JP7648387B2 - Lead component feeder, substrate-related processing machine, and method for mounting lead components on a circuit board - Google Patents

Description

The present invention relates to a lead component feeder that supplies lead components separated from a carrier tape at a supply position.

The following patent document describes a tape feeder that supplies components from a taped component at a supply position:

JP 2003-168890 A

The objective of this specification is to properly supply lead components separated from a carrier tape at a supply position.

In order to solve the above problems, this specification discloses a lead component feeder that supplies lead components separated from a carrier tape to a work head at a supply position, the lead component feeder comprising a bending device having a forming mechanism that bends the leads of the lead components separated from the carrier tape and holds the lead components at the supply position, and a connecting block to which the forming mechanism is detachable, wherein any one of a plurality of forming mechanisms can be attached to the connecting block, and the forming mechanism is provided with a mark for recognizing the supply position so that the work head can hold the lead components at the supply position , and a mark for identifying the forming mechanism attached to the connecting block .

In order to solve the above problems, this specification discloses a substrate-related work machine including a lead component feeder that supplies lead components at a supply position, an imaging device that images the supply position, and a work head that holds the lead components supplied by the lead component feeder at the supply position and attaches them to a circuit board, wherein the lead component feeder is equipped with a bending device having a forming mechanism that bends the leads of the lead components to hold the lead components at the supply position and a connecting block to which the forming mechanism is detachable, and any one of a plurality of the forming mechanisms can be attached to the connecting block, and the forming mechanism is provided with a mark for holding the lead components at the supply position and for identifying the forming mechanism attached to the connecting block, the imaging device images the mark when imaging the supply position, and the work head holds the lead components supplied to the supply position after the imaging device images the supply position.

In order to solve the above problems, this specification discloses a method for mounting lead components supplied from the lead component feeder to a circuit board by executing the following steps: a lead component feeder including a bending device having a forming mechanism that bends the leads of a lead component and holds the lead component at a supply position, and a connecting block to which the forming mechanism is attached and detached; any one of a plurality of forming mechanisms can be attached to the connecting block, and the forming mechanism attached to the connecting block bends the leads of the lead components and holds the lead components at a supply position, so that the lead component feeder supplies lead components one by one at the supply position; a mark for holding the lead components at the supply position in the lead component supply step and for identifying the forming mechanism attached to the connecting block is provided on the forming mechanism; an imaging step for imaging the mark; a lead component holding step for holding the lead components supplied to the supply position by a working head based on the mark imaged in the imaging step; and an attachment step for attaching the lead components held in the lead component holding step to a circuit board by the working head.

According to the present disclosure, for example, it is possible to properly identify the supply position by using marks or the like, and the lead components separated from the carrier tape can be properly supplied at the supply position.

FIG. 1 is a perspective view showing a component mounting device; FIG. 2 is a perspective view showing a component mounting device of the component mounting apparatus. FIG. FIG. FIG. 2 is a perspective view of a tape feeder. FIG. 2 is an enlarged perspective view of the tape feeder. FIG. 2 is an enlarged side view of the tape feeder. FIG. 2 is an enlarged perspective view of the cutting device and bending device. FIG. 2 is an enlarged perspective view of the cutting device and bending device. FIG. 2 is an enlarged perspective view of the cutting device and bending device. FIG. 2 is an enlarged perspective view of the cutting device and bending device. FIG. FIG. FIG. 2 is a block diagram of a control device. FIG. FIG. FIG. 13 is a diagram showing the component holder before it holds a pair of bent leads. FIG. 13 is a diagram showing a component holder holding a pair of bent leads. 1 is a perspective view showing a state in which a pair of leads of an axial lead component held by a component holder are inserted into a pair of through holes in a circuit board. FIG. FIG. 2 is an enlarged plan view of the cutting device and bending device. FIG. FIG. FIG. FIG. 4 is an enlarged plan view of a pair of gripping claws and an auxiliary plate. FIG.

Below, an embodiment of the present invention will be described in detail with reference to the drawings as a mode for carrying out the present invention.

Figure 1 shows a component mounting device 10. The component mounting device 10 is a device for performing the work of mounting components on a circuit board 12. The component mounting device 10 includes a device main body 20, a substrate transport and holding device 22, a component mounting device 24, imaging devices 26, 28, a bulk component supply device 30, a component supply device 32, and a control device (see Figure 14) 36. Examples of the circuit board 12 include a circuit board and a substrate with a three-dimensional structure, and examples of the circuit board include a printed wiring board and a printed circuit board.

The device body 20 is composed of a frame 40 and a beam 42 suspended on the frame 40. The substrate transport and holding device 22 is disposed in the center of the frame 40 in the front-to-rear direction, and has a transport device 50 and a clamp device 52. The transport device 50 is a device that transports the circuit substrate 12, and the clamp device 52 is a device that holds the circuit substrate 12. As a result, the substrate transport and holding device 22 transports the circuit substrate 12 and holds the circuit substrate 12 fixedly at a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounting device 10 is the X direction, and the front-to-rear direction is the Y direction.

The component mounting device 24 is disposed on the beam 42 and has two work heads 60, 62 and a work head moving device 64. As shown in FIG. 2, a component holder 66 is provided on the lower end surface of each of the work heads 60, 62. As shown in FIG. 3, the component holder 66 has a holder body 67, a pair of holding claws 68, and a pusher 69. The pair of holding claws 68 are generally rod-shaped and are disposed so as to extend downward from the lower surface of the holder body 67. The pair of holding claws 68 are parallel and spaced apart from each other, and are held on the lower surface of the holder body 67 so as to be movable toward and away from each other in a parallel state. Each of the pair of holding claws 68 is fastened to the lower surface of the holder body 67 by a bolt (not shown), thereby positioning the pair of holding claws 68. As a result, the interval between the pair of holding claws 68 is fixed at an arbitrary dimension. Then, by loosening the bolt, the interval between the pair of holding claws 68 can be changed to any dimension. In other words, by loosening the bolt, the operator can change the interval between the pair of holding claws 68 to any dimension, and by fastening the bolt, the pair of holding claws 68 are maintained at a fixed interval that cannot be changed. Note that, in the pair of holding claws 68, V-grooves 70 are formed on the opposing surfaces so as to extend in the axial direction of the holding claws 68. Also, the pusher 69 is disposed on the lower surface of the holder body 67 so as to be movable in the up and down direction between the pair of holding claws 68. Then, the pusher 69 is raised and lowered controllably by the operation of an air cylinder (not shown).

