Loose component supply device and component mounter

A loose component supply device includes a loose component support section that supports multiple components in a loose state, an imaging device that images the components supported on the loose component support section, a component holding head provided with at least one component holding tool capable of picking up and holding each of the components supported on the loose component support section, a holding head moving device that moves the component holding head at least to and from the loose component support section and a component transfer section at which transfer to a next process is possible, and a holding tool changing device that changes at least one of the one component holding tools based on image data obtained by the imaging of the imaging device.

TECHNICAL FIELD

The present application relates to a component supply device that supplies multiple components in a loose state and a to component mounter that picks up loose components and mounts them on a circuit board.

BACKGROUND ART

With the loose component supply device disclosed in patent literature 1, image data is acquired by imaging multiple components supported in a loose state on a component support surface using an imaging device. Then, based on the image data, from the multiple components, a target component that is able to be picked up is extracted, and the position of the pickup target components is acquired. A robot is moved to the position and the pickup target component is picked up.

CITATION LIST

Patent Literature

Patent Literature 1

SUMMARY

An object of the present disclosure is to pick up in a suitable manner each component of multiple components in a loose state.

The present disclosure changes a component holding tool that picks up a component and changes the height of the component holding tool when picking up the component based on image data obtained by imaging multiple components of the same type that are in a loose state.

Loose state refers to a state in which the orientation of each component is random; multiple components of the same type refers to components for which the shape, size, mass, construction, and the like is the same for each. Each of the multiple components may be components that include multiple surfaces that have a different size or shape, but even if all of these multiple surfaces have a size or shape different to each other, it is acceptable if the size and shape of a portion of the multiple surfaces is the same. For multiple components with a different orientation, there are cases in which the size and shape of the upwards facing surface is different, and there are cases in which the height to the upward facing surface is different. For this, by acquiring the orientation of each of the multiple components based on the image data and changing the component holding tool based on the size and shape of the upwards facing surface, it is possible to pick up a larger quantity of components. Changing the component holding tool refers to exchanging the component holding tool, changing the position of the component holding tool that picks up the component, and the like. Also, by changing the height of the component holding tool when picking up a component based on the height to the upward facing surface, it is possible to effectively prevent damage to pickup target components and damage to component holding tools.

DETAILED DESCRIPTION

Hereinafter embodiments of the present disclosure are described with reference to the drawings.

First Embodiment

FIG. 1shows a component mounter (an example of an electronic circuit assembly device) of a first embodiment of the present disclosure. The component mounter includes items such as device main body10, board conveying and holding device14that conveys and holds circuit board12(hereinafter also referred to as board12) as a circuit substrate, component supply device16, loose component supply device18of a first embodiment of the present disclosure, component mounting device20, imaging devices22and24, and control device26(refer toFIG. 17). Circuit substrates include printed wiring boards, printed circuit boards, substrates including three-dimensional features, and so on. Circuit board is a general term that includes printed wiring boards and printed circuit boards. Except for the portion relating to the present disclosure, this component mounter has a configuration similar to an electronic circuit assembly device disclosed in JP-A-2011-253869, thus similar portions will be described only briefly.

Board conveying and holding device14is positioned centrally inside the component mounter in the front-rear direction, and includes conveyance device30that conveys boards12, clamp device32as a holding device that holds board12, and so on. Board conveying and holding device14conveys board12in a horizontal orientation horizontally and holds board12at a predetermined position. In the present embodiment, the conveyance direction of board12(hereinafter also referred to as the board conveyance direction) is the X direction, the width direction of board12is the Y direction, and the vertical up-down direction is the Z direction. The X direction, Y direction, and Z direction are perpendicular to each other. Also, the sideways direction and width direction of the component mounter is the X direction and the front-rear direction is the Y direction.

Component supply device16includes tray type component supply device42that supplies electronic components (hereinafter also referred to as components) via tray40and that is provided in front of board conveying and holding device14, and a feeder type component supply device that supplies components via tape feeders, which are not shown. Loose component supply device18is provided to the rear of board conveying and holding device14; details are described later. Components supplied via these component supply device16and loose component supply device18include electronic circuit components, configuration components for solder cells, configuration components for power modules, and the like. Among electronic circuit components, there are those with leads and there are those without leads.

Component mounting device20includes work heads50and52, and work head moving device54. Work head moving device54is provided with X-direction moving device60(refer toFIG. 2), Y-direction moving device62, and Z-direction moving devices64and66. Work heads50and52are moved together to any position on a horizontal plane by X-direction moving device60and Y-direction moving device62, and are each moved independently in the Z direction by Z-direction moving devices64and66respectively. Work head moving device54is configured to be able to move work heads50and52in a range covering from tray40and the like of component supply device16to the component transfer position of loose component supply device18. Work heads50and52are each provided with a component holding tool70(refer toFIG. 2) such as a chuck or a suction nozzle, and are mounting heads that pick up a component and mount the component on board12.

Imaging device22is moved together with work head (hereinafter also referred to as a mounting head)50in the X, Y, and Z directions. Imaging device24is fixedly provided on a portion of device main body10between board conveying and holding device14and the component supply section of component supply device16.

Loose component supply device18arranges multiple components that are in a loose state, that is, in a state of random orientation, to have a specified orientation, to be in a state able to be transferred to component mounting device20, that is, to be in a state able to be received by component mounting device20. As shown inFIG. 1, the entirety or a portion of loose component supply device18is detachably provided on a rear section of device main body10behind board conveying and holding device14. As shown inFIG. 3, loose component supply device18includes main body80, component supply device82, component scattering device84, component transfer device86, component returning device88, and imaging device90. Component supply device82is configured from component scattering device84and component returning device88both attached to shared frame94. Hereinafter this configuration is also referred to as component supply unit96. Multiple (in this embodiment, five) component supply units96are provided lined up in a row in a sideways direction (X direction) on main body80.

Component Supply Device82

As shown inFIG. 4, component supply device82includes component housing section100and component supply section102. Component housing section100is provided on an upper section of component supply device82, and is configured from a container that is open in the upwards direction, with the lower surfaces of the container configured from a pair of inclined surfaces104and106. As shown inFIG. 5, inclined surfaces104and106are inclined to approach each other as they get lower, with the lower end section of each protruding downwards such that opening108extends in a sideways direction. Among inclined surfaces104and106, inclined surface104provided at the front side of component supply device82has a gentler incline than inclined surface106, and opening108is positioned at the rear section of component housing section100. Component supply section102is provided with component supply surface110provided below component housing section100. Component supply surface110is an inclined surface inclined downwards the further forwards it goes, and the leading end section thereof is configured from component ejection section112. The incline of component supply surface110is gentler than that of inclined surface104. Also, member114is provided on the front end of component supply surface110as a plate lip that extends downwards from component supply surface110. The dimension of opening108in the front-rear direction is somewhat larger than the size of the components to be housed.

