JP7352779B2 - Component mounting equipment - Google Patents

Description

The present invention relates to a component mounting apparatus that uses a mounting head to pick up components supplied by a tray feeder and mounts them on a board.

The component mounting apparatus uses a mounting head to pick up the components supplied by the component supply section and mounts them on the board. Various forms of component feeding units are used in such component mounting apparatuses, and among these, a tray feeder is known as one that can feed relatively large components. In the tray feeder, a plurality of pallets are housed in a vertical direction inside a magazine that is a pallet storage body, and each pallet holds a tray that can individually accommodate parts. When parts are to be supplied, a pallet holding a tray containing the parts to be supplied is pulled out from the magazine and positioned at a predetermined parts supply position (for example, see Patent Document 1 below).

In a component mounting apparatus equipped with such a tray feeder, after a component is picked up by the mounting head, there may be a situation where the component cannot be mounted on the board for some reason. In such a case, in order to collect the parts as recovered parts, the tray feeder stores the pallet that had been supplying the parts in the magazine, pulls out the recovery pallet (recovery pallet), and inserts the part into the mounting head. Place the recovered parts on the recovery pallet. Then, the recovery pallet on which the parts are placed is stored in the magazine, and the parts supply pallet is again pulled out and positioned at the parts supply position. The collected parts placed on the collection pallet are then subjected to repairs, etc., and then set on the tray again.

Japanese Patent Application Publication No. 2015-170726

However, in the above-mentioned conventional component mounting apparatus, the recovered components placed on the recovery pallet do not lie down in the normal position, but are tilted due to getting caught on other recovered components that were previously placed on the recovery pallet. If the collecting pallet is placed in the magazine in this position (upright position with respect to the collecting pallet), the collected parts will be caught between the magazine and the pallet and will be damaged. There was a problem that there was a risk.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a component mounting apparatus that does not cause damage to recovered components even when the recovered components placed on a pallet are not in a normal lying position.

The component mounting apparatus of the present invention includes a tray feeder that supplies components by pulling out a pallet holding a tray in which components are stored from among a plurality of pallets that are provided in a pallet storage body so as to be freely drawn out and stored; a mounting head that picks up the components supplied by the tray feeder and mounts them on the board; and a mounting head that picks up the components that are supplied by the tray feeder and mounts them on the board; height detection means for detecting the height of the collected parts placed on the pallet when placed on the pulled out pallet; and a height of the collected parts detected by the height detection means is predetermined. If it is determined that the height of the recovered parts exceeds the allowable height, the pallet on which the recovered parts are placed is placed inside the pallet storage body. and a judgment regulation section that regulates the motion to be stored.

According to the present invention, even if the recovered parts placed on the pallet are not in the normal lying position, there is no risk of damaging the recovered parts.

A side view of a component mounting apparatus according to an embodiment of the present invention (a) (b) Cross-sectional perspective views showing the configuration of a pallet and a tray of a tray feeder included in a component mounting apparatus according to an embodiment of the present invention (a) (b) Side views illustrating the operation of the tray feeder in an embodiment of the present invention (a) (b) Side views illustrating the operation of the tray feeder in an embodiment of the present invention A cross-sectional perspective view of a portion of a magazine showing a state in which recovered parts are placed on a recovery pallet included in a tray feeder according to an embodiment of the present invention. (a) (b) (c) (d) Diagrams illustrating an example of the mounting state of collected parts placed on a collection pallet included in a tray feeder according to an embodiment of the present invention A side view of the magazine showing a state in which the collected parts on the collecting pallet interfere with other members in the magazine when the tray feeder pulls the collecting pallet into the magazine according to an embodiment of the present invention A side view showing a state in which the height of a component placed on a collection pallet of a tray feeder in an embodiment of the present invention is detected A diagram showing an example of measurement points for collected parts placed on a collection pallet of a tray feeder according to an embodiment of the present invention. A diagram showing how parts returned to the tray of a tray feeder in an embodiment of the present invention are in a tilted state.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a component mounting apparatus 1 in one embodiment of the present invention. The component mounting apparatus 1 is an apparatus that repeatedly performs a component mounting operation of mounting a component BH on a board KB brought in from an upstream process side and transporting it to a downstream process side. For convenience of explanation, here, the conveyance direction of the board KB in the component mounting apparatus 1 (the left-right direction as seen from the worker OP) is assumed to be the X-axis direction, and the horizontal direction perpendicular to the X-axis direction (the front-rear direction as seen from the worker OP) is the Y-axis direction. Further, the vertical direction is the Z-axis direction.