As shown in FIG. 2, the work head moving device 64 has an X-direction moving device 71, a Y-direction moving device 72, and a Z-direction moving device 73. The two work heads 60, 62 are moved integrally to any position on the frame 40 by the X-direction moving device 71 and the Y-direction moving device 72. The work heads 60, 62 are attached to sliders 74, 76 in a position that allows the worker to detach them with a single touch without using tools, and the Z-direction moving device 73 moves the sliders 74, 76 individually in the vertical direction. In other words, the work heads 60, 62 are moved individually in the vertical direction by the Z-direction moving device 73.

The imaging device 26 is attached to the slider 74 facing downward on the vertical axis, and moves in the X, Y, and Z directions together with the work head 60. As a result, the imaging device 26 images any position on the frame 40. As shown in FIG. 1, the imaging device 28 is disposed between the substrate conveying and holding device 22 and the component supplying device 32 on the frame 40 facing upward on a vertical line. As a result, the imaging device 28 images the components held by the component holders 66 of the work heads 60 and 62. The imaging devices 26 and 28 are two-dimensional cameras, and capture two-dimensional images.

The bulk parts supply device 30 is disposed at one end of the frame 40 in the front-rear direction. The bulk parts supply device 32 is a device that aligns multiple parts that are scattered randomly and supplies the parts in the aligned state. In other words, it is a device that aligns multiple parts in any position into a specified position and supplies the parts in the specified position.

The component supply device 32 is disposed at the other end of the frame 40 in the front-rear direction. The component supply device 30 has a tray-type component supply device 78 and a feeder-type component supply device 80. The tray-type component supply device 78 is a device that supplies components placed on a tray. The feeder-type component supply device 80 is a device that supplies components using a tape feeder 82. The tape feeder 82 is described in detail below. Note that components supplied by the bulk component supply device 30 and the component supply device 32 include electronic circuit components, solar cell components, and power module components. Electronic circuit components include components with leads and components without leads.

The tape feeder 82 is positioned and attached in a slot 87 of a feeder holder 86 fixedly provided at the other end of the frame 40 so that the operator can attach and detach it with one touch without using tools. Note that the feeder holder 86 has a plurality of slots 87 formed therein, and the tape feeder 82 is attached to any one of the plurality of slots 87. The tape feeder 82 is a tape lead component supply device that separates axial lead components from a tape component (see FIG. 4) 88 and supplies the separated axial lead components with their leads bent to the work heads 60, 62 of the component mounting device 10.

As shown in FIG. 4, the taped component 88 is composed of multiple axial lead components 90 and two carrier tapes 92. The axial lead component 90 includes a generally cylindrical component body 96 and a pair of leads 98. The pair of leads 98 are generally linear and are fixed to the opposing end faces of the component body 96 coaxially with the axis of the component body 96. The axial lead component 90 is sandwiched between the two carrier tapes 92, and the tips of the pair of leads 98, i.e., the ends opposite the component body 96, are taped to the two carrier tapes 92. The multiple axial lead components 90 are taped to the two carrier tapes 92 at equal pitches.

As shown in FIG. 5, the tape feeder 82 is composed of a storage box 106 and a feeder body 107. In the following description, the direction from the storage box 106 to the feeder body 107 is described as the front, and the direction from the feeder body 107 to the storage box 106 is described as the rear. A connector 108 and two pins 109 are provided on the front end surface of the feeder body 107. When the tape feeder 82 is attached to the feeder holder 86, the connector 108 is connected to a connector connection portion (not shown) formed on the feeder holder 86 to supply power, and the pins 109 are fitted into pin holes (not shown) formed on the feeder holder 86 to accurately position the tape feeder 82. The tape component 88 is stored in a folded state in the storage box 106. Then, the taped component 88 stored in the storage box 106 is pulled out, and the taped component 88 extends onto the upper end surface of the feeder body 107. Note that the upper end surface of the feeder body 107 is a surface that extends horizontally.

As shown in Figs. 6 and 7, a feed device 110, a cutting device 111, and a bending device 112 are arranged inside the feeder body 107. The feed device 110 includes a piston 114, a link mechanism 116, a feed arm 118, and a backflow prevention arm 120. The piston 114 is arranged so as to extend generally horizontally at the upper end of the feeder body 107. The link mechanism 116 includes a support block 122 and two support arms 124, and is arranged on the front side of the piston 114. The support block 122 is fixed to the frame of the feeder body 107. The two support arms 124 are arranged side by side in the front-rear direction in a position extending in the vertical direction, and are swingably attached to the support block 122 at their lower ends. The feed arm 118 is swingably attached to the upper ends of the two support arms 124 in a position extending generally horizontally. The piston rod 126 of the piston 114 is connected to the rear end of the feed arm 118. This allows the feed arm 118 to move forward and backward by the operation of the piston 114.

In addition, a number of feed teeth 128 are formed in the center of the upper edge of the feed arm 118. These multiple feed teeth 128 engage with the leads 98 of the axial lead components 90 of the tape component 88 that extend onto the upper end surface of the feeder body 107. The formation pitch of the multiple feed teeth 128 is the same as the arrangement pitch of the axial lead components 90 in the tape component 88. As a result, when the feed arm 118 moves forward due to the operation of the piston 114, the tape component 88 is sent out toward the front side of the tape feeder 82.

