JP6557746B2 - Component mounting system - Google Patents

Description

  The present invention relates to a component mounting system including a feeder that supplies components to a component mounting machine and a feeder replacement device that replaces the feeder.

  Conventionally, as this type of component supply device (feeder), a component tape (carrier tape) composed of a storage tape (bottom tape) for storing components and a top tape (top film) affixed on the storage tape is used. It has been proposed to sequentially supply components to a component mounting apparatus (component mounting machine) by feeding and peeling the top tape from the storage tape to expose the components on the storage tape (see, for example, Patent Document 1). . The component supply device includes an operation rod for removing the component supply device from the component supply stage, a discharge path for discharging the storage tape after the top tape is peeled and the component is taken out, and a discharge path. And a scissor mechanism (cutter) provided at the outlet. The scissors mechanism is interlocked with the operation scissors, and when the operator operates the control scissors to remove the component supply device from the component supply stage, the storage tape that is exposed to the outside from the outlet of the discharge path is cut.

JP 2005-123465 A

  However, Patent Document 1 describes that the accommodation tape (bottom tape) is cut and collected in conjunction with the operation of the operation rod, but does not mention that the top film is collected. As a method for collecting the top film, conventionally, a method of winding with a collection reel provided on a frame has been used. However, this method requires replacement of the recovery reel every time the recovery reel becomes full, increasing the burden on the operator. In addition, this method has a problem that a space for providing the collection reel must be secured, and the feeder becomes large. In order to solve these problems, a method of continuously feeding the top film into a collection container by a feed roller has been used as a method of collecting the top film. However, in any method, when replacing the feeder, the operator must cut the top film.

  By the way, in recent years, a feeder exchanging apparatus for automatically exchanging a feeder with a robot hand has been proposed instead of an operator exchanging the feeder. The feeder exchanging device can eliminate the labor of exchanging work by the operator by automatically exchanging the feeder. However, since it is still necessary for the operator to cut the top film at the time of replacing the feeder, it is not possible to sufficiently reduce the burden on the operator by simply introducing the feeder replacing device.

  The main object of the present invention is to further reduce the work burden on an operator for a feeder that can supply components to the mounting machine body.

  The present invention adopts the following means in order to achieve the main object described above.

The feeder exchange device of the present invention is
A tape feeding section for feeding out a carrier tape including a tape main body in which a plurality of concave portions for accommodating components are formed and a film covering the plurality of concave portions, and the film is peeled off from the tape main body to be accommodated in the concave portion. A feeder having a peeling part that makes it possible to take out the parts, a feeder base that can be attached to and detached from the feeder, and a component that is picked up by a feeder mounted on the feeder base and mounted on a mounting target In a component mounting system comprising a machine body, a feeder exchange device capable of replacing a feeder mounted on the feeder base,
A feeder accommodating portion capable of accommodating a plurality of feeders;
A movable member capable of moving between the feeder accommodating portion and the feeder base;
A gripping device provided on the moving member and gripping the feeder;
With
The gist of the invention is that the moving member has at least a part of a component constituting a film cutting device for cutting the film peeled off by the peeling portion.

  The feeder exchanging apparatus according to the present invention includes a feeder accommodating portion that can accommodate a plurality of feeders, a moving member that can move between the feeder accommodating portion and the feeder base, and a gripping device that grips the feeder. In addition, the moving member has a gripping device and at least a part of the constituent elements of the film cutting device that cuts the film peeled off by the peeling portion. Thereby, when a moving member moves to a feeder stand and the holding device provided in the moving member grasps a feeder and removes it from a feeder stand, it is also possible to cut a film. In addition, the moving member is moved from the feeder stand to the feeder accommodating portion while the grasping device is grasping the feeder, and after the feeder accommodated in the feeder accommodating portion is grasped by the grasping device, the moving member is moved to the feeder stand. By doing so, the feeder can be automatically replaced, so that the operator does not need to manually replace the feeder. As a result, the work burden on the operator can be greatly reduced.

  In such a feeder exchange device of the present invention, the film cutting device has, as the component, a cutter capable of cutting the film, and an actuator for driving the cutter, and the cutter is provided in the feeder, The actuator may be provided on the moving member. By so doing, it is possible to suppress an increase in size of the feeder as compared with a case where all of the components of the film cutting device are incorporated into the feeder.

  In the feeder exchanging device of the present invention, the feeder includes a clamp mechanism that can be fixed to and released from the feeder base, an operation member, and a first mechanism that converts the operation of the operation member into the operation of the clamp mechanism. 1 conversion mechanism and a second conversion mechanism that converts the operation of the operation member into the operation of the cutter, and the actuator operates the operation member in a state where the gripping device grips the feeder. You can also In this way, the removal of the feeder from the feeder base and the cutting of the film peeled off from the tape body can be performed by a single actuator, so that the removal of the feeder and the cutting of the film are performed using separate actuators. The gripping device can be reduced in size compared to what is performed. Note that the operation member can be configured to be manually operable by the operator.