As shown inFIG. 4, with component supply device82, pair of hooks120(one hook120is shown inFIG. 4) provided at both edge sections in the sideways direction of the upper rear section of component housing section100are engaged from above on support shaft122provided on the upper rear section of frame94, and are supported to be detachable and rotatable around a horizontal axis line parallel to the sideways direction (X direction). Also, as shown inFIG. 6, component supply device82is provided with plate holding sections124that protrude horizontally, each provided on a lower section of the front sections of the pair of walls parallel to the front-rear direction, and is supported from below and rests on horizontal plate-shaped support sections126provided on frame94to be relatively movable in the vertical direction. In a state with component supply device82supported by frame94, each of inclined surface104and component supply surface110are inclined at a predetermined angle with respect to a horizontal plane, in the present embodiment, around 15 degrees and around 10 degrees; lip member114is positioned in a vertical plane. There are multiple component supply devices82with a different dimension for opening108or a different inclination angle for at least one of the above inclined surfaces104and106, and component supply surface110, such that the components to be supplied by component supply unit96can be changed simply by exchanging component supply device82.

As shown inFIG. 4, component scattering device84includes component support member150, component support member moving device152that is a relative moving device for moving component support member150and component supply device82relative to each other, and supply device oscillating device154. Component support member150includes component support section156that is a long rectangular plate, and pair of leg sections158. Leg sections158are flat plates and are provided protruding both above and below upper surface160that is the flat upper surface of component support section156. Component support member moving device152includes slide164and slide driving device166(refer toFIG. 17). Slide driving device166is configured from a rodless cylinder in the present embodiment.

Component support member150is fixed to slide164at pair of leg sections158; slide164is guided along pair of guide rails168by slide driving device166such that component support member150is moved parallel to upper surface160, that is, horizontally, in the front-rear direction, just below the lower end of lip member114. Also, as shown inFIG. 4, component support member150is moved to and from a component supply position at which the entirety of upper surface160is positioned forward of component supply device82, and a retract position at which the front edge of upper surface160is positioned at the front edge of component supply device82.

As shown inFIG. 7, supply device oscillating device154of the present embodiment includes cam member180, cam follower182and stopper184that configures a rotation limit regulating member. Cam member180is a flat plate and is fixed on an outer wall of one of the pair of leg sections158parallel to the front-rear direction. Multiple teeth190are provided on cam member180at a regular interval in a direction parallel to the front-rear direction. Each of multiple teeth190are configured from inclined surface192inclined to be higher the further it extends to the rear, and vertical surface194that extends vertically downwards from the upper end of inclined surface192; cam surface196formed as multiple protrusions and recesses lined up in a straight line in a direction parallel to the front-rear direction is configured from these inclined surfaces192and vertical surfaces194. As shown inFIG. 4, in the present embodiment, cam member180is provided on a portion of component support member150in the front-rear direction; among the range of upper surface160, the portion in the front-rear direction corresponding to cam follower180functions as component support surface198.

As shown inFIG. 8, cam follower182includes lever202provided on an outer surface of component supply device82to be rotatable around an axis line parallel to the sideways direction via bracket200, and roller204provided on a free end of lever202to be rotatable around an axis line parallel to the sideways direction. Lever202is biased such that roller204moves forward by torsion coil spring206(refer toFIG. 9) that is a spring member forming a type of biasing means. Stopper184is provided on bracket200and forms a protrusion that regulates the rotation limit of lever202due to the biasing of torsion coil spring206. As shown inFIG. 7, in a state with the rotation limit regulated, cam follower182is positioned to protrude downwards from component supply device82in a vertical direction.

Component Returning Device88

As shown inFIG. 11, component returning device88includes lip member114, component collection container220, component collection container raising and lowering device222that forms a relative raising and lowering device, and operation conversion mechanism224. Component collection container raising and lowering device222includes raising and lowering member226that forms a movable member, and air cylinder228that forms a raising and lowering member driving device. Air cylinder228is provided facing up at a position between the pair of guide rails168; raising and lowering member226is raised and lowered with respect to component supply device82by the extending and retracting of piston rod230. Air cylinder228is fixed to the front end of slide164; raising and lowering member226is moved forwards and backwards together with component support member150.

Component collection container220is attached to raising and lowering member226via shaft232to be rotatable around an axis line horizontal and parallel to the sideways direction (X direction), and is provided to be raisable and lowerable on the front end section of component support member150. Component collection container220, by the raising and lowering of raising and lowering member226, is raised and lowered to, as shown inFIG. 10A, a lower end position below upper surface160of component support member150, and, as shown inFIG. 11, an upper end position above component supply device82.

Also, component collection container220is rotated above raising and lowering member226to and from a component receiving position in which the lower surface of component collection container220is horizontal and the container is open upwards, and a component ejection position in which component collection container220is vertical, thus ejecting components to component supply device82. Component collection container220is biased in a rotation direction towards the component receiving position by a torsion coil spring (not shown) that forms a biasing means. The rotation limit of component collection container220by this biasing is regulated by the pair of stoppers234, and component collection container220is usually at the component receiving position. Rear wall236of component collection container220is inclined to point down the further it goes towards the rear at the component ejection position.

As shown inFIG. 11, operation conversion mechanism224includes pair of rollers240that form an engaging section provided on component collection container220, and pair of engaged surfaces242that form an engaged section provided on frame94. InFIG. 11, only one roller240and one engaged surface242are shown. As shown inFIG. 8, roller240is attached to a protruding end of fixed support member244that protrudes rearwards from component collection container220positioned at the component receiving position so as to be rotatable around an axis line parallel to the sideways direction. Engaged surface242is provided on a portion corresponding to the upper section of component housing section100of frame94, and is a horizontal surface that faces downwards.

Shutter250is arranged on the leading edge of component support member150to be raisable and lowerable between component support member150and component collection container220. Shutter250is raised and lowered in accordance with the raising and lowering of component collection container220; the raising and lowering of shutter250, as shown inFIG. 10C, is guided by protruding sections254provided on the leading edge of slide164engaging with pair of elongated holes252in a movable manner. Also, shutter250is biased upwards by compression coil spring255as a biasing means that engages with pair of rods253established on slide164.

As shown inFIG. 10A, protruding engaging section256provided on the rear section of raising and lowering member226engages from above protruding engaging section258provided on the lower section of shutter250when component collection container220is at the lower end position. By this, the raising of shutter250due to the biasing force of compression coil spring255is prevented, and shutter250is held in a non-blocking positioning below upper surface160of component support member150.

As shown inFIG. 10B, shutter250is allowed to move up in accordance with the upwards movement of component collection container220. Shutter250moves up with the upwards movement of component collection container220, but the raising limit of shutter250is regulated by the lower end of elongated holes252contacting protruding sections254. Shutter250protrudes upwards higher than component supply surface110of component supply unit96, to be in a blocking position that prevents components from falling from component supply surface110.

As shown inFIG. 3, imaging device90is, for example, provided with a CCD camera or a CMOS camera as an imaging instrument. Imaging device moving device270that moves imaging device90includes slide272and slide driving device274(refer toFIG. 17). Slide driving device274includes an electric motor, which is not shown, and indexing screw mechanism278. Indexing screw mechanism278includes nut280and indexing screw282; indexing screw282is rotated by the electric motor such that slide272is moved to any position in the sideways direction guided by guide rail284. Slide driving mechanism274is provided on main body80such that imaging means90provided on slide272is positioned above component support surface198of component support member150positioned at the component supply position. Also, imaging device90has a lens pointing downwards and positioned opposite and facing component support surface198.

Imaging device90is moved by imaging device moving device270to be positioned selectively facing each of component support surfaces198of the five sets of component supply units96; at each of the five imaging positions, multiple components on the respective component support surfaces198are imaged.