The anti-reverse arm 120 is disposed above the taping component 88, which extends from the upper end surface of the feeder body 107, and a tooth 132 is formed at the tip of the anti-reverse arm 120. This tooth 132 engages with the lead 98 of the axial lead component 90 of the taping component 88 from the rear side, preventing the taping component 88 from moving rearward, i.e., preventing the taping component 88 from moving backward.

As shown in FIG. 8, a pair of stoppers 136 are erected on the front side of the tape feeder 82 from which the tape component 88 is fed by the feed arm 118, so as to extend upward from between the two carrier tapes 92 of the tape component 88 extending on the upper surface of the feeder body 107. The pair of stoppers 136 are erected at positions facing the pair of leads 98 of the tape component 88 extending on the upper surface of the feeder body 107. As a result, the pair of leads 98 of the axial lead component 90 taped to the tape component 88 fed by the feed arm 118 abuts against the pair of stoppers 136, and the axial lead component 90 is positioned.

The cutting device 111 is composed of a lifting block 140 and a pair of cutters 142. The lifting block 140 is supported by the feeder body 107 above the tape component 88 extending on the upper surface of the feeder body 107 so that it can be raised and lowered. The lifting block 140 is located above the axial lead component 90, which is positioned by a stopper 136 of the tape component 88 extending on the upper surface of the feeder body 107. The lifting block 140 is controllably raised and lowered by the operation of a piston (not shown).

The pair of cutters 142 of the cutting device 111 are fixed to the underside of the lift block 140 with their cutting edges facing downward. One cutting edge of the pair of cutters 142 faces one of the pair of leads 98 of the axial lead component 90 positioned by the stopper 136 when the lift block 140 is raised. The other cutting edge of the pair of cutters 142 faces the other of the pair of leads 98 of the axial lead component 90 positioned by the stopper 136 when the lift block 140 is raised.

As shown in Figs. 6 and 7, the bending device 112 has a piston 150, a cam mechanism 152, and a forming mechanism (see Figs. 8 to 13) 154. The piston 150 is arranged in the center of the feeder body 107 so as to extend generally horizontally. The cam mechanism 152 includes a cam member 160, a roller 162, and a connecting block 164, and is arranged on the front side of the piston 150. The cam member 160 has an inclined surface 166 that slopes downward as it approaches the front, and is movable in the front-rear direction. The piston rod 168 of the piston 150 is connected to the rear end of the cam member 160. The roller 162 is arranged in contact with the inclined surface 166 of the cam member 160, and functions as a cam follower. The roller 162 is rotatably held at the lower end of the connecting block 164, and the connecting block 164 is capable of moving up and down in the vertical direction. As a result, when the cam member 160 moves back and forth due to the operation of the piston 150, the roller 162 moves along the inclined surface 166 of the cam member 160, and the connecting block 164 moves up and down in the vertical direction.

As shown in Figs. 8 to 13, the forming mechanism 154 includes a support block 170, a pair of holding walls 171, a pair of support members 172, a pair of clamp arms 174, and a connecting roller 176. Figs. 8 to 11 are perspective views of the cutting device 111 including the forming mechanism 154, and Fig. 12 is a front view of the cutting device 111 including the forming mechanism 154. Fig. 13 is a perspective view of the forming mechanism 154 alone.

The support block 170 is disposed below the axial lead component 90 positioned by the stopper 136, and is connected to the connection block 164 of the cam mechanism 152. As a result, the support block 170 moves up and down in the vertical direction as the connection block 164 moves up and down. Note that the connection block 164 is omitted in Figs. 8 to 12. The pair of holding walls 171 are thick plate-shaped and are fixed to the upper surface of the support block 170 so as to be parallel and face each other. The support member 172 is thin plate-shaped and has a V-shaped groove 178 formed on the upper edge. The pair of support members 172 are fixed to the inside of the pair of holding walls 171 disposed to face each other. Note that the pair of support members 172 are fixed to the pair of holding walls 171 so that the grooves 178 of each other are located below the pair of leads 98 of the axial lead component 90 positioned by the stopper 136. Incidentally, the distance between the leads 98 of the positioned axial lead component 90 and the upper edge of the support member 172 is made very short. In other words, the support member 172 is located below the leads 98 of the positioned axial lead component 90 with a small distance therebetween.

The pair of clamp arms 174 are generally L-shaped and are held at their lower ends by the support block 170 so that they can swing back and forth. The pair of clamp arms 174 extend from the support block 170 toward the upper side of the tape forming component 88 extending from the support block 170 on the front side of the pair of support members 172. The portion of the pair of clamp arms 174 that extends above the tape forming component 88 is bent toward the rear, that is, toward the upper side of the pair of support members 172, at approximately 90 degrees. As a result, the tips of the pair of clamp arms 174 are located above the pair of support members 172, sandwiching the pair of leads 98 of the tape forming component 88 extending on the upper surface of the feeder body 107. The pair of clamp arms 174 can swing toward the rear by the operation of a piston (not shown).

As shown in Figs. 10 and 13, the pair of clamp arms 174 are connected at their front ends by a connecting roller 176. Above the connecting roller 176, as shown in Fig. 10, a fixed table 182 is fixed to the upper surface of the feeder body 107. Note that in Fig. 8, the fixed table 182 is not shown in order to ensure visibility of the clamp arms 174, etc., and in Figs. 9 and 10, the feeder body 107 is not shown in order to ensure visibility of the support block 170, etc. Incidentally, the fixed table 182 is disposed in front of the lift block 140, and from the perspective from above, the pair of clamp arms 174 are located between the lift block 140 and the fixed table 182, and only the connecting roller 176 that connects the pair of clamp arms 174 is located below the fixed table 182.

A pair of bending rollers 186 are fixedly disposed on the side of the lift block 140, which is disposed above the taped component 88 extending on the upper surface of the feeder body 107. The pair of bending rollers 186 are rotatable about an axis extending in the front-rear and horizontal directions on the side of the lift block 140, and are positioned above a pair of leads 98 of the axial lead component 90 positioned by the stopper 136.