  Further, in the feeder exchanging apparatus according to the present invention, the cutter cuts the film by a stroke of a movable blade, and the second conversion mechanism is a link mechanism that connects the operation member and the movable blade, and the link At least one connecting portion of the mechanism may be connected so as to be relatively displaceable within a range in which the movable blade can be stroked. If it carries out like this, it will become possible to stroke a movable blade independently without operating an operation member, and to cut a film. That is, the film can be cut even at a time different from the replacement time of the feeder.

It is a block diagram which shows the outline of a structure of a component mounting system. 3 is a block diagram illustrating an electrical connection relationship among a control device 30, a feeder control device 50, and a feeder exchange device control device 110 of the component mounter 10. FIG. FIG. 3 is a configuration diagram showing an outline of a configuration of a feeder 40. It is the elements on larger scale which expand and show the lower part of feeder. 3 is a configuration diagram showing an outline of a configuration of a robot hand 80. FIG. It is explanatory drawing which shows a mode that the feeder 40 is removed from a feeder stand by the robot hand. It is a block diagram which shows the outline of a structure of the robot hand 80B of a modification. It is explanatory drawing which shows a mode that the top film TF is cut | disconnected by the robot hand 80B. It is explanatory drawing which shows a mode that the feeder 40B is removed from a feeder stand with the robot hand 80B. It is a block diagram which shows the outline of a structure of the robot hand 80C of a modification. It is explanatory drawing which shows a mode that the feeder 40C is removed from a feeder stand by the robot hand 80C.

  Next, the form for implementing this invention is demonstrated.

  FIG. 1 is a configuration diagram showing an outline of the configuration of a component mounting system, and FIG. 2 shows an electrical connection relationship among a component mounter control device 30, a feeder control device 50, and a feeder exchange device control device 110. It is a block diagram. In the present embodiment, the left-right direction in FIG. 1 is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

  As shown in FIG. 1, the component mounting system attracts a feeder 40 as a component supply device for supplying components and an electronic component (hereinafter simply referred to as “component”) P supplied by the feeder 40 to provide a circuit board ( Hereinafter, a component mounter 10 to be mounted on S) and a feeder replacement device 70 as an embodiment of the present invention for automatically replacing the feeder 40 mounted on the component mounter 10 are provided.

  As shown in FIG. 1, the component mounter 10 is supplied by a substrate transport device 14 that transports the substrate S, a backup device (not shown) that backs up the substrate S transported by the substrate transport device 14, and a feeder 40. A component mounting device 20 that sucks the mounted component P and mounts it on the substrate S backed up by the backup device, and a component mounting machine control device 30 (see FIG. 2) that controls the entire component mounting machine. The substrate transfer device 14, the backup device, and the component mounting device 20 are accommodated in a main body frame 12 provided on the pedestal 11. Further, a feeder base 18 to which the feeder 40 can be attached and detached is provided on the front surface of the main body frame 12.

  The feeder 40 is a tape feeder that sends out the carrier tape CT in which the components P are accommodated at a predetermined pitch to the component supply position A where the component mounter 10 can pick up. The carrier tape CT includes a bottom tape BT in which cavities (recesses) are formed at a predetermined pitch in the longitudinal direction, and a top film TF that covers the surface of the bottom tape BT in a state where components P are accommodated in the cavities. It is configured. 3 and 4 are configuration diagrams showing an outline of the configuration of the feeder 40. FIG. As shown in the drawing, the feeder 40 is configured as a cassette-type feeder in which a case 41 is formed in a substantially rectangular shape, and a tape reel 42 around which a carrier tape CT is wound and a carrier tape CT from the tape reel 42. A tape feeding mechanism 44 that pulls out and feeds to the component supply position A, a state in which the top film TF is peeled off from the bottom tape BT provided in front of the component supply position A, and the component P is exposed (a state in which the component P can be picked up) A film peeling portion 45 to be peeled off, a tape duct 46 for guiding the bottom tape BT after the top film TF is peeled off by the film peeling portion 45 and the component P is taken out to a discharge port 46a formed in the lower portion of the case 41, The top film TF peeled off by the film peeling part 45 is moved along the outer periphery of the case 41. A film guide 47 formed with a groove for guiding downward, a film feeding mechanism 48 for feeding the top film TF downward along the film guide 47, and a film cutting for cutting the top film TF fed by the film feeding mechanism 48 Mechanism 60. The top film TF cut by the film cutting mechanism 60 is collected in the dust box 19 installed on the base 11. The bottom tape BT discharged from the discharge port 46a is finely cut by a tape cutting mechanism (not shown) provided below the discharge port 46a and then collected in the dust box 19.

  The tape feed mechanism 44 includes a tape feed sprocket 44a and a drive motor 44b that intermittently rotates the sprocket 44a. On the outer periphery of the sprocket 44a, there are provided engagement claws that engage with engagement holes formed in the carrier tape CT at predetermined intervals. The tape feeding mechanism 44 pitch-feeds the carrier tape CT forward by intermittently rotating the sprocket 44a with the drive motor 44b while the carrier tape CT is engaged with the sprocket 44a.