The imaging region of imaging device90is determined by factors such as the characteristics of the lens and the distance to the imaging target; in the present embodiment, the region is set to include the entirety of component support surface198. Thus, image data for the entirety of component support surface198can be acquired by imaging once with imaging device90. Note that, the imaging area does not necessarily have to include the entirety of component support surface198, a portion of component support surface198is sufficient. In cases in which the imaging region is a portion of component support surface198but it is necessary to acquire image data for the entirety of component support surface198, imaging of component support surface198may be split between multiple imagings. In this case, it is desirable for imaging device moving device270to be able to move imaging device in a front-rear direction as well.

Component Transfer Device

As shown inFIG. 12, component transfer device86includes component holding head300, component holding head moving device302, and multiple (two in the present embodiment) shuttle devices304and306(refer toFIG. 3).

Component Holding Head Moving Device

Component holding head moving device302includes X-direction moving device320, Y-direction moving device322, and Z-direction moving device324, and moves component holding head300in the X, Y and Z directions. Y-direction moving device322is provided on main body80, and includes Y slide326, and Y slide driving device328. Y slide driving device is provided with electric motor330y, and indexing screw mechanism336ythat includes indexing screw332yand nut334y; Y slide driving device328moves Y slide326provided to be movable as one with nut334yto any position in the Y-axis direction guided by pair of guide rails338y.

X direction driving device320is provided on Y slide326and includes X slide340and X slide driving device342. Z direction driving device324is provided on X slide340and includes Z slide344and Z slide driving device346. X slide driving device342and Z slide driving device346have a similar configuration to Y slide driving device328, and configuration elements with the same reference numbers suffixed by x or z correspond to configuration elements of Y slide driving device328with the same use, thus descriptions of these are omitted.

Component Holding Head

Component holding head300is provided on Z-axis slide344. Component holding head300is moved by component holding head moving device302together with Z direction moving device324to a height region between imaging device90and component support surface198. Within this height region, component holding head30is moved to any position in the horizontal and vertical directions. Thus, imaging device90and component holding head300are positioned above component support surface198of the same component supply unit96at the same time, and component holding head300, by being moved in a horizontal direction that is at least one of the X and Y directions, is positioned above component support surface198, and moved to and from a functional position at which a component can be picked up from component support surface198, and a retract position separated from the functional position. As shown inFIGS. 13A,13B, and 13C, component holding head300includes (1) head main body360provided as one with Z slide344, (2) suction nozzle362that forms a component holding tool, (3) nozzle rotating device364that forms a holding tool rotating device, (4) nozzle pivoting device366that forms a holding tool pivoting device, (5) nozzle attachment device368that forms a holding tool attachment device, and the like.

Nozzle pivoting device366pivots suction nozzle362around an axis line that extends in the horizontal direction, and includes link mechanism370and link mechanism driving device372. Link mechanism driving device372includes raising and lowering member374that forms a driving member, and raising and lowering member driving device376. Raising and lowering member driving device376is provided with electric motor378and indexing screw mechanism384that includes indexing screw380and nut382; the rotation of electric motor378is transmitted to indexing screw380via timing pulleys386and388and timing belt390, such that raising and lowering member374is raised and lowered. Spline shaft392is attached to raising and lowering member374extending vertically downwards. An end of lever394is attached to the lower end of spine shaft392via axis395so as to be rotatable around a horizontal axis line, and suction nozzle362is detachably held on the lower end of spline shaft392by nozzle holding member396that forms a component holding tool holding member.

Arm400is established on lever394in a direction at a right angle to the rotation axis of lever394, and on a protruding end of arm400a pair of rollers402(only one roller is shown) is attached so as to be rotatable around an axis line parallel to the rotation axis line of lever394, thus configuring a cam follower. Each of the pair of rollers402is engaged with pair of horizontal elongated holes406(only one elongated hole406is shown) of cam member404provided on head main body360so as to be not movable in the vertical direction. As shown inFIG. 13A, in a state in which raising and lowering member374is at the upper limit position, suction nozzle362is in a non-pivoted position aligned with spline shaft392. When raising and lowering member374is lowered, lever394is rotated due to the lowering of rollers402being prevented by cam member404, such that suction nozzle362is pivoted around a horizontal pivoting axis line. In a state in which raising and lowering member374is lowered to the lower limit position, as shown inFIG. 13B, suction nozzle362is pivoted 90 degrees and the axis line of suction nozzle362is horizontal. The non-pivoted position and the 90 degree pivoted position are decided by position control of raising and lowering member374performed by control of electric motor378. Suction nozzle362is also able to be held at any position between the non-pivoted position and the 90 degree pivoted position.

Nozzle rotating device364includes electric motor410, which is attached to head main body360via an attachment member that is not shown, and rotation transmitting device412. Rotation transmitting device412includes gear414attached to an output shaft of electric motor410, and fixed gear418that is fixed to spline member416engaged with spline shaft392so as to be movable in an axis direction and not rotatable; rotation transmitting device412rotates spline shaft392around a vertical axis line to any angle in forward and reverse directions. Rotation is transmitted to spline shaft392at whichever position in the vertical direction, such that suction nozzle362is rotatable to any angle around a vertical axis line that is an axis perpendicular to the horizontal component surface198. Cam member404is fixed to spline member416, and is rotated together with spline shaft392and suction nozzle362such that suction nozzle362is able to be pivoted at any rotational position.

Nozzle attachment device368is configured such that suction nozzle362is detachably attached to nozzle holding member396. As shown inFIG. 13C, nozzle attachment device368includes (1) recess section420provided in the surface of nozzle holding member396that contacts suction nozzle362, (2) negative pressure source422vand positive pressure source422p, (3) and electromagnetic valves (in the present embodiment an electromagnetic opening and closing valve)424canddprovided between each of recess section420and negative pressure source422v, and recess section420and positive pressure source422p; negative pressure and positive pressure are selectively supplied to recess420by controlling electromagnetic valves424candd. When negative pressure is applied in a state with the opening of recess section420covered due to suction nozzle362contacting the contact surface of nozzle holding member396, a negative pressure chamber is formed by recess section420and the like. This negative pressure chamber causes suction nozzle362to be attached to nozzle holding member396in a state with negative pressure maintained, while suction nozzle362is released by positive pressure being supplied to recess section420.

Suction nozzle362picks up and holds a component using negative pressure; there are multiple types of suction nozzles362with different sizes of pickup pipe pickup surfaces (for example, these can be represented by a nozzle diameter, which is the diameter of the nozzle pipe). Because the strength of the negative pressure supplied to suction nozzle362is substantially regular, components can be held by a larger force (hereinafter also referred to as holding force) the larger the nozzle diameter is. As shown inFIG. 3, nozzle housing device430that houses multiple types of suction nozzles362with different nozzle diameters is provided on main body80. Nozzle housing device430includes nozzle holding member432that has multiple recesses capable of housing a suction nozzle362, shutter moving device434(refer toFIG. 17) that moves a shutter, which is not shown, provided on an upper surface of nozzle holding member432to and from a removal prevention position and a removal allowance position. Component holding head300is moved to nozzle housing device430as required such that suction nozzles362can be exchanged automatically.