As shown in FIG. 14, the control device 36 includes a controller 190, a plurality of drive circuits 192, and an image processing device 196. The plurality of drive circuits 192 are connected to the above-mentioned conveying device 50, clamping device 52, working heads 60, 62, X-direction moving device 71, Y-direction moving device 72, Z-direction moving device 73, tray-type component supply device 78, feeder-type component supply device 80, and bulk component supply device 30. The controller 190 includes a CPU, ROM, RAM, etc., and is mainly a computer, and is connected to the plurality of drive circuits 192. As a result, the operation of the substrate conveying and holding device 22, the component mounting device 24, etc. is controlled by the controller 190. The controller 190 is also connected to the image processing device 196. The image processing device 196 processes image data obtained by the imaging devices 26, 28, and the controller 190 acquires various information from the image data.

In the component mounting apparatus 10, the above-mentioned configuration performs a component mounting operation on the circuit board 12 held by the substrate conveying and holding device 22. Specifically, the circuit board 12 is conveyed to a work position by a command from the controller 190, and is fixedly held at that position by the clamp device 52. Next, the imaging device 26 moves above the circuit board 12 by a command from the controller 190, and captures an image of the circuit board 12. This provides information on the positions of a pair of through holes (see FIG. 19) 200 formed in the circuit board 12. In addition, the bulk component supply device 30 or the component supply device 32 supplies components at a predetermined supply position. The supply of components by the feeder-type component supply device 80 of the component supply device 32 will be described in detail below.

In the feeder-type component supply device 80, the operation of the piston 114 of the feeder device 110 in the tape feeder 82 causes the taped component 88 extending from the upper end surface of the feeder body 107 to be sent forward. In other words, the upper end surface of the feeder body 107 is the sending height of the taped component 88. Then, at the sending height, the lead 98 of the axial lead component 90 of the taped component 88 sent forward comes into contact with the stopper 136 and is positioned. The position at which the axial lead component 90 is positioned by the stopper 136 is referred to as the clamp position.

Then, when the axial lead component 90 taped to the taped component 88 is positioned by the stopper 136, the pair of clamp arms 174 are swung backward, that is, toward the positioned axial lead component 90, by the operation of the piston. As a result, the pair of leads 98 of the positioned axial lead component 90 are pressed downward by the pair of clamp arms 174. Next, the support block 170 is raised by the operation of the piston 150. At this time, the pair of support members 172 fixed to the support block 170 also rise, and the pair of leads 98 of the positioned axial lead component 90 are supported from below by the grooves 178 of the pair of support members 172. As a result, the leads 98 of the positioned axial lead component 90 are clamped by the support members 172 and the clamp arms 174 in a state where they are positioned by the grooves 178. In other words, the axial lead component 90 is clamped by the support member 172 and the clamp arm 174 at the clamp position.

Next, when the leads 98 of the positioned axial lead component 90 are clamped by the support member 172 and the clamp arm 174, the lift block 140 is lowered by the operation of the piston of the cutting device 111. At this time, the pair of cutters 142 are lowered together with the lift block 140, and the pair of leads 98 of the axial lead component 90 positioned by the stopper 136 are cut by the pair of cutters 142 as shown in FIG. 12. This separates the axial lead component 90 from the carrier tape 92. In other words, the axial lead component 90 is separated from the taped component 88 at the clamp position. Note that since the leads 98 are clamped by the support member 172 and the clamp arm 174, the leads 98 are appropriately cut by the cutters 142.

In this way, when the leads 98 are cut and the axial lead component 90 is separated from the carrier tape 92, the support block 170 rises, and the axial lead component 90 with the leads 98 clamped by the support member 172 and the clamp arm 174 also rises. In other words, the axial lead component 90 separated from the tape component 88 is lifted while clamped by the support member 172 and the clamp arm 174. At this time, the axial lead component 90 is lifted in a position extending in the left-right direction, that is, with the axis of the component body 96 facing left-right. Note that the axis of the component body 96 is the same as the direction in which the leads 98 extend from the component body 96, so the position of the axial lead component 90 facing left-right can also be said to be the position of the axial lead component 90 extending left-right.

When the positioned axial lead component 90 is lifted, the pair of leads 98 of the axial lead component 90 comes into contact with the pair of bending rollers 186. At this time, the pair of rising leads 98 are bent downward with the grooves 178 of the pair of support members 172 as fulcrums. Then, as the support block 170 further rises, the pair of leads 98 that come into contact with the pair of bending rollers 186 are bent downward at roughly a right angle as shown in FIG. 15. At this time, the pitch (hereinafter referred to as the "bending pitch") L of the pair of leads 98 bent downward is the arrangement pitch of the pair of support members 172. The arrangement pitch of the pair of support members 172 is the distance between the opposing surfaces of the pair of support members 172 and the opposite surface.

After the pair of leads 98 are bent by the pair of bending rollers 186, the axial lead component 90 rises toward the supply position together with the support block 170, with the unbent lead 98 on the component body side still clamped by the support member 172 and the clamp arm 174. At this time, the connecting roller 176 arranged at the front end of the clamp arm 174 abuts against the fixed table 182 and swings forward, that is, away from the clamped lead 98, as shown in Figures 9 to 11. This releases the clamping of the lead 98 by the support member 172 and the clamp arm 174. That is, as shown in Figure 16, the axial lead component 90 is supported from below by only the pair of support members 172 at the pair of bent leads 98. As a result, the axial lead components 90 are supplied one by one at the supply position while being positioned by the grooves 178 of the support member 172. In other words, the upper end position to which the axial lead component 90 is raised becomes the supply position of the axial lead component 90, and the axial lead component 90 with the bent lead 98 is supplied in a predetermined position at a position higher than the upper end surface of the feeder body 107 from which the tape component 88 is sent out.