In FIG. 1, the component mounting apparatus 1 includes a base 11, a substrate conveyor 12, a tray feeder 13, a mounting head 14, a head moving mechanism 15, a substrate camera 16, a component camera 17, and a height detection sensor 18. The base 11 is installed on the floor FL, and the substrate conveyor 12 is provided extending on the base 11 in the X-axis direction. The board conveyor 12 carries in the board KB sent from the upstream process side, positions it at a predetermined work position, and transports the board KB on which components have been mounted to the downstream process side.

In FIG. 1, the tray feeder 13 functions as a component supply section in the component mounting apparatus 1, and supplies components BH to a predetermined component supply position 13K. As shown in FIG. 1, the tray feeder 13 includes a truck 21 connected to the base 11, a magazine 22 and a pallet moving mechanism 23 provided on the truck 21. A plurality of pallet storage sections 22H are formed in the magazine 22 in line with each other in the vertical direction, and a pallet 31 is accommodated in each pallet storage section 22H so as to be horizontally removable.

Among the plurality of pallet storage sections 22H arranged in the vertical direction inside the magazine 22, the trays 32 are placed on the pallets 31 stored in the pallet storage sections 22H excluding the uppermost stage. As shown in FIG. 2(a), the tray 32 has a shape in which a plurality of pockets 32P are arranged in a matrix, and one component BH is stored in each of the plurality of pockets 32P. . The tray 32 is detachably fixed onto the pallet 31 by a tray fixing member 33.

In FIG. 1, the pallet moving mechanism 23 has a ball screw 41 extending in the vertical direction. A block nut 42 is screwed onto the ball screw 41, and a pallet support table 43 is coupled to the block nut 42. The ball screw 41 is connected to a lifting motor 44 provided on the truck 21. When the lifting motor 44 rotates the ball screw 41, the block nut 42 moves vertically on the ball screw 41, and the pallet support table 43 moves up and down together with the block nut 42 (as shown by the arrow A in FIG. 1). ).

In FIG. 1, a locking rod 45 is provided on the upper surface of the pallet support table 43. As shown in FIG. As shown in FIGS. 2(a) and 2(b), the locking rod 45 has a shape extending in the X-axis direction. The locking rod 45 can be moved in the Y-axis direction on the pallet support table 43 by a rod movement mechanism (not shown) (arrow B shown in FIG. 1).

When the tray feeder 13 supplies the component BH to the component supply position 13K, the tray feeder 13 operates the lifting motor 44 to rotate the ball screw 41, so that the tray 32 containing the component BH to be supplied is held. A pallet support table 43 is positioned at the height of the pallet 31. Then, the locking rod 45 is moved forward (to the side of the worker OP), and both ends of the locking rod 45 are locked to the two locking portions 31a of the pallet 31 (Fig. 2(a) → Fig. 2( b)). When both ends of the locking rod 45 are locked with the two locking parts 31a of the pallet 31, the locking rod 45 is moved backward (to the side away from the worker OP) (FIG. 3(a). arrow B1). As a result, the pallet 31 is transferred to the pallet support table 43 (FIG. 3(a)).

When the pallet 31 is transferred to the pallet support table 43, the tray feeder 13 operates the lifting motor 44 to raise the pallet support table 43 to the parts supply position 13K (FIG. 3(b), as shown in the figure). Arrow A1). As a result, the pallet 31, that is, the tray 32 is located at the component supply position 13K, and the component BH is supplied to the component supply position 13K.