  The film feeding mechanism 48 is a driven roller 48a for film feeding, a driving motor 48b for rotating the driving roller 48a, and a driven roller which is pressed against the driving roller 48a by the urging force of the spring 48d and rotates as the driving roller 48a rotates. A roller 48c. External teeth that sandwich the top film TF are provided on the outer periphery of the driving roller 48a and the driven roller 48c. The film feed mechanism 48 feeds the top film TF downward by rotating the drive roller 48a with the drive motor 48b with the top film TF sandwiched between the drive roller 48a and the driven roller 48c. A film cutting mechanism 60 that cuts the top film TF is provided below the film feeding mechanism 48.

  The feeder 40 is linked to the tilting operation of the clamp lever 56 and can be attached to and detached from the feeder base 18 and is positioned on the feeder base 18 formed on the right end surface of FIG. A positioning pin 52. The clamp mechanism 54 includes a clamp pin 54a provided so as to be capable of moving forward and backward from the lower end surface of the case 41 in a diagonally downward left direction in FIG. 3, and a spring 54b that urges the clamp pin 54a in the forward direction. One end of a wire 55 is connected to the rear end of the clamp pin 54a, and a clamp lever 56 is connected to the other end of the wire 55 at a position away from the fulcrum 56a. Accordingly, when the clamp lever 56 is tilted, the clamp pin 54a is pulled by the wire 55 with the contraction of the spring 54b, and is brought into the case 41. On the other hand, when the tilt of the clamp lever 56 is released, the clamp pin 54a protrudes outward from the case 41 by the urging force of the spring 54b. At the same time, the clamp lever 56 is pulled by the wire 55 by the urging force of the spring 54b and returned from the tilted state to the upright state. Although not shown, the feeder base 18 is formed with a first support surface that supports the right end surface of the feeder 40 in FIG. 3 and a second support surface that supports the lower end surface of the feeder 40. The first support surface is provided with a positioning pin hole into which the positioning pin 52 of the feeder 40 is inserted, and the second support surface is clamp pin 54a in a state where the positioning pin 52 is inserted into the positioning pin hole. Is provided with a crank pin hole into which the clamp pin 54a is engaged when the pin is protruded to the outside of the case 41. Thus, after the feeder 40 is mounted so that the positioning pin 52 is inserted into the positioning pin hole of the feeder base 18 with the clamp lever 56 tilted (the clamp pin 54b is retracted into the case 41), the clamp When the tilt of the lever 56 is released, the clamp pin 54a protrudes from the case 41 and engages with the clamp pin hole, and the repulsive force of the spring 54b that biases the clamp pin 54a causes the right end surface of the feeder 40 in FIG. 18 pressed against the first support surface. For this reason, the feeder 40 is fixed to the feeder base 18 by the positioning pins 52. On the other hand, when the clamp lever 56 is tilted from the upright state, the clamp pin 54 a is pulled out from the clamp pin hole of the feeder base 18. For this reason, the feeder 40 is released from the fixed state and can be removed from the feeder base 18.

  The film cutting mechanism 60 is a mechanism for cutting the top film TF fed by the film feeding mechanism 48 in conjunction with the tilting operation of the clamp lever 56. As shown in FIG. 4, the film cutting mechanism 60 has a fixed blade 61 fixed to the case 41, a movable blade 62 facing the fixed blade 61 with the top film TF interposed therebetween, and a movable blade 62 attached thereto. A rod 63 capable of reciprocating linear movement (vertical direction in FIG. 4) and a link mechanism for converting the swinging movement of the clamp lever 56 (the tilting movement of the clamp lever 56) about the fulcrum 56a into the reciprocating linear movement of the rod 63. 65. The rod 63 has a movable blade 62 attached to one end thereof, and is supported by a support member 64 so as to be capable of reciprocating linear motion. The link mechanism 65 includes an I-shaped first link member 66 and a substantially L-shaped second link member 67. The I-shaped first link member 66 is connected to the clamp lever 56 at a position where one end is away from the fulcrum 56a. The L-shaped second link member 67 can swing about its bending point, one end is connected to the other end of the first link member 66, and the other end is the other end of the rod 63. Connected with the department. Therefore, the film cutting mechanism 60 can stroke the movable blade 62 to engage with the fixed blade 61 via the link mechanism 65 by tilting the clamp lever 56. As described above, when the clamp lever 56 is tilted, the fixing of the feeder 40 to the feeder base 18 can be released, so that the top film TF can be cut simultaneously with the removal of the feeder 40. A long hole 66a is formed in the other end portion of the first link member 66, and the other end portion of the first link member 66 and one end portion of the second link member 67 are within the range of the length of the long hole 66a. It is connected so that relative displacement is possible. Accordingly, the movable blade 62 (rod 63) can be independently stroked without operating the clamp lever 56. That is, the top film TF can be cut by stroking the movable blade 62 while the feeder 40 is mounted on the feeder base 18.

