattered on the parts support portion are picked up by the operation of a parts holding robot or the like. The following patent document describes an example of such a component supply device.

<p num="0003"><patcit num="1"><text>Japanese Unexamined Patent Publication No. 10-202569</text></patcit></p>

<p num="0004">In the parts supply device described in the above patent document, a plurality of parts of one type are scattered on the parts support portion, and an arbitrary part is picked up from the plurality of parts of the one type. Therefore, many kinds of parts cannot be supplied, which is not convenient. In addition, it is necessary for the operator to pay attention so that other types of parts are not mixed on the component support portion, which imposes a heavy burden on the operator. As described above, there is still much room for improvement in the parts supply device having the parts support portion, and it is considered that the practicality of the parts supply device will be improved by making various improvements. The present invention has been made in view of such circumstances, and an object of the present invention is to provide a highly practical parts supply device.</p>

<p num="0005">In order to solve the above problems, the component supply device according to the present invention includes a component support portion that supports a plurality of types of components in a scattered state, and an imaging device that captures an image of the components supported by the component support portions. A gripping tool for gripping a part supported by the component supporting portion, a moving device for moving the gripping tool to an arbitrary position above the component supporting portion, and the gripping tool and the moving device. A control device for controlling the operation is provided, and the control device includes identification information for identifying each type of the plurality of types of parts based on the image pickup data imaged by the image pickup device, and the plurality of types. The gripping tool grips an information acquisition unit that acquires position information indicating the position of each part on the component support portion, and a plurality of types of components supported by the component support portion. Therefore, it is characterized by having an operation control unit that controls the operation of the gripper and the moving device based on the identification information and the position information acquired by the information acquisition unit.</p>

<p num="0006">In the component supply device according to the present invention, a plurality of types of components are scattered on the component support portion, and the plurality of types of components are imaged by the imaging device. From the imaging data captured by the imaging device, identification information for identifying each type of a plurality of types of components and position information indicating the position of each of the plurality of types of components on the component support portion are acquired. .. Then, based on the identification information and the position information, any kind of part is gripped by the gripping tool from the plurality of kinds of parts supported by the part support portion. As described above, in the parts supply device of the present invention, it is possible to pick up any kind of parts from a plurality of kinds of parts scattered on the parts support portion. This makes it possible to supply many types of parts in the parts supply device. Further, the worker does not need to check the parts on the part support portion, and the burden on the worker can be reduced.</p>

0007<figref num="1">It is a perspective view which shows the component mounting apparatus.</figref><figref num="2">It is a perspective view which shows the component mounting apparatus of the component mounting apparatus.</figref><figref num="3">It is a perspective view which shows the loose parts supply device.</figref><figref num="4">It is a top view which shows the loose parts supply device.</figref><figref num="5">It is a perspective view which shows the component supply unit.</figref><figref num="6">It is a perspective view which shows the parts supply unit in the state which the parts collection container is raised to the raised end position.</figref><figref num="7">It is a top view which shows the loose parts supply device in the state which the parts supply unit of a different width is attached.</figref><figref num="8">It is a top view which shows the loose parts supply device in the state which the parts supply unit of a different width is attached.</figref><figref num="9">It is a top view which shows the loose part supply device in the state which the part support unit is attached.</figref><figref num="10">It is a side view of a component support unit.</figref><figref num="11">It is a perspective view which shows the component holding head.</figref><figref num="12">It is a figure which shows the component receiving member.</figref><figref num="13">It is a block diagram which shows the control device.</figref><figref num="14">It is a perspective view which shows the component scattered state realization apparatus.</figref><figref num="15">It is a figure which shows the identification information conceptually.</figref><figref num="16">It is a perspective view which shows the component scattered state realization apparatus and component return apparatus.</figref>

0008Hereinafter, examples of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings.

0009&lt;Configuration of component mounting device&gt; FIG. 1 shows the component mounting device 10. The component mounting device 10 is a device for executing component mounting work on the circuit base material 12. The component mounting device 10 includes a device main body 20, a base material transfer holding device 22, a component mounting device 24, an imaging device 26, 28, a component supply device 30, a loose component supply device 32, and a control device (see FIG. 13) 34. There is. Examples of the circuit board 12 include a circuit board, a base material having a three-dimensional structure, and the like, and examples of the circuit board include a printed wiring board and a printed circuit board.

0010The apparatus main body 20 is composed of a frame portion 40 and a beam portion 42 mounted on the frame portion 40. The base material transfer holding device 22 is arranged at the center of the frame portion 40 in the front-rear direction, and has a transfer device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit base material 12, and the clamp device 52 is a device that holds the circuit base material 12. As a result, the base material transport / holding device 22 transports the circuit base material 12 and holds the circuit base material 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit base material 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. That is, the width direction of the component mounting device 10 is the X direction, and the front-rear direction is the Y direction.

