JP7270126B2 - Component mounting system and component mounting method - Google Patents

Description

The present invention relates to a component mounting system and a component mounting method for automatically supplying components to a component mounting apparatus.

A component mounting system for mounting components on a substrate is configured by connecting a plurality of component mounting apparatuses, and each component mounting apparatus is equipped with a plurality of component supply devices such as tape feeders. In general, an operator who manages a component mounting apparatus performs work for replenishing or replacing parts when the components stored in the component supply device run out during the process of continuing the component mounting work. Since workers often work on a large number of component mounters, various measures have been taken to reduce the workload.

For example, as a management device that manages a component mounting device, when there is a component that has run out or is about to run out, the operator can retrieve the component from the component warehouse (component storage unit) and use the component mounting device. There is known a management device having a function of instructing replacement of parts to be replenished (see, for example, Patent Document 1). In the prior art disclosed in Japanese Patent Laid-Open No. 2002-200001, in a board-related work system provided with a plurality of work mechanisms for performing board-related work, each time a need arises for support work such as part replacement work, one of a plurality of workers is instructed to do so. of support work is assigned.

Japanese Patent No. 4491418

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

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a component mounting system and a component mounting method that can reduce the work of a worker involved in component replacement work.

A component mounting system according to the present invention includes a component mounting device that mounts components on a substrate, a self-propelled component replenishing device that moves a tape feeder containing a carrier tape containing a plurality of components to the component mounting device, and the tape. The component mounting apparatus includes a component storage section for storing the feeder, the component mounting apparatus includes a holding device for holding the tape feeder, and the self-propelled component replenishment apparatus includes a storage section for storing the tape feeder, and a storage section for storing the tape feeder. a transfer section for moving between the storage section and the holding device and between the storage section and the parts storage section, wherein the transfer section transfers the tape feeder to be replenished from the parts storage section to the storage section. and moving the tape feeder to be replenished, which has been moved from the parts storage unit to the storage unit, to the holding device, and the storage unit has a first area and a lower part than the first area. said holding device having a first holding position and a second holding position positioned below said first holding position ; said transfer section holding said tape feeder in said tape feeder; Moved between the first area and the first holding position and between the second area and the second holding position, the component mounting device is transferred to the holding device by the transfer section. The component stored in the carrier tape contained in the replenishment target tape feeder moved and positioned in the holding device is mounted on the substrate.

Another component mounting system of the present invention includes a component mounting device that mounts components on a board, a container that stores reels that store a plurality of components, and an automatic component that moves the components on the reels to the component mounting device. a traveling component replenishing device and a component storage section for storing the container; the component mounting device includes a holding device for holding the container; the self-propelled component replenishing device includes a storage section for storing the container; a transfer section for moving the container between the storage section and the holding device and between the storage section and the parts storage section, wherein the transfer section moves the container to be replenished from the parts storage section. moving the container to be replenished from the parts storage unit to the storage unit; said holding device having a first holding position and a second holding position located below said first holding position, said transfer section holding said container in said Moved between the first area and the first holding position and between the second area and the second holding position, the component mounting device is moved to the holding device by the transfer section. Then, the component stored in the reel stored in the replenishing container positioned in the holding device is mounted on the board.

In the component mounting method of the present invention, from a component storage unit storing a tape feeder containing a carrier tape for storing a plurality of components, the tape is transferred to a component mounting device for mounting components on a substrate via a self-propelled component replenishing device. A component mounting method for moving a feeder, wherein a tape feeder to be replenished to the component mounting device is moved from the component storage unit to a storage unit provided in the self-propelled component replenishing device that stores the tape feeder. and a second moving step of moving the tape feeder to be replenished from the storage section to a holding device provided in the component mounting apparatus and holding the tape feeder. The portion has a first area and a second area located below the first area , and the holding device has a first holding position and a second holding position below the first holding position . 2 holding positions, and in the second moving step, the tape feeder to be replenished is moved from the first area to the first holding position, and the component mounting apparatus is moved by the transfer section. The component stored in the carrier tape contained in the tape feeder to be replenished which is moved to the holding device and positioned in the holding device is mounted on the substrate.

According to another component mounting method of the present invention, from a component storage unit storing a container storing reels for storing a plurality of components, via a self-propelled component replenishing device, the component mounting device for mounting components on a board. In the component mounting method, a container to be replenished to be replenished to the component mounting device is moved from the component storage unit to a storage unit provided in the self-propelled component replenishing device for storing the container. and a second moving step of moving the container to be replenished from the storage unit to a holding device provided in the component mounting apparatus and holding the container, wherein the storage unit includes a first and a second area positioned below the first area , and the holding device has a first holding position and a second holding position positioned below the first holding position. and in the second moving step, the container to be replenished is moved from the first area to the first holding position, and the component mounting device is moved to the holding device by the transfer section. Then, the component stored in the reel stored in the replenishing container positioned in the holding device is mounted on the board.

Another component mounting method of the present invention comprises: a component mounting device for mounting components on a board; a self-propelled component replenishing device for moving a tape feeder containing a carrier tape containing a plurality of components to the component mounting device; The component mounting device includes a component storage unit that stores the tape feeder, the component mounting device includes a holding device that holds the tape feeder, and the self-propelled component supply device includes a storage unit that stores the tape feeder, and the tape feeder. between the storage unit and the holding device and between the storage unit and the component storage unit, wherein the storage unit includes a second The holding device has one area and a second area located below the first area , and the holding device has a first holding position and a second holding position below the first holding position. and the transfer section moves the tape feeder between the first area and the first holding position and between the second area and the second holding position to transfer the part The mounting device mounts the component stored in the carrier tape contained in the replenishment target tape feeder , which is moved to the holding device by the transfer unit, onto the substrate.

Another component mounting method of the present invention includes a component mounting apparatus for mounting components on a substrate, a container for storing reels containing a plurality of the components, and an automatic component mounting apparatus for moving the components on the reels to the component mounting apparatus. a traveling component replenishing device and a component storage section for storing the container; the component mounting device includes a holding device for holding the container; the self-propelled component replenishing device includes a storage section for storing the container; A component mounting method in a component mounting system comprising a transfer section for moving the container between the storage section and the holding device and between the storage section and the component storage section, wherein the storage section comprises: , a first area and a second area located below the first area , the holding device having a first holding position and a second holding position below the first holding position; a holding position, wherein the transfer section moves the container between the first area and the first holding position and between the second area and the second holding position; The component mounting apparatus mounts the component, which is moved to the holding device by the transfer section and stored in the reel stored in the replenishing container located in the holding device, onto the board.

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

1 is an explanatory diagram of the configuration of a component mounting system according to an embodiment of the present invention; FIG. FIG. 1 is an explanatory diagram of the configuration of a component mounting line provided in a component mounting system according to an embodiment of the present invention; 1 is a plan view of a component mounting apparatus included in a component mounting system according to an embodiment of the present invention; FIG. 1 is a partial cross-sectional view of a component mounting device included in a component mounting system according to an embodiment of the present invention; FIG. FIG. 2 is an explanatory diagram of the configuration of a tape feeder included in the component mounting system according to one embodiment of the present invention; FIG. 2 is a configuration explanatory diagram of a tape cassette provided in a component mounting system according to an embodiment of the present invention (a) with a cover attached; (a), (b), and (c) are configuration explanatory diagrams of a tape push-out mechanism of a tape cassette provided in a component mounting system according to an embodiment of the present invention. (a) and (b) process explanatory diagrams for replacing the tape cassette in the cassette holder provided in the component mounting system according to the embodiment of the present invention. (a) and (b) process explanatory diagrams for replacing the tape cassette in the cassette holder provided in the component mounting system according to the embodiment of the present invention. FIG. 1 is an explanatory diagram of the configuration of a self-propelled component replenishing device and a connecting portion provided in a component mounting system according to an embodiment of the present invention; FIG. 1 is an explanatory diagram of the configuration of a self-propelled component replenishing device provided in a component mounting system according to an embodiment of the present invention; (a) and (b) process explanatory diagrams for connecting the storage section of the self-propelled component replenishing device provided in the component mounting system according to the embodiment of the present invention to the connecting section. FIG. 2(a) Configuration explanatory diagram of the first embodiment (b) Configuration explanatory diagram of the second embodiment of the scrap tape collecting means of the self-propelled component replenishing device provided in the component mounting system according to one embodiment of the present invention 1 is a block diagram showing the configuration of a control system of a component mounting system according to one embodiment of the present invention; FIG. (a) Block diagram showing the configuration of the control system of the tape feeder provided in the component mounting system according to the embodiment of the present invention (b) Block diagram showing the configuration of the control system of the self-propelled component replenishing device 1 is a flow chart of a component supply method in a component mounting system according to an embodiment of the present invention; 1 is a flow chart of a tape cassette replacement method in a component mounting system according to an embodiment of the present invention; (a) and (b) process explanatory diagrams for replacing the tape cassette by the self-propelled component replenishing device provided in the component mounting system according to the embodiment of the present invention. (a) and (b) process explanatory diagrams for replacing the tape cassette by the self-propelled component replenishing device provided in the component mounting system according to the embodiment of the present invention. (a) Configuration explanatory diagram with the cover attached (b) Configuration explanatory diagram with the cover removed of the tape cassette of the second embodiment provided in the component mounting system according to the embodiment of the present invention. FIG. 5 is a configuration explanatory diagram of a self-propelled component replenishing device and a carriage of a second embodiment provided in a component mounting system according to an embodiment of the present invention; FIG. 4 is a configuration explanatory diagram of a self-propelled component replenishing device of a second embodiment provided in a component mounting system according to an embodiment of the present invention; FIG. 11 is an explanatory diagram of the configuration of a self-propelled component replenishing device of a third embodiment provided in a component mounting system according to an embodiment of the present invention; FIG. 10 is an explanatory diagram of the configuration of the self-propelled component replenishing device and the carriage of the fourth embodiment provided in the component mounting system according to one embodiment of the present invention; FIG. 10 is an explanatory diagram of the configuration of a self-propelled component replenishing device of a fourth embodiment provided in a component mounting system according to an embodiment of the present invention; FIG. 10 is an explanatory diagram of the configuration of the self-propelled component replenishing device and the carriage of the fifth embodiment provided in the component mounting system of one embodiment of the present invention; FIG. 10 is an explanatory diagram of the configuration of a self-propelled component replenishing device of a fifth embodiment provided in a component mounting system according to an 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 changed as appropriate according to the specifications of the component mounting system, the component mounting line, and the self-propelled component replenishing device. In the following, the same reference numerals are given to the corresponding elements in all the drawings, and redundant explanations are omitted. In FIG. 1 and a part described later, the two axial directions perpendicular to each other in the horizontal plane are the X direction of the substrate transfer direction (horizontal direction in FIG. 1) and the Y direction perpendicular to the substrate transfer 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 the height direction orthogonal to the horizontal plane. The Z direction is the vertical direction or the orthogonal direction when the component mounting apparatus is installed on a horizontal plane.