When returning the pallet 31 located at the component supply position 13K into the magazine 22, the tray feeder 13 operates the lifting motor 44 to lower the pallet support table 43 (arrow A2 shown in FIG. 4(a)). , the pallet 31 is positioned at the height of the pallet storage section 22H in which it was originally stored (FIG. 4(a)). Then, by moving the locking rod 45 forward and pushing out the pallet 31 on the pallet support table 43 toward the magazine 22 (arrow B2 shown in FIG. 4(b)), the pallet 31 is stored in the pallet storage section 22H (see FIG. 4(b)). When the pallet 31 is stored in the pallet storage portion 22H, both ends of the locking rod 45 are released from the two locking portions 31a of the pallet 31, and the locking rod 45 is moved rearward. This brings the pallet 31 back into the magazine 22.

In this way, the tray feeder 13 in the first embodiment has a pallet 31 that holds a tray 32 containing a component BH among a plurality of pallets 31 that are provided in a magazine 22 that is a pallet storage body so as to be freely drawn out and stored. The structure is such that the parts BH are supplied by drawing them out from the magazine 22.

In FIG. 1, the mounting head 14 includes a nozzle 14N extending downward. The nozzle 14N can move up and down relative to the mounting head 14 and rotate around the Z axis. The mounting head 14 can pick up the component BH that the tray feeder 13 supplies to the component supply position 13K by adsorbing it to the lower end of the nozzle 14N. The head moving mechanism 15 is composed of, for example, an XY moving mechanism, and moves the mounting head 14 in a horizontal direction.

In FIG. 1, a board camera 16 is attached to the mounting head 14. The board camera 16 has its imaging optical axis directed downward, and moves together with the mounting head 14 to take an image of the board KB positioned at the work position by the board transport conveyor 12.

In FIG. 1, the component camera 17 is provided on the base 11 in an area in front of the substrate conveyor 12 (on the operator OP side). The component camera 17 has its imaging optical axis directed upward, and images the component BH picked up by the mounting head 14 with the nozzle 14N from below.

In FIG. 1, a height detection sensor 18 is attached to the mounting head 14. The height detection sensor 18 detects the height of an object located below the height detection sensor 18 by receiving reflected light of the detection light emitted downward.

In FIG. 1, a component mounting apparatus 1 includes a control device 50 and a touch panel 51. The control device 50 controls the operations of the substrate conveyor 12, tray feeder 13, mounting head 14, head moving mechanism 15, substrate camera 16, component camera 17, and height detection sensor 18 in the operation control section 50a. The touch panel 51 is connected to the control device 50 and functions as an input/output device with the control device 50. Therefore, the operator OP can perform necessary input operations to the control device 50 from the touch panel 51, and the control device 50 can give necessary commands and notifications to the operator OP through the touch panel 51.

When the component mounting apparatus 1 performs component mounting work, the control device 50 first operates the board conveyor 12 to receive the board KB sent from the upstream process side and position it at a work position. After the substrate KB is positioned at the working position by the substrate conveyor 12, the head moving mechanism 15 is activated to move the mounting head 14 above the substrate KB, and the substrate camera 16 is caused to image the substrate KB. The control device 50 performs image recognition based on the image captured by the board camera 16 and recognizes the board KB.

When the control device 50 recognizes the board KB, it operates the tray feeder 13, pulls out the pallet 31 holding the tray 32 containing the component BH to be supplied from the magazine 22, and positions it at the component supply position 13K. . When the component BH is thereby supplied to the component supply position 13K, the control device 50 operates the head moving mechanism 15 and the mounting head 14 in conjunction with each other to cause the mounting head 14 to repeatedly perform mounting turns ( Arrow C) shown in FIG.

In one mounting turn, the mounting head 14 moves from above the tray feeder 13 to above the component camera 17 and above the board KB. The mounting head 14 picks up the component BH located at the component supply position 13K above the tray feeder 13, causes the component camera 17 to take an image of the component BH above the component camera 17, and picks up the component BH located above the board KB. Attach BH to board KB. The control device 50 recognizes the component BH based on image data obtained by imaging the component BH with the component camera 17. When the component BH is mounted on the board KB by the mounting head 14, the position of the component is corrected using the recognition result.