  The feeder 40 includes a feeder control device 50 that controls the whole. The feeder control device 50 is configured as a microprocessor including a CPU, ROM, RAM, and the like. As shown in FIG. 2, a drive signal to the drive motor 48b of the tape feed mechanism 44 and a drive motor of the film feed mechanism 48 are provided. A drive signal to 48b is output. The feeder control device 50 is connected to the component mounter control device 30 via a connector 51 so as to be communicable. In this embodiment, the connector 51 is supplied with power from the component mounting machine 10 and is supplied to each part such as the tape feed mechanism 44 (drive motor 44b), the film feed mechanism 48 (drive motor 48b), and the feeder controller 50. The power supply connector is configured to be supplied.

  As shown in FIG. 1, the substrate transfer device 14 is configured as a dual-lane transfer device provided with two substrate transfer paths, and is arranged on a support base 16 provided in the middle portion of the main body frame 12. Has been. Each substrate conveyance path is provided with a belt conveyor device 15, and the substrate S is conveyed from left to right (substrate conveyance direction) in FIG. 1 by driving the belt conveyor device 15.

  As shown in FIG. 1, the component mounting device 20 includes a guide rail 27 provided along the Y-axis direction on the upper stage portion of the main body frame 12, a Y-axis slider 26 movable along the guide rail 27, A guide rail 25 provided along the X-axis direction on the lower surface of the Y-axis slider 26, an X-axis slider 24 movable along the guide rail 25, and attached to the X-axis slider 24 to move in the XY-axis direction. Possible head 28, a suction nozzle (not shown) that can be mounted on head 28 and can suck components so that movement in the Z-axis direction and rotation around the Z-axis are possible, and a suction nozzle that is provided on support 16 and sucked by the suction nozzle A part camera 34 for photographing the suction component, a mark camera 32 for photographing a substrate positioning reference mark attached to the X-axis slider 24 and provided on the substrate S, and mountable to the head 28 And a nozzle stocker 36 for stocking a plurality of types of the suction nozzle such.

  The component mounter control device 30 is configured as a microprocessor centered on a CPU 30a. In addition to the CPU 30a, a ROM 30b that stores processing programs, an HDD 30c that stores various data, and a RAM 30d that is used as a work area. And an input / output interface 30e. An image signal from the mark camera 32, an image signal from the part camera 34, and the like are input to the component mounter control device 30 via the input / output interface 30e. On the other hand, from the component mounting machine control device 30, a control signal to the board transfer device 14, a drive signal to the X-axis actuator 24 a that moves the X-axis slider 24, and a Y-axis actuator 26 a that moves the Y-axis slider 26. Drive signal, a drive signal for the Z-axis actuator 29a that is built in the head 28 and moves the suction nozzle in the Z-axis direction, a drive signal for the θ-axis actuator 29b that is built in the head 28 and rotates the suction nozzle, a vacuum pump (not shown) A drive signal to an electromagnetic valve that communicates with and shuts off the suction nozzle is output via the input / output interface 30e. The component mounter control device 30 is communicably connected to a feeder control device 50 and a feeder exchange device control device 110 described later, and exchanges data and control signals with each other.

  As shown in FIG. 1, the feeder exchanging device 70 according to the present embodiment includes a storage base 71 that can store a plurality of feeders 40, and four guide rails 73 that are erected in the Z-axis direction at the four corners of the storage base 71. A Z-axis slider 72 as a rectangular frame movable along the guide rail 73, a guide rail 75 provided on the inner peripheral surface of the Z-axis slider 72 along the Y-axis direction, and a guide rail 75, a long plate-shaped Y-axis slider 74 that can move along 75, a guide rail 77 formed along the X-axis direction on the upper surface of the Y-axis slider 74, and an X that can move along the guide rail 77 A shaft slider 76, a robot hand 80 provided on the upper surface of the X-axis slider 76 and capable of clamping the feeder 40, and a feeder exchange device controller 110 (see FIG. 2) for controlling the entire apparatus. That is, the feeder exchanging device 70 moves the X-axis slider 76, the Y-axis slider 74, and the Z-axis slider 72 while the robot hand 80 clamps the feeder 40, thereby moving the feeder 40 in the X-axis direction and the Y-axis direction. It can move in the direction and the Z-axis direction.

  FIG. 5 is a configuration diagram showing an outline of the configuration of the robot hand 80. As shown in the figure, the robot hand 80 includes a rod 82 that can advance and retreat in the Y-axis direction, a rod actuator 90 that drives the rod 82, a pair of arms 84, and an arm actuator 100 that opens and closes the pair of arms 84. Is provided.

  The rod actuator 90 includes a drive motor 91 that can be driven to rotate, a rotary shaft 94 that is connected to the rotary shaft of the drive motor 91 via gears 92 and 93, and an eccentric shaft that is attached to the rotary shaft 94. A cam 95 that converts the rotational motion of 94 into the reciprocating linear motion of the rod 82, a support member 96 that is fixed to the case 81 and supports the rod 82 so as to be capable of reciprocating linear motion, and one end abutting against the support member 96 A spring 97 having an end abutting against a spring receiver 98 fixed to the rod 82 and biasing the rod 82 in the backward direction.