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

The component storage apparatus S receives a plurality of tape cassettes C (see FIG. 6) containing a wound carrier tape, which will be described later, and stores them in an internal storage rack. from the internal storage shelf. That is, the component storage device S is a component storage unit that stores the tape cassette C (storage container). On the floor F, a used cassette collecting device U and a waste tape disposal unit G are arranged. Further, on the floor F, self-propelled parts replenishing devices V (here, four units) are arranged. The self-propelled parts replenishing device V incorporates a wireless communication section T, and transmits and receives signals and information to and from the management computer 3 via a wireless communication section 3a provided in the management computer 3. FIG.

The self-propelled parts replenishing device V receives instructions from the management computer 3, a beacon installed on the floor F (not shown), various sensors (GPS, obstacle sensor, etc.) built into the self-propelled parts replenishing device V, a camera, and the like. It autonomously moves between predetermined positions on the floor F based on information collected by itself using . Here, the position of the self-propelled parts replenishing device V is determined from the radio wave information received by a plurality of beacons installed on the floor F, the receiving means for receiving the radio waves of each beacon provided in the self-propelled parts replenishing device V, and the receiving means. A 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 within the floor F. FIG.

The position detecting means may be composed of a GPS provided in each self-propelled parts replenishing device V and a position calculating means (not shown) for calculating the position of the self-propelled parts replenishing device V from the position information of the GPS. The self-propelled component replenishing device V holds a plurality of replenishment tape cassettes C taken out from the component storage device S, replenishes them to the component mounting devices on the component mounting lines L1 to L3, and empties the tape cassettes. C is recovered and returned to the used cassette recovery device U. Further, the self-propelled component replenishing device V collects tape scraps from the component mounting device and discards them in the tape scrap disposal unit G.

Next, with reference to FIG. 2, the detailed configuration of the component mounting lines L1 to L3 will be described. The component mounting lines L1 to L3 have the same configuration, and the component mounting line L1 will be described below. The component mounting line L1 includes a solder printing device M1, a printing inspection device M2, component mounting devices M3 to M6, and a mounting inspection from the upstream side (the left side of the paper surface) to the downstream side (the right side of the paper surface) in the board conveying direction (X direction). A device M7 and a reflow device M8 are connected in series.

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

The component mounting apparatuses M3 to M6 perform a component mounting operation for mounting the component D on the board B by the component mounting operation section. Note that the component mounting line L1 is not limited to the configuration having four component mounting apparatuses M3 to M6, and may have one to three component mounting apparatuses M3 to M6 or five or more. The mounting inspection apparatus M7 performs a mounting inspection work for inspecting the state of the component D mounted on the board B by means of a mounting inspection working section including a component inspection camera. The reflow device M8 heats the board B carried into the device by the board heating unit, hardens the solder on the board B, and performs a board heating operation of bonding the electrode part of the board B and the component D.

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

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, and positions and holds it at a position for performing component mounting work. A component supply unit 6 is 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 section 6 . The tape feeder 7 pitch-feeds the carrier tape containing the components D in the tape feeding direction, thereby supplying the components D to the component pick-up position by the mounting head of the component mounting mechanism described below. That is, the tape feeder 7 serves as a component supply device that supplies components D mounted on the component mounting device M3.

A Y-axis beam 8 having a linear driving mechanism is arranged along the Y direction at one end in the X direction on the upper surface of the base 4 . Two X-axis beams 9 similarly provided with linear driving mechanisms 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 attached to 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 lift and hold the component D by suction. A suction nozzle 10b is provided at each tip of the suction unit 10a.

In FIG. 3, by driving the Y-axis beam 8 and the X-axis beam 9, the mounting head 10 moves in the X direction and the Y direction. As a result, the two mounting heads 10 pick up the component D from the component picking position of the tape feeder 7 arranged in the corresponding component supply section 6 by sucking the component D with the suction nozzle 10b, and pick up the board positioned on the board conveying mechanism 5. Mount at the mounting point of B. The Y-axis beam 8, the X-axis beam 9, and the mounting head 10 constitute a component mounting mechanism that mounts the component D on the board B by moving the mounting head 10 holding the component D. FIG.

A component recognition camera 11 is arranged between the component supply section 6 and the board transfer mechanism 5 . When the mounting head 10 picking up the component 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 changes the holding posture of the component D. to recognize A substrate 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 .

As the mounting head 10 moves, the board recognition camera 12 moves above the board B positioned on the board transfer mechanism 5, picks up a board mark (not shown) provided on the board B, and detects the board B. Recognize your location. In the component mounting operation on the board B by the mounting head 10, the component D recognition result by the component recognition camera 11 and the board position recognition result by the board recognition camera 12 are taken into account to correct the mounting position.

In FIG. 4, the component supply unit 6 is composed of a carriage 13 having a plurality of tape feeders 7 mounted in advance on a feeder base 13a. The carriage 13 is detachably attached to the base 4 . The carriage 13 has a cassette holder 15 capable of holding a plurality of tape cassettes C each containing a carrier tape 14 in a wound state. The cassette holder 15 has a plurality of upper holding positions Hu and lower holding positions Hd for holding the tape cassettes C, respectively. That is, the cassette holder 15 serves as 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 .

Thus, the component mounting apparatus M3 includes the cassette holder 15 (storage container holding device) that holds the tape cassette C (storage container). In the component mounting apparatus M3, the board transport mechanism 5, the component supply section 6, the component mounting mechanism (the Y-axis beam 8, the X-axis beam 9, and the mounting head 10), the component recognition camera 11, and the board recognition camera 12 are connected to a tape feeder. A component mounting working section 16 (see FIG. 14) is configured to mount the component D supplied by the 7 on the substrate B conveyed.

Next, referring to FIG. 5, the configuration and function of the tape feeder 7 will be described. A tape feeder 7 (component supply device) conveys a carrier tape 14 containing components D and covered with a cover tape to a component pick-up position, peels off the cover tape before the component pick-up position, and feeds the stored components D. It has a function of supplying to component mounting apparatuses M3 to M6. The tape feeder 7 (component supply device) shown in the present embodiment can automatically mount the carrier tape 14 (component D) to the tape feeder 7 by inserting the leading end of the carrier tape 14 into the tape insertion port. It is an autoload feeder.

The auto load feeder feeds the following carrier tape 14 (hereinafter referred to as "following It is also possible to replenish the parts by inserting the tape 14(2)'' into the tape insertion slot.

In FIG. 5, the tape feeder 7 has 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 with the lower surface of the main body 7a aligned with the feeder base 13a, the tape feeder 7 is fixedly mounted on the component supply section 6 and is built in to control tape feeding in the tape feeder 7. The feeder control section 21 is electrically connected to the mounting control sections 22 of the component mounting apparatuses M3 to M6.

Inside the body portion 7a, there is provided a tape transport path 7c for guiding the carrier tape 14 pulled out from the tape cassette C and taken into the body portion 7a. The tape conveying path 7c is formed from a tape insertion opening 7d into which the carrier tape 14 is inserted, which is opened at the upstream end in the tape feeding direction of the main body 7a, and the tape is opened downstream from a component extraction position where components are extracted by the mounting head 10. It is provided so as to communicate with the discharge port 7e.

A shutter mechanism 23 is provided on the downstream side of the tape insertion port 7d. The shutter mechanism 23 has a function of permitting/prohibiting the carrier tape 14 inserted from the tape insertion port 7d from entering the downstream tape transport path 7c by vertically moving a shutter 23a provided in the shutter mechanism 23. are doing. The vertical movement of the shutter 23 a is controlled by the feeder control section 21 . Thus, the tape insertion port 7d of the tape feeder 7 is provided with the shutter 23a for permitting/prohibiting the insertion of the carrier tape 14. As shown in FIG.

In FIG. 5, a first tape feeding mechanism 24A and a second tape feeding mechanism for feeding the preceding tape 14(1) and the following tape 14(2) are provided on the upstream side and the downstream side of the tape conveying path 7c. 24B are provided. The first tape feeding mechanism 24A provided on the upstream side has the function of continuously 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 feed mechanism 24A has a configuration in which a sprocket 25A is rotationally driven by a motor 26A. Rotational driving of the motor 26A is controlled by the feeder control section 21 .

A biasing mechanism 27 is arranged below the sprocket 25A of the first tape feeding mechanism 24A. The urging mechanism 27 urges the trailing tape 14(2) inserted from the tape insertion port 7d to the sprocket 25A, and splices the feed hole 14a (see FIG. 7A) of the carrier tape 14 to the sprocket 25A. It has the function to let An insertion detection sensor Q is provided downstream of the sprocket 25A to detect the leading edge of the trailing tape 14(2) inserted from the tape insertion opening 7d and engaged with the sprocket 25A.