Then, when the axial lead component 90 is supplied at the supply position of the tape feeder 82, one of the work heads 60, 62 moves above the axial lead component 90, and the work head 60, which has moved upward and stopped, descends, and the component holder 66 of the work head 60 holds the axial lead component 90 positioned and stopped at the supply position. In detail, before the component holder 66 holds the component, the worker adjusts the distance between the pair of holding claws 68 of the component holder 66 to a dimension slightly narrower than the bending pitch L of the pair of leads 98. Then, as shown in FIG. 17, the work heads 60, 62 move so that the V-groove 70 of the pair of holding claws 68 is located above the groove 178 of the pair of support members 172 supporting the pair of bent leads 98. Next, the work heads 60, 62 descend, and the component holder 66 descends toward the axial lead component 90 supplied to the supply position. At this time, the pair of leads bent from the grooves 178 of the pair of support members 172 as starting points enter the V-grooves 70 of the pair of holding claws 68. Then, as the working heads 60, 62 further descend, the pair of bent leads enter further inside the V-grooves 70 of the pair of holding claws 68, as shown in Fig. 18. At this time, the working heads 60, 62 descend until the tips of the pair of bent leads enter inside the V-grooves 70 of the pair of holding claws 68. In other words, the working heads 60, 62 descend until the lower ends of the pair of holding claws 68 are positioned below the tips of the pair of bent leads. In this way, when the pair of bent leads enters the inside of the V-groove 70 of the pair of retaining claws 68, the distance between the pair of retaining claws 68 is slightly narrower than the bending pitch L of the pair of leads 98, so the pair of bent leads is clamped by the pair of retaining claws 68, and the axial lead component 90 is held by the component holder 66.

The timing at which the axial lead components 90 supplied at the supply position are held by the component holder 66 may be, for example, such that the tape feeder 82 supplies the axial lead components 90 to the supply position, and then the working head moves above the supply position and holds the axial lead components 90 by the component holder 66. Alternatively, the working head may move above the supply position before the tape feeder 82 supplies the axial lead components 90 to the supply position, and wait for the tape feeder 82 to supply the axial lead components 90 to the supply position before holding the axial lead components 90 by the component holder 66.

When the axial lead component 90 is held by the component holder 66 in this way, the work heads 60, 62 move above the imaging device 28, and the imaging device 28 captures an image of the axial lead component 90 held by the component holder 66. This provides information about the error in the component's holding position. Next, the work heads 60, 62 holding the axial lead component 90 move above the circuit board 12, and adjust the holding posture of the held component based on the position of the through hole 200 formed in the circuit board 12, information about the error in the component's holding position, and the like. At this time, the movement of the work heads 60, 62 and the adjustment of the holding posture are performed so that the positions of the pair of through holes 200 formed in the circuit board 12 and the positions of the lower ends of the V-grooves 70 of the pair of holding claws 68 of the component holder 66 match in the vertical direction.

Then, when the work heads 60 and 62 move so that the lower ends of the V-grooves 70 of the pair of holding claws 68 and the pair of through holes 200 are aligned in the vertical direction, the work heads 60 and 62 are lowered until the lower ends of the holding claws 68 are just about to contact the upper surface of the circuit board 12, as shown in FIG. 19. Next, the pusher 69 in the component holder 66 is lowered, so that the pusher 69 contacts the component body 96 of the axial lead component 90 held by the pair of holding claws 68, and pushes the axial lead component 90 downward. As a result, the tips of the pair of leads of the axial lead component 90 are inserted into the pair of through holes 200. Then, the pusher 69 is further lowered, so that the pair of leads are inserted into the pair of through holes 200 until the component body 96 of the axial lead component 90 contacts the upper surface of the circuit board 12, and the axial lead component 90 is attached to the circuit board 12.

In this way, in the component mounting apparatus 10, a pair of leads 98 of an axial lead component 90 separated from a carrier tape 92 in the tape feeder 82 is bent, and the bent pair of leads 98 are held by the component holder 66 and inserted into a pair of through holes 200 in the circuit board. However, in conventional component mounting apparatuses, the component supply position by the tape feeder 82 is stored in the controller 190, and the operation of the work head moving device 64 is controlled based on the stored component supply position (hereinafter referred to as the "stored supply position"), and the axial lead component 90 is held by the component holder 66. That is, for example, the positions of the grooves 178 of the pair of support members 172 are stored in the controller 190 as the stored supply positions, and the operation of the work head moving device 64 is controlled so that the pair of holding claws 68 moves above the positions of the pair of grooves 178 stored as the stored supply positions, and the work heads 60, 62 are lowered after the pair of holding claws 68 move to the stored supply positions, so that the pair of holding claws 68 holds the axial lead components 90. Note that, as described above, the feeder holding table 86 to which the tape feeder is attached has multiple slots 87 formed therein, so that the stored supply positions are stored for each slot, and the component holding operation is performed based on the stored supply positions of the slots to which the tape feeder that supplies the components is attached.

However, even if the tape feeders 82 are of the same type, the supply position of each tape feeder is slightly different due to tolerances and the like. In other words, the supply position of the tape feeder is a position specific to the tape feeder, and the actual supply position of the tape feeder may deviate from the stored supply position. For this reason, when the operation of the work head moving device 64 is controlled based on the stored supply position and the component holding work is performed by the component holder 66, even if the component can be properly held from tape feeder A, the component may not be properly held from tape feeder B of the same type as tape feeder A. Also, even if the tape feeders are the same, the actual supply position of the tape feeder may deviate from the stored supply position due to the tolerance of the slot 87 and the like depending on the slot in which the tape feeder is installed. In other words, when tape feeder A is installed in slot A, the actual supply position of tape feeder A coincides with the stored supply position of slot A, but when tape feeder A is installed in slot B, the actual supply position of tape feeder A may deviate from the stored supply position of slot B. In such a case, the component cannot be properly held from tape feeder A attached to slot B.