Shuttle Device

As shown inFIG. 3, shuttles304and306each include component carriers450and452, and component carrier moving devices454and456, and are provided lined up in the sideways direction on the front side of component supply unit96of main body80. In the present embodiment, component receiving member460is provided on each of carrier450and452, with multiple (in the present embodiment, five) thereof being detachably held lined up in the sideways direction. As shown inFIG. 14, component receiving member460engages with recess section462of component carriers450and452, and is positioned respectively in the front-rear direction and the sidewards direction by protruding sections464and466.

In the present embodiment, electronic circuit components with leads (hereinafter also referred to as leaded components)480shown inFIGS. 16A and 16Bare supplied by loose component supply device18. Leaded components480are configured from component main body482, which is block-shaped, and two leads484that protrude from the bottom surface of component main body482.

As shown inFIG. 14, component reception recess500is provided in component receiving member460. Component reception recess500is provided in accordance with the shape and size of the component to be housed, and component reception recess500of component receiving member460into which a leaded component can enter includes, for example, as shown inFIG. 15A, main body reception recess502opening at the upper surface of component receiving member460, and lead reception recess504opening at the lower surface of main body reception recess502. The surface is cut away at the opening edge section of main body reception recess502, such that guidance surface506that guides the entry of the component is formed, thus configuring a guiding section. As shown inFIG. 15B, leaded component480is housed in lead reception recess504with leads484pointing downwards by component receiving member460; component main body482is positioned in the horizontal direction by engaging with main body reception recess502, and is supported from below by upward facing component support surface508configured from the bottom surface of main body reception recess502, and is received in a state positioned in the vertical direction.

As shown inFIG. 14, there are multiple types of component receiving members460with component reception recesses500of different sizes and shapes, which are exchanged by operators. A component receiving member that has the dimensions of multiple component receiving members460may be held by component carriers450and452.

As shown inFIG. 3, component carrier moving devices454and456have a similar configuration, thus only one will be described; for the other, the same reference numbers apply to corresponding configuration elements, and descriptions are omitted.

Moving device main body520of component carrier moving device454is provided with endless belt522and belt rotating device524(refer toFIG. 17) provided on main body80parallel in a front-back direction. Belt522is wound around multiple pulleys that are rotatable around an axis line parallel to the sideways direction of moving device main body520, and are locked to component carrier450. Belt522is rotated by the pulleys being rotated by an electric motor (not shown), such that component carrier450is moved in a front-rear direction being guided by pair of guide rails530(one guide rail530is shown inFIG. 3) Component carriers450are each moved independently to and from a component receiving section positioned at a front section among the moving range of component holding head300, close to component holding head moving device302, and adjacent to component supply unit96, and a component receiving position positioned at a rear section of the moving range of mounting heads50and52close to component mounting device20. Component carrier450is positioned at the component receiving position and the component transfer position by a stopper (not shown) provided on moving device main body520.

Control Device

As shown inFIG. 17, control device26includes (a) overall control device26a, (b) individual control devices (only individual control device550of loose component supply device18is shown) of board conveying and holding device14, component supply device16, loose component supply device18, and the like, and (c) imaging processing device552as an image data processing device, and the like. Overall control device26a, individual control devices550and the like, and imaging processing device552are configured mainly from a computer, and are connected so as to be able to communicate with each other. Overall control device26aperforms overall control of board conveying and holding device14, component supply device16, loose component supply device18, component mounting device20, and the like, via the individual control devices550.

For loose component supply device18, individual control devices550are provided with performing section550c, input/output section550i, and storage section550m; imaging device moving device270, component holding head300of component transfer device86, component holding head moving device302, nozzle housing device430, shuttle devices304and306, image processing device552, and the like are connected to individual control devices550.

Note that, the configuration of control device26is not limited to that of the present embodiment. For example, it is possible to not provide overall control device26a, and to instead control each device14,16,18,20, and so on with individual control devices550or the like (it is desirable that individual control devices be able to communicate with each other); or it is possible not to provide individual control devices550, and to instead control each device14,16,18,20, and the like using overall control device26. Also, image processing device552may be configured as part of an individual control device550or as part of overall control device26a.

Operation

Board12is loaded into the component by board conveying and holding device14, and then stopped and clamped at a predetermined position. Next, mounting heads50and52are moved to assemble components supplied by component supply device16and loose component supply device18on board12.

In loose component supply device18, leaded components480are supplied by five sets of component supply units96. Because component supply operation is the same for each of these five component supply units96, operation will be described for one set of the five sets of component supply units96.

Multiple of the same type of leaded components480are inserted into component housing section100of component supply device82by an operator. When components are inserted, as shown inFIG. 6, component support member150is in the retract position. With component insertion, some components pass through opening108and fall on component supply surface110, then move to the component ejection section112side via the incline of component supply surface110, and are spread out on component supply surface110. If leaded components480get stuck and blocked in opening108, components are stopped from falling onto component supply surface110, and multiple leaded components480inside component housing section100are housed in a loose state in a random orientation stacked on each other. Even if leaded components480that have fallen onto component supply surface110move beyond component ejection section112, they are housed in component collection container220. Component collection container220is positioned together with component support member150at the retract position, and is at the lower limit position, that is, the component receiving position.

After components are inserted, component support member150is advanced and moved forwards from below component supply device82. When cam member180contacts cam follower182, roller204moves up in accordance with inclined surface192of tooth190, then when reaching vertical surface194, drops down after riding over tooth190. Cam follower182is biased to engage with tooth190by a tension coil spring and the rotational limit is regulated by stopper184; when component support member150is advanced, roller204is maintained in a state engaged with tooth190, and as shown inFIG. 7, without lever202being rotated, cam follower182rides over tooth190together with component supply device82. Cam follower182rides over multiple teeth190one by one, and by the repeated raising and lowering the front section of component supply device82is raised and lowered, thus being oscillated in the vertical direction. Here, the lifting up from support shaft122of component supply device82is reversed by the weight of component supply device82itself.

Components on component supply surface110are moved forward by the incline of component supply surface110and the oscillating, and as shown inFIG. 7, are ejected from component ejection section112onto component support surface198. Here, leaded components480are prevented from falling by the pair of leg sections158that protrude up from upper surface160. Also, by the oscillation of component supply device82, leaded components480stuck in opening108are scattered and thus fall onto component supply surface110, and leaded components inside component housing section100pass through opening108and are ejected by falling onto component supply surface110. In accordance with the advancing of component support member150, a different portion of component support surface198is consecutively made to correspond with component ejection section112, thus the surface area of component support surface198is increased, such that leaded components480are supported consecutively. The advancing direction of component support member150is the forward direction, and the retracting direction is the reverse direction; while component support member150is being advanced, component supply device82is oscillated only when cam follower204rides over cam member180, such that leaded components480are ejected from component ejection section112. Cam member180separates from cam follower182before component support member150reaches the component supply position, and component support member150is advanced, but component supply device82is not oscillated and components are not ejected. Thus, with component support member150arrived at the component supply position, among upper surface160, multiple of the same type of leaded components480are supported on component support surface198in a scattered state.

After component support member150is stopped, imaging device90is moved and the multiple leaded components480on component support surface198are imaged. The multiple leaded components480are the same as each other and are in a scattered state. In the present embodiment, pickup target components are determined based on the image data that is acquired by the imaging by imaging device90. Also, those pickup target components are picked up and held by suction nozzles362according to parameters (conditions) acquired based on the image data, component holding head300is moved by holding head moving device302, and leaded components480are held by component receiving member460of component carriers450and452. The multiple leaded components480scattered on component support surface198are aligned on component carriers450and452.

