JP6920599B2 - Component mounting system - Google Patents

Description

The present invention relates to a component mounting system that automatically supplies components to a component mounting device.

A component mounting system for mounting components on a board is configured by connecting a plurality of component mounting devices, and each component mounting device is equipped with a plurality of component supply devices such as a tape feeder. Generally, a worker who manages a component mounting device performs work for replenishing or replacing parts when the parts stored in the component supply device run out in the process of continuously executing the component mounting work. Since workers often work on a large number of component mounting devices, various measures aimed at reducing the workload have been adopted.

For example, as a management device for managing a component mounting device, when there is a part that is out of parts or a part that is likely to be out of parts, the part is taken out from the parts warehouse (parts storage unit) to the worker and the parts are mounted. A management device having a function of instructing replacement of parts to be replenished is known (see, for example, Patent Document 1). In the prior art shown in Patent Document 1, in a board-to-board work system provided with a plurality of work mechanisms for performing board-to-board work, each time a need for support work such as parts replacement work occurs, one of a plurality of workers is assigned to them. I am trying to assign the support work of.

Japanese Patent No. 4491418

However, in the prior art including Patent Document 1, since most of the parts replacement work is performed by the worker, there is a problem that a large number of workers having skills capable of performing the parts replacement work are required.

Therefore, an object of the present invention is to provide a component mounting system capable of reducing the work of a worker involved in component replacement work.

Component mounting system of the present invention, free-running component replenishment and component mounting apparatus for mounting components on a substrate, a reel for storing a plurality of said parts to move in automatically replenishes the parts of the reel to the component mounting device a device, component storage portion storing said reel, wherein said component mounting device includes a hold device that holds the reel, the free-running component supply device, store unit that stores the reel When, and a relocation unit before moving between and between the front Symbol price paid portion and the component storage part of the front Symbol rated housed portion and the front Kiho lifting device the reel, before Kiho lifting device It has a first holding position for holding the reel, and a second holding position for holding the reel in a position lower than the first holding position, before Symbol rated paid portion, first and area, and a second area located below the said first area, before KiUtsuri rolling unit, moving the reel for supplying the first area to the first holding position, The used reel is moved from the second holding position to the second area.

Another component mounting system of the present invention, a component mounting apparatus for mounting components on a substrate, a reel for storing a plurality of said parts to move in automatically replenishes the parts of the reel to the component mounting device self a component supply device, comprising a storing component storage unit said reel, said component mounting device includes a hold device that holds the reel, the free-running component supply device, store that stores the reel comprising a part, and a relocation unit before moving between and between the front Symbol price paid portion and the component storage part of the front Symbol rated housed portion and the front Kiho lifting device the reel, the free-running part replenishing device further includes a support portion for movably supporting from below a pre-Symbol rated housed portions in the horizontal and vertical directions, a traveling means for moving or stopped automatically provided with the support portion to the upper, the said component mounting apparatus is provided with a connecting portion for holding linked before Symbol rated paid unit, when moving between the pre-Symbol rated housed portion and the front Kiho lifting device the reel by front KiUtsuri rolling unit, the traveling means is stopped at a predetermined stop position the free-running component supply device relative to the component mounting apparatus, the connecting portion and holds connected before Symbol rated paid portion.

Another component mounting system of the present invention, a component mounting apparatus for mounting components on a substrate, a reel for storing a plurality of said parts to move in automatically replenishes the parts of the reel to the component mounting device self a component supply device, the storing component storage unit to the reel, further comprising, the component mounting apparatus is provided with a hold device that holds the reel, the free-running component supply device, that stores the reel It includes a store unit, and a relocation unit before moving between and between the front Symbol price paid portion and the component storage part of the front Symbol rated housed portion and the front Kiho lifting device the reel, the self run component supply device includes a traveling means for moving or stopped automatically provided with a pre-Symbol rated housed portion upward, and a position measuring means for measuring a position relative to the component mounting apparatus, further comprising a said reel before KiUtsuri when moving between the pre-Symbol rated housed portion and the front Kiho lifting device by rolling unit, said traveling means, with respect to the component mounting apparatus of the self-running component supply device based on a measurement result of the position measuring means is stopped at a predetermined stop position, when the free-running component supply device is out of the stop position, the front KiUtsuri rolling unit interrupts the movement of the reel, said running means, the position of the self component supply device It is corrected so that it becomes the stop position.

Another component mounting system of the present invention, a component mounting apparatus for mounting components on a substrate, a reel for storing a plurality of said parts to move in automatically replenishes the parts of the reel to the component mounting device self a component supply device, the storing component storage unit to the reel, further comprising, the component mounting apparatus is provided with a hold device that holds the reel, the free-running component supply device, that stores the reel It includes a store unit, and a relocation unit before moving between and between the front Symbol price paid portion and the component storage part of the front Symbol rated housed portion and the front Kiho lifting device the reel, before Symbol relocation unit is articulated robot, the articulated robot has a recognition unit for recognizing alignment marks provided on the component mounting apparatus, the recognition means of the recognition result the self component supply device on the basis of the Recognizes the positional relationship with the component mounting device.
Further, another component mounting system of the present invention automatically moves a component mounting device for mounting components on a board and a tape feeder containing a carrier tape for accommodating a plurality of the components, and moves the components of the tape feeder to the tape feeder. The self-propelled parts replenishing device for replenishing the parts mounting device and a parts storage unit for storing the tape feeder are provided, the parts mounting device includes a holding device for holding the tape feeder, and the self-propelled parts replenishing device is provided. The holding device includes a storage unit for storing the tape feeder, and a transfer unit for moving the tape feeder between the storage unit and the holding device and between the storage unit and the component storage unit. Has a first holding position for holding the tape feeder and a second holding position for holding the tape feeder at a position below the first holding position, and the storage unit has a first holding position. Area and a second area located below the first area, the transfer unit moves the tape feeder to be replenished from the first area to the first holding position and uses it. The finished tape feeder is moved from the second holding position to the second area.

According to the present invention, it is possible to reduce the work of the operator involved in the parts replacement work.

Configuration explanatory view of the component mounting system according to the embodiment of the present invention Configuration explanatory view of the component mounting line provided in the component mounting system according to the embodiment of the present invention. Top view of the component mounting device included in the component mounting system according to the embodiment of the present invention. Partial sectional view of the component mounting apparatus included in the component mounting system according to the embodiment of the present invention. Configuration explanatory view of the tape feeder provided in the component mounting system according to the embodiment of the present invention. The tape cassette provided in the component mounting system according to the embodiment of the present invention is (a) a configuration explanatory view in a state where a cover is attached (b) a configuration explanatory view in a state where the cover is removed. (A) (b) (c) Structural explanatory view of the tape extrusion part mechanism of the tape cassette included in the component mounting system according to the embodiment of the present invention. (A) (b) Explanatory drawing of a process of exchanging a tape cassette in a cassette holder provided in the component mounting system according to the embodiment of the present invention. (A) (b) Explanatory drawing of a process of exchanging a tape cassette in a cassette holder provided in the component mounting system according to the embodiment of the present invention. Schematic diagram of the configuration of the self-propelled component replenishment device and the connecting portion included in the component mounting system according to the embodiment of the present invention. Schematic diagram of the configuration of the self-propelled parts replenishment device included in the parts mounting system according to the embodiment of the present invention. (A) (b) Process explanatory view in which the storage portion of the self-propelled parts replenishment device included in the component mounting system according to the embodiment of the present invention is connected to the connecting portion. (A) Structural explanatory diagram of the first embodiment (b) Structural explanatory diagram of the second embodiment of the tape waste collecting means of the self-propelled parts replenishing device included in the component mounting system according to the embodiment of the present invention. A block diagram showing a configuration of a control system of a component mounting system according to an embodiment of the present invention. (A) Block diagram showing the configuration of the control system of the tape feeder (b) Block diagram showing the configuration of the control system of the self-propelled component replenishment device included in the component mounting system according to the embodiment of the present invention. Flow chart of parts replenishment method in the parts mounting system according to the embodiment of the present invention Flow chart of tape cassette replacement method in the component mounting system according to the embodiment of the present invention (A) (b) Schematic diagram of a process in which a self-propelled component replenishment device included in the component mounting system according to the embodiment of the present invention replaces a tape cassette. (A) (b) Schematic diagram of a process in which a self-propelled component replenishment device included in the component mounting system according to the embodiment of the present invention replaces a tape cassette. Configuration explanatory view of the tape cassette of the second embodiment provided in the component mounting system of one embodiment of the present invention in a state where (a) a cover is attached (b) Configuration explanatory view in a state where the cover is removed. Configuration explanatory view of the self-propelled parts replenishment device and the trolley of the second embodiment provided in the parts mounting system of one embodiment of the present invention. Configuration explanatory view of the self-propelled parts replenishment device of the second embodiment provided in the component mounting system of one embodiment of the present invention. Configuration explanatory view of the self-propelled parts replenishment device of the third embodiment provided in the component mounting system of one embodiment of the present invention. Configuration explanatory view of the self-propelled parts replenishment device and the trolley of the fourth embodiment provided in the parts mounting system of one embodiment of the present invention. A configuration explanatory view of the self-propelled parts replenishment device of the fourth embodiment included in the parts mounting system according to the embodiment of the present invention. Configuration explanatory view of the self-propelled parts replenishment device and the carriage of the fifth embodiment provided in the component mounting system of the embodiment of the present invention. Configuration explanatory view of the self-propelled parts replenishment device of the fifth embodiment provided in the component mounting system of one embodiment of the present invention.

An embodiment of the present invention will be described in detail below with reference to the drawings. The configuration, shape, etc. described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting system, component mounting line, and self-propelled component replenishment device. In the following, the corresponding elements will be designated by the same reference numerals in all the drawings, and duplicate description will be omitted. In FIG. 1 and a part described later, the two axial directions orthogonal to each other in the horizontal plane are the X direction of the substrate transport direction (horizontal direction in FIG. 1) and the Y direction orthogonal to the substrate transport direction (vertical direction in FIG. 1). Is shown. In FIG. 4 and a part described later, the Z direction (vertical direction in FIG. 4) is shown as a height direction orthogonal to the horizontal plane. The Z direction is a vertical direction or an orthogonal direction when the component mounting device is installed on a horizontal plane.

First, the configuration of the component mounting system 1 will be described with reference to FIG. The component mounting system 1 has a configuration in which three component mounting lines L1 to L3 and a component storage device S arranged on the floor F are connected by a communication network 2 and managed by a management computer 3. Each component mounting line L1 to L3 is configured by connecting a plurality of component mounting related devices including a component mounting device as described later, and has a function of producing a mounting board in which components are mounted on the board. The component mounting lines L1 included in the component mounting system 1 do not have to be three, and may be one, two, or four or more.

The parts storage device S receives a plurality of tape cassettes C (see FIG. 6) for winding and storing a carrier tape, which will be described later, and stores them in an internal storage shelf, and a predetermined tape cassette C according to an instruction from the management computer 3. Is taken out from the internal storage shelf. That is, the parts storage device S is a parts storage unit that stores the tape cassette C (storage container). A used cassette collection device U and a tape waste disposal unit G are arranged on the floor F. Further, a self-propelled parts replenishment device V (4 units in this case) is installed on the floor F. The self-propelled parts supply device V has a built-in wireless communication unit T, and transmits / receives signals and information to / from the management computer 3 via the wireless communication unit 3a included in the management computer 3.

The self-propelled parts replenishment device V includes instructions from the management computer 3, a beacon installed on the floor F (not shown), various sensors (GPS, obstacle sensor, etc.) built in the self-propelled parts replenishment device V, a camera, and the like. Autonomously move between predetermined positions on the floor F based on the information it collects using. Here, the position of the self-propelled parts replenishing device V is determined from the plurality of beacons installed on the floor F, the receiving means for receiving the radio waves of each beacon provided in each self-propelled parts replenishing device V, and the radio wave information received by the receiving means. The position calculating means (not shown) for calculating functions as a position detecting means for detecting the position of the self-propelled parts replenishing device V in the floor F.