0011The component mounting device 24 is arranged in the beam unit 42, and has two work heads 60 and 62 and a work head moving device 64. Each work head 60, 62 has a component holder (see FIG. 2) 66 such as a chuck and a suction nozzle, and the component holder 66 holds the component. Further, 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 work heads 60 and 62 are integrally moved to an arbitrary position on the frame portion 40 by the X-direction moving device 68 and the Y-direction moving device 70. Further, as shown in FIG. 2, the work heads 60 and 62 are detachably attached to the sliders 74 and 76, and the Z-direction moving device 72 individually moves the sliders 74 and 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.

0012The image pickup apparatus 26 is attached to the slider 74 in a downward facing state, and is moved together with the work head 60 in the X direction, the Y direction, and the Z direction. As a result, the image pickup apparatus 26 images an arbitrary position on the frame portion 40. As shown in FIG. 1, the image pickup apparatus 28 is arranged between the base material transport holding device 22 on the frame portion 40 and the component supply apparatus 30 in a state of facing upward. As a result, the image pickup apparatus 28 images the parts held by the part holders 66 of the work heads 60 and 62.

0013The component supply device 30 is arranged at one end of the frame portion 40 in the front-rear direction. The parts supply device 30 includes a tray-type parts supply device 78 and a feeder-type parts supply device (not shown). The tray-type component supply device 78 is a device that supplies components in a state of being placed on the tray. The feeder type parts supply device is a device that supplies parts by a tape feeder (not shown).

0014The loose component supply device 32 is arranged at the other end of the frame portion 40 in the front-rear direction. The loose parts supply device 32 is a device that aligns a plurality of parts that are scattered apart and supplies the parts in the aligned state. That is, it is a device that aligns a plurality of parts in an arbitrary posture in a predetermined posture and supplies the parts in the predetermined posture. The configuration of the component supply device 32 will be described in detail below. Examples of the parts supplied by the parts supply device 30 and the loose parts supply device 32 include electronic circuit parts, solar cell components, power module components, and the like. Further, electronic circuit parts include parts having leads, parts having no leads, and the like.

0015As shown in FIGS. 3 and 4, the loose component supply device 32 includes a main body 80, a component supply unit 82, an image pickup device 84, and a component delivery device 86.

0016(a) Parts supply unit The parts supply unit 82 includes a parts supply device 88, a parts scattered state realizing device 90, and a parts returning device 92, and the parts supply device 88, the parts scattered state realizing device 90, and the parts returning device 92 are integrally configured. It is. The component supply unit 82 is detachably assembled to the base 96 of the main body 80, and in the loose component supply device 32, five component supply units 82 are arranged in a row in the X direction.

0017(i) Parts feeder The parts feeder 88 includes a parts storage 100, a housing 102, and a grip 104, as shown in FIG. The parts storage device 100 generally has a rectangular parallelepiped shape, and the upper surface and the front surface are open. The bottom surface of the parts storage device 100 has an inclined surface 116, which is inclined toward the front surface of the parts storage device 100 to open.

0018The housing 102 has a pair of side walls 120. The pair of side walls 120 are generally rectangular and are arranged to face each other so as to sandwich the component storage device 100. A pair of U-shaped protrusions 122 and 124 are formed at the rear end of each side wall 120. The pair of side walls 120 are connected by connecting members 126,128 at the protrusions 122,124. Further, the pair of side walls 120 are connected by a connecting rod 130 at the upper end portion and connected by a connecting rod (not shown) at the lower end portion. The dimension between the pair of side walls 120 is slightly longer than the width of the component storage device 100 sandwiched by the pair of side walls 120.

0019A support shaft 134 is bridged over the pair of side walls 120 at the base end portion of the protrusion 122, and the component storage device 100 is swingably supported by the support shaft 134. That is, the component storage device 100 swings around the support shaft 134 inside the housing 102. Further, between the pair of side walls 120, the component discharge member 150 is fixedly arranged so as to be located in front of the lower end portion of the front surface of the component accommodator 100. The component discharging member 150 includes an inclined plate 152 and a pair of side plates (only one side plate is shown in the drawing) 154 erected at both ends of the inclined plate 152 in the width direction. The inclined plate 152 is inclined so as to descend toward the front.