Determination of Pickup Target Components and Determination of Pickup and Transport Conditions

Determination of Pickup Target Components

For leaded components480, as shown inFIGS. 16A and 16B, component main body482is configured from four side surfaces486at right angles to each other. Thus, in a state in which a leaded component480is resting on component support surface198on one of the four sides486, the upward-facing surface opposite to that surface is parallel to component support surface198, and leads484are parallel to component support surface198. Also, three of the four sides486(486a,486b, and486c) are configured from pickup surfaces that cover the opening of the suction pipe of suction nozzle362and that have a surface area able to be picked up that prevents leaking of the negative pressure. However, one of the surfaces486(486d), as shown inFIG. 16B, is provided with indent488, which makes pickup difficult even if a pickup nozzle with a small nozzle diameter is used.

Due to this, leaded components480that are oriented such that leads484extend parallel to component support surface198, independent from other leaded components480, and, as shown inFIGS. 18A to 18C, are oriented with side surface486c,486b, or486a, for which pickup is possible, facing upwards, are pickup target components480t(hereinafter, among leaded components480, pickup target components are designated by a lower case t). Conversely, as shown inFIGS. 18D to 18F, leaded components with an inclined orientation and leaded components480with leads484parallel to component support surface198but with difficult-to-pickup side surface486dfacing upwards, are non-pickup target components480s(hereinafter, among leaded components480, non-pickup target components are designated by a lower case s). Hereinafter, side surface486ais sometimes referred to as the front surface, and side surface486das the rear surface.

Nozzle Selection

For example, the surface area of the portion that can be picked up by suction nozzle362differs for each of side surfaces486ato486cthat can be picked up. The surface area of the portion of side surface (front surface)486athat can be picked up is large, while the surface area of the portion of side surfaces486band486cthat can be picked up is small. Thus, as shown inFIG. 18C, for pickup target components480toriented with side surface (front surface)486afacing upwards, a pickup nozzle362with a large nozzle diameter is selected; and as shown inFIGS. 18A and 18B, for pickup target components480toriented with side surface486bor486cfacing upwards, a pickup nozzle362with a small nozzle diameter is selected.

Pickup Height

Even for the same leaded component480, depending on the orientation, because the height (which is the height from component support surface198to the surface facing upwards [non-supported surface], hereinafter referred to simply as height) is different, the height of the opening at the lower end of the suction pipe of suction nozzle362during pickup is determined depending on the orientation. As shown inFIG. 16AandFIG. 19, the height of leaded component480oriented with front surface486afacing upwards is Lb, while the height for leaded component480oriented with side surfaces486bor486cfacing upwards is La. For this leaded component480, La is larger than Lb (La>Lb).

Maximum Acceleration Level

As described above, the holding force of leaded component480by suction nozzle362is larger for large nozzle diameters than it is for small nozzle diameters. Also, for leaded components480of the same mass held by suction nozzle362, a leaded component480is less likely to separate from suction nozzle362due to a large inertial force, that is, a large acceleration, for a large holding force compared to for a small holding force. Thus, the transport acceleration of component holding head300can be larger for a large nozzle diameter than a small nozzle diameter. From the above, the maximum value of the transport acceleration that can be used (allowable transport acceleration) is larger when a pickup nozzle with a large nozzle diameter is selected than when a pickup nozzle with a small nozzle diameter is selected.

Component Data

Component data570(n) (n=1, 2, 3) is predetermined data of each of pickup target components480tshown byFIGS. 18A to 18C, which are a portion of the multiple leaded components480, and is based on the orientation of the leaded components480. This component data570(n) is stored in storage section550mof individual storage device55. Component data570(1) relates to pickup target component480t(1) for which front surface486ais facing upwards (the suffix (1) is added to correspond to the component data; a similar suffix is added to the other pickup target components); component data570(2) and (3) relate to pickup target components480t(2) and (3) for which side surfaces486bandcrespectively are facing upwards. As shown inFIG. 19, each component data570contains [1] shape data572(n) that represents the plan view shape (including the shape of the upward facing surface), and [2] data that represents conditions (parameters) that relate to transport of component head300and pickup of pickup target component480t. Data that represents parameters of [2] (hereinafter also referred to as parameters related to pickup and so on of pickup target component480t) includes at least one of (i) nozzle diameter data574(n) that represents the nozzle diameter (pickup nozzle type) of pickup nozzle362used to pick up pickup target component480t(which is an example of holding tool type specification data), (ii) maximum acceleration data576(n) that represents the maximum value (control value) of acceleration (which includes an absolute value of the deceleration) for transporting component holding head300that is holding a leaded component to component receiving member460positioned at the component receiving position, and (iii) pickup height data578(n) that represents the pickup height (the height of the opening at the lower end of the suction pipe of suction nozzle362) when suction nozzle362picks up pickup target component480t.

Image Data

An example of image data is shown conceptually inFIG. 20. As shown inFIG. 20, individual image data582(k) (k=1, 2, 3 . . . ) that is multiple image data that corresponds to each of the multiple leaded components480is included in image data580. Individual image data582(k) is image data that represents the size and shape of each plan view of leaded component480. It is possible to determine whether each leaded component is a pickup target component based on individual image data582(k).

Image Processing

(I) Image data580is processed based on component data570(1). From component data570(1), shape data572(1) and individual image data582(k) (k=1, 2, 3 . . . ) are compared with each other, and individual image data582(k) that matches shape data572(1) of component data570(1) is extracted. Then, leaded component480that corresponds to matching individual image data582(k) is set as pickup target component480t(1). When comparing, at least one of shape data572(1) and individual image data582(1) is rotated. Then, based on at least one of the rotation angles that matches, the orientation (angle θ) of pickup target component480t(1) is determined. Angle θ is the angle between reference line A with XY coordinates (for example, a line parallel to the X direction or Y direction), and reference line B of individual image data572(k) (for example, this may be a line parallel to lead484) (for example, the angle may be defined based on positive angles being in a clockwise direction). Also, the XY coordinate position of individual image data572(k) is acquired based on image data that corresponds to a predetermined reference position mark (for example, which may be formed on component support surface198or the like); the XY coordinate position of pickup target component480t(1) corresponding to individual image data572(k) is acquired. The above acquired data representing the angle θ and data representing the XY coordinate position of pickup target component480t(hereinafter also referred to as position and angle data) is stored.

Also, parameters related to pickup and so on of pickup target component480t(1) are decided as, among component data570, nozzle diameter data574(1), pickup height data578(1), and maximum transport acceleration data576(1).

(II) Image data580is processing based on component data570(2). From component data570(2), shape data572(2) and individual image data582(k) (or, from individual image data582(k), items excluding items determined as pickup target component480t(1)) are compared, and items that match shape data572(2) are extracted. Leaded components480that correspond to extracted individual image data582(k) are set as pickup target component480t(2), the XY coordinate positions and angle θ of each pickup target component480(t) are acquired, and the position and angle θ data is stored. Also, parameters related to pickup and so on of pickup target component480t(2) are decided as, among component data570, nozzle diameter data574(2), pickup height data578(2), and maximum transport acceleration data576(2).