The position detecting means may be configured by a position calculating means (not shown) that calculates the position of the self-propelled parts replenishing device V from the GPS provided in each self-propelled parts replenishing device V and the position information of the GPS. Further, the self-propelled component replenishment device V holds a plurality of replenishment tape cassettes C taken out from the component storage device S, replenishes the component mounting devices of the component mounting lines L1 to L3, and is an empty tape cassette. C is collected and returned to the used cassette collection device U. Further, the self-propelled parts replenishing device V collects the tape waste from the component mounting device and disposes it in the tape waste disposal unit G.

Next, a detailed configuration of the component mounting lines L1 to L3 will be described with reference to FIG. The component mounting lines L1 to L3 have the same configuration, and the component mounting lines L1 will be described below. The component mounting line L1 includes a solder printing device M1, a printing inspection device M2, a component mounting devices M3 to M6, and a mounting inspection from the upstream side (left side of the paper surface) to the downstream side (right side of the paper surface) in the substrate transport direction (X direction). The device M7 and the reflow device M8 are connected in series.

The solder printing device M1, the printing inspection device M2, the component mounting devices M3 to M6, the mounting inspection device M7, and the reflow device M8 are connected to the management computer 3 via the communication network 2. The solder printing apparatus M1 executes a solder printing operation of printing solder on the substrate B carried in from the upstream side by the solder printing working unit. The print inspection device M2 executes a print inspection operation for inspecting the state of the solder printed on the substrate B by a print inspection work unit including a solder inspection camera.

The component mounting devices M3 to M6 execute the component mounting work of mounting the component D on the board B by the component mounting work unit. The component mounting line L1 is not limited to the configuration of four component mounting devices M3 to M6, and the component mounting devices M3 to M6 may be one to three or five or more. The mounting inspection device M7 executes a mounting inspection work for inspecting the state of the component D mounted on the substrate B by the mounting inspection work unit including the component inspection camera. The reflow apparatus M8 heats the substrate B carried into the apparatus by the substrate heating unit to cure the solder on the substrate B, and executes a substrate heating operation for joining the electrode portion of the substrate B and the component D.

Next, the configurations of the component mounting devices M3 to M6 will be described with reference to FIGS. 3 and 4. The component mounting devices M3 to M6 have the same configuration, and the component mounting device M3 will be described here. FIG. 4 partially shows the AA cross section in FIG. The component mounting device M3 has a function of mounting the component D on the substrate B.

In FIG. 3, a substrate transfer mechanism 5 is arranged in the X direction at the center of the base 4. The board transport mechanism 5 transports the board B carried in from the upstream side, positions it at a position for executing the component mounting work, and holds it. Parts supply units 6 are arranged on both sides of the board transfer mechanism 5. A plurality of tape feeders 7 are arranged in parallel in the X direction in each component supply unit 6. The tape feeder 7 supplies the component D to the component take-out position by the mounting head of the component mounting mechanism described below by pitch-feeding the carrier tape containing the component D in the tape feeding direction. That is, the tape feeder 7 is a component supply device mounted on the component mounting device M3 to supply the component D.

A Y-axis beam 8 having a linear drive mechanism is arranged along the Y direction at one end of the base 4 on one side in the X direction. Two X-axis beams 9 similarly provided with a linear drive mechanism are coupled to the Y-axis beam 8 so as to be movable in the Y direction. The X-axis beam 9 is arranged along the X direction. A mounting head 10 is mounted on each of the two X-axis beams 9 so as to be movable in the X direction. As shown in FIG. 4, the mounting head 10 includes a plurality of suction units 10a that can suck and hold the component D and move up and down. A suction nozzle 10b is provided at each tip of the suction unit 10a.

In FIG. 3, the mounting head 10 moves in the X direction and the Y direction by driving the Y-axis beam 8 and the X-axis beam 9. As a result, the two mounting heads 10 suck the component D from the component take-out position of the tape feeder 7 arranged in the corresponding component supply unit 6 by the suction nozzle 10b and take it out, and the substrate is positioned by the substrate transfer mechanism 5. It is mounted at the mounting point of B. The Y-axis beam 8, the X-axis beam 9, and the mounting head 10 form a component mounting mechanism for mounting the component D on the substrate B by moving the mounting head 10 holding the component D.

A component recognition camera 11 is arranged between the component supply unit 6 and the substrate transfer mechanism 5. When the mounting head 10 from which the component is taken out from the component supply unit 6 moves above the component recognition camera 11, the component recognition camera 11 takes an image of the component D held by the mounting head 10 and holds the component D in a holding posture. Recognize. A board recognition camera 12 is attached to the plate 9a to which the mounting head 10 is attached. The board recognition camera 12 moves integrally with the mounting head 10.

When the mounting head 10 moves, the board recognition camera 12 moves above the board B positioned by the board transfer mechanism 5, images the board mark (not shown) provided on the board B, and captures the image of the board B. Recognize the position. In the component mounting operation of the mounting head 10 on the board B, the mounting position is corrected in consideration of the recognition result of the component D by the component recognition camera 11 and the recognition result of the board position by the board recognition camera 12.

In FIG. 4, the component supply unit 6 is composed of a carriage 13 in which a plurality of tape feeders 7 are previously mounted on the feeder base 13a. The dolly 13 is detachably configured with respect to the base 4. The trolley 13 includes a cassette holder 15 capable of holding a plurality of tape cassettes C for storing the carrier tape 14 in a wound state. The cassette holder 15 includes a plurality of upper holding positions Hu and a plurality of lower holding positions Hd for holding the tape cassette C. That is, the cassette holder 15 is a storage container holding device that holds the tape cassette C (storage container). The carrier tape 14 pulled out from the tape cassette C held by the cassette holder 15 is attached to the tape feeder 7.

As described above, the component mounting device M3 includes a cassette holder 15 (storage container holding device) for holding the tape cassette C (storage container). Then, in the component mounting device M3, the board transfer mechanism 5, the component supply unit 6, the component mounting mechanism (Y-axis beam 8, X-axis beam 9, mounting head 10), the component recognition camera 11, and the board recognition camera 12 are tape feeders. A component mounting work unit 16 (see FIG. 14) for mounting the component D supplied by 7 on the substrate B is configured.

Next, the configuration and function of the tape feeder 7 will be described with reference to FIG. The tape feeder 7 (parts supply device) conveys the carrier tape 14 that stores the part D and is covered with the cover tape to the part take-out position, and peels off the cover tape before the part take-out position to remove the stored part D. It has a function of supplying to the component mounting devices M3 to M6. The tape feeder 7 (parts supply device) shown in the present embodiment can automatically attach the carrier tape 14 (part D) to the tape feeder 7 by inserting the tip of the carrier tape 14 into the tape insertion slot, so-called. It is an auto load feeder.

In the autoload feeder, while the preceding carrier tape 14 (hereinafter, abbreviated as “preceding tape 14 (1)”) already attached to the tape feeder 7 is supplying the component D, the succeeding carrier tape 14 (hereinafter, “subsequent”) It is also possible to replenish parts by inserting (abbreviated as "tape 14 (2)") into the tape insertion slot.

In FIG. 5, the tape feeder 7 is configured to include a main body portion 7a and a mounting portion 7b projecting downward from the lower surface of the main body portion 7a. When the tape feeder 7 is mounted along the lower surface of the main body 7a along the feeder base 13a, the tape feeder 7 is fixedly mounted to the component supply section 6 and is built in to control the tape feed in the tape feeder 7. The feeder control unit 21 is electrically connected to the mounting control unit 22 of the component mounting devices M3 to M6.

Inside the main body 7a, a tape transport path 7c is provided to guide the carrier tape 14 that is pulled out from the tape cassette C and taken into the main body 7a. The tape transport path 7c is a tape opened downstream from the component take-out position where the component is taken out by the mounting head 10 from the tape insertion port 7d into which the carrier tape 14 opened at the upstream end in the tape feeding direction is inserted in the main body 7a. It is provided so as to communicate with the discharge port 7e.

A shutter mechanism 23 is arranged on the downstream side of the tape insertion port 7d. The shutter mechanism 23 has a function of allowing / prohibiting the carrier tape 14 inserted from the tape insertion port 7d from entering the tape transport path 7c on the downstream side by moving the shutter 23a included in the shutter mechanism 23 up and down. doing. The vertical movement of the shutter 23a is controlled by the feeder control unit 21. As described above, the tape insertion port 7d of the tape feeder 7 is provided with a shutter 23a that allows or prohibits the insertion of the carrier tape 14.

In FIG. 5, a first tape feeding mechanism 24A and a second tape feeding mechanism for tape feeding the preceding tape 14 (1) and the succeeding tape 14 (2) are on the upstream side and the downstream side of the tape transport path 7c. 24B is arranged. The first tape feeding mechanism 24A provided on the upstream side has a function of continuously tape feeding the newly mounted succeeding tape 14 (2) from the tape insertion port 7d side to the second tape feeding mechanism 24B side. Have. The first tape feeding mechanism 24A has a configuration in which the sprocket 25A is rotationally driven by the motor 26A. The rotational drive of the motor 26A is controlled by the feeder control unit 21.

An urging mechanism 27 is arranged below the sprocket 25A of the first tape feeding mechanism 24A. The urging mechanism 27 urges the subsequent tape 14 (2) inserted from the tape insertion port 7d to the sprocket 25A, and joins the feed hole 14a of the carrier tape 14 (see FIG. 7A) to the sprocket 25A. It has a function to make it. On the downstream side of the sprocket 25A, an insertion detection sensor Q that detects the tip of the succeeding tape 14 (2) inserted from the tape insertion port 7d and engaged with the sprocket 25A is arranged.

The detection result by the insertion detection sensor Q is transmitted to the feeder control unit 21. That is, the insertion detection sensor Q serves as a tape insertion detection unit that detects that the succeeding tape 14 (2) (carrier tape 14) has been normally inserted. As a method of detecting that the carrier tape 14 has been normally inserted, the rotation of the sprocket 25A that rotates due to the insertion of the tape may be detected.

In FIG. 5, the second tape feed mechanism 24B provided on the downstream side has a function of pitch-feeding the preceding tape 14 (1) to the component take-out position where the mounting head 10 takes out the component D at a predetermined feed pitch. ing. The second tape feed mechanism 24B has a configuration in which the sprocket 25B is rotationally driven by the motor 26B. The rotational drive of the motor 26B is controlled by the feeder control unit 21. Above the second tape feeding mechanism 24B, a pressing member 28 having a function of pressing the leading tape 14 (1) from above and peeling off the cover tape to expose the component D stored in the leading tape 14 (1). Is installed.

The component D pitch-fed to the component take-out position 28a is picked up by vacuum suction by the suction nozzle 10b of the mounting head 10 through the component take-out opening formed in the pressing member 28. In this way, the first tape feeding mechanism 24A and the second tape feeding mechanism 24B convey the carrier tape 14 (preceding tape 14 (1), succeeding tape (2)), and take out the stored component D. It is a tape feeding mechanism 24 (see FIG. 15) that conveys the tape to the position 28a.

In FIG. 5, an operation / display panel 29 connected to the feeder control unit 21 is arranged on the upper surface of the tape feeder 7 on the upstream side. The operation / display panel 29 has various operation buttons for operating the tape feed operation by the first tape feed mechanism 24A and the second tape feed mechanism 24B, operation buttons for shutter opening / closing operation in the shutter mechanism 23, and the like. Operation buttons are provided. Further, the operation / display panel 29 is provided with a display panel such as an LED or a liquid crystal display. As described above, the tape feeder 7 (parts supply device) is an auto load feeder, and includes a tape insertion port 7d into which the tip of the carrier tape 14 to be replenished is inserted.

Next, the configuration and function of the tape cassette C will be described with reference to FIGS. 6 and 7. FIG. 6A shows a state in which the cover 30 is attached to the tape cassette C, and FIG. 6B shows a state in which the cover 30 is removed. In FIG. 6B, a carrier tape 14 that holds a plurality of parts D around the core portion 31 is wound around the core portion 31. The core portion 31 around which the carrier tape 14 is wound is rotatably attached to the core holding portion 32 of the tape cassette C. A tape extrusion mechanism 33 is arranged above the tape cassette C. The tape extrusion mechanism 33 includes an upper extrusion mechanism 33a and a lower extrusion mechanism 33b. A tape guide path 33c for guiding the extruded carrier tape 14 is formed between the upper extrusion mechanism 33a and the lower extrusion mechanism 33b.