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

In FIG. 5, the second tape feeding mechanism 24B provided on the downstream side has a function of pitch-feeding the preceding tape 14(1) to the component pick-up position where the mounting head 10 picks up the component D at a predetermined feeding pitch. ing. The second tape feeding mechanism 24B has a configuration in which a sprocket 25B is rotationally driven by a motor 26B. Rotational driving of the motor 26B is controlled by the feeder control section 21 . Above the second tape feed mechanism 24B, a pressing member 28 has the function of pressing down the preceding tape 14(1) from above and peeling off the cover tape to expose the components D contained in the preceding tape 14(1). is installed.

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

In FIG. 5, an operation/display panel 29 connected to the feeder control section 21 is arranged on the upper surface of the upstream side of the tape feeder 7 . The operation/display panel 29 has various buttons such as an operation button for operating the tape feeding operation by the first tape feeding mechanism 24A and the second tape feeding mechanism 24B, an operation button for opening and closing the shutter in the shutter mechanism 23, and the like. operation buttons are provided. Furthermore, the operation/display panel 29 is provided with a display panel such as an LED or a liquid crystal display. Thus, the tape feeder 7 (component supply device) is an autoload feeder and has a tape insertion opening 7d into which the leading end of the carrier tape 14 to be replenished is inserted.

Next, referring to FIGS. 6 and 7, the configuration and function of the tape cassette C will be described. FIG. 6(a) shows a state in which the cover 30 is attached to the tape cassette C, and FIG. 6(b) shows a state in which the cover 30 is removed. In FIG. 6B, a carrier tape 14 for holding a plurality of components D is wound around the core portion 31 with the core portion 31 as a core. A core portion 31 around which the carrier tape 14 is wound is rotatably attached to a core holding portion 32 of the tape cassette C. As shown in FIG. Above the tape cassette C, a tape push-out mechanism 33 is arranged. The tape push-out mechanism 33 includes an upper push-out mechanism 33a and a lower push-out mechanism 33b. A tape guide path 33c for guiding the carrier tape 14 to be pushed out is formed between the upper pushing mechanism 33a and the lower pushing mechanism 33b.

The carrier tape 14 wound around the core 31 is taken out from the take-out port 34 through the tape guide path 33c of the tape push-out mechanism 33 . The tape cassette C is provided with a gripping portion 35 at a position accessible from the opposite side of the ejection port 34 . The gripping portion 35 is gripped by the self-propelled parts supply device V when the tape cassette C is supplied to the cassette holder 15 or recovered from the cassette holder 15 . Further, the tape cassette C is provided with an RFID 36 for wirelessly transmitting and receiving the identification information N of the tape cassette C at a position accessible from the opposite side of the ejection port 34 . In this manner, the tape cassette C serves as a storage container for storing a plurality of components D. As shown in FIG.

In FIG. 7(a), the main body 37 of the upper pushing mechanism 33a has a substantially L-shaped pushing member 38 that slides back and forth along a guide 37a formed on the main body 37 along a tape guide path 33c. are arranged. Further, the body portion 37 is formed with an insertion hole 37b through which a pushing rod 39 inserted from the opposite side of the take-out port 34 slides. One end of the pushing rod 39 inserted through the insertion hole 37b is attached to a surface 38a of the pushing member 38 located on the opposite side of the ejection opening 34. As shown in FIG. As a result, the pushing rod 39 and the pushing member 38 move back and forth together along the tape guide path 33c (arrow b1, arrow b2). One end of a spring 40, which is an elastic body, is attached to the same surface 38a to urge the pushing member 38 in the direction opposite to the outlet 34. As shown in FIG. The opposite end of spring 40 is connected to body portion 37 .

Two teeth 38c protruding into the tape guide path 33c are formed on the side of the lower surface 38b of the ejecting member 38 facing the tape guide path 33c and closer to the outlet 34. As shown in FIG. The interval between the two teeth 38c is the same as the interval 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. do. The lower surfaces of the two teeth 38c are slanted to the opposite side of the ejection port 34, respectively. In addition, the two teeth 38c side of the pushing member 38 can swing up and down (arrow b3).

The pushing member 38 can push the carrier tape 14 out of the ejection port 34 by moving to the ejection port 34 with the two teeth 38c engaged with the feed holes 14a. On the other hand, when the pushing member 38 returns to the side opposite to the ejection opening 34, the pushing member 38 swings up and down with the inclination of the lower surface of the two teeth 38c along the feed hole 14a. 38c and the feed hole 14a are disengaged. In this manner, the pushing rod 39 and the pushing member 38 serve as a carrier tape pushing member having one end engaged with the stored carrier tape 14 and the other end protruding outside the tape cassette C (storage container).

In FIG. 7A, a substantially L-shaped rocking member 42 is arranged in a space 41a formed in the main body 41 of the lower push-out mechanism 33b. A swing shaft 43 attached to the body portion 41 is connected to the side of the swing member 42 opposite to the outlet 34 . The swing member 42 swings up and down (arrow b4) on the side of the outlet 34 about the swing shaft 43 . A spring 44 that is an elastic body that biases the swing member 42 upward is disposed below the swing member 42 on the outlet 34 side. The upward swinging motion of the swinging member 42 is restricted by a restricting surface 41 b formed in the space 41 a of the body portion 41 .

Two teeth 42b projecting into the tape guide path 33c are formed on the side of the upper surface of the swinging member 42 facing the tape guide path 33c and close to the outlet 34, while the upward swinging is restricted by the restricting surface 41b. ing. The interval between the two teeth 42b is the same as the interval between the sprocket holes 14a of the carrier tape 14. As shown in FIG. The two teeth 42b engage with the feed holes 14a of the carrier tape 14 inserted into the tape guide path 33c. The upper surfaces of the two teeth 42b are slanted to the opposite side of the ejection port 34, respectively.

When the carrier tape 14 is pushed out in the direction of the ejection port 34 with the two teeth 42b engaged with the feed holes 14a, the swinging member 42 is moved so that the upper surfaces of the two teeth 42b are inclined along the feed holes 14a. It rocks up and down, disengaging the two teeth 42b from the feed hole 14a. As a result, the outward movement of the carrier tape 14 to be pushed out is not hindered by the rocking member 42 . On the other hand, when the carrier tape 14 tries to move in the opposite direction (inward) to the ejection port 34, the two teeth 42b of the swinging member 42 are engaged with the feed holes 14a to restrain the carrier tape 14 from moving.

Next, referring to FIGS. 7A to 7C, the process of extruding the carrier tape 14 in the tape cassette C will be described. In FIG. 7(a), the carrier tape 14 stored in the tape cassette C is engaged with the two teeth 38c of the pushing member 38 and the two teeth 42b of the rocking member 42 at the feeding hole 14a, and the carrier tape 14 is 14 is outside the outlet 34 . The pushing member 38 is positioned farther from the ejection port 34 .

From this state, in FIG. 7(b), when the pushing rod 39 is pushed inside from the outside by an external force (arrow c1), two teeth 38c of the pushing member 38 are engaged with the feed holes 14a of the carrier tape 14. In this state, it is pushed in the direction of the take-out port 34 (arrow c2). Along with this, the carrier tape 14 moves toward 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 holes 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 outlet 34 (arrow c4).

In FIG. 7(c), the pushing rod 39 has been removed from the pushing force. Therefore, the pushing member 38 is pulled back to the side opposite to the ejection opening 34 by the spring 40 of the upper pushing mechanism 33a. At that time, the carrier tape 14 is prevented from moving by the rocking member 42 whose two teeth 42b are engaged with the feed holes 14a. Therefore, the pushing member 38 swings up and down (arrow d1) so that the two teeth 38c are disengaged from the feed hole 14a, and moves to the side opposite to the outlet 34 (arrow d2). Then, the pushing rod 39 is pushed by the pushing member 38 and pushed back to the side opposite to the ejection port 34 (arrow d3).

When pushing out the carrier tape 14 from the tape cassette C, the pushing step shown in FIG. 7(b) and the returning step shown in FIG. 7(c) are repeated so that a desired length is pushed out. When the carrier tape 14 is fed outward from the outlet 34 by the tape feeder 7, in the state shown in FIG. b4). As a result, the two teeth 38c of the pushing member 38 and the two teeth 42b of the rocking member 42 are disengaged from the sprocket holes 14a, inhibiting the movement of the carrier tape 14 toward the tape feeder 7. not.

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

Next, a method of exchanging (supplying) the tape cassette C in the cassette holder 15 will be described with reference to FIGS. 8 and 9. FIG. In FIGS. 8 and 9, the structures of the carriage 13 and the cassette holder 15 are simplified for the sake of convenience. As shown in FIG. 8A, the cassette holder 15 is provided with a lower holding position Hd for holding a tape cassette C(1) that winds and stores the preceding tape 14(1). Further, the cassette holder 15 is provided above the lower holding position Hd with an upper holding position Hu for holding the tape cassette C(2) in which the following tape 14(2) is wound.

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). and a lower holding position Hd (second holding position) for holding the tape cassette C(1) (storage container) replenished earlier than the tape cassette C(2) (storage container) held in the . A groove 15a for guiding the tape cassette C is formed in the inner wall of the cassette holder 15. As shown in FIG. 8 and 9, for the sake of convenience, the groove 15a is simplified and represented by a dashed line. The tape cassette C supplied to the cassette holder 15 moves downward due to gravity along the groove 15a on the inner wall.

In FIG. 8A, the leading tape 14(1) and the trailing tape 14(2) are inserted into the tape insertion opening 7d of the tape feeder 7. In FIG. In the tape feeder 7, the component D contained in the preceding tape 14(1) is supplied to the component take-out position 28a. When the components D on the preceding tape 14(1) are exhausted in the process of continuing the component mounting work, the components D stored on the subsequent tape 14(2) are supplied to the component pickup position 28a.