  The arm actuator 100 includes a cylinder 102 having a piston rod 101, a slider 104 fixed to the piston rod 101, and a stopper 106 attached to the slider 104. Each of the pair of arms 84 has a claw formed at the distal end portion 84a, and can swing about a support shaft 85 that supports the intermediate portion 84b. In addition, the pair of arms 84 is biased in the closing direction by springs 86 supported by the support members 96 and springs 87 supported by the support members 88, respectively. For this reason, the pair of arms 84 is biased in the opening direction by the biasing force of the springs 86 and 87 in the opening direction. The stopper 106 is slidable while being sandwiched between the pair of arms 84, and moves to the intermediate portion 84 b of the arm 84 when the piston rod 101 is pushed out by the cylinder 102. As a result, the springs 86 and 87 are extended, so that the tip end portion 84a (claw) of the arm 84a is opened. On the other hand, the stopper 106 moves to the base end portion 84 c of the arm 84 when the piston rod 101 is pulled by the cylinder 102. As a result, the stopper 106 prevents the springs 86 and 87 from extending, so that the tip end portion 84a (claw) of the arm 84 is closed. The tip portions 84a (claws) of the pair of arms 84 can be opened and closed by driving the cylinder 102 in this way.

  The feeder exchange device control device 110 is configured as a microprocessor including a CPU, ROM, RAM, and the like. As shown in FIG. 2, a drive signal to the X-axis actuator 76a for moving the X-axis slider 76 and the Y-axis A drive signal to the Y-axis actuator 74a that moves the slider 74, a drive signal to the Z-axis actuator 72a that moves the Z-axis slider 72, a drive signal to the drive motor 91 and the cylinder 102 of the robot hand 80, and the like are output. . The feeder exchange device control device 110 is communicably connected to the component mounter control device 30 and exchanges data and control signals with each other.

  FIG. 6 is an explanatory view showing a state where the feeder 40 is removed by the robot hand 80. Removal of the feeder 40 is performed as follows. That is, the feeder exchanging device control device 110 first opens the claw of the tip end portion 84 a by controlling the arm actuator 100 and moving the stopper 106 to the intermediate portion 84 b of the arm 84. Next, the feeder exchange device controller 110 controls the X-axis actuator 76a, the Y-axis actuator 74a, and the Z-axis actuator 72a to move the robot hand 80 to the front of the feeder 40, and controls the arm actuator 100. By moving the stopper 106 to the proximal end portion 84 c of the arm 84, the claw of the distal end portion 84 a is closed and the claw is hooked on the engaged pin 58 formed on the feeder 40. As a result, the feeder 40 is clamped by the robot hand 80. Then, the feeder exchanging device control device 110 controls the rod actuator 90 to move the rod 82 forward (move to the right in FIG. 6) and press the rod 82 below the fulcrum 56a of the clamp lever 56. 56 is tilted. As described above, when the clamp lever 56 is tilted, the clamp mechanism 54 releases the fixing of the feeder 40, and the movable blade 62 is stroked to engage with the fixed blade 61 and is sandwiched between the fixed blade 61 and the movable blade 62. The top film TF is cut.

  Moreover, the replacement | exchange work of the feeder 40 after removing the used feeder 40 from the feeder stand 18 is performed as follows. That is, the feeder exchanging device control device 110 controls the X-axis actuator 76a, the Y-axis actuator 74a, and the Z-axis actuator 72a in a state where the feeder 40 is clamped, thereby moving the feeder 40 to the empty space of the storage table 71. . Subsequently, the feeder exchanging device control device 110 controls the arm actuator 100 to move the stopper 106 to the intermediate portion 84b of the arm 84 to open the claw of the distal end portion 84a, and clamp the feeder 40 by the robot hand 80. Is released. Thereby, the used feeder 40 is accommodated in the accommodation stand 71. Then, the feeder exchanging device control device 110 controls the X-axis actuator 76a to move the robot hand 80 to the front of the feeder 40 to be newly used, controls the arm actuator 100 to clamp the feeder 40, and The actuator 90 is controlled to tilt the clamp lever 56. When the robot hand 80 clamps the feeder 40, the feeder exchanging device controller 110 moves the new feeder 40 to the feeder base 18 by controlling the X-axis actuator 76a, the Y-axis actuator 74a, and the Z-axis actuator 72a. . Then, the feeder exchange device controller 110 controls the rod actuator 90 to release the tilt of the clamp lever 56. As a result, the new feeder 40 is fixed to the feeder base 18 by the clamp mechanism 54.

  According to the feeder exchange device 70 of the present embodiment described above, the feeder 40 provided with the fixed blade 61 and the movable blade 62 for cutting the top film TF peeled off from the bottom tape CT with the supply of components is replaced. The robot hand 80 having a pair of arms 84 formed with claws capable of clamping the feeder 40, the X-axis slider 76 for moving the robot hand 80 in the X-axis direction, and the robot hand 80 in the Y-axis direction. A Y-axis slider 74 to be moved and a Z-axis slider 72 to move the robot hand 80 in the Z-axis direction are provided. The robot hand 80 is provided with an actuator (rod actuator 90) for driving the movable blade 62. . Thereby, since it is possible to cut the top film TF together with the replacement of the feeder 40, it is not necessary for the operator to cut the top film TF, and the burden on the worker can be reduced. Of course, the feeder exchanging apparatus of this embodiment automatically replaces the feeder 40 by the robot hand 80, so that it is not necessary for the operator to replace the feeder 40, and the burden on the operator can be further reduced.