When it becomes necessary to change the type of component BH to be mounted on the board KB, the control device 50 stores and pulls out the pallet 31 in the manner described above, and moves the pallet 31 located at the component supply position 13K to ( That is, the tray 32) is replaced. When all the parts BH to be mounted on the board KB are mounted, the control device 50 operates the board conveyor 12 to transport the board KB to the downstream process side.

In such component mounting work, the control device 50 detects whether the component camera 17 cannot recognize the component BH for some reason or if a defective part is found in the component BH based on the recognition result in each of the mounting turns. In such a case, the part BH is collected as a collected part (symbol is "BHK"). The recovered parts BH are then repaired so that they can be reused.

To specifically explain the procedure for collecting the recovered parts BHK, the tray feeder 13 first stores the pallet 32 located at the parts supply position 13K (the pallet 32 in which the recovered parts BHK was stored) into the magazine 22. . Among the plurality of pallets 31 stored in the magazine 22, a special collection pallet 31R for placing collected parts is stored in the uppermost pallet storage section 22H (Fig. 1), and a tray feeder 13 pulls out the recovery pallet 31R from the magazine 22 and positions it at the parts supply position 13K.

When the collection pallet 31R is located at the component supply position 13K, the mounting head 14 places the collection parts BHK on the collection pallet 31R. The tray 32 is not held on the recovery pallet 31R, and the recovery parts BHK can be placed at any position on the recovery pallet 31R (FIG. 5).

After the mounting head 14 places the recovered parts BHK on the recovery pallet 31R, the tray feeder 13 stores the recovery pallet 31R in the magazine 22. This completes the recovery of the recovered parts BHK. When the collection of the collected parts BHK is completed, the tray feeder 13 again pulls out the pallet 31 (the pallet 31 in which the collected parts BHK was stored) that was stored in the magazine 22 before collecting the collected parts BHK, and moves it to the parts supply position 13K. position. When the pallet 31 is located at the component supply position 13K, the mounting head 14 resumes the component mounting operation.

Here, as described above, when the mounting head 14 places the recovered component BHK on the recovery pallet 31R, the recovered component BHK does not take the normal lying position as shown in FIG. A tilted posture (an upright posture with respect to the recovery pallet 31R) due to getting caught on another recovered part BHK that was previously placed on the pallet 31R or getting caught on the edge 31F of the recovery pallet 31R. (Fig. 6(b), (c)). Alternatively, the collected parts BHK may be placed on top of another collected parts BHK that was placed earlier (FIG. 6(d)). In such a case, if the collection pallet 31R is stored in the magazine 22 as it is, the collected parts BHK that is in a tilted position (or a position that overlaps with other collected parts BHK) will be exposed to other members in the magazine 22 ( Here, there is a risk that it will interfere with the ceiling member 22T of the magazine 22 (FIG. 7) and be caught between the recovery pallet 31R and other members in the magazine 22 and be damaged.

For this purpose, in the component mounting apparatus 1 according to the present embodiment, the component BH once picked up by the mounting head 14 is placed on one of the plurality of pallets 31 (here, a collection pallet 31R) as a recovered component BHK without mounting the component BH on the board KB. ), the height detection sensor 18 detects the height of the recovered parts BHK placed on the recovery pallet 31R. Specifically, first, the control device 50 operates the head moving mechanism 15 to move the mounting head 14 above the recovery pallet 31R, and the board camera 16 positions the recovered parts BHK placed on the recovery pallet 31R. Understand. As shown in FIG. 8, the detection light LT is emitted downward from the height detection sensor 18 and the detection light LT receives the light (reflected light) reflected from the surface of the recovered part BHK. Based on this, the height of the recovered component BHK from the reference position KJ (for example, the floor surface FL where the component mounting device 1 is installed) is defined as the "recovered component height Hk" (see also FIGS. 6(a) to 6(d)). To detect.