The carrier tape 14 wound around the core portion 31 is taken out from the take-out port 34 through the tape guide path 33c of the tape extrusion mechanism 33. The tape cassette C is provided with a grip portion 35 at a position accessible from the opposite side of the take-out port 34. The grip portion 35 is gripped by the self-propelled parts replenishing device V when the tape cassette C is replenished to the cassette holder 15 or when the tape cassette C is collected from the cassette holder 15. Further, the tape cassette C is provided with an RFID 36 that wirelessly transmits and receives the identification information N of the tape cassette C at a position accessible from the opposite side of the take-out port 34. In this way, the tape cassette C serves as a storage container for storing the plurality of parts D.

In FIG. 7A, the main body 37 of the upper pushing mechanism 33a has a substantially L-shaped pushing member 38 that slides the tape guide path 33c back and forth along the guide 37a formed in the main body 37. It is arranged. Further, the main body 37 is formed with an insertion hole 37b into which the extrusion rod 39 inserted from the opposite side of the take-out port 34 slides. One end of the extrusion rod 39 inserted through the insertion hole 37b is attached to a surface 38a located on the opposite side of the extraction port 34 of the extrusion member 38. As a result, the extrusion rod 39 and the extrusion member 38 are integrally moved back and forth along the tape guide path 33c (arrows b1 and arrow b2). Further, one end of a spring 40, which is an elastic body that urges the extrusion member 38 to the side opposite to the take-out port 34, is attached to the same surface 38a. The opposite end of the spring 40 is connected to the body 37.

Two teeth 38c protruding into the tape guide path 33c are formed on the side of the extruding member 38 close to the take-out port 34 of the lower surface 38b facing the tape guide path 33c. The distance between the two teeth 38c is the same as the distance between the feed holes 14a of the carrier tape 14, and the two teeth 38c engage with the feed holes 14a of the carrier tape 14 inserted into the tape guide path 33c, respectively. do. The lower surfaces of the two teeth 38c each have an inclination that cuts up on the opposite side of the take-out port 34. Further, in the extruded member 38, the two teeth 38c side can be swung up and down (arrow b3).

The extruding member 38 can push the carrier tape 14 out from the take-out port 34 by moving to the take-out port 34 with the two teeth 38c engaged with the feed hole 14a. On the other hand, when the extruding member 38 returns to the side opposite to the take-out port 34, the extruding member 38 has two teeth by swinging up and down with the inclination of the lower surface of the two teeth 38c along the feed hole 14a. The 38c and the feed hole 14a are disengaged. In this way, the extrusion rod 39 and the extrusion member 38 are engaged with the carrier tape 14 at one end, and the other end becomes a carrier tape extrusion member protruding to the outside of the tape cassette C (storage container).

In FIG. 7A, a substantially L-shaped swinging member 42 is arranged in the space 41a formed in the main body 41 of the lower extrusion mechanism 33b. A swing shaft 43 attached to the main body 41 is connected to the opposite side of the take-out port 34 of the swing member 42. The swing member 42 swings up and down (arrow b4) on the take-out port 34 side around the swing shaft 43. A spring 44, which is an elastic body for urging the swing member 42 upward, is arranged below the take-out port 34 side of the swing member 42. The upward swing of the swing member 42 is regulated by the regulation surface 41b formed in the space 41a of the main body 41.

Two teeth 42b protruding into the tape guide path 33c are formed on the side of the swing member 42 facing the tape guide path 33c on the upper surface close to the take-out port 34 in a state where the upward swing is restricted by the regulation surface 41b. ing. The distance between the two teeth 42b is the same as the distance between the feed holes 14a of the carrier tape 14. The two teeth 42b engage with the feed holes 14a of the carrier tape 14 inserted into the tape guide path 33c, respectively. The upper surfaces of the two teeth 42b each have an inclination that cuts down on the opposite side of the take-out port 34.

When the carrier tape 14 is pushed out in the direction of the take-out port 34 with the two teeth 42b engaged with the feed hole 14a, the swinging member 42 has the inclination of the upper surface of the two teeth 42b along the feed hole 14a. It swings up and down, and the two teeth 42b and the feed hole 14a are disengaged. As a result, the extruded carrier tape 14 is not hindered by the oscillating member 42 from moving to the outside. On the other hand, when the carrier tape 14 tries to move in the direction opposite to the take-out port 34 (inside), the swing member 42 has two teeth 42b engaged with the feed hole 14a to suppress the movement of the carrier tape 14.

Next, the process of extruding the carrier tape 14 in the tape cassette C will be described with reference to FIGS. 7 (a) to 7 (c). In FIG. 7A, in the carrier tape 14 housed in the tape cassette C, the feed hole 14a engages with the two teeth 38c of the extrusion member 38 and the two teeth 42b of the swing member 42, and the carrier tape 14 The tip 14b of 14 is on the outside of the take-out port 34. The extrusion member 38 is located on the side far from the take-out port 34.

From this state, in FIG. 7B, when the extrusion rod 39 is pushed inward from the outside by an external force (arrow c1), the two teeth 38c of the extrusion member 38 engage with the feed hole 14a of the carrier tape 14. In this state, it is pushed in the direction of the take-out port 34 and moves (arrow c2). Along with this, the carrier tape 14 moves in the direction of the take-out port 34. At that time, the swinging member 42 swings up and down (arrow c3), and the two teeth 42b are disengaged from the feed hole 14a, so that the movement of the carrier tape 14 is not hindered. In this way, the carrier tape 14 is pushed out from the take-out port 34 (arrow c4).

In FIG. 7 (c), the force for pushing the extrusion rod 39 into the inside is removed. Therefore, the extruding member 38 is pulled back to the side opposite to the take-out port 34 by the spring 40 of the upper extruding mechanism 33a. At that time, the carrier tape 14 is prevented from moving by the swinging member 42 in which the two teeth 42b engage with the feed hole 14a. Therefore, the extrusion member 38 moves to the opposite side of the take-out port 34 while swinging up and down (arrow d1) so that the two teeth 38c are disengaged from the feed hole 14a (arrow d2). Then, the extrusion rod 39 is pushed by the extrusion member 38 and pushed back to the side opposite to the take-out port 34 (arrow d3).

When the carrier tape 14 is extruded from the tape cassette C, the pushing step shown in FIG. 7B and the returning step shown in FIG. 7C are repeated so that the desired length is extruded. When the carrier tape 14 is fed outward from the take-out port 34 by the tape feeder 7, the extrusion member 38 and the oscillating member 42 move up and down (arrows b3 and arrows) in the state shown in FIG. 7 (a), respectively. Move to b4). As a result, the two teeth 38c of the extrusion member 38 and the feed holes 14a of the two teeth 42b of the swing member 42 are disengaged from each other, and the movement of the carrier tape 14 in the direction toward the tape feeder 7 is hindered. Not done.

With such a tape cassette C, the tip 14b of the carrier tape 14 can be sent out in a predetermined direction with high accuracy, and the tip 14b of the carrier tape 14 can be inserted into the tape feeder 7. Further, since the carrier tape 14 can be sent out by an external force, the tape can be sent out without providing a drive source in the tape cassette C, so that the device can be made compact.

Next, a method of replacing (replenishing) the tape cassette C in the cassette holder 15 will be described with reference to FIGS. 8 and 9. In FIGS. 8 and 9, for convenience, the structures of the carriage 13 and the cassette holder 15 are shown in a simplified manner. As shown in FIG. 8A, the cassette holder 15 is provided with a lower holding position Hd for holding the tape cassette C (1) for winding and storing the preceding tape 14 (1). Further, the cassette holder 15 is provided with an upper holding position Hu for holding the tape cassette C (2) for winding and storing the succeeding tape 14 (2) above the lower holding position Hd.

That is, the cassette holder 15 (storage container holding device) has an upper holding position Hu (first holding position) for holding the tape cassette C (2) (storage container) and an upper holding position Hu (first holding position). Has a lower holding position Hd (second holding position) for holding the tape cassette C (1) (storage container) replenished before the tape cassette C (2) (storage container) held in. .. Further, a groove 15a for guiding the tape cassette C is formed on the inner wall of the cassette holder 15. In FIGS. 8 and 9, for convenience, the groove 15a is simply represented by a alternate long and short dash line. The tape cassette C supplied to the cassette holder 15 moves downward by gravity along the groove 15a on the inner wall.

In FIG. 8A, the preceding tape 14 (1) and the succeeding tape 14 (2) are inserted into the tape insertion port 7d of the tape feeder 7. In the tape feeder 7, the component D housed in the preceding tape 14 (1) is supplied to the component take-out position 28a. When the component D of the preceding tape 14 (1) is exhausted in the process of continuously executing the component mounting work, the component D stored in the succeeding tape 14 (2) is continuously supplied to the component take-out position 28a.

In FIG. 8B, the preceding tape cassette C (1), which has been emptied due to the consumption of the component D, is the cassette holder 15 by the recovery head 60 (see FIG. 10) of the self-propelled component replenishment device V described later. It is pulled out from the lower holding position Hd in the horizontal direction (arrow e1) and collected (preceding cassette collection step). After that, the subsequent tape cassette C (2) moves along the groove 15a (arrow e2) to the lower holding position Hd that is empty from the upper holding position Hu (subsequent cassette moving step).

That is, when the tape cassette C (1) (storage container) held at the lower holding position Hd (second holding position) is pulled out, the tape cassette held at the upper holding position Hu (first holding position) C (2) (storage container) moves to the lower holding position Hd (second holding position). In this way, since the tape cassette C at the upper holding position Hu is moved to the lower holding position Hd by gravity, the position of the tape cassette C can be switched only by the pulling operation.

In FIG. 9A, the tape cassette C (3) to be replenished is the tip of the carrier tape 14 (3) behind the tape feeder 7 and protruding from the take-out port 34 of the tape cassette C (3). 14b is arranged at the replenishment position Hs of the cassette holder 15 located behind the tape insertion port 7d of the tape feeder 7 (arrow f1) (replenishment cassette arrangement step). Here, the tape cassette C (3) is held at the replenishment position Hs by the gripping device 57b (see FIG. 10) of the self-propelled parts replenishment device V described later.

Next, while the tape cassette C (3) is held, the extrusion rod 39 is pushed into the tape cassette C (3) (arrow f2), and the carrier tape 14 (3) is pushed out (arrow f3) while the carrier tape 14 is pushed out. The tip 14b of (3) is inserted into the tape feeder 7 from the tape insertion port 7d (replenishment tape insertion step). Here, the extrusion rod 39 is pushed in by the tape inserting means 57a (see FIG. 10) provided in the self-propelled parts replenishing device V described later. The means for pushing the extrusion rod 39 is not limited to this, and may be provided in the component mounting devices M3 to M6, and may be provided in a device different from the self-propelled component replenishment device V and the component mounting devices M3 to M6. It may be pushed in by the specified means.

Further, the means for holding the tape cassette C at the replenishment position Hs may be provided in the cassette holder 15. The carrier tape 14 is pushed out by the extrusion mechanism 33 of the tape cassette C to at least a position where tape feeding is possible by the first tape feeding mechanism 24A of the tape feeder 7. Here, the carrier tape 14 can be positioned at the above position by repeating pushing out the carrier tape 14 by the extrusion mechanism 33 until the insertion detection sensor Q of the tape feeder 7 detects the tip 14b of the carrier tape 14.

In FIG. 9B, when the carrier tape 14 (3) housed in the replenished tape cassette C (3) is attached to the tape feeder 7, the holding of the tape cassette C (3) is released. As a result, the tape cassette C (3) moves to the holding position Hu above the replenishment position Hs along the groove 15a (arrow g1) (replenishment cassette moving step). In this way, the empty tape cassette C (1) is collected from the component mounting devices M3 to M6, and the replenished tape cassette C (3) is replenished.