  In the present embodiment, the feeder 40 includes a wire 55 that connects the clamp lever 56 and the clamp mechanism 54, and a link mechanism 65 that connects the clamp lever 56 and the movable blade 62. Accordingly, the top film TF can be cut at the same time as the fixation of the feeder 40 is released even when the operator tilts the clamp lever 56. In this case, the robot hand 80 only needs to include a rod actuator 90 that can tilt the clamp lever 56 via the rod 82 as a drive system for driving the movable blade 62. A simple configuration can be achieved, and the robot hand 80 can be downsized.

  Further, the feeder 40 of the present embodiment includes a first link member 66 coupled to the clamp lever 56 as a link mechanism 65, and a second link member 67 coupled to the rod 63 and coupled to the first link member 66. With. And the 1st link member 66 and the 2nd link member 67 are connected via the long hole 66a so that relative displacement is possible within the range in which the stroke of movable blade 62 (rod 63) is possible. Thereby, it is possible to cut the top film TF by stroking the movable blade 62 with the feeder 40 mounted on the feeder base 18. In this case, the robot hand may separately include an actuator for tilting the clamp lever 56 and an actuator for causing the movable blade 62 to stroke. FIG. 7 is a configuration diagram showing an outline of a configuration of a robot hand 80B of a modified example. As shown in the figure, the robot hand 80B according to the modified example is for the second rod that reciprocates the movable blade 62 (rod 63) of the feeder 40 in addition to the rod actuator 90 and the arm actuator 100 similar to the robot hand 80. An actuator 120 is provided. The second rod actuator 120 includes a cylinder 122 having a piston rod 121, a slider 124 fixed to the piston rod 121 and capable of reciprocating by driving the cylinder 122, and a rod 126 attached to the slider 124. With.

  FIG. 8 is an explanatory diagram showing a state in which the top film TF is cut by the robot hand 80B according to a modified example. The top film TF is cut as follows. That is, the robot hand 80 </ b> B drives the arm actuator 100, hooks the claw of the tip end portion 84 a of the arm 84 on the engaged pin 58 of the feeder 40, and clamps the feeder 40. Then, the robot hand 80B drives the second rod actuator 120 to move the rod 126 forward (move to the right in FIG. 8) and push the rod 63 to which the movable blade 61 is fixed. Thereby, the movable blade 62 strokes to a position where it engages with the fixed blade 61, and cuts the top film TF sandwiched between the fixed blade 61 and the movable blade 62.

  Here, when the feeder 40 is mounted on the feeder base 18, the component mounter 10 reads the reference mark provided on the feeder 40 with the mark camera 32 to confirm whether the mounting position of the feeder 40 is misaligned. Execute misalignment confirmation operation. For this reason, when the position deviation confirmation operation is executed, production stops until the position deviation confirmation operation is completed. As described above, when the top lever TF is cut by tilting the clamp lever 56, the feeder 40 is removed from the feeder base 18. For this reason, when the feeder 40 is reattached to the feeder base 18, the positional deviation confirmation operation is executed. The robot hand 80 </ b> B according to the modified example includes the second rod actuator 120 in addition to the rod actuator 90, so that the top film TF can be cut while the feeder 40 is attached to the feeder base 18. As a result, useless execution of the positional deviation confirmation operation of the component mounter 10 can be avoided, and a reduction in productivity can be suppressed.

  In the modification described above, the present invention has been described as a form of a feeder exchange device. However, the present invention may be a form of a feeder (component supply apparatus). That is, the present invention provides a tape delivery section that feeds out a carrier tape that includes a tape body in which a plurality of recesses for housing components are formed and a film that covers the plurality of recesses, and a film is peeled from the tape body to form the recesses. It has a peeling part that makes it possible to take out the housed parts, and is a feeder that can be attached to and detached from the feeder base, and can be fixed to and released from the feeder base, and can cut the film A cutter, an operation member that can be operated by an operator, a first conversion mechanism that converts operation of the operation member into operation of a clamp mechanism, and a second conversion mechanism that converts operation of the operation member into operation of the cutter. Provided, the cutter cuts the film by the stroke of the movable blade, and the second conversion mechanism is a link mechanism that connects the operation member and the movable blade, and at least the link mechanism One of the connecting portion can be assumed that the movable blade is formed by relative displacement linked within the stroke range. Note that the feeder is not limited to a feeder (cassette type feeder) suitable for a feeder exchange device, and may be any other type of feeder.