An example of a specific procedure for determining the recovered component height Hk performed as described above is as follows: First, three arbitrary corners of the four corners on the surface of the recovered component BHK are set as three measurement points PK. (Figure 9). Setting of these three measurement points PK is performed using an image of the collected parts BHK captured by the board camera 16. After setting the three measurement points PK, the height Ht (FIG. 8) of each measurement point PK from the reference position KJ is detected. Then, the maximum value of the heights Ht of each of the three measurement points PK obtained is determined as the collected parts height Hk.

Here, the height detection sensor 18 measures the distance Hm in the vertical direction between the height detection sensor 18 and the measurement point PK on the recovered parts BHK, as shown in FIG. corresponds to the difference (HS-Ht) obtained by subtracting the height of the measurement point PK from the reference position KJ from the known vertical distance HS between the height detection sensor 18 and the reference position KJ (Fig. 8 ). Therefore, if the height detection sensor 18 measures the distance Hm between the height detection sensor 18 and the measurement point PK, the height Ht of the measurement point PK from the reference position KJ can be obtained, and the three measurements By determining the height Ht about the point PK, the collected parts height Hk can be detected.

As described above, in the present embodiment, the height detection sensor 18 detects a pallet pulled out from the magazine 22 among the plurality of pallets 31 as a recovered component BHK without mounting the component BH once picked up by the mounting head 14 on the board KB. When the collected parts BHK are placed on the pallet 31, the height detecting means detects the height of the recovered parts BHK placed on the pallet 31.

As shown in FIG. 1, the control device 50 includes a judgment regulation section 50b. The judgment regulation unit 50b determines whether the collected parts height Hk exceeds the permissible height by comparing the collected parts height Hk detected by the height detection sensor 18 with a predetermined permissible height. do. If it is determined that the recovered parts height Hk detected by the height detection sensor 18 exceeds the allowable height, the operation control unit 50a restricts the operation of storing the recovered pallet 31R in the magazine 22. (prohibit.

The allowable height is defined as a height at which the recovered parts BHK placed on the recovery pallet 31R does not interfere with other members in the magazine 22 when the recovery pallet 31R is returned into the magazine 22. . Here, since the collection pallet 31R is stored in the uppermost pallet storage section 22H, "other members in the magazine 22" specifically refers to the members directly above the collection pallet 31R, that is, the magazine 22 ceiling member 22T (FIG. 7).

Therefore, if the height of the recovered parts BHK placed on the recovery pallet 31R does not exceed the allowable height, the recovery pallet 31R is stored in the magazine 22, but the recovery pallet 31R is If the height of the mounted collection parts BHK exceeds the permissible height, the collection pallet 31R is not stored in the magazine 22. Therefore, even if the recovered parts BHK placed on the recovery pallet 31R are not in the normal lying position and are in a tilted position (Figs. 6(b), (c), (d) )), the recovered parts BHK will not be caught between the recovery pallet 31R and other members in the magazine 22, and there is no fear that the recovered parts BHK will be damaged.

Further, in the present embodiment, when the judgment regulation unit 50b judges that the recovered parts height Hk exceeds the permissible height, it issues a warning to the operator OP through the touch panel 51. When the operator OP who comes into contact with this alarm removes the recovered parts BHK from the tray 32, the recovery pallet 31R can be stored in the magazine 22, so the operator OP can perform the necessary operations from the touch panel 51. By doing so, the recovery pallet 31R can be stored in the magazine 22, and the component mounting work by the component mounting apparatus 1 can be restarted. As described above, in the present embodiment, the touch panel 51 serves as an alarm means that issues an alarm when the judgment regulation section 50b determines that the collected parts height Hk exceeds the permissible height.

In the above explanation, the recovered parts BHK are collected by being placed on the recovery pallet 31R, but the recovered parts BHK are placed on the pallet 31 (in detail, the tray 32 It can also be returned to the pocket 32P) and collected. In this case as well, the control device 50 performs the same control as when the recovered parts BHK are placed on the recovery pallet 31R.