In FIG. 8(b), the leading tape cassette C(1), whose parts D have been completely consumed and is now empty, is removed from the cassette holder 15 by the recovery head 60 (see FIG. 10) of the self-propelled parts replenishing device V, which will be described later. It is pulled out in the horizontal direction (arrow e1) from the lower holding position Hd and recovered (preceding cassette recovery step). After that, the subsequent tape cassette C(2) moves from the upper holding position Hu to the empty lower holding position Hd along the groove 15a (arrow e2) (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 removed, the tape cassette held at the upper holding position Hu (first holding position) is removed. C(2) (storage container) moves to the lower holding position Hd (second holding position). Since the tape cassette C in 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 pulling it out.

In FIG. 9(a), the tape cassette C(3) to be replenished next is behind the tape feeder 7 and the tip of the carrier tape 14(3) protruding from the take-out port 34 of the tape cassette C(3). 14b is placed at the replenishment position Hs of the cassette holder 15 positioned behind the tape insertion opening 7d of the tape feeder 7 (arrow f1) (replenishment cassette placement step). Here, the tape cassette C(3) is held at the replenishment position Hs by a gripping device 57b (see FIG. 10) of the self-propelled component replenisher V, which will be described later.

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

Further, means for holding the tape cassette C at the supply position Hs may be provided in the cassette holder 15 . The carrier tape 14 is pushed out by the pushing mechanism 33 of the tape cassette C at least to a position where the tape can be fed 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 the extrusion of 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) contained in the replenished tape cassette C(3) is completely loaded into the tape feeder 7, the holding of the tape cassette C(3) is released. As a result, the tape cassette C(3) moves from the replenishment position Hs to the upper holding position Hu along the groove 15a (arrow g1) (replenishment cassette moving step). In this manner, the empty tape cassette C(1) is recovered from the component mounting apparatuses 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 moves horizontally (in the present embodiment, The tape cassette C(3) is rotated 45 degrees with the X direction) as the axis of rotation so that the take-out port 34 of the tape cassette C(3) faces obliquely upward. At the lower holding position Hd, the tape cassette C(2) is held so as to maintain an angle in which the outlet 34 of the tape cassette C(2) faces obliquely upward.

Note that the replenishment position Hs and the upper holding position Hu are positioned so as not to overlap each other in the YZ plan view seen from the X direction. This is because the other tape cassettes C positioned at the upper holding position Hu do not interfere with the alignment operation of the tape cassette C to the tape feeder 7 by the supply head 57 (see FIG. 10), which will be described later.

Furthermore, the tape cassette C(2) ejection opening 34 at the lower holding position Hd is horizontally (Y-direction in this embodiment) tape feeder than the ejection opening 34 of the tape cassette C(3) at the upper holding position Hu. It is set to be a position 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 opening 7 d of the tape feeder 7 .

Next, with reference to FIGS. 10 and 11, the configuration of the self-propelled parts replenishing device V and the carriage 13 will be described. In FIG. 10, the self-propelled parts replenishing device V is configured by stacking a carriage portion 50, a support portion 51, and a storage portion 52 from below. The carriage unit 50 includes wheels 53, a motor for driving the wheels 53, a direction changing mechanism for the wheels 53, a sensor for detecting the position and orientation of the self-propelled parts supply device V, and a traveling mechanism 54 (not shown) including a camera (not shown). 15). In addition, a supply 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) are arranged on the carriage unit 50. FIG.

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

In addition, the travel mechanism 54 is provided with an electromagnetic brake (not shown), and can continue to stop at a predetermined position with the electromagnetic brake applied. In this way, the traveling mechanism 54 and the traveling control section 55a serve as a traveling means that has the support section 51 on its upper portion and automatically moves or stops.

The support portion 51 has a lower portion fixed to the carriage portion 50 and an upper portion 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 relative to the lower portion in horizontal directions (X direction and Y direction) and vertical directions (Z direction). Accordingly, when an external force is applied to the storage portion 52 , the storage portion 52 moves horizontally and vertically with respect to the carriage portion 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 central position when no external force is applied. Further, the support portion 51 incorporates a lock mechanism (not shown) that fixes the position of the storage portion 52 with respect to the carriage portion 50 while the storage portion 52 is at a predetermined central position. The self-propelled component replenishing device V moves (runs) while the storage section 52 is fixed at a predetermined central position. Thus, 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 section 52 includes an upper supply cassette storage section 52a and a lower recovery cassette storage section 52b. A plurality of tape cassettes C to be supplied to the component mounting apparatuses M3 to M6 are stored in the supply cassette storage section 52a. A plurality of tape cassettes C collected from the component mounting apparatuses M3 to M6 are stored in the collected cassette storage section 52b. That is, the storage unit 52 includes a replenishment cassette storage unit 52a (first area) for storing the tape cassette C (storage container) to be replenished, and a recovery cassette storage unit 52b for storing the used tape cassette C (storage container). (Second area).

In FIG. 10, an X-axis beam 56x is arranged along the X direction (running direction of the self-propelled component replenishing device V) on the ceiling of the replenishment cassette storage section 52a. An X-axis slider 56a driven by an X-axis linear drive mechanism is provided on the X-axis beam 56x so as to be movable in the X direction along the X-axis beam 56x (arrow j1 in FIG. 11). An X-axis movement mechanism is composed of the X-axis beam 56x, the X-axis slider 56a, and the X-axis linear drive mechanism.

Below the X-axis slider 56a, a Y-axis beam 56y is arranged along the Y direction (the direction perpendicular to the traveling direction of the self-propelled component replenishing device V). A Y-axis slider 56b driven by a linear drive mechanism is provided on the Y-axis beam 56y so as to be movable in the Y direction (arrow h1) along the Y-axis beam 56y. A Y-axis moving mechanism is composed of the Y-axis beam 56y, the Y-axis slider 56b, and the Y-axis linear driving mechanism. A supply 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. As shown in FIG.

The gripping device 57b grips the gripping portion 35 of the tape cassette C to be replenished stored in the replenishment cassette storage portion 52a. The tape inserting means 57a comprises an electromagnetic piston and a rod. With the tape cassette C gripped by the replenishing head 57, the tape inserting means 57a protrudes the rod to push the pushing rod 39 of the tape cassette C into the inside of the tape cassette C and push the carrier tape 14 out of the ejection 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 that is stored at a predetermined position, take it out from the replenishment cassette storage portion 52a, and store the replenishment cassette. A cassette replenishing mechanism 58 (see FIG. 15) that pushes out the carrier tape 14 from the tape cassette C by moving it in the X and Y directions outside the portion 52a.

The RF reader R reads the identification information N from the RFID 36 arranged on the tape cassette C. FIG. 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 can detect the tape cassette C stored in the replenishment cassette storage section 52a. The identification information N can be read at once. In this way, in the self-propelled component replenishing 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). is provided.

In FIG. 10, an X-axis beam 59x is arranged along the X direction (running direction of the self-propelled component replenishing device V) on the ceiling of the collection cassette storage section 52b. An X-axis slider 59a driven by an X-axis linear driving mechanism is provided on the X-axis beam 59x so as to be movable in the X direction along the X-axis beam 59x (arrow j2 in FIG. 11). The X-axis beam 59x, the X-axis slider 59a, and the X-axis linear drive mechanism constitute an X-axis movement mechanism.

Below the X-axis slider 59a, a Y-axis beam 59y is arranged along the Y direction (the direction perpendicular to the traveling direction of the self-propelled component replenishing device V). A Y-axis slider 59b driven by a linear driving mechanism is provided on the Y-axis beam 59y so as to be movable in the Y direction (arrow h2) along the Y-axis beam 59y. The Y-axis beam 59y, the Y-axis slider 59b, and the Y-axis linear driving mechanism constitute a Y-axis moving mechanism. A recovery head 60 is attached to the Y-axis slider 59b.

The collection 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 held at the lower holding position Hd of the cassette holder 15 of the component mounting devices M3 to M6. After pulling the gripped tape cassette C to a predetermined position in the recovery cassette housing portion 52b, the recovery head 60 releases the grip and stores the tape cassette C to be recovered. In this manner, the X-axis moving mechanism, the Y-axis moving mechanism, and the collection head 60 move in the X and Y directions outside the collection cassette housing portion 52b, grip the tape cassette C to be collected, and move the tape cassette C to the collection cassette housing portion. A cassette collecting mechanism 61 (see FIG. 15) is stored at a predetermined position 52b.

In FIG. 11, in the storage section 52, the tape cassette C is taken out from the supply cassette storage section 52a and the tape cassette C is recovered in the recovery cassette storage section 52b. has been removed. When the self-propelled component replenishing device V replenishes and collects tape cassettes C to and from the component mounters M3 to M6, the self-propelled component replenishing device V automatically positions the tape cassettes C while running so that the surface for taking in and out the tape cassettes C is parallel to the component supply unit 6. Align.

In FIG. 10, a connecting roller 62a and a connecting hook 62b are provided on the outer wall of the housing portion 52 in the X direction (see also FIG. 11). The connecting roller 62a and the connecting hook 62b are arranged with a predetermined distance in the Y direction. A connecting portion 63 is provided on the front surface of the cassette holder 15 of the carriage 13 on which the plurality of tape feeders 7 are mounted (the 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 portions 64 each have a positioning block 65 and a connecting mechanism 66 . The positioning block 65 brings the connecting roller 62a of the storage section 52 into contact when connecting the storage section 52 of the self-propelled component replenishing device V to the connecting section 63, thereby positioning the storage section 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 obliquely upward. Further, the connecting mechanism 66 has a sensor (illustrated as a omitted) is built in.