  Moreover, although the robot hand 80B of the modified example described above is applied to the feeder 40 capable of reciprocating the movable blade 62 linked to the tilting operation of the clamp lever 56, it is not limited to this. Alternatively, the present invention may be applied to a feeder 40B of a type in which the clamp lever 56 and the movable blade 62 are not linked. FIG. 9 is an explanatory diagram showing a state where the modified feeder 40B is removed by the modified robot hand 80B. Here, the feeder 40B of the modified example mainly includes a point where the link mechanism 65 is not provided and a point provided with a spring 164 that biases the rod 163 to which the movable blade 62 is fixed away from the fixed blade 61. Different from the feeder 40 of the embodiment. Removal of the feeder 40B of the modified example is performed as follows. That is, the robot hand 80B drives the arm actuator 100 to hook the claw of the tip end portion 84a of the arm 84 on the engaged pin 58 of the feeder 40B, and clamps the feeder 40B, as in this embodiment. Subsequently, the robot hand 80B drives the rod actuator 90, moves the rod 82 forward (moves in the right direction in FIG. 9), and tilts the clamp lever 56. Thereby, fixation of feeder 40B is cancelled | released. Here, since the clamp lever 56 is not linked to the movable blade 62 in the feeder 40 </ b> B of the modified example, the top film TF is not cut by the tilt of the clamp lever 56. Then, the robot hand 80B drives the second rod actuator 120 to advance the rod 126 and push the rod 163 to which the movable blade 62 is fixed. Thereby, the movable blade 62 strokes to a position where it engages with the fixed blade 61, and cuts the top film TF sandwiched between the fixed blade 61 and the movable blade 62.

  In the feeder exchange device 70 of the present embodiment, the movable blade 62 for cutting the top film TF is provided on the feeder 40 side, and the actuator (rod actuator 90) for driving the movable blade 62 is provided on the robot hand 80 side. However, the present invention is not limited to this, and both the movable blade and its actuator may be provided on the robot hand side. FIG. 10 is a configuration diagram showing an outline of the configuration of a robot hand 80C according to a modification. As shown in the figure, the robot hand 80C according to the modification includes a movable blade 136 and a third rod actuator 130 that reciprocates the movable blade 136, in addition to the rod actuator 90 and the arm actuator 100 similar to the robot hand 80. Is provided. The movable blade 136 protrudes in the forward direction (the right direction in FIG. 10) from the rod 82 and the arm 84, and engages with the fixed blade 61 provided on the feeder 40C in a state where the robot hand 80C clamps the feeder 40C. Stroke is possible. As shown in the figure, the third rod actuator 130 includes a cylinder 132 having a piston rod 131, a slider 134 fixed to the piston rod 131 and capable of reciprocating by driving the cylinder 132, and a support to which a movable blade 136 is attached. And a member 135. The support member 135 is fixed to the slider 134 and causes the movable blade 136 to reciprocate as the slider 134 reciprocates.

  FIG. 11 is an explanatory view showing a state where the modified feeder 40C is removed by the modified robot hand 80C. Here, the feeder 40C according to the modification mainly includes a point that the link mechanism 65 is not provided, a point that the movable blade 62 (rod 63) is not provided, and the movable blade 136 provided on the robot hand 80C side as the fixed blade 61. The point which the surface facing the fixed blade 61 becomes a level | step difference surface so that it can stroke to the meshing position differs from the feeder 40 of this embodiment. The removal of the feeder 40C of the modified example is performed as follows. That is, the robot hand 80C drives the arm actuator 100 to hook the claw of the tip 84a of the arm 84 on the engaged pin 58 of the feeder 40C, and clamps the feeder 40C, as in the present embodiment. Subsequently, the robot hand 80 </ b> C drives the rod actuator 90 to move the rod 82 forward (move to the right in FIG. 11) and tilt the clamp lever 56. Thereby, fixation of feeder 40C is cancelled | released. In the feeder 40C of the modified example, the clamp lever 56 is not linked to the movable blade, similarly to the feeder 40B. Therefore, the top film TF is not cut by the tilt of the clamp lever 56. Then, the robot hand 80 </ b> C drives the third rod actuator 130 to advance the support member 135. Thereby, the movable blade 136 fixed to the support member 135 strokes to a position where it engages with the fixed blade 61 provided in the feeder 40C, and cuts the top film TF sandwiched between the fixed blade 61 and the movable blade 136. .

  In the present embodiment, the first link member 66 and the second link member 67 as the link mechanism 65 are connected via the long hole 66a formed in the first link member 66, but the present invention is not limited to this. Instead, it is only necessary that the movable blade 62 has a slide portion that can be independently stroked when the clamp lever 56 is not operated, and the long hole 66 a may be formed in the second link member 67. However, it may be formed on the clamp lever 56 or the rod 63. Further, the link mechanism may be configured such that the movable blade 62 cannot make a stroke independently, that is, a configuration without a slide portion.

  In the robot hand 80 according to the present embodiment, an actuator (rod actuator 90) for operating the clamp lever 56 is configured using a drive motor 91, and an actuator (arm actuator 100) for clamping the feeder 40 is configured using a cylinder 102. However, the present invention is not limited to this, and any actuator may be configured using a drive motor, may be configured using a cylinder, or may be configured using other actuators. It may be configured.