In view of this, a reference mark is marked on the forming mechanism 154 of the tape feeder 82, the supply position of the tape feeder 82 is calculated based on the reference mark, and the component holding tool 66 performs the component holding operation based on the calculated supply position. In detail, as shown in FIG. 20, a pair of reference marks 210 are marked on the upper surface of a pair of holding walls 171 of the forming mechanism 154. Note that FIG. 20 is a plan view showing the forming mechanism 154 from a top view. As described above, a pair of support members 172 that support a pair of leads 98 of the axial lead component 90 are fixed to the pair of holding walls 171, and the pair of reference marks 210 are marked on the pair of holding walls 171 so that the straight line connecting the pair of grooves 178 formed on the upper ends of the pair of support members 172 and the straight line connecting the pair of reference marks 210 are parallel to each other. In addition, a pair of grooves 178 formed on the upper ends of the pair of support members 172 position a pair of leads 98 of the axial lead component 90 supported by the pair of support members 172. Therefore, by marking a pair of reference marks 210 on a pair of holding walls 171 fixed to the pair of support members 172, the relative positions of the pair of reference marks 210 and the pair of grooves 178 that position the pair of leads do not change and become a numerical value specific to the forming mechanism 154. And, the numerical value, that is, the numerical value indicating the relative positions of the pair of reference marks 210 and the pair of grooves 178, is stored in the controller 190.

Then, before the component holder 66 performs the holding operation of the component positioned at the supply position of the tape feeder set in the slot 87 of the feeder holding table 86, the pair of reference marks 210 marked on the pair of holding walls 171 of the forming mechanism 154 are imaged by the imaging device 26. At this time, each of the pair of reference marks 210 is individually imaged by the imaging device 26. That is, one of the reference marks 210 is imaged by the imaging device 26 so that only one of the pair of reference marks 210 is included in the imaging range of the imaging device 26, and the other of the pair of reference marks 210 is imaged by the imaging device 26 so that only the other of the pair of reference marks 210 is included in the imaging range of the imaging device 26. Then, the imaging data of one of the reference marks 210 and the imaging data of the other of the pair of reference marks 210 are analyzed in the controller 190, and the positions of the one of the reference marks 210 and the other of the reference marks 210, that is, the pair of reference marks 210, are calculated based on the imaging data. In addition, since the imaging data for each pair of reference marks 210 includes only the respective reference marks 210, the reference marks 210 can be recognized appropriately and quickly in the imaging data.

Then, based on the calculated positions of the pair of reference marks 210, the controller 190 uses the relative positions of the pair of reference marks 210 and the pair of grooves 178 stored in the controller 190 to calculate the positions of the pair of grooves 178, i.e., the supply positions of the axial lead components 90 in the tape feeder 82 (hereinafter referred to as the "calculated supply positions"). The calculated supply positions calculated in this manner do not include errors specific to the tape feeder or installation errors, and are the actual supply positions of the tape feeder 82 attached to the slot 87. Therefore, by performing the component holding operation using the component holder 66 based on the calculated supply positions, the axial lead components 90 supplied at the supply positions of the tape feeder 82 can be appropriately held by the component holder 66.

As described above, the timing for imaging the pair of reference marks 210 and calculating the calculated supply position based on the imaging data is executed every time a tape feeder is attached to slot 87 because the component supply position differs depending on the tolerance of the tape feeder and the tolerance of slot 87. This makes it possible for axial lead components 90 supplied at the supply position of the tape feeder to be properly held by component holder 66 no matter which tape feeder is attached to which slot 87.

In addition, in the tape feeder 82, it is possible to change the bending pitch L of a pair of leads of the axial lead component 90 by changing the forming mechanism 154, but by using the calculated supply position, it is possible to prevent component holding errors due to forgetting to change the forming mechanism 154, etc. In detail, as shown in FIG. 13, the forming mechanism 154 is an integrated unit in which a support block 170, a pair of holding walls 171, a pair of support members 172, a pair of clamp arms 174, and a connecting roller 176 are integrated, and the forming mechanism 154 is detachably positioned and attached to the connecting block 164. In addition, a forming mechanism (hereinafter referred to as "another forming mechanism") (not shown) in which the spacing between the pair of support members 172 is different from the forming mechanism 154 shown in FIG. 13 is prepared. For example, when the interval between the pair of support members 172 of the forming mechanism 154 shown in Fig. 13 is 10 mm, bending a pair of leads of the axial lead component 90 using the forming mechanism 154 results in a bending pitch L of 10 mm. On the other hand, when the interval between the pair of support members of another forming mechanism is 15 mm, bending a pair of leads of the axial lead component 90 using the other forming mechanism results in a bending pitch L of 15 mm. Therefore, when it is desired to set the bending pitch L of the axial lead component 90 to 10 mm, the forming mechanism 154 is mounted on the connecting block 164, and when it is desired to set the bending pitch L of the axial lead component 90 to 15 mm, the other forming mechanism is mounted on the connecting block 164. In addition, since the spacing between the pair of holding claws 68 of the component holder 66 needs to be adjusted to a spacing that corresponds to the bending pitch L of the axial lead component 90 to be held, when the forming mechanism 154 is attached to the connecting block 164, the spacing between the pair of holding claws 68 is adjusted to a dimension slightly narrower than 10 mm, and when another forming mechanism is attached to the connecting block 164, the spacing between the pair of holding claws 68 is adjusted to a dimension slightly narrower than 15 mm.

However, even if the worker adjusts the distance between the pair of holding claws 68 of the component holder 66 to a dimension slightly narrower than 15 mm in order to mount an axial lead component 90 with a bending pitch of 15 mm, the worker may forget to replace the forming mechanism 154 with another forming mechanism. That is, the distance between the pair of holding claws 68 of the component holder 66 corresponds to the bending pitch of 15 mm, but the forming mechanism 154 for a bending pitch of 10 mm may be attached to the connecting block 164. In such a case, an axial lead component 90 having a pair of leads bent at a bending pitch of 10 mm by the forming mechanism 154 is supplied to the supply position of the tape feeder 82, but the pair of holding claws 68 with a distance corresponding to the bending pitch of 15 mm cannot hold the axial lead component 90. In other words, forgetting to change the forming mechanism 154 may cause a component holding error.