0020The grip 104 is composed of a fixed grip member 170 and a movable grip member 172. The fixed grip member 170 has a square tubular shape and has one side surface open. The fixed grip 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 in a state where the side surface to be opened is directed between the pair of side walls 120. Further, the movable gripping member 172 also has a square tubular shape and is fitted into the fixed gripping member 170 from the opening side surface of the fixed gripping member 170. The movable grip member 172 is swingably supported by the connecting member 126 at the lower end portion. As a result, 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.

0021The movable grip member 172 is connected to the rear surface of the component storage device 100 by a connecting arm (not shown) at the upper end portion. Therefore, as the movable gripping member 172 swings, the component storage device 100 also swings. That is, when the upper end portion of the movable gripping member 172 swings in the direction away from the fixed gripping member 170, the component storage device 100 swings downward. On the other hand, when the upper end portion of the movable gripping member 172 swings in the direction approaching the fixed gripping member 170, the component storage device 100 swings upward.

0022Further, a spring (not shown) is arranged between the fixed gripping member 170 and the movable gripping member 172 in a compressed state. Therefore, the movable gripping member 172 is urged away from the fixed gripping member 170 by the elastic force of the spring. That is, in a normal state, the upper end portion of the movable gripping member 172 swings in a direction away from the fixed gripping member 170, and the component storage device 100 swings downward. At this time, the front end of the inclined surface 116 of the component storage device 100 faces the rear end of the inclined plate 152 with almost no gap.

0023Further, the component feeder 88 is detachably attached to a pair of side frame portions 190 assembled to the base 96. Specifically, the pair of side frame portions 190 are generally plate-shaped, and are arranged so as to face each other at a predetermined distance and separated from each other. The distance between the pair of side frame portions 190 is slightly longer than the widthwise dimension of the component feeder 88, that is, the distance between the pair of side walls 120. Therefore, the component feeder 88 is inserted between the pair of side frame portions 190.

0024A lock mechanism (not shown) is provided at the lower end of the movable grip member 172 of the grip 104, and the movable grip member 172 is urged away from the fixed grip member 170 by the elastic force of the spring. In the state, that is, in the normal state, the component feeder 88 is locked between the pair of side frame portions 190 by the locking mechanism. On the other hand, when the operator grips the grip 104, the movable grip member 172 approaches the fixed grip member 170 against the elastic force of the spring. At this time, the lock mechanism provided at the lower end of the movable grip member 172 is released. As a result, the component feeder 88 is removed from between the pair of side frame portions 190 by lifting the component feeder 88 while the operator holds the grip 104 of the component feeder 88.

0025(ii) Parts scattered state realization device The component scattered state realization device 90 includes a component support member 220, a component support member moving device 222, and a feeder vibrating device 224. The component support member 220 generally has a longitudinal plate shape, and is arranged so as to extend forward from below the inclined plate 152 of the component feeder 88. Further, side wall portions 228 are formed on both side edges of the component support member 220 in the longitudinal direction.

0026The component support member moving device 222 is a device that moves the component support member 220 in the front-rear direction by driving an electromagnetic motor (see FIG. 13) 236. As a result, the component support member 220 moves in the front-rear direction with the upper surface of the component support member 220 horizontal, slightly below the lower end of the inclined plate 152 of the component feeder 88. The component support member 220 moves between a component supply position where substantially the entire component support member 220 is exposed and a retracted position where substantially the entire component support member 220 is located below the component feeder 88.

0027The feeder vibrating device 224 includes a cam member 240, a cam follower 242, and a stopper 244. The cam member 240 has a plate shape and is fixed to the outer side surface of the side wall portion 228 so as to extend in the front-rear direction. A plurality of teeth 245 are formed at the upper end of the cam member 240 at equal intervals in the front-rear direction. The cam follower 242 includes a lever 252 and a roller 254. The lever 252 is arranged at the lower end of the side wall 120 of the component feeder 88 so as to extend in the vertical direction, and can swing around an axis parallel to the width direction of the component feeder 88 at the upper end. It is held by the side wall 120. The roller 254 is rotatably held by the lower end of the lever 252 about an axis parallel to the width of the component feeder 88. The lever 252 is urged in the forward direction by the elastic force of a coil spring (not shown).

0028The stopper 244 is provided on the side wall 120 in a protruding shape, and the lever 252 urged by the elastic force of the coil spring is in contact with the stopper 244. The lever 252 is in a posture of extending downward in the vertical direction in a state of being in contact with the stopper 244.

0029(iii) Parts return device The parts return device 92 includes a container lifting device 260 and a parts recovery container 262, as shown in FIG. The container elevating device 260 includes an air cylinder 266 and an elevating member 268, and the elevating member 268 moves up and down by the operation of the air cylinder 266. Further, the air cylinder 266 is fixed to the front end of the component support member 220. As a result, 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.