Next, with reference to FIG. 12, a method for connecting the storage section 52 of the self-propelled parts replenishing device V to the connecting section 63 will be described. In FIG. 12(a), the self-propelled component replenishing device V approaches the carriages 13 of the component mounting devices M3 to M6 by traveling in a parallel direction, and the storage portion 52 is connected to the pair of guide portions of the connecting portion 63. The X direction is adjusted to a position between 64 and paused. Then, the self-propelled component replenishing device V releases the lock mechanism of the support portion 51 . Next, the self-propelled parts replenishing device V moves in the Y direction at low speed while maintaining its posture parallel to the carriage 13 (arrow k1). Then, when the self-propelled component replenishing device V reaches the stop position where the connecting hook 62b of the storage portion 52 abuts on the connecting member 66a, it stops moving and activates the electromagnetic brake of the travel mechanism 54. FIG.

In FIG. 12(b), the connecting mechanism 66 then lifts the connecting member 66a connected to the connecting hook 62b obliquely upward (arrow k2). As a result, the storage section 52 is transferred to the carriage 13 via the connecting section 63 (arrow k3), and the storage section 52 is ready for the replenishment work and recovery work of the tape cassette C (exchange preparation work is completed).

As described above, the self-propelled component replenishing device V holds and automatically moves the tape cassette C (storage container) storing a plurality of components D, and feeds the components D of the tape cassette C to the tape feeder 7 (component supply unit). equipment). More specifically, the self-propelled component replenishing device V includes a storage section 52 (storage container storage section) that stores the tape cassette C, and a storage section 52 that stores the tape cassette C between the storage section 52 and the cassette holder 15 (storage container holding device). , and a cassette replenishment mechanism 58 and a cassette collection mechanism 61 (storage container transfer section).

Further, the component mounting apparatuses M3 to M6 are provided with a connection portion 63 that is connected to and held by the storage portion 52 . When the tape cassette C is moved between the storage section 52 and the cassette holder 15 by the storage container transfer section, the traveling means (the traveling mechanism 54 and the traveling control section 55a) causes the self-propelled component replenishing device V to mount the components. The devices M3 to M6 are stopped at a predetermined stop position, and the connection portion 63 is connected to the storage portion 52 to hold the storage portion 52 .

Next, with reference to FIG. 13, recovery of tape waste W obtained by cutting the used carrier tape 14 discharged from the tape discharge port 7e after supplying the component D in the tape feeder 7 will be described. First, referring to FIG. 13(a), a first embodiment for collecting waste tape W will be described. Waste tape W discharged from the tape discharge port 7 e and cut into appropriate lengths is collected in a collecting container 70 fixed to the carriage 13 . The self-propelled component replenishing device V includes a suction device 71 that vacuum-sucks the waste tape W from the collection container 70, a nozzle portion 72 that is movable at the tip position and vacuum-sucks the waste tape W from the tip, and the waste tape W that has been vacuum-sucked. A storage box 73 for storage is provided.

When the waste tape W accumulates in the collecting container 70 to a predetermined amount or more, the tip of the nozzle part 72 is moved into the collecting container 70 in time with the timing when the tape cassette C is replenished by the self-propelled part replenishing device V, and the suction device 71 The tape waste W is sucked by and collected in the storage box 73. In this manner, the suction device 71 and the nozzle portion 72 form a waste collection mechanism 74A (see FIG. 15) for collecting the tape waste W from the component mounters M3 to M6. That is, the self-propelled parts replenishing device V is provided with a waste tape collecting mechanism 74A (waste tape collecting means) for collecting the waste tape W after supplying the parts, and the waste tape collecting means is a suction device 71 for sucking the waste tape W. It has As a result, the waste tape W can be collected automatically without depending on the operator.

Next, with reference to FIG. 13(b), a second embodiment for collecting waste tape W will be described. This embodiment differs from the first embodiment in that waste tape W is collected in a movable waste tape storage box 76 . The waste tape storage box 76 is placed at a predetermined position on the carriage 13 during the component mounting operation. The self-propelled component replenishing device V includes a storage box moving device 77 such as an articulated robot having a gripper 77a for gripping the waste tape storage box 76, and a storage box storage unit 78 for collecting the waste tape storage box 76. .

When the waste tape W accumulates in the waste tape storage box 76 to a predetermined amount or more, the waste tape storage box 76 is moved to the storage box storage unit by the storage box moving device 77 at the timing when the tape cassette C is replenished by the self-propelled component replenishing device V. 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 carriage 13 . Thus, the waste tape storage box 76, the storage box moving device 77, and the storage box storage unit 78 form a waste collection mechanism 74B (see FIG. 15) for collecting the waste tape W from the component mounting apparatuses M3 to M6.

That is, the self-propelled parts replenishing device V is provided with a waste tape collecting mechanism 74B (waste tape collecting means) for collecting the waste tape W after supplying the parts. A storage box moving device 77 (recovery device) for recovering the parts 76 to the self-propelled parts replenishing device V is provided. As a result, it is possible to collect the tape waste W in a short time. The recovery device for recovering the waste tape storage box 76 to the self-propelled component replenishing device V is not limited to the articulated robot. It is sufficient that the recovery device can replace the waste tape storage box 76 between the carriage 13 of the component mounting devices M3 to M6 and the self-propelled component replenishing device V. FIG. Also, the collecting device may be arranged on the component mounting devices M3 to M6 (carriage 13) instead of the self-propelled component replenishing device V. FIG.

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

14, the component mounting apparatus M3 includes a mounting control section 22, a mounting storage section 80, a tape feeder 7, a component mounting working section 16, a connecting mechanism 66, and a communication section 81. As shown in FIG. A communication unit 81 is a communication interface, and exchanges signals and data with other component mounting apparatuses M4 to M6, other component mounting lines L2 and L3, the management computer 3, and the component storage apparatus S via the communication network 2. I do. The mounting control section 22 controls the tape feeder 7 and the component mounting work section 16 based on the component mounting data stored in the mounting storage section 80, thereby causing the component mounting apparatus M3 to perform the component mounting work.

Further, the mounting control unit 22 communicates with the self-propelled parts replenishing device V via the management computer 3 and interlocks with the self-propelled parts replenishing device V to control the connecting mechanism 66 so that the connecting part 63 can Execute the connection work to connect to Further, the mounting control unit 22 sequentially transmits to the management computer 3 the mounting status including the consumed number (remaining number) of the components D of the component mounting apparatus M3.

14, the management computer 3 includes a management control section 82, a management storage section 83, an input section 84, a display section 85, a communication section 86, and a wireless communication section 3a. The input unit 84 is an input device such as a keyboard, touch panel, mouse, etc., and is used for inputting operation commands and data. The display unit 85 is a display device such as a liquid crystal panel, and displays various screens such as an operation screen for operation by the input unit 84 as well as various information. The communication unit 86 is a communication interface, and exchanges signals and data with the component mounting apparatuses M3 to M6 on the component mounting lines L1 to L3 and the component storage apparatus S via the communication network 2. FIG. The wireless communication unit 3a exchanges signals and data wirelessly with the self-propelled component replenishing device V. FIG.

The management control section 82 is an arithmetic device such as a CPU, and manages the component mounting system 1 based on information stored in the management storage section 83 . The management control unit 82 has, as internal processing functions, 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. The management storage unit 83 is a storage device, and stores component mounting data, component management information 83a, component supply plan information 83b, and the like.

In FIG. 14, the component management information 83a contains identification information N of each tape cassette C and information linking the stored components D, the location of each tape cassette C, the remaining number of stored components D, and the number of parts until running out. including estimated time. Possible places where the tape cassette C is located are the component storage device S, the self-propelled component supply device V, and the component 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 specifying the parts storage device S and the position of the shelf where the tape cassette C is stored.

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

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

The component replenishment plan creation unit 82b creates component replenishment plan information 83b including a component replenishment plan for replenishing the components D to each tape feeder 7 using the tape cassette C based on the component management information 83a and the component mounting data. The component supply plan information 83b includes the location of the tape cassette C to be supplied and the position of the tape feeder 7 for supplying the tape cassette C (component mounting lines L1 to L3, component mounting apparatuses M3 to M6, positions within the component supply unit 6). , information for specifying the self-propelled component replenishing device V that transports the tape cassette C to be replenished, the moving route within the floor F, and the like.

In FIG. 14, the component replenishment management section 82c transmits replenishment instructions to the component storage device S, the self-propelled component replenisher V, and the component mounters M3 to M6 based on the created component replenishment plan information 83b. Specifically, the component replenishment management section 82c instructs the component storage device S which tape cassette C to store in the self-propelled component replenisher V. FIG. That is, the management computer 3 (parts information management section) transmits information on the tape cassette C (container) to be supplied to the parts storage device S (parts storage section).

The component supply management unit 82c stores the tape cassette C stored in the self-propelled component supply device V, the movement path in the floor F, the position of the tape feeder 7 that supplies the tape cassette C (component mounting lines L1 to L3, component mounters M3 to M6, positions in the component supply unit 6). The component supply management section 82c indicates the position of the tape feeder 7 (the position within the component supply section 6) for supplying the tape cassettes C to the component mounters M3 to M6.

Further, when the self-propelled parts supply device V supplies tape cassettes C to the tape feeder 7, the parts supply management unit 82c receives necessary information from the self-propelled parts supply device V and the tape feeder 7, and supplies the self-propelled parts. An instruction is sent to the supply device V and the tape feeder 7 . Specifically, the identification information N of the tape cassette C read by the self-propelled parts replenishing device V is received and checked against the information contained in the parts replenishment plan information 83b to determine whether it is the tape cassette C for which replenishment has been instructed. Check whether That is, the management computer 3 (parts information management section) confirms whether or not the tape cassette C (storage container) is the tape cassette C to be moved based on the identification information N sent from the self-propelled parts replenisher V.