Then, the distance between the pair of grooves 178 is calculated using the calculated supply position calculated based on the image data of the pair of reference marks 210, i.e., the positions of the pair of grooves 178. Since the distance between the pair of grooves 178 is the same as the bending pitch as described above, if the calculated distance between the pair of grooves 178 is the same as the bending pitch of the components to be mounted, the mounting operation is performed, and if the calculated distance between the pair of grooves 178 is different from the bending pitch of the components to be mounted, an error screen is displayed on the display device (not shown). This makes it possible to prevent component holding errors due to forgetting to change the forming mechanism 154, etc.

The component mounting apparatus 10 is an example of a substrate-related operation machine. The circuit board 12 is an example of a circuit board. The imaging device 26 is an example of an imaging device. The work heads 60 and 62 are an example of a work head. The tape feeder 82 is an example of a lead component feeder. The axial lead components 90 are an example of a lead component. The carrier tape 92 is an example of a carrier tape. The reference mark 210 is an example of a mark.

The present invention is not limited to the above embodiment, and can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. For example, in the above embodiment, the present invention is applied to a tape feeder 82 that separates axial lead components 90 from a carrier tape 92 and supplies the separated axial lead components 90, i.e., an axial lead component feeder. However, the present invention may also be applied to a radial lead component feeder that separates radial components from a carrier tape and supplies the separated radial components. When the present invention is applied to a radial lead component feeder, the radial components separated from the carrier tape are held by, for example, a component holder 220 shown in Figures 21 to 23. Figure 21 is a side view of the component holder 220, Figure 22 is a front view of the component holder 220, and Figure 23 is a side view of the component holder 220 holding a radial component 221.

The component holder 220 includes a body 222, a pair of gripping claws 224, and an auxiliary plate 226. The pair of gripping claws 224 are held by the body 222 so that they can swing, and the tips of the pair of gripping claws 224 move toward and away from each other as they swing by the operation of an opening/closing device (not shown). A V-groove 230 having a size corresponding to the wire diameter of the lead 228 of the radial component 221 is formed on the inside of the pair of gripping claws 224, as shown in FIG. 24. The auxiliary plate 226 is located between the pair of gripping claws 224 and swings together with the pair of gripping claws 224. At this time, the auxiliary plate 226 enters between the pair of leads 228 of the radial component 221. Therefore, the work head to which the component holder 220 is attached moves so that the space between the pair of leads 228 of the radial component 221 supplied by the radial lead component feeder faces the tip of the auxiliary plate 226 of the component holder 220, and the direction in which the pair of leads 228 are lined up is perpendicular to the direction in which the auxiliary plate 226 extends. Then, the auxiliary plate 226 and the pair of gripping claws 224 swing together, so that the auxiliary plate 226 enters between the pair of leads 228 of the radial component 221. At this time, the pair of gripping claws 224 approach the auxiliary plate 226, so that each of the pair of leads 228 of the radial component 221 is positioned and clamped from both side surfaces by the V-groove 230 of the gripping claws 224 and the auxiliary plate 226. As a result, the radial part 221 is held by a pair of gripping claws 224 and an auxiliary plate 226 at the base end of the lead 228, that is, the end of the radial part 221 that is closer to the part body 232, as shown in FIG. 23.

The radial components 221 cut off from the carrier tape may be held by, for example, a component holder 240 as shown in FIG. 25. The component holder 240 includes a body 242 and a pair of gripping claws 244. The pair of gripping claws 244 are arranged to extend downward from the underside of the body 242, and move toward and away from each other by the operation of an opening/closing device (not shown). For this reason, the work head to which the component holder 240 is attached moves above the radial components 221 supplied by the radial lead component feeder. At this time, the distance between the pair of gripping claws 244 is set to be greater than the width dimension of the component body 232 of the radial components 221. Then, the work head is lowered so that the component body 232 of the radial component 221 is positioned between the pair of gripping jaws 244, and the pair of gripping jaws 244 are brought closer together by operating the opening and closing device, whereby the component body 232 of the radial component 221 is gripped by the pair of gripping jaws 244. Note that in the above description, the radial component 221 is held by the component holders 220, 240, but the axial lead component 90 may also be held by the component holders 220, 240.

In the above embodiment, each of the pair of reference marks 210 is imaged by the imaging device 26, but the pair of reference marks 210 may be imaged by the imaging device 26 at the same time. That is, the pair of reference marks 210 may be imaged by the imaging device 26 such that the pair of reference marks 210 falls within the imaging range of the imaging device 26. Also, the calculation supply position may be calculated based on imaging data of only one of the pair of reference marks 210. That is, instead of the pair of reference marks 210, one reference mark may be marked on the forming mechanism 154.

The pair of reference marks 210 and the grooves 178 of the pair of support members 172 may be simultaneously imaged by the imaging device 26. In other words, the pair of reference marks 210 and the grooves 178 of the pair of support members 172 may be imaged by the imaging device 26 so that the pair of reference marks 210 and the grooves 178 of the pair of support members 172 are within the imaging range (viewing angle) of the imaging device 26. In such a case, the relative positions of the pair of reference marks 210 and the grooves 178 of the pair of support members 172 can be calculated based on the imaging data, so the relative positions of the pair of reference marks 210 and the grooves 178 of the pair of support members 172 do not need to be stored in the controller 190.

Although the forming mechanism 154 has a reference mark 210 for identifying the supply position, a component constituting the forming mechanism 154 may be used as the reference mark. For example, the groove 178 of the support member 172 may be imaged by the imaging device 26 as the reference mark, and the calculated supply position may be calculated based on the image data. The head of a bolt used in the forming mechanism 154 may also be used as the reference mark. Furthermore, various components of the tape feeder 82, such as cavities, protrusions, cutting edges of gears, pins, etc., formed on the carrier tape of the tape-forming component used in the tape feeder may also be used as the reference mark, without being limited to the forming mechanism 154.