(III) Image data580is processed based on component data570(3). In a similar manner, components corresponding to individual image data582(k) that matches shape data572(3) of component data570(3) are set as pickup target components480t(3), and the position and angle data is acquired and stored. Further, parameters related to pickup and so on of pickup target component480t(3) are determined based on component data570(3).

As described above, image processing is performed multiple times, and in the present embodiment, processing that determines pickup target component480t(n) by comparing each of shape data572(n) of component data570(n) and individual image data582(k), and acquiring the orientation of a leaded component corresponding to individual image data582(k) is considered to be one set of image processing. Acquiring and storing the position and angle data of pickup target component480t(n) may be included in image processing. Also, the number of times image processing is performed is determined by the quantity of component data570(n), which depends on the shape of leaded component480.

Image processing is performed by running the image processing program shown in the flowchart inFIG. 21.

In step1(hereinafter also referred to as S1, with similar notation used for other steps), imaging device90performs imaging of multiple leaded components480supported in a loose state on component support surface198, and image data is acquired. In S2, count value n of the counter that counts the number of times image processing has been performed is given an initial value of one; in S3, component data570(1) used in the first image processing is read. In S4, each of shape data572(1) and individual image data582(k) is compared one by one and determination is performed as to whether they match. In a case in which a match is determined, the XY coordinate position and angle θ of that individual image data582(k) are acquired. Then, the leaded component corresponding to that individual image data582(k) is set as pickup target component480t(1) and the position and angle data thereof are stored.

In S6, it is determined whether all individual image data582(k) included in individual image data580has been compared to shape data572(1). If the above determination is no, S4to S6are performed again, determination is performed as to whether each individual image data582(k) matches shape data572(1), and in a case that a match is determined, acquisition and so on of the position and angle of individual image data582(k) is performed.

For example, inFIG. 20, because it is determined that individual image data582(1) matches shape data572(1), the XY coordinate position and angle θ1of individual image data582(1) are acquired. The leaded component480corresponding to individual image data582(1) is set as pickup target component480t(1), and the position and angle of pickup target component480t(1) are acquired and stored. Because individual image data582(2) does not match shape data572(1), the determination in S4is no, and the position and angle and so on are not acquired. There is no match with individual image data582(3) either. Then, when determination of a match with shape data572(1), and acquisition and storing of positions and angles in a case of a match, are completed for all individual image data582(k), the determination in S6is yes, and first image processing ends.

Next, in S7, one is added to the count value. In S8, it is determined whether count value n is larger than a predetermined quantity Nc (which is a predetermined number of times to perform image processing, corresponding to the quantity of component data570(n); in the present embodiment, Nc=3). In a case in which the count value is Nc or fewer, in S3, count value two, that is, component data570(2) used for the second image processing is read, and in a similar manner as above, in S4to S6, determination is performed as to whether each individual image data582(k) (items for which a match with shape data572(1) was determined may be excluded) matches shape data572(2), and in a case that a match is determined, the position and angle of pickup target component480tcorresponding to matching individual image data582(k) are acquired and stored.

For example, individual image data582(2) is determined to match shape data572(2), and the leaded component corresponding to individual image data582(2) is set as pickup target component480t(2). Further, the position and angle θ2are acquired, and the position and angle data are stored. It is determined that individual image data582(3) and582(4) do not match. When processing is complete for all individual image data582(k), the determination in S6is yes, and second image processing ends. Next, after S7and S8, third image processing is performed in the same way, with component data570(3) used in third image processing being read, determination performed as to whether each individual image data582(k) matches shape data572(3), and in a case that a match is determined, the position and angle are acquired and stored. For example, because it is determined that individual image data582(5) matches shape data572(3), the leaded component corresponding to individual image data582(5) is set as pickup target component480t(3), and the position and angle θ5of pickup target component480t(3) are acquired and stored. In S7, one is added to the count value n, thus becoming four, which means that the determination in S8is yes, ending the program and the third image processing. Note that, leaded components480corresponding to, from individual image data582(k) included in image data580, individual image data582(k) that does not match any one of shape data572(1) to (3) are set as non-pickup target component480s.

Next, with regard to each of pickup target components480t(1) to (3), exchange of suction nozzle362, pickup, transport and so on of pickup target component480tis performed under the conditions decided by shape data570(1) to (3), and component holding head300, holding head moving device302, and so on are controlled by running the control program for pickup and so on shown by the flowchart inFIG. 22. In S21, count value m of the counter that counts component data570(n) is given an initial value of one; in S22, nozzle diameter data574(1), pickup height data578(1), maximum acceleration data576(1) of component data570(1) are read, and the position and angle data of each pickup target component480t(1) stored by the running of S5of the image processing program are read.

Then, in S23, based on nozzle diameter data574(1), it is determined whether it is necessary to exchange suction nozzle362. In a case in which exchange is necessary, the determination is yes, and nozzle exchange is performed in S24. Component holding head300is moved to the specified position of nozzle housing device430, the attached suction nozzle362is released, and a suction nozzle determined by nozzle diameter data574(1) is attached. In nozzle housing device430, a shutter is moved to the removal allowance position by shutter moving device434, and in component holding head300, removing and attaching of suction nozzle362is performed by controlling electromagnetic valves424candd. S24is not performed in a case in which exchange of suction nozzle362is not required.

In the present embodiment, because one suction nozzle is held by component holding head300as a component holding tool, in a case in which the determination in S23is yes, the suction nozzle after exchange corresponds to a specified component holding tool, and in a case in which determination in S23is no, the suction nozzle held at that point corresponds to a specified component holding tool.

In S25, component holding head300is moved to the position decided by the position and angle data, and pickup target component480t(1) is picked up at a height decided by pickup height data578(1). Pickup target component480(1) is picked up by suction and held by suction nozzle362being moved to the pickup height and negative pressure being supplied.

Also, during pickup of the component, suction nozzle362is positioned at the non-pivoted position; suction nozzle362is pivoted to the 90 degree pivoted position while being moved to the component carrier, such that leads484are made to point down. However, because the pivoting direction is fixed as one direction, suction nozzle362is rotated on its own axis in a state positioned at the non-pivoted position by an angle determined based on the angle θ, the perpendicular pivoting plane of suction nozzle362is made to be parallel to a perpendicular plane parallel to the lengthwise direction of leads484of components480loaded on component support surface198, and leads484are rotated to be facing downwards by the pivoting. After the attachment of suction nozzle362or pickup of pickup target component480t(1), spline shaft392is rotated around its own axis, and a rotation point around a vertical line of component main body482is aligned with a rotation point of main body reception recess502.

After pickup and holding of the pickup target component, in S26, suction nozzle362(component holding head300) is transported to component receiving member460at the component receiving position. After accelerating, component holding head30moves at a constant speed, and then decelerates; because there is a limit on the size of the acceleration or deceleration, transport is performed so that the acceleration (deceleration) does not exceed that represented by maximum acceleration data576(1). By this, the inertial force acting on leaded component480held by suction nozzle362is restricted, such that the leaded component480does not separate from the suction nozzle easily. At the component receiving position, component holding head300is lowered, and leaded component480is housed in component reception recess500while being guided by guiding surface506. Then, the supply of negative pressure to suction nozzle362is stopped, thus releasing leaded component480, after which component holding head300is raised, and suction nozzle362is returned to the non-pivoted position by being pivoted.