0030The parts collection container 262 is arranged on the upper surface of the elevating member 268, and moves in the vertical direction by the operation of the air cylinder 266. At this time, the component collection container 262 moves between the ascending end position located above the component feeder 88 and the descending end position located below the component support member 220.

0031The parts collection container 262 has a box shape with an open upper surface, and is rotatably held on the upper surface of the elevating member 268 around an axis parallel to the width direction of the parts feeder 88. As a result, the bottom surface of the parts recovery container 262 becomes horizontal, and the parts receiving posture (the posture of the parts recovery container 262 in FIG. 14) capable of accepting parts from the opening and the bottom surface thereof become vertical, and the parts can be pulled from the opening. It rotates with the dischargeable parts discharge posture (the posture of the parts collection container 262 in FIG. 6). The parts collection container 262 is urged by a coil spring (not shown) in the direction of receiving parts.

0032As shown in FIG. 5, a protruding pin 272 is arranged at the rear end of the parts collection container 262. The protruding pin 272 projects outward on the side of the parts collection container 262. Further, the engaging block 274 is fixed to the inside of the upper end portion on the front side of the side frame portion 190. Then, as shown in FIG. 6, when the parts collection container 262 rises to the ascending end position by the operation of the air cylinder 266, the protruding pin 272 engages with the engaging block 274. As a result, the parts collection container 262 rotates and is in the parts discharge posture.

0033In the loose parts supply device 32, a parts supply unit having a width different from that of the parts supply unit 82 composed of the parts supply device 88, the parts scattered state realization device 90, and the parts return device 92 is prepared. Specifically, the parts supply unit 82 shown in FIGS. 3 to 6 is expanded twice in the width direction (see FIG. 7) 280, and the parts supply unit 82 is expanded three times in the width direction. A parts supply unit (see Figure 8) 282 is available. Similar to the parts supply unit 82, the parts supply units 280 and 282 are also composed of a parts supply device, a parts scattered state realization device, and a parts return device. However, the parts supply unit and the parts scattered state realization of the parts supply units 280 and 282 are realized. Since the device and the parts return device are the parts supply unit 88 of the parts supply unit 82, the parts scattered state realization device 90, and the parts return device 92 expanded in the width direction, their description is omitted.

0034As described above, the component supply unit 82 is detachable from the base 96 of the main body 80. Therefore, for example, it is possible to remove two adjacent component supply units 82 from the base 96 and mount the component supply unit 280 at that position as shown in FIG. 7. Further, for example, three adjacent component supply units 82 can be removed from the base 96, and the component supply unit 282 can be mounted at that position as shown in FIG.

0035Further, in the loose component supply device 32, the component support unit 284 can be mounted on the base 96 instead of the component supply units 82,280,282 as shown in FIG. Specifically, the component support unit 284 includes a component support member 285 and an inclined plate 286, as shown in FIGS. 9 and 10. The component support member 285 is generally a rectangular plate-shaped member, and the width of the component support member 285 is about five times the width of the component supply unit 82. Further, a rail 287 is formed on the lower surface of the component support member 285 so as to extend in the front-rear direction, and a groove 288 is formed on the base 96 of the main body 80 so as to extend in the front-rear direction. The rail 287 of the component support member 285 is fitted in the groove 288, and the component support member 285 is slidable in the front-rear direction. As a result, the component support unit 284 is detachably attached to the base 96.

0036Further, the inclined plate 286 is supported by a support mechanism (not shown) above the rear end of the component support member 285. The inclined plate 286 is inclined so as to descend toward the front. Further, when the component support member 285 slides, the lower end portion of the inclined plate 286 and the upper surface of the component support member 285 are separated from each other by a predetermined distance so that the component on the component support member 285 and the inclined plate 286 do not interfere with each other. ing.

0037(b) Imaging device The imaging device 84 includes a camera 290 and a camera moving device 292, as shown in FIG. The camera moving device 292 includes a guide rail 296 and a slider 298. The guide rail 296 is fixed to the main body 80 so as to extend in the width direction of the loose component supply device 32 above the component supply device 88. The slider 298 is slidably attached to the guide rail 296 and slides to an arbitrary position by the operation of the electromagnetic motor (see FIG. 13) 299. The camera 290 is mounted on the slider 298 with the camera 290 facing downward.

0038(c) Parts delivery device As shown in FIG. 3, the component delivery device 86 includes a component holding head moving device 300, a component holding head 302, and two shuttle devices 304.