As shown in FIG. 9B, the cassette holder 15 of the present embodiment is in the horizontal direction (in the present embodiment) in the process of moving the tape cassette C (3) from the replenishment position Hs to the upper holding position Hu. The tape cassette C (3) is rotated 45 degrees with the X direction as the rotation axis so that the take-out port 34 of the tape cassette C (3) faces diagonally upward. Then, at the lower holding position Hd, the take-out port 34 of the tape cassette C (2) is held so as to maintain an angle facing diagonally upward.

The replenishment position Hs and the upper holding position Hu are located in a positional relationship that does not overlap in the YZ plan view seen from the X direction. This is because the other tape cassette C located at the upper holding position Hu does not hinder the positioning operation of the tape cassette C with respect to the tape feeder 7 by the replenishment head 57 (see FIG. 10) described later.

Further, the take-out port 34 of the tape cassette C (2) at the lower holding position Hd is a tape feeder in the horizontal direction (Y direction in the present embodiment) from the take-out port 34 of the tape cassette C (3) at the upper holding position Hu. It is set to be close to 7. As a result, the carrier tape 14 (2) supplied by the tape cassette C (2) at the lower holding position Hd and the carrier tape 14 (3) supplied by the tape cassette C (3) at the upper holding position Hu do not interfere with each other. , Can be supplied to the tape insertion port 7d of the tape feeder 7.

Next, the configuration of the self-propelled parts replenishment device V and the carriage 13 will be described with reference to FIGS. 10 and 11. In FIG. 10, the self-propelled parts replenishment device V is configured by laminating a carriage portion 50, a support portion 51, and a storage portion 52 from below. The bogie 50 includes a wheel 53, a motor for driving the wheel 53, a direction changing mechanism for the wheel 53, a sensor for detecting the position and orientation of the self-propelled parts replenishing device V, and a traveling mechanism 54 (not shown). 15). Further, the carriage unit 50 is provided with a replenishment control unit 55 (see FIG. 15) that controls the traveling mechanism 54, a wireless communication unit T that wirelessly communicates with the management computer 3, and a battery (not shown).

The travel control unit 55a (see FIG. 15) of the supply control unit 55 controls the travel mechanism 54 to move the self-propelled parts supply device V based on the instruction from the management computer 3 and the information collected by itself. .. The wheel 53 of the bogie portion 50 can be freely changed in direction, and can be freely moved in the horizontal direction without changing the posture of the self-propelled parts replenishing device V. That is, the self-propelled component replenishment device V can move in both the X direction and the Y direction while maintaining a posture parallel to the component mounting devices M3 to M6 shown in FIG.

Further, the traveling mechanism 54 is provided with an electromagnetic brake (not shown), and it is possible to continue to stop at a predetermined position with the electromagnetic brake applied. In this way, the traveling mechanism 54 and the traveling control unit 55a are traveling means for automatically moving or stopping with the support unit 51 provided on the upper portion.

The lower portion of the support portion 51 is fixed to the carriage portion 50, and the upper portion is fixed to the storage portion 52 to support the storage portion 52 from below. The upper portion of the support portion 51 is configured to be slidable in the horizontal direction (X direction, Y direction) and the vertical direction (Z direction) with respect to the lower portion. As a result, when an external force is applied to the storage unit 52, the storage unit 52 moves in the horizontal direction and the vertical direction with respect to the carriage unit 50.

Further, the support portion 51 is urged by an elastic body (not shown) such as a spring so as to return the storage portion 52 to a predetermined center position when no external force is applied. Further, the support portion 51 has a built-in lock mechanism (not shown) for fixing the position of the storage portion 52 with respect to the carriage portion 50 while the storage portion 52 is at a predetermined center position. The self-propelled parts replenishment device V moves (runs) in a state where the storage unit 52 is fixed at a predetermined center position. In this way, the support portion 51 supports the storage portion 52 (storage container storage portion) from below so as to be movable in the horizontal and vertical directions.

In FIG. 10, the storage unit 52 includes an upper supply cassette storage unit 52a and a lower collection cassette storage unit 52b. A plurality of tape cassettes C to be replenished to the component mounting devices M3 to M6 are stored in the replenishment cassette storage unit 52a. A plurality of tape cassettes C collected from the component mounting devices M3 to M6 are stored in the collection cassette storage unit 52b. That is, the storage unit 52 is a replenishment cassette storage unit 52a (first area) for storing the tape cassette C (storage container) to be replenished, and a collection cassette storage unit 52b for storing the used tape cassette C (storage container). It is a storage container storage unit that has (second area).

In FIG. 10, an X-axis beam 56x is arranged on the ceiling of the replenishment cassette storage unit 52a along the X direction (the traveling direction of the self-propelled parts replenishing device V). The X-axis beam 56x is provided with an X-axis slider 56a driven by an X-axis linear drive mechanism so as to be movable in the X direction along the X-axis beam 56x (arrow j1 in FIG. 11). The X-axis moving mechanism is configured by the X-axis beam 56x, the X-axis slider 56a, and the X-axis linear drive mechanism.

A Y-axis beam 56y is arranged below the X-axis slider 56a along the Y direction (direction orthogonal to the traveling direction of the self-propelled parts replenishing device V). The Y-axis beam 56y is provided with a Y-axis slider 56b driven by a linear drive mechanism so as to be movable in the Y direction along the Y-axis beam 56y (arrow h1). The Y-axis moving mechanism is configured by the Y-axis beam 56y, the Y-axis slider 56b, and the Y-axis linear drive mechanism. A replenishment head 57 is attached to the Y-axis slider 56b. The replenishment head 57 is provided with a tape inserting means 57a, a gripping device 57b, and an RF reader R.

The gripping device 57b grips the gripping portion 35 of the tape cassette C to be replenished, which is stored in the replenishment cassette storage portion 52a. The tape inserting means 57a includes an electromagnetic piston and a rod. When the tape inserting means 57a protrudes the rod while the supply head 57 holds the tape cassette C, the extrusion rod 39 of the tape cassette C is pushed into the tape cassette C, and the carrier tape 14 is pushed out from the take-out port 34. be able to. In this way, the X-axis moving mechanism, the Y-axis moving mechanism, and the replenishment head 57 grip the tape cassette C to be replenished stored at a predetermined position, take it out from the replenishment cassette storage unit 52a, and store the replenishment cassette. It becomes a cassette replenishment mechanism 58 (see FIG. 15) that pushes the carrier tape 14 out of the tape cassette C by moving it in the X direction and the Y direction outside the portion 52a.

The RF reader R reads the identification information N from the RFID 36 arranged on the tape cassette C. By moving the replenishment head 57 in the X direction while keeping a predetermined distance from the tape cassette C in which the replenishment head 57 is stored, the RF reader R of the tape cassette C stored in the replenishment cassette storage unit 52a. The identification information N can be read at once. In this way, in the self-propelled parts replenishment device V, the RF reader R (information reading unit) that reads the identification information N attached to the tape cassette C (storage container) is placed in the replenishment cassette storage unit 52a (first area). It is provided.

In FIG. 10, an X-axis beam 59x is arranged on the ceiling of the recovery cassette storage unit 52b along the X direction (the traveling direction of the self-propelled parts replenishing device V). The X-axis beam 59x is provided with an X-axis slider 59a driven by an X-axis linear drive mechanism so as to be movable in the X direction along the X-axis beam 59x (arrow j2 in FIG. 11). The X-axis moving mechanism is configured by the X-axis beam 59x, the X-axis slider 59a, and the X-axis linear drive mechanism.

A Y-axis beam 59y is arranged below the X-axis slider 59a along the Y direction (direction orthogonal to the traveling direction of the self-propelled parts replenishing device V). The Y-axis beam 59y is provided with a Y-axis slider 59b driven by a linear drive mechanism so as to be movable in the Y direction along the Y-axis beam 59y (arrow h2). The Y-axis moving mechanism is configured by the Y-axis beam 59y, the Y-axis slider 59b, and the Y-axis linear drive mechanism. A recovery head 60 is mounted on the Y-axis slider 59b.

The recovery head 60 is provided with a gripping device 60a. The gripping device 60a grips the gripping portion 35 of the tape cassette C to be collected, which is held at the lower holding position Hd of the cassette holders 15 of the component mounting devices M3 to M6. Then, the recovery head 60 pulls the gripped tape cassette C to a predetermined position of the recovery cassette storage unit 52b, releases the grip, and stores the tape cassette C to be collected. In this way, the X-axis moving mechanism, the Y-axis moving mechanism, and the collecting head 60 move in the X direction and the Y direction outside the collecting cassette storage unit 52b, grip the tape cassette C to be collected, and collect the collection cassette storage unit. The cassette collection mechanism 61 (see FIG. 15) is stored at a predetermined position of 52b.

In FIG. 11, in the storage unit 52, the side that takes out the tape cassette C from the replenishment cassette storage unit 52a and collects the tape cassette C in the collection cassette storage unit 52b has an outer wall so as not to interfere when the tape cassette C is taken in and out. Has been removed. When replenishing and collecting the tape cassette C to the component mounting devices M3 to M6, the self-propelled parts replenishing device V is automatically positioned while traveling so that the surface on which the tape cassette C is taken in and out is parallel to the parts supply unit 6. Make a match.

In FIG. 10, a connecting roller 62a and a connecting hook 62b are arranged on the outer wall of the storage portion 52 in the X direction, respectively (see also FIG. 11). The connecting roller 62a and the connecting hook 62b are arranged at a predetermined distance in the Y direction. Further, a connecting portion 63 is arranged on the front surface of the cassette holder 15 of the carriage 13 on which the plurality of tape feeders 7 are mounted (position opposite to the tape feeder 7 with the cassette holder 15 interposed therebetween). The connecting portion 63 is fixedly arranged on the carriage 13. A pair of guide portions 64 are provided at both ends of the connecting portion 63 in the X direction.

The guide portion 64 includes a positioning block 65 and a connecting mechanism 66, respectively. When the storage portion 52 of the self-propelled parts replenishment device V is connected to the connecting portion 63, the positioning block 65 brings the connecting roller 62a of the storage portion 52 into contact with the positioning block 65 to position the storage portion 52 in the Z direction. The connecting mechanism 66 includes a substantially L-shaped connecting member 66a and an air cylinder 66b that lifts the connecting member 66a diagonally upward. Further, the connecting mechanism 66 detects that the connecting hook 62b of the storage portion 52 has come into contact with the connecting member 66a when the storage portion 52 of the self-propelled parts replenishing device V is connected to the connecting portion 63 (not shown). Omitted) is built-in.

Next, with reference to FIG. 12, a method of connecting the storage portion 52 of the self-propelled parts replenishment device V to the connecting portion 63 will be described. In FIG. 12A, the self-propelled parts replenishment device V travels and approaches the carriages 13 of the parts mounting devices M3 to M6 in parallel directions, and the storage portion 52 is a pair of guide portions of the connecting portion 63. Align the X direction with the position that fits between 64 and pause. Then, the self-propelled parts replenishment device V releases the lock mechanism of the support portion 51. Next, the self-propelled parts replenishment device V moves in the Y direction at a low speed while keeping its posture parallel to the carriage 13 (arrow k1). Then, when the self-propelled parts replenishment device V reaches the stop position where the connecting hook 62b of the storage portion 52 abuts on the connecting member 66a, the self-propelled parts replenishing device V stops moving and operates the electromagnetic brake of the traveling mechanism 54.

In FIG. 12B, the connecting mechanism 66 then lifts the connecting member 66a connected to the connecting hook 62b diagonally upward (arrow k2). As a result, the storage unit 52 is transferred to the carriage 13 via the connecting unit 63 (arrow k3), and the storage unit 52 is in a state where the tape cassette C can be replenished and collected (replacement preparation work is completed).

As described above, the self-propelled parts replenishment device V holds the tape cassette C (storage container) for storing the plurality of parts D and automatically moves the parts D of the tape cassette C to the tape feeder 7 (part supply). It has a function to replenish the device). More specifically, the self-propelled parts replenishment device V is located between the storage unit 52 (storage container storage unit) for storing the tape cassette C and the tape cassette C between the storage unit 52 and the cassette holder 15 (storage container holding device). It is provided with a cassette replenishment mechanism 58 and a cassette collection mechanism 61 (storage container transfer section) that are moved by.