In S27, it is determined whether all of the pickup target components480t(1) corresponding to component data570(1) are housed in component receiving member460of component carriers450and452. If the determination is no, S25to S27are repeated. Component holding head300is moved to the position of the next pickup target component480t(1) decided by the position and angle data, and then the pickup target component480t(1) is picked up and transported to component receiving member460. In a case where there are multiple pickup target components480t(1), they are picked up one by one according to a predetermined order.

Then, when all the pickup target components480t(1) have been moved to component receiving member460, the determination in S27is yes, and in S28, one is added to count value m, and in S29it is judged whether the count value is larger than (Nd=3). If not all the pickup target components480t(1) have been moved to component receiving member460, the determination in S27is no, processing returns to S22, component data570(2) of count value two is read, and position and angle data of each pickup target component480t(2) is read.

S23to S27are performed in a similar manner. Because nozzle diameter data574(2) differs from nozzle diameter data574(1), the determination for S23is yes, and in S24exchange of suction nozzle362is performed. Further, in S25and S26, pickup target components480t(2) are moved to component receiving member460. S25to S27are performed repeatedly, and when all the pickup target components480t(2) have been moved to component receiving member460, the determination for S27is yes, and in S28one is added to count value m. Similar actions are performed for component data570(3), and when all the pickup target components480t(3) have been moved to component receiving member460, the determination for S27and S29is yes, and the program ends. Pickup target components480t(1) to (3) supported on component support surface198are arranged in the same predetermined orientation on component carriers450and452by being moved to and held in component receiving member460.

Then, when leaded components480are held in every component receiving member460of the component carrier positioned at the component receiving position, that component carrier is moved to the component transfer position. Mounting heads50and52of component mounting device20are moved to the component carrier positioned at the component transfer position, and leaded components480held by component receiving members460are picked up by component holding tools70. All leaded components480have the same orientation, that is, are housed in component receiving members460with leads484pointing downwards and the upper surface that faces the bottom surface to which leads484are attached facing upwards, and component holding tool70(for example, a chuck), is able to pick up all lead components480favorably.

As described above, in the present embodiment, by processing based on component data570(n) of image data300, the orientation of multiple leaded components480in a loose state is distinguished and acquired, pickup target components480t(2) are determined, and the nozzle diameter, pickup height, and transport acceleration maximum value are acquired. As a result, multiple leaded components480in a loose data can be picked up favorably, and can be moved to component receiving member460favorably.

For example, for suction nozzle362, an item which a nozzle diameter of a size suitable for the size and shape and so on of the surface facing upwards of pickup target component480tis used. Supposing that a suction nozzle362with a large nozzle diameter is used for all the pickup target components480t; in this case, for leaded components480with an orientation shown inFIGS. 18A and 18B, because the surface that can be picked up on the upwards facing surface is small, these components are set as non-pickup target components. That is, only leaded component480with the orientation shown inFIG. 18Cis set as a pickup target component. However, if a suction nozzle with a nozzle diameter suitable for the size and shape and so on of the upwards facing surface is selected, leaded components480with an orientation shown inFIGS. 18A and 18Bare also set as pickup target components. As a result, because it is possible to increase the quantity of leaded components480that can be picked up in one supply of loose components, it is possible to reduce the quantity of returned leaded components480(the quantity of non-pickup target component480s).

Also, in a case in which suction nozzle362with a small nozzle diameter is used for all pickup target components480t, although time is not required for exchanging suction nozzle362, the transport time becomes longer. In particular, in a case in which the pickup height is high, because the orientation of the component during transport and the like is unstable, it is normal to specify a low value for maximum acceleration, which means that transport time becomes longer. In contrast, if a pickup nozzle with a large nozzle diameter is used for pickup target component480t(1), it is possible to use a large maximum acceleration when transporting pickup target component480t(1), thus shortening the transport time.

Components designated as non-pickup target components480sremain on component support surface198, but these non-pickup target components480sare returned to component supply device82by component returning device88. As shown inFIG. 8, non-pickup target components480sare prevented from retreating by lip member114and are moved forward with respect to component support member150, and fall down into component collection container220. During the retraction of component support member150, a force in the same direction as the retract direction of component support member150acts on cam follower182from cam member180, and stopper234allows free rotation of cam follower182in this direction. By this, as shown inFIGS. 8 and 9, cam follower182rotates with respect to component supply device82against the biasing force of torsion coil spring206and rides over tooth190, such that component support member150is retracted without oscillating component supply device82. Thus, components do not fall from component housing section100onto component supply surface110and are not ejected to component support surface198.

As shown inFIG. 10A, after component support member150has moved to the retract position, as shown inFIG. 10B, component collection container220is raised with respect to component supply device82. In accordance with the raising of component collection container220, shutter250is raised by the biasing of compression coil spring255, and as shown inFIG. 10C, covers component ejection section112in the blocking position. Roller240is raised along an outer surface of component supply device82together with component collection container220. Component collection container220is raised further after the movement of shutter250to the blocking position, and at the end stage of raising and lowering movement in which component collection container220is raised to near the upper limit position, as shown inFIG. 11, roller240contacts engaging surface242, such that raising is prevented. By this, component collection container220, while being further raised to the upper limit position, is rotated against the biasing force of the torsion coil spring to the component ejection position, and collected components480are ejected into component housing section100. In a state with component collection container220rotated to the component ejection position, the bottom surface of component collection container220is vertical, and rear wall236faces further towards component housing section100the further it goes down, such that leaded components480are ejected to component housing section100guided by rear wall236without any leaded components480being left behind.

During the returning of components to component supply device82by any one of the five component supply units96, imaging device90and component holding head300are able to perform imaging, pickup, and so on of components480at a different component supply unit96. As shown inFIG. 23, component returning is performed with component support member150in a state returned to the retract position; component support surface198is provided on the front side of component support member150, so imaging and holding of components480on component support surface198is able to be performed without interference with component collection container220.

Also, by removing the portion of loose component supply device18excluding shuttle devices304and306from device main body10, it is possible to easily perform maintenance on loose component supply device18.

Note that, before picking up pickup target component480t, the position of pickup target component480tcan be checked based on image data obtained by imaging component support surface198of imaging device90. By this, it is possible to pick up pickup target component480tmore reliably.

Imaging by imaging device90is performed before each pickup of leaded component480by component holding head300, and after suction nozzle362(component holding head300) has held leaded component480of component support surface198, transport to component receiving member460is performed in parallel. Because component holding head300is moved to a height region between imaging device90and component support surface198, there is no interference with imaging device90and component holding head300. Therefore, imaging device90remains at a position above component support surface198, and imaging is performed after component holding head300that is holding leaded component480has retracted. By this, for example, even if the position or orientation of pickup target component480tscheduled to be picked up next on one of the component supply units96is changed due to pickup operation or the like of the previous leaded component480, that change can be obtained.

Also, component holding head300is not limited to the above embodiment. For example, various types of heads may be used, such as a head that is able to hold multiple suction nozzles with different nozzle diameters in a ring shape, or a head able to hold multiple of the above suction nozzles in a straight line separated by regular intervals. Further, component holding head300may be changed between each of the above heads either automatically or manually. Further, component holding head300, in a case of a head able to hold multiple suction nozzles, a suction nozzle decided according to nozzle diameter data574is positioned at a predetermined pickup position, and accordingly, the suction nozzle that picks up the pickup target component is changed. In the present embodiment, a suction nozzle at a fixed position corresponds to a specified component holding tool.