0039The 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 has a Y slider 316 arranged above the component supply unit 82 so as to extend in the X direction, and the Y slider 316 is driven by an electromagnetic motor (see FIG. 13) 319. , Move to any position in the Y direction. The X-direction moving device 310 has an X-slider 320 arranged on the side surface of the Y-slider 316, and the X-slider 320 is moved to an arbitrary position in the X-direction by driving an electromagnetic motor (see FIG. 13) 321. Moving. The Z-direction moving device 314 has a Z-slider 322 arranged on the side surface of the X-slider 320, and the Z-slider 322 is moved to an arbitrary position in the Z-direction by driving an electromagnetic motor (see FIG. 13) 323. Moving.

0040As shown in FIG. 11, the component holding head 302 includes a head main body 330, a suction nozzle 332, a nozzle swivel device 334, and a nozzle rotation device 335. The head body 330 is integrally formed with the Z slider 322. The suction nozzle 332 sucks and holds the parts by negative pressure, and is attached to the lower end portion of the nozzle holder 340. The nozzle holder 340 is bendable on the support shaft 344, and the nozzle holder 340 is bent 90 degrees by the operation of the nozzle swivel device 334. As a result, the suction nozzle 332 mounted on the lower end of the nozzle holder 340 turns 90 degrees and is positioned at the turning position. That is, the suction nozzle 332 is swiveled between the non-swivel position and the swivel position by the operation of the nozzle swivel device 334. The nozzle rotating device 335 also rotates the suction nozzle 332 around its axis.

0041Each of the two shuttle devices 304 includes a component carrier 388 and a component carrier transfer device 390, side by side in front of the component supply unit 82 and secured to the body 80, as shown in FIG. There is. Five component receiving members 392 are mounted on the component carrier 388 in a line in the horizontal direction, and the components are placed on the component receiving members 392.

0042Specifically, as shown in FIG. 12, the component supplied by the loose component supply device 32 is an electronic circuit component having a lead (hereinafter, may be abbreviated as "lead component") 410, and the lead component 410 is a lead component 410. It is composed of a block-shaped component body 412 and two leads 414 protruding from the bottom surface of the component body 412. Further, the component receiving recess 416 is formed in the component receiving member 392. The component receiving recess 416 is a stepped recess, and is composed of a main body receiving recess 418 opening on the upper surface of the component receiving member 392 and a lead receiving recess 420 opening on the bottom surface of the main body receiving recess 418. There is. Then, the lead component 410 is inserted into the component receiving recess 416 with the lead 414 facing downward. As a result, the lead 414 is inserted into the lead receiving recess 420, and the lead component 410 is placed inside the component receiving recess 416 in a state where the component main body 412 is inserted into the main body receiving recess 418.

0043As shown in FIG. 3, the component carrier moving device 390 is a plate-shaped longitudinal member, and is arranged on the front side of the component supply unit 82 so as to extend in the front-rear direction. A component carrier 388 is slidably arranged in the front-rear direction on the upper surface of the component carrier moving device 390, and is slid to an arbitrary position in the front-rear direction by driving an electromagnetic motor (see FIG. 13) 438. When the component carrier 388 slides in the direction approaching the component supply unit 82, it slides to the component receiving position located within the moving 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 82, it 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.

0044Further, as shown in FIG. 13, the control device 34 includes a central control device 450, a plurality of individual control devices (only one is shown in the figure) 452, and an image processing device 454. The general control device 450 is mainly composed of a computer, and is connected to a base material transfer holding device 22, a component mounting device 24, an image pickup device 26, an image pickup device 28, a component supply device 30, and a loose component supply device 32. ing. As a result, the integrated control device 450 collectively controls the base material transporting and holding device 22, the component mounting device 24, the imaging device 26, the imaging device 28, the component supply device 30, and the loose component supply device 32. The plurality of individual control devices 452 are mainly composed of a computer, and include a base material transfer holding device 22, a component mounting device 24, an image pickup device 26, an image pickup device 28, a component supply device 30, and a loose component supply device 32. Correspondingly provided (in the figure, only the individual control device 452 corresponding to the loose component supply device 32 is shown). The individual control device 452 of the loose parts supply device 32 is connected to the parts scattered state realizing device 90, the parts returning device 92, the camera moving device 292, the parts holding head moving device 300, the parts holding head 302, and the shuttle device 304. As a result, the individual control device 452 of the loose parts supply device 32 controls the parts scattered state realization device 90, the parts return device 92, the camera moving device 292, the parts holding head moving device 300, the parts holding head 302, and the shuttle device 304. .. Further, the image processing device 454 is connected to the image pickup device 84 and processes the image pickup data captured by the image pickup device 84. Further, the image processing device 454 is connected to the individual control device 452 of the loose component supply device 32. As a result, the individual control device 452 of the loose component supply device 32 acquires the image pickup data captured by the image pickup device 84.