Further, the component mounting devices M3 to M6 include a connecting portion 63 that is connected to and held by the storage portion 52. Then, when the tape cassette C is moved between the storage unit 52 and the cassette holder 15 by the storage container transfer unit, the traveling means (traveling mechanism 54, traveling control unit 55a) mounts the self-propelled parts replenishing device V as a component. The devices M3 to M6 are stopped at predetermined stop positions, and the connecting unit 63 is connected to the storage unit 52 to hold the storage unit 52.

Next, with reference to FIG. 13, the collection of the tape waste W obtained by supplying the component D in the tape feeder 7 and cutting the used carrier tape 14 discharged from the tape discharge port 7e will be described. First, a first embodiment for collecting the tape waste W will be described with reference to FIG. 13 (a). The tape waste W discharged from the tape discharge port 7e and cut to an appropriate length is collected in a collection container 70 fixed to the trolley 13. The self-propelled parts replenishment device V has a suction device 71 that vacuum-sucks the tape waste W from the collection container 70, a nozzle portion 72 that can move the position of the tip and vacuum-sucks the tape waste W from the tip, and the vacuum-sucked tape waste W. A storage box 73 for storing is provided.

When the tape waste W collects more than a predetermined amount in the collection container 70, the tip of the nozzle portion 72 is moved into the collection container 70 at the timing when the self-propelled parts replenishing device V replenishes the tape cassette C, and the suction device 71. The tape waste W is sucked and collected in the storage box 73. As described above, the suction device 71 and the nozzle portion 72 serve as a waste collection mechanism 74A (see FIG. 15) for collecting tape waste W from the component mounting devices M3 to M6. That is, the self-propelled parts replenishment device V includes a waste collection mechanism 74A (tape waste collection means) for collecting the tape waste W after the parts are supplied, and the tape waste collection means is a suction device 71 that sucks the tape waste W. It has. As a result, the tape waste W can be automatically collected regardless of the operator.

Next, a second embodiment for collecting the tape waste W will be described with reference to FIG. 13 (b). In this embodiment, the tape waste W is collected in the movable tape waste storage box 76, which is different from the first embodiment. During the component mounting work, the tape waste storage box 76 is placed in a predetermined position on the trolley 13. The self-propelled parts supply device V includes a storage box moving device 77 such as an articulated robot having a gripping tool 77a for gripping the tape waste storage box 76, and a storage box storage unit 78 for collecting the tape waste storage box 76. ..

When the tape waste W accumulates in the tape waste storage box 76 in excess of a predetermined value, the storage box moving device 77 stores the tape waste storage box 76 in the storage box storage unit at the timing when the self-propelled parts replenishing device V replenishes the tape cassette C. Collect at 78 (arrow m1). Then, the empty tape waste storage box 76 previously stored in the storage box storage unit 78 is placed at a predetermined position on the trolley 13. As described above, the tape waste storage box 76, the storage box moving device 77, and the storage box storage unit 78 serve as a waste collection mechanism 74B (see FIG. 15) for collecting tape waste W from the component mounting devices M3 to M6.

That is, the self-propelled parts replenishment device V includes a waste collection mechanism 74B (tape waste collection means) for collecting tape waste W after parts supply, and the tape waste collection means is a tape waste storage box in which the tape waste W collects. A storage box moving device 77 (recovery device) for collecting 76 in the self-propelled parts replenishment device V is provided. As a result, the tape waste W can be collected in a short time. The collection device for collecting the tape waste storage box 76 to the self-propelled parts supply device V is not limited to the articulated robot. The collection device may be such that the tape waste storage box 76 can be exchanged between the carriages 13 of the component mounting devices M3 to M6 and the self-propelled component replenishment device V. Further, the recovery device may be arranged in the component mounting devices M3 to M6 (trolley 13) instead of the self-propelled component supply device V.

Next, the configuration of the control system of the component mounting system 1 will be described with reference to FIGS. 14 and 15. The component mounting lines L1 to L3 included in the component mounting system 1 have the same configuration, and the component mounting lines L1 will be described below. The component mounting devices M3 to M6 included in the component mounting line L1 have the same configuration, and the component mounting devices M3 will be described below.

In FIG. 14, the component mounting device M3 includes a mounting control unit 22, a mounting storage unit 80, a tape feeder 7, a component mounting work unit 16, a connecting mechanism 66, and a communication unit 81. The communication unit 81 is a communication interface, and signals and data are exchanged between other component mounting devices M4 to M6, other component mounting lines L2 and L3, a management computer 3, and a component storage device S via a communication network 2. I do. The mounting control unit 22 controls the tape feeder 7 and the component mounting work unit 16 based on the component mounting data stored in the mounting storage unit 80 to execute the component mounting work by the component mounting device M3.

Further, the mounting control unit 22 interlocks with the self-propelled parts replenishing device V via the management computer 3 while communicating with the self-propelled parts replenishing device V, and controls the connecting mechanism 66 to bring the connecting unit 63 into the storage unit 52 of the self-propelled parts replenishing device V. To execute the connection work to be connected to. Further, the mounting control unit 22 sequentially transmits the mounting status including the consumption number (remaining number) of the component D of the component mounting device M3 to the management computer 3.

In FIG. 14, the management computer 3 includes a management control unit 82, a management storage unit 83, an input unit 84, a display unit 85, a communication unit 86, and a wireless communication unit 3a. The input unit 84 is an input device such as a keyboard, a touch panel, and a mouse, and is used when inputting an operation command or data. The display unit 85 is a display device such as a liquid crystal panel, and displays various information in addition to various screens such as an operation screen for operation by the input unit 84. The communication unit 86 is a communication interface, and exchanges signals and data between the component mounting devices M3 to M6 and the component storage devices S of the component mounting lines L1 to L3 via the communication network 2. The wireless communication unit 3a wirelessly exchanges signals and data with and from the self-propelled parts supply device V.

The management control unit 82 is an arithmetic unit such as a CPU, and manages the component mounting system 1 based on the information stored in the management storage unit 83. The management control unit 82 includes a parts shortage management unit 82a, a parts supply plan creation unit 82b, a parts supply management unit 82c, and a collection timing calculation unit 82d as internal processing functions. The management storage unit 83 is a storage device, and stores component management information 83a, component supply plan information 83b, and the like in addition to component mounting data.

In FIG. 14, the parts management information 83a includes information for associating the identification information N of each tape cassette C with the stored part D, the location of each tape cassette C, the remaining number of the stored parts D, and the parts running out. Estimated time etc. are included. As the location of the tape cassette C, there may be a parts storage device S, a self-propelled parts replenishment device V, and parts mounting devices M3 to M6. When the tape cassette C is located in the parts storage device S, the parts management information 83a includes information for identifying the parts storage device S and the position of the storage shelf.

Further, in the parts management information 83a, when the tape cassette C is located in the self-propelled parts replenishment device V, the information for identifying the self-propelled parts replenishment device V and the storage unit 52 (replenishment cassette storage unit 52a, collection cassette) The storage position in the storage unit 52b) is included. That is, the management computer 3 (parts information management unit) stores the position of the tape cassette C (storage container) stored in the storage unit 52 (storage container storage unit) and the identification information N. Further, the component management information 83a includes information for specifying the component mounting devices M3 to M6 (including information for specifying the component mounting lines L1 to L3) when the tape cassette C is located in the component mounting devices M3 to M6. , Information about the position in the component supply unit 6 and the corresponding tape feeder 7.

In FIG. 14, the management control unit 82 updates the parts management information 83a based on the information transmitted from the parts storage device S, the self-propelled parts supply device V, and the parts mounting devices M3 to M6. Based on the parts management information 83a and the parts mounting data, the parts shortage management unit 82a predicts the consumption of the parts D in each tape feeder 7, calculates the estimated time until the parts run out, and updates the parts management information 83a. ..

The parts supply plan creation unit 82b creates parts supply plan information 83b including a parts supply plan for supplying parts D to each tape feeder 7 using a tape cassette C based on the parts management information 83a and the parts mounting data. The parts supply plan information 83b includes the location of the tape cassette C to be replenished and the position of the tape feeder 7 to replenish the tape cassette C (positions in the parts mounting lines L1 to L3, parts mounting devices M3 to M6, and parts supply unit 6). , Information that identifies the self-propelled parts replenishing device V that conveys the tape cassette C to be replenished, a movement route in the floor F, and the like are included.

In FIG. 14, the parts supply management unit 82c transmits instructions regarding the supply work to the parts storage device S, the self-propelled parts supply device V, and the parts mounting devices M3 to M6 based on the created parts supply plan information 83b. Specifically, the parts supply management unit 82c instructs the parts storage device S of the tape cassette C to be stored in the self-propelled parts supply device V. That is, the management computer 3 (parts information management unit) transmits information on the tape cassette C (storage container) to be supplied to the parts storage device S (parts storage unit).

The parts supply management unit 82c is a tape cassette C to be stored in the self-propelled parts supply device V, a movement path in the floor F, and a position of a tape feeder 7 to supply the tape cassette C (part mounting lines L1 to L3, parts). The mounting devices M3 to M6 and the positions in the component supply unit 6) are instructed. The component supply management unit 82c instructs the component mounting devices M3 to M6 of the position of the tape feeder 7 for supplying the tape cassette C (the position in the component supply unit 6).

Further, the parts supply management unit 82c receives necessary information from the self-propelled parts supply device V and the tape feeder 7 when the self-propelled parts supply device V supplies the tape cassette C to the tape feeder 7, and the self-propelled parts supply management unit 82c receives necessary information from the self-propelled parts supply device V and the tape feeder 7. Instructions are transmitted to the replenishment device V and the tape feeder 7. Specifically, whether or not the tape cassette C receives the identification information N of the tape cassette C read by the self-propelled parts replenishment device V, collates it with the information included in the parts replenishment plan information 83b, and instructs replenishment. Check if. That is, the management computer 3 (parts information management unit) confirms whether or not the tape cassette C (storage container) is the tape cassette C to be moved based on the identification information N transmitted from the self-propelled parts replenishment device V.

Further, when it is confirmed that the tape cassette C to be replenished by the self-propelled parts replenishment device V is correct, the parts replenishment management unit 82c transmits information instructing the tape feeder 7 to accept the replenishment of the parts D. .. That is, the management computer 3 (parts information management unit) transmits information instructing the tape feeder 7 (parts supply device) to be replenished with the parts D of the tape cassette C (storage container) to accept the replenishment of the parts D. do. Further, when the parts supply management unit 82c receives the information that the carrier tape 14 has been normally inserted from the tape feeder 7, the parts supply management unit 82c transmits an instruction to stop pushing out the carrier tape 14 to the self-propelled parts supply device V. ..

In FIG. 14, the collection timing calculation unit 82d is a component mounting device M3 to M4 (or each component mounting device M3 to M4) based on the component management information 83a, component mounting data, and the allowable storage capacity of the tape waste W of the collection container 70 or the tape waste storage box 76. , The collection timing of the tape waste W of the parts supply unit 6) is calculated. The collection timing calculation unit 82d adds an instruction to collect the tape waste W to the parts supply plan information 83b based on the calculation result. That is, the collection timing calculation unit 82d calculates the collection timing of the tape waste W based on the component management information 83a and the mounting information of the component mounting devices M3 to M6 included in the component mounting data. In this way, the management computer 3 becomes a component information management unit that stores and manages the information of the component D.

In FIG. 14, the parts storage device S includes a parts storage control unit 91, a parts storage storage unit 92, a parts storage work unit 93, an identification information reading unit 94, and a communication unit 95. The parts storage work unit 93 receives the tape cassette C to be stored and the reel L (see FIG. 19) for winding and storing the carrier tape 14, moves it to the storage shelf provided in the parts storage device S, and takes it out from the storage shelf. It is provided with a transfer mechanism for delivering to the storage unit 52 of the self-propelled parts supply device V.