  Here, the correspondence between the main elements of the present embodiment and the main elements of the invention described in the disclosure section of the invention will be described. That is, the bottom tape BT corresponds to the “tape body”, the top film TF corresponds to the “film”, the feeder 40 corresponds to the “feeder”, the feeder storage base 71 corresponds to the “feeder storage portion”, and the robot The pair of arms 84 and the arm actuator 90 built in the hand 80 correspond to a “gripping device”, and the X-axis slider 76, the X-axis actuator 76a, the Y-axis slider 74, the Y-axis actuator 74a, the Z-axis slider 72, and Z The case 81 that can be moved in the XYZ directions by the shaft actuator 72a corresponds to the “moving member”, and the fixed blade 61, the movable blade 62, and the rod actuator 90 correspond to the “film cutting device”. The clamp mechanism 48 corresponds to a “clamp mechanism”, the clamp lever 56 corresponds to an “operation member”, the wire 55 corresponds to a “first conversion mechanism”, and the link mechanism 65 corresponds to a “second conversion mechanism”. Equivalent to.

  It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

  The present invention can be used in the manufacturing industry of feeders and feeder exchange devices.

  DESCRIPTION OF SYMBOLS 10 Component mounting machine, 11 base, 12 Main body frame, 14 Substrate conveyance device, 15 Belt conveyor device, 16 Support base, 18 Feeder base, 19 Dust box, 20 Component mounting device, 24 X axis slider, 24a X axis actuator, 25 Guide Rail, 26 Y-axis slider, 26a Y-axis actuator, 27 Guide rail, 28 Head, 29a Z-axis actuator, 29b θ-axis actuator, 30 Component mounter controller, 30a CPU, 30b ROM, 30c HDD, 30d RAM, 30e Input / output interface 32 Mark camera, 34 Parts camera, 40, 40B, 40C Feeder, 41 Case, 42 Tape reel, 44 Tape feed mechanism, 44a Sprocket, 44b Drive motor, 45 Film peeling part, 6 Tape duct, 46a Discharge port, 47 Film guide, 48 Film feed mechanism, 48a Drive roller, 48b Drive motor, 48c Drive roller, 50 Feeder control device, 51 Connector, 52 Positioning pin, 54 Clamp mechanism, 54a Clamp pin, 54b Spring, 55 wire, 56 Clamp lever, 56a Support point, 58 Engaged pin, 60 Film cutting mechanism, 61 Fixed blade, 62 Movable blade, 63 Rod, 64 Support member, 65 Link mechanism, 66 First link member, 66a Long hole, 67 Second link member, 70 Feeder exchange device, 71 Housing, 72 Z-axis slider, 72a Z-axis actuator, 74 Y-axis slider, 74a Y-axis actuator, 75 Guide rail, 76 X-axis slider, 76a X-axis Ak Rotor, 77 guide rail, 80, 80B, 80C robot hand, 81 case, 82 rod, 84 arm, 84a tip, 84b middle, 84c base end, 85 support shaft, 86, 87 spring, 88 support member, 90 Rod actuator, 91 Drive motor, 92, 93 Gear, 94 Rotating shaft, 95 Cam, 96 Support member, 97 Spring, 98 Spring receiver, 100 Arm actuator, 101 Piston rod, 102 Cylinder, 104 Slider, 106 Stopper, 110 Feeder exchange control device, 120 second rod actuator, 121 piston rod, 122 cylinder, 124 slider, 126 rod, 130 third rod actuator, 131 piston rod, 132 Cylinder, 134 slider, 135 support member, 136 movable blade, S substrate, CT carrier tape, BT bottom tape, TF top film.

Claims (4)

A feeder for supplying parts;
A feeder base that is detachable from the feeder;
A component mounter that picks up the components supplied by the feeder and mounts them on the substrate;
A component mounting system comprising a feeder exchanging device capable of exchanging a feeder mounted on the feeder base,
The feeder has an operation member and a clamp mechanism that can be linked to the operation of the operation member and fixed to the feeder base and unlocked.
The feeder exchange device has a feeder accommodating portion that can accommodate a plurality of feeders, and a moving member that is movable between the feeder accommodating portion and the feeder base,
A component mounting system in which the moving member is provided with a rod for operating the operating member and a gripping device for gripping the feeder. The operation member is provided so as to be swingable about a fulcrum,
The moving member is provided with an actuator for moving the rod forward and backward.
The component mounting system according to claim 1, wherein the actuator moves the rod forward and presses the rod against the operation member to rotate the operation member to release the feeder from the feeder base. The clamp mechanism includes a clamp pin and a spring that biases the clamp pin toward the support surface of the feeder base,
The component mounting system according to claim 2 , wherein the actuator releases the fixing of the feeder to the feeder base by operating the operation member against an urging force of the spring. The component mounting system according to any one of claims 1 to 3 , wherein the feeder can be released from being fixed to the feeder base even when an operator operates the operation member.

Images