0045&lt;Operation of component mounting device&gt; With the above-described configuration, the component mounting device 10 performs component mounting work on the circuit base material 12 held by the base material transport holding device 22. Specifically, the circuit base material 12 is conveyed to a working position, where it is fixedly held by the clamp device 52. Next, the image pickup apparatus 26 moves above the circuit base material 12 and images the circuit base material 12. As a result, information on the error of the holding position of the circuit base material 12 can be obtained. Further, the parts supply device 30 or the loose parts supply device 32 supplies parts at a predetermined supply position. The supply of parts by the loose parts supply device 32 will be described in detail later. Then, one of the work heads 60 and 62 moves above the supply position of the component and holds the component by the component holder 66. Subsequently, the work heads 60 and 62 holding the parts move above the image pickup device 28, and the image pickup device 28 images the parts held by the part holder 66. This provides information about the error in the holding position of the part. Then, the work heads 60 and 62 holding the parts move above the circuit base material 12, and correct the holding position error of the circuit base material 12, the holding position error of the parts, and the like. , Mounted on the circuit substrate 12.

0046&lt;Operation of loose parts supply device&gt; (a) Supply of lead parts by loose parts supply device In the loose component supply device 32, the lead component 410 is inserted into the component storage device 100 of the component supply device 88 by the operator, and the inserted lead component 410 is operated by the component supply unit 82 and the component delivery device 86. It is supplied in a state of being mounted on the component receiving member 392 of the component carrier 388. Specifically, the operator inserts a plurality of types of lead parts 410 through the opening on the upper surface of the parts storage device 100 of the parts feeder 88. At this time, the component support member 220 is moved to a retracted position below the component feeder 88 by the operation of the component support member moving device 222, and the component collection container 262 is located in front of the component feeder 88. ing.

0047The lead component 410 inserted through the opening on the upper surface of the component storage device 100 falls onto the inclined surface 116 of the component storage device 100 and spreads on the inclined surface 116. At this time, when the lead component 410 that has fallen on the inclined surface 116 rolls down beyond the inclined plate 152, it is housed in the component collection container 262 located in front of the component feeder 88.

0048After the lead component 410 is put into the component storage device 100, the component support member 220 is moved from the lower side to the front of the component feeder 88 by the operation of the component support member moving device 222. At this time, when the cam member 240 reaches the cam follower 242, as shown in FIG. 14, the roller 254 of the cam follower 242 gets over the teeth 245 of the cam member 240. The lever 252 of the cam follower 242 is urged in the forward direction by the elastic force of the coil spring, and the forward urging of the lever 252 is regulated by the stopper 244. Therefore, when the component support member 220 moves forward, the roller 254 and the teeth 245 are maintained in a meshed state, the lever 252 does not rotate forward, and the roller 254 has the teeth 245. Overcome. At this time, the parts feeder 88 moves up and down by getting over the teeth 245 of the roller 254. That is, with the roller 254 meshing with the teeth 245, the component support member 220 moves forward, so that the roller 254 gets over the plurality of teeth 245 and the component feeder 88 vibrates continuously in the vertical direction. ..

0049The lead component 410 extending on the inclined surface 116 of the component accommodator 100 moves forward due to the vibration of the component feeder 88 and the inclination of the inclined surface 116, and moves forward through the inclined plate 152 to the upper surface of the component support member 220. Is discharged to. At this time, the side wall portion 228 of the component support member 220 prevents the lead component 410 from falling from the component support member 220. Then, as the component support member 220 moves to the component supply position, a plurality of types of lead components 410 are scattered on the upper surface of the component support member 220. However, since the width of the component support member 220 is relatively narrow, there is a risk that a large lead component 410 or a large number of lead components 410 cannot be appropriately scattered.

0050Therefore, if the size of the lead component 410 to be supplied is large, or if the number of lead components 410 to be supplied is considerably large, the component supply unit 280 or the component supply unit 282 is replaced with the component supply unit 82. Is attached to the base 96 of the main body 80. Then, a plurality of types of lead parts 410 are put into the parts storage of the parts supply units 280 and 282, and the parts scattered state realizing device of the parts supply units 280 and 282 operates in the same manner as the parts scattered state realizing device 90 of the parts supply unit 82. Then, the lead parts 410 are scattered on the parts support members of the parts supply units 280 and 282. As a result, even a large lead component 410 or a large number of lead components 410 can be appropriately scattered on a relatively wide component support member.