In the above embodiment, the reference mark 210 is imaged, the position of the reference mark 210 is calculated based on the image data, and then the position of the reference mark 210 is used to calculate the supply position of the component. However, the supply position of the component may be imaged by the imaging device 26, and the supply position of the component may be calculated based on the image data. In this way, when the supply position of the component is calculated based on the image data of the supply position of the component, the axial lead component 90 may or may not be present at the supply position of the component. If the axial lead component 90 is present at the supply position, the supply position of the component may be calculated based on the image data of the component body 96 of the axial lead component 90, or the supply position of the component may be calculated based on the image data of the lead 228 of the axial lead component 90. If the axial lead component 90 is not present at the supply position, the supply position of the component may be calculated based on the image data of the groove 178 of the support member 172.

In the above embodiment, the reference mark 210 is imaged from above by the imaging device 26, but in this case, the reference mark 210 may be imaged by the imaging device 26 from directly above the reference mark 210, or the reference mark 210 may be imaged by the imaging device 26 from diagonally above the reference mark 210. Furthermore, by using a reflecting mirror or the like, the reference mark 210 may be imaged by the imaging device 26 from the side of the reference mark 210.

In the above embodiment, the reference mark 210 is marked on the holding wall 171 fixed to the support member 172 in which the groove 178, which is the supply position of the axial lead component 90, is formed. In other words, the reference mark 210 is marked on the forming mechanism 154, which is an integrated body including the supply position of the axial lead component 90. On the other hand, the reference mark may be marked on an object other than the forming mechanism 154. Also, although the reference mark 210 is marked near the groove 178, which is the supply position of the axial lead component 90, it may be marked at a position away from the groove 178, for example, at a position where the supply position does not fall within the viewing angle of the imaging device, as long as the relative position with respect to the groove 178 can be recognized.

Also, in the above embodiment, the pair of reference marks 210 are imaged and the calculated supply position is calculated based on the image data every time a tape feeder is attached to the slot 87. In other words, when a tape feeder is attached to the slot 87, the calculated supply position is calculated only once at the beginning. On the other hand, the pair of reference marks 210 may be imaged every time components are supplied from the tape feeder 82, and the calculated supply position may be calculated based on the image data. Also, for example, the pair of reference marks 210 may be imaged every time a predetermined time has elapsed or every time a predetermined number of components are supplied, and the calculated supply position may be calculated based on the image data.

In addition, in the above embodiment, the pair of leads are bent by a pair of bending rollers 186, but this is not limited to rollers, and the pair of leads may be bent by structures of various shapes and configurations.

The present invention may also be applied to lead components that are attached to the circuit board 12 without bending a pair of leads into a V-shape or U-shape, such as radial lead components in which a pair of leads spread out in a V-shape, or to radial feeders that supply them.

The separate forming mechanism is not limited to a forming mechanism with a different spacing between a pair of support members, but may be one that is applied to different types of axial lead components, for example, with different lead diameters or component body sizes. In this case, not only is the supply position recognized by identifying the reference mark provided on the forming mechanism attached to the tape feeder 82, but the type of forming mechanism, and therefore the feeder, is also identified. In this case, the tape transport pitch of the feeder is changed depending on the type of forming mechanism attached so that the attached tape-formed lead components can be transported and supplied.

In addition, even for axial lead components of the same type, the pitch or type of a pair of support members may be changed to change the position of the bent base end of the lead. Also, in order to give the leads of axial lead components or radial lead components a different V-shaped opening, the pitch or type of a pair of bending rollers may be changed. For this purpose, the forming mechanism may be replaced with an appropriate type.

10: Component mounting device (substrate work machine) 12: Circuit substrate (circuit board) 26: Imaging device 60: Work head 82: Tape feeder (lead component feeder) 90: Axial lead component (lead component) 92: Carrier tape 210: Reference mark (mark)

Claims (3)

A lead component feeder that supplies lead components cut off from a carrier tape to a work head at a supply position, the lead component feeder comprising a bending device having a forming mechanism that bends the leads of the lead components cut off from the carrier tape and holds the lead components at the supply position, and a connecting block to which the forming mechanism can be attached and detached, the lead component feeder being capable of attaching any one of a plurality of forming mechanisms to the connecting block, and a mark for recognizing the supply position so that the work head can hold the lead components at the supply position, and a mark for identifying the forming mechanism attached to the connecting block is provided on the forming mechanism . a lead component feeder for supplying the lead components at a supply position;
an imaging device for imaging the supply position;
a work head that holds the lead components fed by the lead component feeder at the feed position and mounts the lead components on a circuit board,
The lead component feeder includes:
a bending device having a forming mechanism for bending the leads of a lead component and holding the lead component at the supply position, and a connecting block to which the forming mechanism is detachably attached , any one of a plurality of forming mechanisms can be attached to the connecting block, and a mark for holding the lead component at the supply position and for identifying the forming mechanism attached to the connecting block is provided on the forming mechanism ,
the imaging device images the mark when imaging the supply position;
The substrate-related operating machine is configured so that, after the imaging device images the supply position, the operating head holds the lead component supplied to the supply position. a lead component feeder including a bending device having a forming mechanism for bending the leads of a lead component and holding the lead component at a supply position, and a connection block to which the forming mechanism is detachably attached, wherein any one of a plurality of forming mechanisms can be attached to the connection block, and a lead component supplying step in which the lead component feeder supplies lead components one by one at the supply position by bending the leads of the lead component using the forming mechanism attached to the connection block and holding the lead component at a supply position;
an imaging step of imaging a mark provided on the forming mechanism, the mark being for holding the lead component at the supply position in the lead component supply step and for identifying the forming mechanism attached to the connection block; and
a lead component holding step in which a work head holds the lead component supplied to the supply position based on the mark imaged in the imaging step;
a mounting step in which the work head mounts the lead components held in the lead component holding step onto a circuit board, thereby mounting the lead components supplied from the lead component feeder onto a circuit board.

Images