As a result, if the collected parts BHK placed in the pocket 32P of the tray 32 by the mounting head 14 is caught on the edge of the tray 32 and is in a tilted position (upright position) as shown in FIG. In this case, the operation of storing the pallet 31 in the magazine 22 is restricted, and a situation where the recovered parts BHK is pinched between the pallet 31 and other members in the magazine 22 and damaged is prevented. In addition, "other members in the magazine 22" in this case are other members stored in another pallet storage part 22H immediately above the pallet storage part 22H to which the pallet 31 on which the recovered parts BHK is placed is returned. Points to pallet 31. Furthermore, in this case as well, an alarm is issued to the operator OP through the touch panel 51, so that the operator OP waits until the operator OP removes the collected parts BHK from the tray 32 and then starts the component mounting work using the component mounting apparatus 1. It can be restarted.

As described above, in the component mounting apparatus 1 according to the present embodiment, the mounting head 14 does not mount the picked-up component BH onto the board KB, but instead uses the plurality of pallets 31 (including the collection pallet 31R) as the recovered component BHK. ), the height detection sensor 18 detects the height of the recovered parts BHK placed on the pallet 31. Then, the judgment regulation unit 50b judges whether the recovered parts height Hk detected by the height detection sensor 18 exceeds a predetermined allowable height, and as a result, the recovered parts height Hk is allowed to exceed the allowable height. If the height is exceeded, the operation of storing the pallet 31 on which the recovered parts BHK is placed in the magazine 22 is restricted.

Therefore, in the component mounting apparatus 1 according to the present embodiment, the collected parts BHK placed on the pallet 31 may get caught on other collected parts BHK placed on the pallet 31 earlier or on the edge 31F of the pallet 31. Even if it is not in the normal lying position with respect to the pallet, such as when it is sitting up, or when it is stacked on top of another recovered part BHK that was placed earlier, The recovered parts BHK are not pinched between the pallet 31 and the magazine 22, and there is no risk of damaging the recovered parts BHK.

Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, and various modifications and the like are possible. For example, in the above embodiment, the collection pallet 31R is stored in the uppermost pallet storage section 22H of the magazine 22, but the collection pallet 31R is not necessarily stored in the uppermost pallet storage section 22H. It is not necessary because it will be done. In this case, "other members in the magazine 22" that serve as the reference for the allowable height are not the ceiling member 22T of the magazine 22, but the other pallets 31 stored in the other pallet storage section 22H directly above it. It means pointing.

To provide a component mounting device in which there is no risk of damaging recovered components even when the recovered components placed on a pallet are not in a normal lying posture.

1 Component mounting device 13 Tray feeder 14 Mounting head 18 Height detection sensor (height detection means)
22 Magazine (pallet storage body)
31 Pallet 31R Collection pallet 32 Tray 50b Judgment regulation section 51 Touch panel (alarm means)
BH parts BHK recovered parts Hk recovered parts height (height of recovered parts)
KB board

Claims (4)

a tray feeder that supplies parts by pulling out a pallet holding a tray containing components among a plurality of pallets that are provided in a pallet storage body so as to be freely drawn out and stored;
a mounting head that picks up the components supplied by the tray feeder and mounts them on the board;
When the parts once picked up by the mounting head are placed on a pallet pulled out from the pallet storage body among the plurality of pallets as recovered parts without mounting them on the board, the recovered parts placed on the pallet; height detection means for detecting the height of the
Determining whether the height of the recovered component detected by the height detection means exceeds a predetermined allowable height, and determining that the height of the recovered component exceeds the allowable height; The component mounting apparatus further comprises: a determination regulating section that regulates an operation in which the pallet on which collected components are placed is stored in the pallet storage body. Claim 1: The permissible height is determined as a height at which the recovered parts do not interfere with other members in the pallet storage body when the pallet on which the recovered parts are placed is stored in the pallet storage body. The component mounting device described in . 3. The component mounting apparatus according to claim 1, wherein the pallet on which the recovered parts are placed is a recovery pallet dedicated to placing the recovered parts or a pallet to which the parts to become the recovered parts are supplied. 4. The component mounting apparatus according to claim 1, further comprising an alarm means for issuing an alarm when the determination regulating section determines that the height of the recovered component exceeds the allowable height.

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