0051Further, when it is desired to supply a larger lead component 410, or when it is desired to supply a larger number of lead components 410, a component support unit 284 is attached to the base 96 of the main body 80 instead of the component supply units 82,280,282. .. Then, the operator directly supplies a plurality of types of lead parts 410 onto the inclined plate 286 of the part support unit 284. That is, in the component support unit 284, unlike the component supply unit 88 of the component supply units 82,280,282, the operator directly drops the lead component 410 onto the inclined plate 286 without going through the component storage device 100 or the like.

0052When the lead component 410 is supplied on the inclined plate 286, the lead component 410 rolls on the inclined plate 286 and falls on the component support member 285. As a result, as shown in FIGS. 9 and 10, lead parts 410 are scattered on the part support member 285. In this way, by attaching the component support unit 284 to the base 96 instead of the component supply unit 82,280,282, even if it is a large lead component 410 or a large number of lead components 410, the component support member 285 having a relatively wide width can be used. It can be properly scattered on top. Further, the component support unit 284 has a relatively simple structure as compared with the component supply unit 82,280,282, which is very advantageous in terms of cost. In FIGS. 9 and 10, when three types of lead parts 410a, 410b, and 410c are supplied to the inclined plate 286, the parts are supported in a state where the three types of lead parts 410a, 410b, and 410c are scattered. Member 285 is marked.

0053When a plurality of types of lead parts 410 are scattered on the part support member 220 of the part supply unit 82,280,282 or on the part support member 285 of the part support unit 284 by the above procedure, the camera 290 of the image pickup apparatus 84 is activated. By the operation of the camera moving device 292, the lead component 410 is moved above the scattered component support members 220,285, and the lead component 410 is imaged. Then, based on the imaging data captured by the camera 290, the lead component to be picked up (hereinafter, may be abbreviated as "pickup target component") is held by the suction nozzle 332 of the component holding head 302. However, as described above, a plurality of types of lead components 410 are scattered on the component support member 220 of the component supply unit 82,280,282 or on the component support member 285 of the component support unit 284. Therefore, the pickup target component is specified from the plurality of types of lead components 410.

0054Specifically, as shown in FIGS. 9 and 10, when three types of lead parts 410a, 410b, and 410c are scattered on the part support member 285 of the part support unit 284, the lead part 410a is to be picked up. The case where it is a part will be described. The individual control device 452 of the loose component supply device 32 stores information for identifying the lead component 410 (hereinafter, may be referred to as "identification information"). The identification information is information regarding the shape of each lead component 410 supplied by the loose component supply device 32, and is composed of information indicating the shapes of the four side surfaces of the lead component 410. As an example of the identification information of the lead component 410, the identification information 460 of the lead component 410a is conceptually shown in FIG.

0055The identification information 460 of the lead component 410a includes information 460a indicating the shape of the lead component 410a from a predetermined side surface 462a of the four side surfaces 462 of the component body 412 of the lead component 410a, and the side surface next to the side surface 462a. Information 460b showing the shape of the lead part 410a from the viewpoint of 462b, information 460c showing the shape of the lead part 410a from the viewpoint of the side surface 462c opposite to the side surface 462b, and the viewpoint from the side surface 462d opposite to the side surface 462a. Includes information 460d indicating the shape of lead component 410a in.

0056On the other hand, the imaging data of the camera 290 includes individual image data (hereinafter, "individual image data") of each of the plurality of lead components 410 scattered on the component support member 285. Therefore, the plurality of individual image data included in the image data of the camera 290 and the identification information stored in the individual control device 452 are compared, and the identification information 460 of the lead component 410a is obtained from the plurality of individual image data. Matches are extracted. Then, the lead component 410 corresponding to the extracted individual image data is specified as a pickup target component.

0057When the pickup target component is specified, the position of the pickup target component and the posture of the pickup target component are calculated based on the imaging data of the camera 290. Then, the operation of the component holding head moving device 300 is controlled based on the calculated position of the pickup target component and the posture of the pickup target component. As a result, the component holding head 302 moves above the pickup target component, and the pickup target component is suction-held by the suction nozzle 332. When the component to be picked up is sucked and held by the suction nozzle 332, the suction nozzle 332 is located at a non-swinging position.

0058Then, after the lead component 410 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 receives the component by the operation of the component carrier moving device 390. You are moving to a position. Further, when the component holding head 302 moves above the component carrier 388, the suction nozzle 332 is swiveled to the swivel position. The suction nozzle 332 is rotated by the operation of the nozzle rotating device 335 so that the lead 414 of the lead component 410 held by the suction nozzle 332 at the turning position faces downward in the vertical direction.