The identification information reading unit 94 is an RF reader R or a barcode reader that reads the identification information N of the barcode, the RFID 36 attached to the tape cassette C or the reel L stored by the parts storage device S, and the like. The communication unit 95 is a communication interface, and exchanges signals and data between the management computer 3 and the component mounting devices M3 to M6 in the communication network 2. That is, the parts storage device S (parts storage unit) can communicate with the management computer 3 (parts information management unit). The parts storage storage unit 92 stores the information in which the identification information N read by the identification information reading unit 94 and the storage shelf are associated with each other. Various information of the tape cassette C (component D) stored in the component storage storage unit 92 is transmitted to the management computer 3 via the communication unit 95.

The parts storage control unit 91 controls the parts storage work unit 93 and the identification information reading unit 94 to execute a storage operation of receiving the tape cassette C or the reel L, reading the identification information N, and storing the identification information N on the storage shelf. Further, the parts storage control unit 91 controls the parts storage work unit 93 based on the instruction from the management computer 3, takes out the tape cassette C or the reel L instructed from the storage shelf, and uses the self-propelled parts supply device V. Hand over. That is, the parts storage device S (parts storage unit) sets the tape cassette C or the reel L (storage container) to be supplied to the cassette of the self-propelled parts supply device V based on the information from the management computer 3 (parts information management unit). The replenishment mechanism 58 and the cassette collection mechanism 61 (storage container transfer portion) are positioned at movable positions.

In FIG. 15, the tape feeder 7 includes a feeder control unit 21, a feeder storage unit 96, a tape feed mechanism 24, a shutter mechanism 23, an operation / display panel 29, an insertion detection sensor Q, and a communication unit 97. The feeder storage unit 96 stores various information such as the identification information N of the mounted tape cassette C, the number of parts D consumed, and the number of remaining parts. The communication unit 97 is a communication interface and exchanges signals and data with and from the mounting control unit 22. Further, the communication unit 97 exchanges signals and data with and from the management computer 3 via the communication unit 81 of the component mounting devices M3 to M6.

The feeder control unit 21 controls the tape feed mechanism 24, the shutter mechanism 23, and the insertion detection sensor Q to convey the preceding tape 14 (1), insert the succeeding tape 14 (2), and succeed from the preceding tape 14 (1). The transition to tape 14 (2) is performed. At that time, when the feeder control unit 21 receives information from the management computer 3 that the subsequent tape 14 (2) in the self-propelled parts replenishment device V is ready to be inserted, the feeder control unit 21 releases the shutter 23a.

That is, when the tape feeder 7 (parts supply device) receives the information instructing to accept the supply of the parts D, the tape feeder 7 (parts supply device) opens the shutter 23a provided in the tape insertion port 7d as an operation for accepting the parts D. Further, when the insertion detection sensor Q detects that the tip 14b of the succeeding tape 14 (2) has been inserted, the feeder control unit 21 transmits to that effect to the management computer 3. As a result, it is possible to prevent the carrier tape 14 (part D) from being erroneously inserted into the tape feeder 7 which is not the target of replenishment.

In FIG. 15, the self-propelled parts replenishment device V includes a replenishment control unit 55, a replenishment storage unit 98, a traveling mechanism 54, a cassette replenishment mechanism 58, a cassette collection mechanism 61, an RF reader R, and a waste collection mechanism 74A (or a waste collection mechanism 74A). 74B), equipped with a wireless communication unit T. The wireless communication unit T wirelessly exchanges signals and data with and from the management computer 3. That is, the self-propelled parts replenishment device V includes a wireless communication unit T capable of wireless communication with the management computer 3 (parts information management unit).

The supply storage unit 98 stores the supply part information 98a and the like. The replenishment part information 98a includes the identification information N of the tape cassette C stored in the storage unit 52, the storage position, and the replenishment tape cassette C and the tape transmitted from the management computer 3 based on the parts replenishment plan information 83b. Information such as the correspondence of the feeder 7, the order of replenishment, the traveling route in the floor F, and the collection timing of the tape scrap W is included. That is, the self-propelled parts replenishment device V stores the position of the tape cassette C (storage container) stored in the storage unit 52 (storage container storage unit) and the identification information N. The replenishment control unit 55 is an arithmetic unit such as a CPU, and includes a travel control unit 55a, a replacement control unit 55b, and a waste collection control unit 55c as internal processing functions.

The travel control unit 55a controls the travel mechanism 54 based on the spare part information 98a to drive the self-propelled parts supply device V according to the designated route, and stops in front of the designated component mounting devices M3 to M4. To stop. The replacement control unit 55b controls the cassette replenishment mechanism 58 based on the replenishment part information 98a, receives the tape cassette C to be replenished from the parts storage device S, stores the tape cassette C to be replenished in the replenishment cassette storage unit 52a, and stores the tape feeder to be replenished. Let 7 replenish. Further, the replacement control unit 55b controls the cassette collection mechanism 61 based on the spare part information 98a, collects the used tape cassette C, stores it in the collection cassette storage unit 52b, and arranges it in the floor F. Have the used cassette collection device U return the collected tape cassette C.

Further, the replacement control unit 55b controls the cassette replenishment mechanism 58 and the RF reader R (information reading unit), and the tape cassette C is transferred from the parts storage device S (parts storage unit) to the replenishment cassette storage unit 52a (storage container storage unit). The identification information N is read at least when the (storage container) is moved or after the parts storage device S is moved to the replenishment cassette storage unit 52a. The supply control unit 55 transmits the read identification information N to the management computer 3. That is, the self-propelled parts replenishment device V transmits the identification information N read by the RF reader R (information reading unit) to the management computer 3 (parts information management unit) via the wireless communication unit T.

The waste collection control unit 55c controls the waste collection mechanism 74A (waste collection mechanism 74B) based on the spare part information 98a to collect the tape waste W from the component mounting devices M3 to M6 instructed to collect. That is, based on the calculation result of the collection timing calculation unit 82d of the management computer 3, the self-propelled parts replenishment device V collects the tape waste W by the waste collection mechanism 74A (waste collection mechanism 74B) (tape waste collection means). The waste collection control unit 55c causes the tape waste disposal unit G arranged in the floor F to dispose of the collected tape waste W.

Next, a component replenishment method in the component mounting system 1 will be described with reference to FIGS. 18 and 19 according to the flow of FIGS. 16 and 17. In FIG. 16, the management control unit 82 of the management computer 3 acquires the consumption status information of the component D from the component mounting devices M3 to M6 included in the component mounting system 1 and updates the component management information 83a (ST1). Next, the parts supply plan creation unit 82b creates the parts supply plan information 83b based on the updated parts management information 83a and the parts mounting data (ST2: parts supply plan creation process).

Next, the self-propelled parts replenishment device V instructed by the management computer 3 moves to the parts storage device S, receives the tape cassette C to be replenished from the parts storage device S also instructed by the management computer 3, and replenishes the cassette storage unit 52a. (ST3: Replenishment cassette storage process). At that time, the identification information N of the tape cassette C is read by the RF reader R included in the self-propelled parts supply device V, and the read identification information N is linked with the stored position information and transmitted to the management computer 3. NS.

In FIG. 16, the self-propelled parts replenishment device V moves to the stop position of the parts mounting devices M3 to M6 to be replenished according to the instruction from the management computer 3, and performs a preparatory work for replacing the tape cassette C (ST4: preparation for replacement). Process). In the replacement preparation step (ST4), the storage unit 52 is connected to the component mounting devices M3 to M6 by the connecting mechanism 66.

When the replacement preparation is completed, the replacement work of the tape cassette C is started. A tape cassette replacement method in which the used tape cassette C is collected and the tape cassette C to be replenished is attached to the tape feeder 7 will be described with reference to FIG. In FIG. 17, the replacement control unit 55b of the self-propelled parts replenishment device V moves the replenishment head 57 of the cassette replenishment mechanism 58 to the rear of the tape cassette C to be replenished. Next, the exchange control unit 55b reads the identification information N of the tape cassette C to be replenished by the RF reader R and transmits it to the management computer 3. That is, the self-propelled parts replenishment device V transmits information indicating that the parts D of one of the stored tape cassettes C (storage container) are replenished to the management computer 3 (parts information management unit).

The parts supply management unit 82c of the management computer 3 collates the transmitted identification information N with the stored parts supply plan information 83b (ST11), and confirms whether or not the tape cassette C is desired (ST12: Cassette verification process). That is, the self-propelled parts replenishment device V transmits the identification information N read by the RF reader R (information reading unit) to the management computer 3 (parts information management unit) via the wireless communication unit T, and the management computer 3 receives the identification information N. Based on the transmitted identification information N, it is confirmed whether or not the tape cassette C (storage container) is the tape cassette C to be moved.

If it is not the desired tape cassette C (No in ST12), a message to that effect is sent to the management computer 3 to skip the supply of parts to the tape feeder 7 (ST11). The reading step (ST11) of the identification information N in the self-propelled parts replenishing device V and the cassette collation step (ST12) in the management computer 3 may be omitted. In that case, when the self-propelled parts replenishing device V is ready to replenish the tape cassette C to be replenished according to the replenishment order of the parts replenishment plan information 83b transmitted from the management computer 3 included in the replenishment parts information 98a, that effect. (Information indicating that the component D of one of the stored tape cassettes C is replenished) is transmitted to the management computer 3.

In FIG. 17, when it is confirmed that the tape cassette C is desired in the cassette collation step (ST12) (Yes), the parts supply management unit 82c is above the tape cassette C to be collected based on the parts management information 83a. It is confirmed whether or not there is a tape cassette C at the holding position Hu (ST13). When there is a tape cassette C in the upper holding position Hu (Yes in ST13), the replacement control unit 55b of the self-propelled parts replenishing device V controls the cassette collection mechanism 61 to control the used tape cassette C in the lower holding position Hd. (ST14: cassette collection step).

Here, the cassette collection step (ST14) by the cassette collection mechanism 61 will be specifically described with reference to FIG. 18A. In FIG. 18A, the collection head 60 of the cassette collection mechanism 61 is in the Y direction from a position (empty slot) where the tape cassette C of the collection cassette storage unit 52b is not stored and is vacant to an external downward movement position Hm. Move to. The downward movement position Hm is behind the downward holding position Hd of the cassette holder 15 (between the cassette holder 15 and the self-propelled parts replenishment device V), and the recovery head 60 in a state where the tape cassette C is gripped reciprocates in the X direction. This is a position where the recovery head 60 and the gripped tape cassette C do not interfere with the surrounding tape cassette C or the like when moving.

Next, the collection head 60 moves in the X direction at the downward movement position Hm until it is located behind the tape cassette C (1) to be collected. Next, the recovery head 60 moves in the Y direction toward the cassette holder 15 and grips the tape cassette C (1) at the lower holding position Hd. Next, the recovery head 60 holding the tape cassette C (1) moves in the Y direction to the downward movement position Hm (arrow n1). When the tape cassette C (1) is recovered from the lower holding position Hd, the tape cassette C (2) at the upper holding position Hu moves to the lower holding position Hd (arrow n2).

Next, the recovery head 60 holding the tape cassette C (1) moves in the X direction to the front of the empty slot of the recovery cassette storage unit 52b at the downward movement position Hm. Next, the recovery head 60 that grips the tape cassette C (1) moves in the Y direction, and the tape cassette C (1) is placed in an empty slot of the recovery cassette storage portion 52b to release the grip.

In FIG. 17, the feeder control unit 21 of the tape feeder 7 then releases the shutter 23a according to an instruction from the management computer 3 (ST15: shutter opening step). In FIG. 18B, the shutter 23a of the tape feeder 7 is opened (arrow n3).

In FIG. 17, when there is no tape cassette C in the upper holding position Hu (No in ST13), there is only one tape cassette C in the cassette holder 15, so that the tape cassette C in the lower holding position Hd The shutter opening step (ST15) is executed without collecting. In this way, the management computer 3 (parts information management unit) accepts the supply of the parts D to the tape feeder 7 (parts supply device) to be replenished with the parts D of the tape cassette C (3) (storage container). The instruction information is transmitted, and when the tape feeder 7 receives the information instructing to accept the supply of the component D, the tape feeder 7 executes the operation (ST15) for accepting the component D.