Further, it is possible for a component supported by component support surface198to be picked up by suction nozzle362and to be supplied to board12directly. In this case, the movement range of component holding head300by component holding head moving device302is a range including held board12.

In the present embodiment, (1) a loose component support section is configured from component support surface198and so on. (2) A component transfer section is configured from component carriers450and452. (3) It can be considered to configure a holding tool changing device from nozzle attachment device368or the like, and it can be considered to configure the holding tool changing device from, for example, among nozzle attachment device368and control device26, a portion that runs or a portion that memorizes S24of the control program for pickup and the like shown in the flowchart ofFIG. 22. The holding tool changing device is also the holding tool exchanging device. (4) A change-use moving section is configured from a section or the like from among holding head moving device302that moves component holding head300between component support surface198and nozzle housing device430. (5) A pickup-use moving section is configured from a section or the like from among holding head moving device302that raises suction nozzle362to the pickup height. (6) An acceleration limiting moving device is configured from a section or the like that moves component holding head300without exceeding the acceleration decided by the maximum acceleration data of holding head moving device302. (7) A component data storage section is configured from storage section550mor the like of control device26. A component data storage section may be provided in overall control device26a. (8) A loose component supply device control device is configured from, among control device26, a portion that stores a pickup and the like control program, a portion that runs the control program, a component data storage portion, and the like. Also, a pickup height acquisition section is configured from, among loose component supply device control device, a component data storage section, a portion that stores S22, a portion that runs S22, and the like; a pickup height control section is configured from a portion that stores S25, a portion that runs S25, and the like. (9) A next process may be a “step for mounting components on board12” performed at component mounting device20, a “step for processing” performed with respect to component mounted on board12, or with respect to board12on which components are mounted (for example, a cut and clinch step in which leads are cut and bent, a solder application step in which solder is applied to leaded components, a step for performing heat processing or the like on board12, a step of unloading from the component mounting device, and the like).

Chuck580shown inFIG. 24may be attached to the holding tool holding member of the component holding head. Chuck580includes a pair of claws582pandqheld on a chuck main body, slide-type driving device584that moves the pair of claws582pandqtowards and away from each other, and the like. The width of pickup target components that can be grasped by chuck580is decided in advance.

In the present embodiment, because the component holding tool is chuck580, as shown inFIG. 18D, leaded component480for which difficult-to-pick-up side surface486dis facing upwards is also set as pickup target component480t(4). Even if the upward facing surface is a surface with a shape that is difficult to pick up, side surfaces486bandcthat are opposite each other can be grasped by the pair of claws582pandq. For example, leaded component480corresponding to individual image data582(4) included in image data580shown inFIG. 20, is set as pickup target component480t.

An example of component data590(n) of leaded component480in the present disclosure is conceptually shown inFIG. 24B. Component data590(n) (n=1, 2, 3, 4) each includes data representing [1] shape data592, and [2] parameters concerned with pickup and the like of pickup target components480t. At least one of (i) chuck width data594(n) that represents the chuck width of the chuck for grasping the pickup target component (the width of a component that can be grasped by the pair of claws582pandq), and (ii) pickup height data596(n) and the like. A chuck with a large chuck width is selected for pickup target components480t(1) and (4); a chuck with a small chuck width is selected for pickup target components480t(2) and (3). However, in a case in which the holding power for leaded component480by chuck580is substantially the same despite a difference in width of pickup target components480t, it is possible to have a maximum acceleration of the same size even if the orientation of pickup target component480tchanges. In this case, data representing parameters related to pickup and so on of pickup target component480tdo not necessarily have to contain maximum acceleration data.

In the present embodiment, image processing is performed four times by comparing image data580and each of shape data592(1) to (4), to decide pickup target components480(1) to (4). Also, each of these pickup target components480t(1) to (4) is picked up by chuck580, and arranged on component carriers450and452by being moved to component receiving member460.

As shown inFIG. 25, it is possible to provide manual loading component tray600that forms a manual loading component support member in a detachable manner instead of component supply unit96. Manual loading component tray600is provided with flat component support surface602and multiple components604are supported on component support surface602in a loose state.

Components604are loaded on manual loading component tray600by an operator after attaching manual loading component tray600to main body80, or before attaching manual loading component tray600to main body80and outside of loose component supply device. Supply of components using such a manual loading component tray is appropriate when supplying components with leads that bend easily, components that should not contact each other, components for which oscillation is not desirable, large components, and so on.

Note that, the size of manual loading component tray is not restricted. For example, the size may be with a width substantially the same as the width as component supply unit96, or may be larger than the width of component supply unit96.

Other Embodiments

Note that, the present disclosure is not limited to the above example embodiments, and various changed or improved methods of embodiment are possible based on the knowledge of someone skilled in the art. Also, the above multiple embodiments may be applied in combination with one another. For example, in a case in which component support member150or manual loading component tray600is arranged inside the movement range of mounting head50and52by work head moving device54, components480and604in a loose state may be picked up directly by mounting heads50and52and then mounted directly on board12. In this case, multiple components480and604supported in a loose state on component support member150or manual loading component tray600may be imaged by imaging device22provided on mounting head50.

Also, component holding tool70may be held on mounting heads50and52so as to be pivotable around a horizontal axis line, such that components480and604supported in a loose state on component support member150or manual loading component tray600are pivotable around a horizontal axis line by component holding tool70. In a similar manner as to the first embodiment, the orientation of loose components480and604is acquired based on image data, and exchange of component holding tool70is performed accordingly, with pickup being performed at the height decided by the orientation of the pickup target component, and transport being performed without exceeding the maximum acceleration decided by the orientation.

Alternatively, components480and604supported in a loose state on component support member150or manual loading component tray600may be held by component holding tool70(non-pivotable component holding tool) of mounting heads50and52. In the present embodiment, based on image data, components are held by mounting heads50and52, components with an orientation that allows pickup are set as pickup target components, and the pickup height and the like are acquired. Mounting heads50and52are moved to the position of a pickup target component, and the pickup target component is picked up at the acquired height. The present embodiment is appropriate for mounting of components without leads. Note that, at least one of mounting50and52may be a head capable of holding multiple component holding tools provided in a circle or lined up in a straight line. In the present embodiment, manual loading component tray600and the like corresponds to a mounting-use loose component support section, imaging device22corresponds to a mounting-use imaging device, component holding tool70corresponds to a mounting-use component holding tool, mounting heads50and52correspond to a mounting-use component holding head, and work head moving device54corresponds to a mounting-use holding head moving device. Also, mounting-use holding head movement control device is configured from a portion that controls work head moving device54of control device26(including the individual control device of mounting device20) and the like. A pickup height acquisition section is configured from, among the mounting-use holding head movement control device, for example, a section that acquires the pickup height based on image data; a pickup height movement control section is configured from, for example, a section that controls work head moving device54based on the pickup height.

REFERENCE SIGNS LIST

18: loose component supply device;20: component mounting device;26: control device;82: component supply device;84: component scattering device;86: component transfer device;88: component returning device;90: imaging device;198: component support surface;220: component collection container;364: nozzle rotating device;366: nozzle pivoting device;368: nozzle attachment device;450,452: component carrier;550: individual control device;550m: storage section;552: image processing device;570,590: component data