0059When the component holding head 302 moves above the component carrier 388, the lead component 410 with the lead 414 facing downward in the vertical direction is inserted into the component receiving member 392. As a result, the lead component 410 is placed on the component receiving member 392 with the lead 414 facing downward in the vertical direction. Then, 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 that has moved to the component supply position is located in the movement range of the work heads 60 and 62, the loose component supply device 32 supplies the lead component 410 at this position. In this way, in the loose component supply device 32, the lead component 410 is supplied with the lead 414 facing downward and the surface facing the surface to which the lead 414 is connected facing upward. Therefore, the component holder 66 of the work heads 60 and 62 can appropriately hold the lead component 410.

0060Further, in the conventional loose component supply device, only one type of lead component 410 can be supplied by one component supply unit 82,280,282. In other words, only one type of lead component 410 could be put into the component storage 100 of one component supply unit 82,280,282. Therefore, even when five component supply units 82 are attached to the base 96, only five types of lead components 410 can be supplied at the maximum, which is not convenient. In addition, it is necessary to distinguish the type of lead component 410 for each component supply unit 82,280,282, which imposes a heavy burden on the operator. On the other hand, in the loose component supply device 32, a plurality of types of lead components 410 are supplied to one component supply unit 82,280,282 and a component support unit 284, and any pickup target component is picked up from the plurality of types of lead components 410. .. As a result, the loose component supply device 32 can supply five or more types of lead components 410, which improves convenience. Further, the operator does not need to distinguish the type of the lead component 410 for each of the component supply units 82, 280, 282 or the component support unit 284, and the burden on the operator is reduced.

0061As shown in FIG. 13, the individual control device 452 has an information acquisition unit 470 and an operation control unit 472. The information acquisition unit 470 is a functional unit for acquiring individual image data and information regarding the position of the component to be picked up based on the image data of the camera 290. The operation control unit 472 is a functional unit for controlling the operation of the component holding head moving device 300 and the component holding head 302 based on the individual image data and the information regarding the position of the component to be picked up.

0062(b) Recovery of lead parts Further, in the loose component supply device 32, it is possible to collect the lead components 410 scattered on the component support members 220 and 285. Specifically, when the component supply units 82,280,282 are attached to the base 96, the component support member 220 is first moved downward by the component support member moving device 222 by the operation of the component support member moving device 222. At this time, as shown in FIG. 16, the lead component 410 on the component support member 220 is blocked by the inclined plate 152 of the component feeder 88. As a result, the lead component 410 on the component support member 220 is scraped off inside the component collection container 262.

0063When the component support member 220 moves below the component feeder 88, the component collection container 262 is raised by the operation of the container elevating device 260. At this time, as shown in FIG. 6, the protruding pin 272 arranged in the parts collection container 262 engages with the engaging block 274 arranged inside the side frame portion 190. As a result, the parts collection container 262 rotates, and the bottom surface of the parts collection container 262 becomes vertical. Therefore, all the lead parts 410 in the parts collection container 262 are returned to the inside of the parts storage container 100.

0064Then, when the operator grips the grip of the parts feeder 88, the lock of the parts feeder 88 is released as described above, and when the parts feeder 88 is lifted, the parts feeder 88 is paired. It is removed from between the side frame portions 190. As a result, the lead component 410 is collected by taking out the lead component 410 from the component feeder 88 outside the loose component supply device 32.

0065When the component support unit 284 is attached to the base 96, the operator slides the component support member 285 away from the base 96, so that the component support member 285 is removed from the base 96. As a result, the lead parts 410 scattered on the part support member 285 are collected outside the loose part supply device 32. As described above, in the component support unit 284, the lead component 410 can be recovered by a mechanism having a very simple structure, which is very advantageous in terms of cost.

0066The present invention is not limited to the above examples, and can be carried out in various modes with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, the component supply units 280 and 282 having twice and three times the width of the component supply unit 82 are adopted, but it is possible to adopt a component supply unit having an arbitrary width. Is. Further, although the component support unit 284 having a width five times the width of the component supply unit 82 is adopted, it is possible to adopt a component support unit having an arbitrary width.

0067Further, in the above embodiment, the information regarding the shape of the lead component 410 is adopted as the information for identifying the lead component 410, but various identification information can be adopted. For example, when an ID or the like is written on the lead component 410, the ID can be adopted as the identification information.

006832: Bulk parts supply device (parts supply device) 82: Parts supply unit 84: Imaging device 88: Parts supply device (storage part) 96: Base (mounting part) 220: Parts support member (parts support part) 280: Parts supply Unit 282: Parts supply unit 285: Parts support member (part support part) 286: Inclined plate (inclined part) 300: Parts holding head moving device (moving device) 332: Suction nozzle (holder) 452: Individual control device (control) Device) 470: Information acquisition unit 472: Operation control unit