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

In FIG. 14, the collection timing calculation unit 82d calculates each of the component mounters M3 to M4 (or , the collection timing of the waste tape W of the component supply unit 6) is calculated. The collection timing calculator 82d adds an instruction to collect the waste tape W to the component replenishment plan information 83b based on the calculation result. That is, the recovery timing calculator 82d calculates the recovery timing of the waste tape W based on the component management information 83a and the mounting information of the component mounting apparatuses M3 to M6 included in the component mounting data. In this way, the management computer 3 functions as a parts information management section that stores and manages information on the parts D. FIG.

14, the parts storage apparatus S includes a parts storage control section 91, a parts storage storage section 92, a parts storage operation section 93, an identification information reading section 94, and a communication section 95. FIG. 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 rack provided in the parts storage apparatus S, and takes it out from the storage rack. A transfer mechanism is provided for transferring to the storage section 52 of the self-propelled parts replenishing device V. FIG.

The identification information reading unit 94 is an RF reader R, a barcode reader, or the like that reads the identification information N of the RFID 36 or barcode attached to the tape cassette C or reel L stored in the component storage device S. A communication unit 95 is a communication interface, and exchanges signals and data between the communication network 2 and the management computer 3 and the component mounting apparatuses M3 to M6. That is, the parts storage device S (parts storage section) can communicate with the management computer 3 (parts information management section). The parts storage storage unit 92 stores information linking the identification information N read by the identification information reading unit 94 and the storage shelf. Various information about tape cassettes C (parts D) to be stored stored in the parts 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 operation unit 93 and the identification information reading unit 94 to execute storage work of receiving the tape cassette C or the reel L, reading the identification information N, and storing it in the storage shelf. Further, the parts storage control unit 91 controls the parts storage work unit 93 based on instructions from the management computer 3 to take out the instructed tape cassette C or reel L from the storage rack and transfer it to the self-propelled parts replenishing device V. hand over. That is, the parts storage device S (parts storage section) selects the tape cassette C or reel L (storage container) to be supplied based on the information from the management computer 3 (parts information management section). The replenishment mechanism 58 and the cassette recovery mechanism 61 (storage container transfer section) are positioned at positions where they can be moved.

15, the tape feeder 7 includes a feeder control section 21, a feeder storage section 96, a tape feeding mechanism 24, a shutter mechanism 23, an operation/display panel 29, an insertion detection sensor Q, and a communication section 97. FIG. The feeder storage unit 96 stores various types of information such as the identification information N of the mounted tape cassette C, the consumed number of parts D, the remaining number, and the like. A communication unit 97 is a communication interface, and exchanges signals and data with the mounting control unit 22 . Further, the communication unit 97 exchanges signals and data with the management computer 3 via the communication units 81 of the component mounting apparatuses 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 transport the leading tape 14(1), insert the trailing tape 14(2), and feed the trailing tape 14(1) to the trailing tape 14(1). Cause a transition to tape 14(2). At this time, when the feeder control unit 21 receives information from the management computer 3 that the preparation for inserting the subsequent tape 14(2) in the self-propelled component replenishing device V has been completed, the shutter 23a is opened.

That is, when the tape feeder 7 (component supply device) receives the information instructing to accept the supply of the component D, it opens the shutter 23a provided at the tape insertion opening 7d as an operation for accepting the component D. Further, when the insertion detection sensor Q detects that the leading end 14b of the subsequent tape 14(2) has been inserted, the feeder control section 21 notifies the management computer 3 of the fact. As a result, it is possible to prevent the carrier tape 14 (component D) from being erroneously inserted into the tape feeder 7 that is not to be replenished.

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

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

The traveling control unit 55a controls the traveling mechanism 54 based on the replenishment part information 98a to cause the self-propelled parts replenishing device V to travel along the specified route, and stop positions in front of the specified component mounters M3 to M4. to stop. The replacement control unit 55b controls the cassette supply mechanism 58 based on the supply part information 98a, receives the tape cassette C to be supplied from the parts storage device S, stores it in the supply cassette storage unit 52a, and feeds the tape feeder to be supplied. 7 to be replenished. Further, the replacement control unit 55b controls the cassette recovery mechanism 61 based on the supply part information 98a, recovers the used tape cassette C, stores it in the recovery cassette storage unit 52b, and arranges it on the floor F. The collected tape cassette C is returned to the used cassette collecting device U.

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

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

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. In FIG. 16, the management control unit 82 of the management computer 3 acquires information on the consumption status of the component D from the component mounting apparatuses M3 to M6 provided in the component mounting system 1, and updates the component management information 83a (ST1). Next, the parts replenishment plan creation unit 82b creates parts replenishment plan information 83b based on the updated parts management information 83a and parts mounting data (ST2: parts replenishment plan creation process).

Next, the self-propelled parts replenishing 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 similarly instructed by the management computer 3, and supplies the supply cassette storage section 52a. (ST3: replenishment cassette storage step). At that time, the identification information N of the tape cassette C is read by the RF reader R provided in the self-propelled parts replenishing device V, and the read identification information N is linked to the stored position information and sent to the management computer 3. be.

In FIG. 16, the self-propelled component replenishing apparatus V moves to the stop position of the component mounting apparatuses M3 to M6 to be replenished according to instructions from the management computer 3, and performs preparation work for replacing the tape cassette C (ST4: Preparing for replacement). process). In the replacement preparation step (ST4), the connecting mechanism 66 connects the storage section 52 to the component mounting apparatuses M3 to M6.

When the replacement preparation is completed, the tape cassette C replacement operation is started. Referring to FIG. 17, a tape cassette replacement method for recovering used tape cassettes C and loading tape cassettes C to be replenished into the tape feeder 7 will be described. In FIG. 17, the replacement control section 55b of the self-propelled component replenishing device V moves the replenishing head 57 of the cassette replenishing mechanism 58 to the rear of the tape cassette C to be replenished. Next, the exchange control section 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. FIG. That is, the self-propelled parts replenishing device V transmits information indicating replenishment of the parts D of one of the stored tape cassettes C (storage container) to the management computer 3 (parts information management unit).

The parts supply management section 82c of the management computer 3 checks the transmitted identification information N with the stored parts supply plan information 83b (ST11), and confirms whether or not the tape cassette C is the desired tape cassette C (ST12: cassette matching process). That is, the self-propelled parts supply 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 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 the tape cassette C is not the desired tape cassette C (No in ST12), a message to that effect is sent to the management computer 3, and the supply of parts to the tape feeder 7 is skipped (ST11). The step of reading the identification information N in the self-propelled parts replenishing device V (ST11) and the step of collating the cassette in the management computer 3 (ST12) may be omitted. In this case, according to the replenishment order of the part replenishment plan information 83b transmitted from the management computer 3 included in the replenishment part information 98a, when the self-propelled part replenishing device V is ready to replenish the tape cassette C to be replenished, the fact is displayed. (Information indicating replenishment of component D of one stored tape cassette C) is sent to management computer 3 .

In FIG. 17, when the desired tape cassette C is confirmed in the cassette verification step (ST12) (Yes), the parts supply management unit 82c selects the upper part of 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). If there is a tape cassette C in the upper holding position Hu (Yes in ST13), the replacement control section 55b of the self-propelled parts replenishing device V controls the cassette recovery mechanism 61 to remove the used tape cassette C from the lower holding position Hd. is recovered (ST14: cassette recovery step).

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

Next, the collection head 60 moves in the X direction until it is positioned behind the tape cassette C(1) to be collected at the downward movement position Hm. 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 gripping 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) that was in the upper holding position Hu moves to the lower holding position Hd (arrow n2).

Next, the recovery head 60 gripping the tape cassette C(1) moves in the X direction to the front of the empty slot of the recovery cassette housing portion 52b at the downward movement position Hm. Next, the recovery head 60 that has gripped the tape cassette C(1) moves in the Y direction, places the tape cassette C(1) in the empty slot of the recovery cassette housing portion 52b, and releases the grip.

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

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

In FIG. 17, the replacement control unit 55b of the self-propelled component replenishing device V then controls the cassette replenishing 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 supply cassette housing portion 52a, the supply head 57 grips the tape cassette C(3) to be supplied and moves in the Y direction to the front supply position Hs. Next, the replenishment head 57 gripping the tape cassette C(3) moves in the X direction until it is positioned behind the replenishment target tape feeder 7 at the replenishment position Hs. In this manner, the tape cassette C(3) to be replenished moves to the replenishment position Hs behind the tape feeder 7 to be replenished.

Next, the replacement control unit 55b controls the cassette replenishment mechanism 58 to push out the carrier tape 14(3) from the tape cassette C(3), and the leading end 14b of the carrier tape 14(3) is moved to the tape insertion opening of the tape feeder 7. Insert from 7d (ST17). Thereafter, until the insertion detection sensor Q of the tape feeder 7 detects the leading end 14b of the carrier tape 14(3) (Yes in ST18), (ST17) is continued to continue pushing out the carrier tape 14(3) (No in ST18). ).

In FIG. 18B, the supply head 57 grips the tape cassette C(3) and moves it to the supply position Hs (arrow n4). 19A, the tape inserting means 57a pushes the pushing rod 39 of the tape cassette C(3) into the tape cassette C(3) (arrow n5), and the carrier tape 14(3) is pushed into the tape feeder 7. and insert it through the tape insertion port 7d of the tape feeder 7 (arrow n6). That is, the self-propelled parts supply 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 (automatic load feeder). It has tape inserting means 57a for pushing.

The tape inserting means 57a pushes the carrier tape 14(3) out of the tape cassette C(3) by pushing the pushing bar 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. As shown in FIG. When the leading end 14b is detected by the insertion detection sensor Q, the fact is transmitted to the management computer 3, and the management computer 3 instructs the self-propelled parts replenishing device V to finish pushing out the carrier tape 14(3). That is, when the insertion detection sensor Q (tape insertion detector) detects that the carrier tape 14 (3) has been properly inserted, it notifies the self-propelled parts replenishing device V of the fact. Stop pushing in (3).