In FIG. 17, the replacement control unit 55b of the self-propelled parts replenishment device V then controls the cassette replenishment mechanism 58 to move the replenishment target tape cassette C (3) to the replenishment position Hs of the replenishment target tape feeder 7. ST16). Specifically, in the replenishment cassette storage unit 52a, the replenishment head 57 grips the tape cassette C (3) to be replenished and moves in the Y direction to the front replenishment position Hs. Next, the replenishment head 57 holding the tape cassette C (3) moves in the X direction until it is located behind the replenishment target tape feeder 7 at the replenishment position Hs. In this way, the tape cassette C (3) to be replenished moves to the replenishment position Hs behind the tape feeder 7 to be replenished.

Next, the exchange control unit 55b controls the cassette replenishment mechanism 58 to push out the carrier tape 14 (3) from the tape cassette C (3), and inserts the tip 14b of the carrier tape 14 (3) into the tape insertion slot of the tape feeder 7. It is inserted from 7d (ST17). After that, until the insertion detection sensor Q of the tape feeder 7 detects the tip 14b of the carrier tape 14 (3) (Yes in ST18), (ST17) is continued to push out the carrier tape 14 (3) (No in ST18). ).

In FIG. 18B, the replenishment head 57 grips the tape cassette C (3) and moves it to the replenishment position Hs (arrow n4). After that, in FIG. 19A, the tape inserting means 57a pushes the extrusion rod 39 of the tape cassette C (3) into the inside of the tape cassette C (3) (arrow n5), and the carrier tape 14 (3) is pushed into the tape feeder 7. It is pushed out toward and inserted from the tape insertion port 7d of the tape feeder 7 (arrow n6). That is, the self-propelled parts replenishment device V inserts the tip 14b of the carrier tape 14 (3) stored in the tape cassette C (3) (storage container) into the tape insertion port 7d of the tape feeder 7 (auto load feeder). The tape inserting means 57a for pushing is provided.

Then, the tape inserting means 57a pushes the carrier tape 14 (3) out of the tape cassette C (3) by pushing the pushing rod 39 (carrier tape pushing member) into the tape cassette C (3) (storage container). ing. The tip 14b of the carrier tape 14 (3) inserted into the tape insertion port 7d of the tape feeder 7 reaches the insertion detection sensor Q. When the tip 14b is detected by the insertion detection sensor Q, a notification to that effect is transmitted to the management computer 3, and the management computer 3 instructs the self-propelled parts replenishing device V to end pushing out the carrier tape 14 (3). That is, when the insertion detection sensor Q (tape insertion detection unit) detects that the carrier tape 14 (3) has been normally inserted, it notifies the self-propelled parts replenishment device V to that effect, and the tape insertion means 57a uses the carrier tape 14 Stop pushing in (3).

In FIG. 17, when the extrusion of the carrier tape 14 (3) is completed (Yes in ST18), the exchange control unit 55b controls the cassette replenishment mechanism 58 to release the grip of the tape cassette C (3) (ST19: (Gripping release step), the replenishment head 57 is moved to the inside of the replenishment cassette storage portion 52a.

Specifically, in FIG. 19B, the tape cassette C (3) released from gripping moves slightly behind the replenishment position Hs (arrow n7), and replenishes an empty slot (for example, replenishment) of the replenishment cassette storage unit 52a. It moves in the X direction to the front of the slot (slot in which the tape cassette C (3) was stored). Next, the replenishment head 57 moves in the Y direction and moves inside the replenishment cassette storage unit 52a. The tape cassette C (3) released from gripping moves from the replenishment position Hs to the upper holding position Hu (arrow n8).

As described above, the shutter opening step (ST15) to the grip release step (ST19) is a cassette replenishment step of replenishing the tape cassette C (3) to be replenished by the self-propelled parts replenishing device V. In this way, the cassette replenishment mechanism 58 and the cassette collection mechanism 61 (storage container transfer unit) hold the tape cassette C (3) (storage container) to be replenished upward from the replenishment cassette storage unit 52a (first area). Move to Hu (first holding position) and move the used tape cassette C (1) (storage container) from the lower holding position Hd (second holding position) to the collection cassette storage portion 52b (second area). Move it.

In FIG. 16, when the cassette replacement step (ST5) in the connected component mounting devices M3 to M6 is completed, the waste collection control unit 55c of the self-propelled component replenishment device V calculates the collection timing calculation unit 82d of the management computer 3. Based on the result, the waste collection mechanism 74A (waste collection mechanism 74B) is controlled to collect the tape waste W (ST6: tape waste collection step). Next, the parts supply management unit 82c of the management computer 3 or the supply control unit 55 of the self-propelled parts supply device V determines whether or not the scheduled supply has been completed (ST7). When the replenishment is not completed (No in ST7), the self-propelled parts replenishment device V moves to the next parts mounting devices M3 to M6 to be replenished, and from the replacement preparation step (ST4) to the tape waste collection step (ST6). ) Is executed.

When the replenishment of the tape cassette C (part D) was completed in the planned parts mounting devices M3 to M6 (Yes in ST7), the self-propelled parts replenishing device V moved to the tape waste disposal unit G and collected it. Discard the tape scrap W (ST8). Next, the self-propelled parts replenishment device V moves to the used cassette collection device U, and delivers the used tape cassette C stored in the collection cassette storage unit 52b to the used cassette collection device U.

As described above, in the component mounting system 1 of the present embodiment, the component mounting devices M3 to M6 for mounting the component D on the substrate B and the tape feeder 7 mounted on the component mounting devices M3 to M6 to supply the component D are supplied. (Parts supply device) and tape cassette C (storage container) for storing a plurality of parts D are held and automatically moved, and the part D of the carrier tape 14 wound and stored in the tape cassette C is transferred to the tape feeder 7. It is equipped with a self-propelled parts replenishment device V for replenishment. As a result, the component D can be automatically taken out from the component storage device S (component storage unit) and supplied to the component mounting devices M3 to M6.

Next, with reference to FIG. 20, a second embodiment of the tape cassette C1 in which the carrier tape 14 is wound and stored and supplied to the tape feeder 7 will be described. Hereinafter, the same configurations as those of the first embodiment shown in FIGS. 6 and 7 are designated by the same reference numerals, and detailed description thereof will be omitted. The tape cassette C1 of the second embodiment is different from the first embodiment in that the reel L for winding and storing the carrier tape 14 is stored inside. FIG. 20A shows a state in which the transparent cover 101 and the opaque cover 102 are attached to the tape cassette C1, and FIG. 20B shows a state in which the transparent cover 101 and the opaque cover 102 are removed.

In FIG. 20A, a transparent cover 101 such as an acrylic plate is attached to the front surface of the reel L stored in the tape cassette C1. An opaque cover 102 such as a metal plate is attached to the front surface of the tape extrusion mechanism 33. A bar code 103 is attached to the side surface of the reel L, and the bar code 103 can be read through the transparent cover 101. That is, the tape cassette C1 can read the identification information N by reading the barcode 103 with the barcode reader with the transparent cover 101 and the opaque cover 102 attached. The tape cassette C1 can reduce the man-hours for transferring the carrier tape 14 by storing the carrier tape 14 delivered by the vendor in the tape cassette C1 as the reel L.

Next, a second embodiment of the self-propelled parts replenishment device V1 and the carriage 110 will be described with reference to FIGS. 21 and 22. Hereinafter, the same configurations as those of the first embodiment shown in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted. The self-propelled parts replenishment device V1 and the carriage 110 of the second embodiment are different from the first embodiment in that the tape cassette C is replaced without connecting the storage unit 52 to the carriage 110.

In FIG. 21, the self-propelled parts replenishment device V1 is configured by laminating a carriage portion 50, a support device 111, and a storage portion 52 from below. The lower portion of the support device 111 is fixed to the carriage portion 50, and the upper portion is fixed to the storage portion 52 to support the storage portion 52 from below. The support device 111 has a built-in slider and a motor that move the upper part in the horizontal direction (X direction, Y direction) and the vertical direction (Z direction) with respect to the lower part, and the motor is driven and controlled by the supply control unit 55. The storage unit 52 is moved.

In FIG. 22, two light-shielding sensors 112 are arranged at positions facing the carriage 110 when the tape cassette C is replaced in the carriage portion 50. In FIG. 21, in the carriage 110, two dogs 113 that shield the light-shielding sensor 112 from light are arranged at positions facing the carriage portion 50 when the tape cassette C is replaced. When the tape cassette C is replaced, the dog 113 shields the light-shielding sensor 112 from light. The detection result of the light-shielding sensor 112 is sent to the supply control unit 55.

In FIG. 22, two laser displacement meters 114 are arranged in the storage unit 52 at positions facing the carriage 110 when the tape cassette C is replaced. In FIG. 21, two targets 116 that reflect the laser beam 115 emitted from the laser displacement meter 114 are arranged at positions facing the storage portion 52 when the tape cassette C is replaced in the carriage 110. When the tape cassette C is replaced, the position of the storage unit 52 with respect to the carriage 110 is measured by the laser beam 115 returned by the laser displacement meter 114 irradiating the target 116. The measurement result is sent to the supply control unit 55.

Next, the replacement preparation step (ST4) in the self-propelled parts replenishment device V1 will be described. First, the self-propelled parts replenishment device V1 moves to the front of the carriage 110 on which the tape feeder 7 to be replenished is mounted. After that, the light-shielding sensor 112 moves at a low speed in the direction of the carriage 110 (Y direction) until the light-shielding sensor 112 detects light-shielding. As a result, the rough alignment of the self-propelled parts replenishing device V1 with respect to the carriage 110 is completed. This position is the stop position. Next, the position of the storage unit 52 with respect to the carriage 110 is measured by the laser displacement meter 114, and based on the measurement result, the supply control unit 55 controls the support device 111 to accurately position the self-propelled parts supply device V1 with respect to the carriage 110. Make a match.

In this way, the self-propelled parts replenishment device V1 is provided with the storage unit 52 (storage container storage unit) above and automatically moves or stops, and the positions of the self-propelled parts supply device V1 with respect to the parts mounting devices M3 to M6. It is equipped with a position measuring means (light-shielding sensor 112, laser displacement meter 114) for measuring. Then, when the tape cassette C (storage container) is moved between the storage unit 52 and the cassette holder 15 (storage container holding device) by the storage container transfer unit (cassette replenishment mechanism 58, cassette collection mechanism 61), the trolley unit is used. Reference numeral 50 denotes a self-propelled component replenishment device V1 stopped at a predetermined stop position with respect to the component mounting devices M3 to M6 based on the measurement result of the position measuring means.

Further, the supply control unit 55 monitors the measurement result of the laser displacement meter 114 even during the replacement of the tape cassette C. Then, when the storage unit 52 deviates from the stop position due to the operator colliding with the self-propelled parts replenishment device V1, the replacement work is interrupted, and the trolley unit 50 and the support device 111 are controlled to align the storage unit 52 with the stop position. That is, when the self-propelled parts replenishment device V1 deviates from the stop position, the storage container transfer portion interrupts the movement of the tape cassette C (storage container), and the trolley portion 50 (traveling means) and the support device 111 replenish the self-propelled parts. The position of the device V1 is corrected so that it becomes the stop position. As described above, since the trolley 110 does not require the connecting portion 63, the structure of the trolley 110 is simplified.

Next, a third embodiment of the self-propelled parts replenishment device V2 will be described with reference to FIG. 23. Hereinafter, the same configurations as those of the first embodiment shown in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted. In the self-propelled parts replenishment device V2 of the third embodiment, the reel L (storage container) is replenished and collected instead of the tape cassette C, and the storage container relocation portion is an articulated robot. It's different from the example.

The self-propelled parts replenishment device V2 is configured by laminating the carriage portion 50 and the storage portion 120 from below. The storage unit 120 is fixed to the carriage unit 50. In the storage unit 120, a replenishment reel storage shelf 121a for storing the replenishment reel L and a collection reel storage shelf 121b for storing the collected reel L are arranged vertically. An articulated robot 122 is arranged above the storage unit 120. The tip 123 of the articulated robot 122 is a gripping device that grips the reel L, a camera or sensor that recognizes the position information of the tip 123 of the articulated robot 122 and the tape insertion slot 7d of the tape feeder 7, and the reel L. An insertion device (tape insertion means) for inserting the carrier tape 14 wound around and stored in the tape insertion port 7d is provided.