In FIG. 17, when the ejection of the carrier tape 14(3) is completed (Yes in ST18), the replacement control section 55b controls the cassette supply mechanism 58 to release the grip of the tape cassette C(3) (ST19: grip release step), the replenishment head 57 is moved into the replenishment cassette housing portion 52a.

Specifically, in FIG. 19(b), the tape cassette C(3) that has been released from the grip is moved slightly behind the replenishment position Hs (arrow n7), and an empty slot (for example, replenished It moves in the X direction to the front of the slot where the tape cassette C(3) was stored. Next, the supply head 57 moves in the Y direction into the supply cassette storage section 52a. The released tape cassette C(3) moves from the supply position Hs to the upper holding position Hu (arrow n8).

As described above, from the shutter release step (ST15) to the grip releasing step (ST19), the self-propelled parts replenishing device V replenishes the tape cassette C(3) to be replenished. In this way, the cassette supply mechanism 58 and the cassette recovery mechanism 61 (storage container transfer unit) move the tape cassette C(3) (storage container) to be supplied from the supply cassette storage unit 52a (first area) to the upper holding position. Hu (first holding position), and the used tape cassette C(1) (storage container) is moved from the lower holding position Hd (second holding position) to the recovery cassette storage section 52b (second area). move.

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

When the supply of tape cassettes C (components D) has been completed in the scheduled component mounting apparatuses M3 to M6 (Yes in ST7), the self-propelled component supply apparatus V moves to the waste tape disposal unit G and collects them. Waste tape W is discarded (ST8). Next, the self-propelled parts replenishing device V moves to the used cassette collecting device U, and delivers the used tape cassette C stored in the collecting cassette storage section 52b to the used cassette collecting device U.

As described above, the component mounting system 1 of this embodiment includes the component mounting apparatuses M3 to M6 that mount the components D on the board B, and the tape feeders 7 mounted on the component mounting apparatuses M3 to M6 that supply the components D. (a component supply device) and a tape cassette C (storage container) for storing a plurality of components D are held and automatically moved, and the components D of the carrier tape 14 wound and stored in the tape cassette C are sent to the tape feeder 7. A self-propelled parts replenishing device V for replenishing is provided. As a result, the component D can be automatically taken out from the component storage device S (component storage section) and supplied to the component mounting devices M3 to M6.

Next, with reference to FIG. 20, a second embodiment of the tape cassette C1 for winding and storing the carrier tape 14 and supplying it to the tape feeder 7 will be described. Hereinafter, the same reference numerals are assigned to the same configurations as those of the first embodiment shown in FIGS. 6 and 7, and detailed description thereof will be omitted. The tape cassette C1 of the second embodiment differs from that of the first embodiment in that the reel L on which the carrier tape 14 is wound is housed therein. 20(a) shows the tape cassette C1 with the transparent cover 101 and the opaque cover 102 attached, and FIG. 20(b) shows the state with the transparent cover 101 and the opaque cover 102 removed.

In FIG. 20(a), 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 push-out mechanism 33 . A barcode 103 is attached to the side surface of the reel L, and the barcode 103 can be read through the transparent cover 101 . That is, with the transparent cover 101 and the opaque cover 102 attached to the tape cassette C1, the identification information N can be read by reading the barcode 103 with a barcode reader. In the tape cassette C1, the carrier tape 14 delivered from the supplier is stored in the tape cassette C1 as it is in the reel L, so that the number of man-hours for transferring the carrier tape 14 can be reduced.

Next, with reference to FIGS. 21 and 22, a second embodiment of the self-propelled parts replenishing device V1 and the carriage 110 will be described. 10 and 11 are denoted by the same reference numerals, and detailed description thereof will be omitted. The second embodiment differs from the first embodiment in that the self-propelled parts replenishing device V1 and the truck 110 exchange the tape cassette C without connecting the storage section 52 to the truck 110. FIG.

In FIG. 21, the self-propelled parts replenishing device V1 is configured by stacking a carriage portion 50, a support device 111, and a storage portion 52 from below. The support device 111 has a lower portion fixed to the carriage portion 50 and an upper portion fixed to the storage portion 52 to support the storage portion 52 from below. The support device 111 incorporates a slider and a motor for moving the upper portion with respect to the lower portion in the horizontal direction (X direction, Y direction) and the vertical direction (Z direction). is moved to move the storage unit 52 .

In FIG. 22, two light shielding sensors 112 are arranged in the truck portion 50 at a position facing the truck 110 when the tape cassette C is replaced. In FIG. 21, two dogs 113 for shielding the light shielding sensor 112 are arranged on the truck 110 at positions facing the truck portion 50 when the tape cassette C is replaced. When replacing the tape cassette C, the dogs 113 shield the light shielding sensors 112 from light. The detection result of the light shielding sensor 112 is sent to the replenishment control section 55 .

In FIG. 22, two laser displacement gauges 114 are arranged in the storage section 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 on the carriage 110 at positions facing the storage unit 52 when the tape cassette C is replaced. When the tape cassette C is exchanged, the position of the storage section 52 with respect to the carriage 110 is measured by the laser beam 115 that the laser displacement meter 114 irradiates the target 116 and returns. The measurement result is sent to the replenishment control section 55 .

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

As described above, the self-propelled component replenishing apparatus V1 has a storage section 52 (storage container storage section) on the upper side and automatically moves or stops. A position measuring means (shading sensor 112, laser displacement meter 114) for measurement is provided. 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 supply mechanism 58, cassette recovery mechanism 61), the carriage unit Reference numeral 50 stops the self-propelled component replenishing device V1 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 replenishment control unit 55 monitors the measurement result of the laser displacement gauge 114 even while the tape cassette C is being replaced. When the storage section 52 deviates from the stop position due to an operator hitting the self-propelled parts replenishing device V1 or the like, the replacement work is interrupted, and the carriage section 50 and the support device 111 are controlled to align with the stop position. That is, when the self-propelled parts replenishing device V1 moves out of the stop position, the storage container transfer section stops moving the tape cassette C (storage container), and the carriage 50 (traveling means) and the support device 111 start the self-propelled parts replenishment. Correction is made so that the position of the device V1 is at the stop position. As described above, the carriage 110 does not require the connecting portion 63, so that the structure of the carriage 110 is simplified.

Next, with reference to FIG. 23, a third embodiment of the self-propelled parts replenishing device V2 will be described. 10 and 11 are denoted by the same reference numerals, and detailed description thereof will be omitted. The self-propelled component replenishing device V2 of the third embodiment replenishes and collects the reel L (storage container) instead of the tape cassette C, and the storage container transfer section is an articulated robot. Different from the example.

The self-propelled parts replenishing device V2 is configured by stacking a carriage portion 50 and a storage portion 120 from below. The storage section 120 is fixed to the truck section 50 . In the storage unit 120, a supply reel storage shelf 121a for storing reels L to be supplied and a recovery reel storage shelf 121b for storing recovered reels L are vertically arranged. In addition, an articulated robot 122 is arranged above the storage section 120 . The distal end portion 123 of the articulated robot 122 includes a gripping device that grips the reel L, a camera or sensor that recognizes the position information of the distal end portion 123 of the articulated robot 122 and the tape insertion opening 7d of the tape feeder 7, and the reel L. An inserting device (tape inserting means) is provided for inserting the carrier tape 14 wound and stored in the tape inserting opening 7d.

When the self-propelled component replenishing device V2 replaces the reel L, it moves to the front of the target component mounting devices M3 to M6, and is mounted on the component mounting device main body or the carriage 131 by the articulated robot 122 and the tip portion 123. Positional information of the articulated robot 122 and the distal end portion 123 is recognized by recognizing a positioning mark (not shown). Next, the articulated robot 122 and the tip 123 take out the reel L to be replenished from the replenishment reel storage rack 121a, place it on the cassette holder 15, recognize the tape insertion opening 7d of the tape feeder 7 with the camera, and feed the carrier tape. 14 is inserted into the tape insertion opening 7d. Also, the articulated robot 122 and the distal end portion 123 collect the used reel L from the cassette holder 15 and place it on the collected reel storage shelf 121b.

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

In this embodiment, the supply reel storage shelf 121a and the recovery reel storage shelf 121b are vertically arranged in the storage section 120, but the arrangement of the shelves is not limited to this. Supply reels and recovery reels may be arranged on the upper and lower shelves respectively, or a storage shelf may be provided in which supply reels and recovery reels can be arranged on either one of the upper and lower shelves.

In this embodiment, the parts storage unit for storing the storage container (tape cassette C, reel L) is not limited to the parts storage device S. FIG. A worker reads the identification information N of the storage container with a mobile terminal capable of wireless communication with the management computer 3, stores the storage container in a parts warehouse (parts storage section), and follows instructions sent from the management computer 3 to the mobile terminal. may be taken out and stored in the self-propelled parts replenishing device V.

In the present embodiment, storage containers (tape cassettes C and reels L) for storing components D are supplied to and collected from component supply devices (tape feeders 7) mounted on component mounters M3 to M6. However, not limited to this, a component supply device (hereinafter referred to as "internal tape feeder 130") containing a component D (carrier tape 14) itself is fed by a self-propelled component supply device V to the component mounters M3 to M4. It is also possible to replenish/recover to . Alternatively, a reel holder for holding the reel L may be provided, and a component supply device capable of integrally moving with the carrier tape 14 (component D) wound around the reel L may supply and collect the components.

24 to 27, the internal tape feeder 130 is taken as an example to describe the configuration of the self-propelled component replenishing device V for replenishing and replenishing the component mounting devices M3 to M6 with the component replenisher and the case of replenishment and replenishment. operation will be described. Since the basic operation and configuration are substantially the same as those for the tape cassette C, the positioning of the self-propelled component replenishing device V and the operation of replenishing and recovering the built-in tape feeder 130 to the component mounters M3 to M6 are performed. Only part will be explained.