When the self-propelled parts supply device V2 replaces the reel L, it moves to the front surface of the target parts mounting devices M3 to M6, and is provided on the parts mounting device main body or the carriage 131 by the articulated robot 122 and the tip portion 123. The positioning mark (not shown) is recognized, and the position information of the articulated robot 122 and the tip portion 123 is recognized. Next, the articulated robot 122 and the tip portion 123 take out the reel L to be replenished from the replenishment reel storage shelf 121a, place it on the cassette holder 15, recognize the tape insertion port 7d of the tape feeder 7 with the camera, and carry the carrier tape. 14 is inserted into the tape insertion slot 7d. Further, the articulated robot 122 and the tip portion 123 collect the used reel L from the cassette holder 15 and place it on the collection reel storage shelf 121b.

The self-propelled parts replenishment device V2 recognizes and corrects the position of the parts mounting device main body or the carriage 131 by a camera or a sensor provided at the tip portion 123, and is a reel L gripped by the articulated robot 122 and the tip portion 123. Since the self-propelled parts replenishing device V2 recognizes the position, the position of the tape feeder 7, and corrects the positional relationship between itself and the trolley 131, the self-propelled parts replenishing device V2 and the trolley 131 are mechanically adjusted. Alignment is possible without connecting to. The positioning mark may be provided not on the carriage 131 but on the component mounting device main body to which the carriage 131 is connected. Here, the camera or sensor provided at the tip portion 123 serves as a recognition means for recognizing the positioning marks provided on the component mounting devices M3 to M6 (including the carriage 131).

In this embodiment, the replenishment reel storage shelf 121a and the collection reel storage shelf 121b are arranged vertically in the storage unit 120, but the arrangement of the shelves is not limited to this. Replenishment reels and collection reels may be arranged in a mixed manner on the upper and lower shelves, or a storage shelf in which a supply reel and a collection reel can be arranged in a mixed manner on only one of the upper and lower shelves may be provided.

In the present embodiment, the parts storage unit for storing the storage container (tape cassette C, reel L) is not limited to the parts storage device S. The operator reads the identification information N of the storage container by a mobile terminal capable of wirelessly communicating with the management computer 3, stores it in the parts warehouse (parts storage unit), and stores the storage container according to the instruction sent from the management computer 3 to the mobile terminal. May be taken out and stored in the self-propelled parts supply device V.

In the present embodiment, the storage containers (tape cassette C, reel L) for storing the component D are replenished and collected from the component supply devices (tape feeders 7) mounted on the component mounting devices M3 to M6. However, the present invention is not limited to this, and the component supply device (hereinafter, referred to as “built-in tape feeder 130”) itself containing the component D (carrier tape 14) is used by the self-propelled component replenishment device V to mount the components M3 to M4. It may be replenished and collected. Further, a reel holder for holding the reel L may be provided, and the reel L may be replenished and collected by a component supply device that can be integrally moved with the carrier tape 14 (component D) wound and stored in the reel L.

Hereinafter, using FIGS. 24 to 27 as an example, the configuration of the self-propelled parts replenishing device V for replenishing and collecting the parts supply device to the parts mounting devices M3 to M6 and the replenishment / recovery using the built-in tape feeder 130 as an example. The operation of is described. Since the basic operation and configuration are almost the same as those for the tape cassette C, the operation of aligning the self-propelled parts replenishing device V and replenishing and collecting the built-in tape feeder 130 to the parts mounting devices M3 to M6. Only the part will be explained.

First, a fourth embodiment of the self-propelled parts replenishment device V3 and the trolley 131 for replenishing and collecting the built-in tape feeder 130 will be described with reference to FIGS. 24 and 25. Hereinafter, the same configurations as those of the first embodiment shown in FIGS. 10 and 11 are designated by the same reference numerals, and detailed description thereof will be omitted. Above the carriage 131, a plurality of built-in tape feeders 130 are detachably mounted in parallel in the X direction. A grip portion 130a is provided on the front surface of the built-in tape feeder 130 (the outer surface when mounted on the component mounting devices M3 to M6). In the carriage 131, a connecting portion 63 is arranged in front of the built-in tape feeder 130.

In FIG. 24, the self-propelled parts replenishment device V3 is configured by laminating a carriage portion 50, a support portion 51, and a storage portion 132 from below. In FIG. 25, in the storage unit 132, the supply feeder storage shelf 132a for storing the built-in tape feeder 130 to be replenished and the collection feeder storage shelf 132b for storing the collected built-in tape feeder 130 are in the X direction (self-propelled parts replenishment device V3). It is provided side by side in the traveling direction of. A connecting roller 62a and a connecting hook 62b are arranged on the outer wall of the storage portion 132 in the X direction, respectively (see also FIG. 25).

In FIG. 24, an X-axis beam 133x is arranged along the X direction on the ceiling of the storage unit 132. The X-axis beam 133x is provided with an X-axis slider 133a driven by an X-axis linear drive mechanism so as to be movable in the X direction along the X-axis beam 133x (arrow p2 in FIG. 25). The X-axis moving mechanism is configured by the X-axis beam 133x, the X-axis slider 133a, and the X-axis linear drive mechanism.

A Y-axis beam 133y is arranged below the X-axis slider 133a along the Y direction (direction orthogonal to the traveling direction of the self-propelled parts replenishing device V). The Y-axis beam 133y is provided with a Y-axis slider 133b driven by a linear drive mechanism so as to be movable in the Y direction along the Y-axis beam 133y (arrow p1). The Y-axis moving mechanism is configured by the Y-axis beam 133y, the Y-axis slider 133b, and the Y-axis linear drive mechanism.

A transfer head 134 is mounted on the Y-axis slider 133b. The transfer head 134 is provided with a gripping device 134a. The gripping device 134a grips the grip portion 130a of the built-in tape feeder 130 on the carriage 131, the replenishment feeder storage shelf 132a, and the collection feeder storage shelf 132b.

The X-axis moving mechanism, the Y-axis moving mechanism, and the transfer head 134 constitute a feeder transfer mechanism. The feeder transfer mechanism grips the built-in tape feeder 130 to be replenished stored at a predetermined position of the replenishment feeder storage shelf 132a, takes it out from the storage unit 132, and outside the storage unit 132 in the X direction and the Y direction. Move it and attach it to the trolley 131. Further, the feeder transfer mechanism grips the built-in tape feeder 130 to be collected mounted on the trolley 131, moves in the X direction and the Y direction outside the storage unit 132, and moves to a predetermined position of the collection feeder storage shelf 132b. Store.

Next, the operation of the self-propelled parts replenishment device V3 to replenish and collect the built-in tape feeder 130 will be described. The step of storing the built-in tape feeder 130 to be replenished by the self-propelled parts replenishing device V3 (replenishment cassette storage step (ST3)) and the step of connecting to the connecting portion 63 (replacement preparation step (ST4)) are first. The present invention is the same as that of the embodiment, and the description thereof will be omitted. When the storage unit 132 is connected to the connecting unit 63, the feeder transfer mechanism transfers the built-in tape feeder 130 to be collected from the trolley 131 to the collection feeder storage shelf 132b and stores it, and replenishes the tape feeder 130 from the replenishment feeder storage shelf 132a. The built-in tape feeder 130 is transferred to the trolley 131 and attached to the trolley 131.

Next, a fifth embodiment of the self-propelled parts replenishment device V4 and the carriage 141 for replenishing and collecting the built-in tape feeder 130 will be described with reference to FIGS. 26 and 27. Hereinafter, the same components as those of the second embodiment shown in FIGS. 21 and 22 and the fourth embodiment described above will be designated by the same reference numerals, and detailed description thereof will be omitted. A plurality of built-in tape feeders 130 are detachably mounted in parallel in the X direction above the carriage 141. The self-propelled parts replenishment device V4 is configured by laminating a carriage portion 50, a support device 111, and a storage portion 132 from below. The shading sensor 112 is arranged on the carriage 50, the dog 113 is arranged on the carriage 141, the laser displacement meter 114 is arranged on the storage 132, and the target 116 is arranged on the carriage 141.

In the replacement preparation step (ST4), the operation of the self-propelled parts replenishing device V4 to align with the trolley 141 is the same as that of the second embodiment (self-propelled parts replenishing device V1 and the trolley 110). Omit. The operation of the self-propelled parts replenishing device V4 to replenish and collect the built-in tape feeder 130 after the alignment is the same as that of the self-propelled parts replenishing device V3 of the fourth embodiment, and the description thereof will be omitted.

In addition, each of the examples described above can be carried out in combination as appropriate.

The component mounting system of the present invention has an effect of reducing the work of a worker involved in component replacement work, and is useful in the field of component mounting in which components are mounted on a substrate.

1 Parts mounting system 3 Management computer (Parts information management department)
15 Cassette holder (storage container holding device)
51 Support part 52, 120, 132 Storage part (storage container storage part)
52a Replenishment cassette storage (first area)
52b Recovery cassette storage (second area)
63 Connecting part 112 Light-shielding sensor (position measuring means)
114 Laser displacement meter (position measuring means)
B board C, C1 tape cassette (storage container)
D component Hu upper holding position (first holding position)
Hd downward holding position (second holding position)
L reel (storage container)
M3 to M6 component mounting device R RF reader (information reader)
S Parts storage device (parts storage unit)
T wireless communication unit V, V1, V2, V3, V4 Self-propelled parts replenishment device

Claims (9)

A component mounting device that mounts components on a board,
A self-propelled parts replenishment device that automatically moves a container for storing a plurality of the reels and replenishes the parts of the reel to the parts mounting device.
A parts storage unit for storing the container is provided.
The component mounting device includes a holding device for holding the container.
The self-propelled parts replenishment device
A storage unit for storing the container and
A transfer unit for moving the container between the storage unit and the holding device and between the storage unit and the component storage unit is provided.
The holding device has a first holding position for holding the container, and a second holding position for holding the container at a position lower than the first holding position,
The storage unit has a first area and a second area located below the first area.
The transfer unit moves the first container for storing the replenished reels from the first area to the first holding position, and moves the second container for storing the used reels from the second holding position. is moved to the second area,
The second container holds the first container in the first holding position.
When the second container held in the second holding position is pulled out, the first container held in the first holding position falls to the second holding position and moves. Implementation system. The second holding position, the component mounting system according to claim 1 for holding the first said container is replenished prior to said container held in the holding position. The first area according to claim 1 or 2, wherein the first area stores the first container for storing a reel to be replenished, and the second area stores the second container for storing a used reel. Component mounting system. The component mounting system according to any one of claims 1 to 3, wherein the self-propelled component replenishment device includes an information reading unit that reads identification information attached to the container. The component mounting system according to any one of claims 1 to 3, wherein an information reading unit for reading identification information attached to the container is provided in the first area. The information reading unit reads the identification information at least when the container is moved from the parts storage unit to the storage unit or after the container is moved from the parts storage unit to the storage unit. Item 4. The component mounting system according to item 4 or 5. It also has a parts information management unit that stores and manages the information of the parts.
The self-propelled parts replenishment device includes a wireless communication unit capable of wireless communication with the parts information management unit.
The self-propelled parts replenishment device transmits the identification information read by the information reading unit to the parts information management unit via the wireless communication unit.
The component mounting system according to any one of claims 4 to 6, wherein the component information management unit confirms whether or not the container is a reel to be moved based on the transmitted identification information. The seventh aspect of claim 7, wherein at least one of the self-propelled parts replenishment device or the parts information management unit includes a storage unit that stores the position of the container stored in the storage unit and the identification information. Component mounting system. The parts storage unit can communicate with the parts information management unit, and can communicate with the parts information management unit.
The parts information management unit transmits information on the container to be supplied to the parts storage unit.
The component storage section, the basis of the information from the component information management unit, the container to be the supply said transfer portion of said free-running component supply device is located movable position, according to claim 7 or 8 Component mounting system.

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