First, with reference to FIGS. 24 and 25, a fourth embodiment of the self-propelled component replenishing device V3 for replenishing and recovering the built-in tape feeder 130 and the cart 131 will be described. 10 and 11 are denoted by the same reference numerals, and detailed description thereof will be omitted. A plurality of built-in tape feeders 130 are detachably mounted above the carriage 131 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 apparatuses M3 to M6). A connecting portion 63 is arranged in front of the built-in tape feeder 130 in the carriage 131 .

In FIG. 24, the self-propelled parts replenishing device V3 is configured by stacking a carriage portion 50, a support portion 51, and a storage portion 132 from below. In FIG. 25, the storage unit 132 has a supply feeder storage shelf 132a for storing the built-in tape feeder 130 to be supplied and a recovery feeder storage shelf 132b for storing the recovered built-in tape feeder 130 in the X direction (the self-propelled parts supply device V3). running direction). A connecting roller 62a and a connecting hook 62b are provided on the outer wall of the housing portion 132 in the X direction (see also FIG. 25).

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

Below the X-axis slider 133a, a Y-axis beam 133y is arranged along the Y direction (the direction perpendicular to the traveling direction of the self-propelled component replenishing device V). A Y-axis slider 133b driven by a linear driving mechanism is provided on the Y-axis beam 133y so as to be movable in the Y direction (arrow p1) along the Y-axis beam 133y. The Y-axis beam 133y, the Y-axis slider 133b, and the Y-axis linear driving mechanism constitute a Y-axis movement mechanism.

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

The X-axis movement mechanism, Y-axis movement mechanism, and 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 of the storage unit 132, and moves it outside the storage unit 132 in the X and Y directions. It is moved and mounted on the carriage 131 . Further, the feeder transfer mechanism grips the built-in tape feeder 130 to be recovered mounted on the carriage 131, moves in the X direction and the Y direction outside the storage unit 132, and moves to a predetermined position on the recovery feeder storage shelf 132b. Store.

Next, the operation of the self-propelled component replenishing device V3 for replenishing and recovering the built-in tape feeder 130 will be described. The self-propelled component replenishing device V3 stores the built-in tape feeder 130 to be replenished (replenishment cassette storing step (ST3)) and connects it to the connecting portion 63 (replacement preparation step (ST4)). is the same as that of the embodiment, and the description thereof is omitted. When the storage unit 132 is connected to the connection unit 63, the feeder transport mechanism transports and stores the built-in tape feeder 130 to be recovered from the carriage 131 to the recovery feeder storage shelf 132b, and the supply target from the supply feeder storage shelf 132a. The built-in tape feeder 130 is transferred to the carriage 131 and mounted on the carriage 131. - 特許庁

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

In the replacement preparation step (ST4), the positioning operation of the self-propelled parts replenishing device V4 with respect to the carriage 141 is the same as that of the second embodiment (self-propelled parts replenishing device V1 and the carriage 110). omitted. After positioning, the self-propelled component replenishing device V4 replenishes and collects the built-in tape feeder 130 in the same manner as the self-propelled component replenishing device V3 of the fourth embodiment, and the description thereof is omitted.

It should be noted that the embodiments described above can be implemented in combination as appropriate.

INDUSTRIAL APPLICABILITY The component mounting system of the present invention has the effect of reducing the work of workers involved in component replacement work, and is useful in the field of component mounting where components are mounted on substrates.

1 component mounting system 3 management computer (component information management department)
15 cassette holder (storage container holding device)
51 support portion 52, 120, 132 storage portion (storage container storage portion)
52a Replenishment cassette storage section (first area)
52b Collection cassette storage unit (second area)
63 connecting part 112 light shielding sensor (position measuring means)
114 laser displacement meter (position measuring means)
B substrate C, C1 tape cassette (storage container)
D component Hu upper holding position (first holding position)
Hd lower holding position (second holding position)
L reel (storage container)
M3 to M6 Component mounter R RF reader (information reading unit)
S Parts Storage Device (Parts Storage Department)
T Wireless communication unit V, V1, V2, V3, V4 Self-propelled parts supply device

Claims (10)

a component mounting device that mounts components on a substrate;
a self-propelled component replenishing device that moves a tape feeder containing a carrier tape containing a plurality of the components to the component mounting device;
comprising a parts storage unit for storing the tape feeder,
The component mounting apparatus includes a holding device that holds the tape feeder,
The self-propelled parts replenishing device,
a storage unit that stores the tape feeder;
a transfer unit that moves the tape feeder between the storage unit and the holding device and between the storage unit and the component storage unit;
The transfer section moves the tape feeder to be replenished from the parts storage section to the storage section, and moves the tape feeder to be replenished, which has been moved from the parts storage section to the storage section, to the holding device;
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
the transfer unit moves the tape feeder between the first area and the first holding position and between the second area and the second holding position;
The component mounting device is moved by the transfer unit to the holding device and mounts the component stored in the carrier tape built in the replenishment target tape feeder positioned in the holding device on the substrate. Component mounting system. a component mounting device that mounts components on a substrate;
a self-propelled component replenishing device that moves a container that stores a plurality of reels that store the components and moves the components on the reels to the component mounting device;
A parts storage unit for storing the container is provided,
The component mounting apparatus includes a holding device that holds the container,
The self-propelled parts replenishing device,
a storage unit that stores the container;
a transfer section for moving the container between the storage section and the holding device and between the storage section and the component storage section;
The transfer unit moves the replenishment container from the parts storage unit to the storage unit, moves the replenishment container moved from the parts storage unit to the storage unit to the holding device,
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
the transfer unit moves the container between the first area and the first holding position and between the second area and the second holding position;
The component mounting device is moved to the holding device by the transfer unit and mounts the component stored in the reel stored in the replenishment container positioned in the holding device on the board. . a parts supply management unit that instructs the supply tape feeder for storing the parts storage unit in the self-propelled parts supply device or the supply container,
3. The self-propelled component replenishing device according to claim 1, wherein the replenishing tape feeder or the replenishing container instructed by the component replenishment management unit is moved from the component storage unit to the holding device. Component mounting system. The transfer unit includes the tape feeder or a gripping device that grips the container,
4. The tape feeder or the container according to any one of claims 1 to 3, wherein the tape feeder or the container is gripped by the gripping device when moving the tape feeder or the container from the component storage unit to the storage unit. Component mounting system. The self-propelled parts replenishing device is movable in a direction orthogonal to the running direction of the self-propelled parts replenishing device, and is provided with a moving mechanism having the gripping device, and the moving mechanism moves in the direction. 5. The component mounting system according to claim 4, wherein the tape feeder or the container is moved from the component storage unit to the storage unit by. The first area stores the replenishing tape feeder or the replenishing container, and the second area stores the tape feeder recovered from the holding device or the container recovered from the holding device. and the transfer section moves the tape feeder to be replenished or the container to be replenished from the first area to the first holding position, and moves the recovered tape feeder or the recovered container to the 5. The component mounting system according to any one of claims 1 to 4, wherein the component mounting system is moved from the second holding position to the second area. A component mounting method in which the tape feeder is moved from a component storage unit storing a tape feeder containing a carrier tape for storing a plurality of components to a component mounting device for mounting components on a substrate via a self-propelled component replenishing device. There is
a first moving step of moving a tape feeder to be replenished to the component mounting apparatus from the component storage unit to a storage unit provided in the self-propelled component replenishing device that stores the tape feeder;
a second moving step of moving the tape feeder to be replenished from the storage section to a holding device provided in the component mounting apparatus and holding the tape feeder;
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
moving the tape feeder to be replenished from the first area to the first holding position in the second moving step;
The component mounting device is moved by the transfer unit to the holding device and mounts the component stored in the carrier tape built in the replenishment target tape feeder positioned in the holding device onto the substrate. Component mounting method. A component mounting method for moving a container from a component storage unit storing a container storing reels containing a plurality of components to a component mounting device for mounting components on a board via a self-propelled component replenishing device,
a first moving step of moving a container to be replenished to the component mounting apparatus from the component storage unit to a storage unit provided in the self-propelled component replenishing device for storing the container;
a second moving step of moving the container to be replenished from the storage unit to a holding device provided in the component mounting apparatus and holding the container;
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
in the second moving step, moving the container to be replenished from the first area to the first holding position;
A component mounting method, wherein the component mounting device is moved to the holding device by the transfer unit and mounts the component stored in the reel stored in the replenishing container positioned in the holding device on the board. . A component mounting device that mounts components on a substrate, a self-propelled component replenishing device that moves a tape feeder containing a carrier tape containing a plurality of components to the component mounting device, and a component storage unit that stores the tape feeder. The component mounting apparatus includes a holding device that holds the tape feeder, and the self-propelled component replenishing device includes a storage section that stores the tape feeder, and a storage section that stores the tape feeder and the holding device. A component mounting method in a component mounting system comprising a transfer unit that moves between the storage unit and the component storage unit,
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
the transfer unit moves the tape feeder between the first area and the first holding position and between the second area and the second holding position;
The component mounting device is moved by the transfer unit to the holding device and mounts the component stored in the carrier tape built in the replenishment target tape feeder positioned in the holding device onto the substrate. Component mounting method. A component mounting device that mounts components on a substrate, a self-propelled component replenishing device that moves a container that stores reels containing a plurality of the components, moves the components on the reels to the component mounting device, and stores the container. The component mounting apparatus includes a holding device for holding the container, and the self-propelled component replenishing device includes a storage unit for storing the container, and a storage unit for storing the container and the holding device. and a transfer section moved between the storage section and the component storage section, wherein
The storage unit has a first area and a second area located below the first area ,
the holding device has a first holding position and a second holding position located below the first holding position ;
the transfer unit moves the container between the first area and the first holding position and between the second area and the second holding position;
A component mounting method, wherein the component mounting device is moved to the holding device by the transfer unit and mounts the component stored in the reel stored in the replenishing container positioned in the holding device on the substrate. .

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