Nozzle management device

Abstract

A nozzle management device manages nozzles for holding components used in an assembly device for assembling components on a substrate, wherein the nozzle management device comprises: a changer storage warehouse having a changer storage container for storing a changer, wherein the changer can be freely loaded and unloaded on the assembly device and stores a plurality of the nozzles; and a changer transfer unit, which takes the changer out of a transport device for transporting the changer removed from the assembly device and transports it to the changer storage container, and transfers the changer storing the nozzles from the changer storage container to the transport device.

Description

Technical Field

[0001] The present invention relates to a nozzle management device for managing a component holding nozzle used in a mounting device for mounting components on a substrate. Background Art

[0002] Conventionally, in an assembly device for assembling components on a substrate, a suction nozzle for sucking and holding the supplied components on the substrate is used. A plurality of suction nozzles are prepared corresponding to the types of components to be mounted on the substrate. There is a suction nozzle management device for managing such suction nozzles for sucking components. In the assembly device, the suction nozzles are stored in a portable changer, and the required suction nozzles are taken out from the changer.

[0003] For example, in Patent Document 1, based on the operator's input and work plan information, a suction nozzle intended by the operator is transferred to the nozzle loader, or a suction nozzle determined by nozzle loader information is transferred to the nozzle loader.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-191887 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, in assembly equipment, when changing production due to a change in the model of the produced substrate, the nozzles are replaced in units of changers, but existing nozzle management devices do not consider combining the nozzles and changers for management, which has problems in practicality.

[0009] Therefore, an object of the present invention is to solve the above-mentioned conventional problems and to provide a nozzle management device capable of managing a nozzle and a changer in combination.

[0010] Solutions to Solve Problems

[0011] The nozzle management device of the present invention manages a nozzle for holding a component used in an assembly device for assembling a component on a substrate, wherein:

[0012] The nozzle management device comprises:

[0013] a changer storage warehouse having a changer storage container for storing a changer, wherein the changer can be detachably mounted on the assembly device and stores a plurality of the suction nozzles; and

[0014] A changer transfer unit takes out the changer from a transport device that transports the changer removed from the assembly device and transfers it to the changer storage container, and transfers the changer storing the suction nozzle from the changer storage container to the transport device.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to provide a nozzle management device capable of managing suction nozzles in combination with a changer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a top view of the main part of the assembly device using the suction nozzle.

[0018] Figure 2 It is a three-dimensional diagram of the nozzle.

[0019] Figure 3 It is a top view of the main part of the nozzle management device according to Embodiment 1 of the present invention.

[0020] Figure 4 This is a top view of the main parts of the nozzle management device connected to the trolley.

[0021] Figure 5 This is a block diagram showing the structure of a control system of a nozzle management device and related devices.

[0022] Figure 6 This is a front view of the main parts of the transfer head.

[0023] Fig. 7A It is a cross-sectional view of the main parts of the nozzle management device.

[0024] Figure 7B It is a cross-sectional view of the main parts of the nozzle management device.

[0025] Fig. 8A It is a top view of the connection part and the surrounding area of ​​the nozzle management device.

[0026] Figure 8B This is a top view of the periphery of the connection portion of the nozzle management device connected to the trolley.

[0027] Fig.9A It is a side view of the support platform of the trolley and the holding part of the nozzle management device.

[0028] Fig. 9B This is a front view of the periphery of the holding portion of the nozzle management device.

[0029] Fig. 10A This is a side view of a state in which a support platform of a cart is connected to a holding portion of a nozzle management device.

[0030] Fig. 10B This is an explanatory diagram of a state in which a support platform of a carriage is connected to a holding portion of a nozzle management device.

[0031] Fig. 10C This is an explanatory diagram of a state in which a support platform of a carriage is connected to a holding portion of a nozzle management device.

[0032] Fig. 10D This is a cross-sectional view of a state in which a support platform of a carriage is connected to a holding portion of a nozzle management device.

[0033] Fig.11A This is a side view of the carriage with the support platform raised.

[0034] Fig. 11B This is a cross-sectional view along the X-axis in a state where the support platform of the carriage is lifted.

[0035] Fig. 11C This is a cross-sectional view along the Y axis in a state where the support platform of the carriage is lifted.

[0036] Fig. 12A This is a front view of the changer supported on the support table of the carriage.

[0037] Fig. 12B It is a side view of the changer supported on the support table of the carriage.

[0038] Fig. 12C This is a front view of a state where the changer is removed from the support platform of the carriage.

[0039] Fig.13A It is a top view of the changer 9 with a shutter 9b in a closed state.

[0040] Fig. 13B It is a front view of the changer 9 with the gate 9b in a closed state.

[0041] Fig. 13C It is a top view of the changer 9 with the shutter 9b in an open state.

[0042] Fig.14A This is the main view of the trash can in the closed state.

[0043] Fig. 14B This is the main view of the trash can in the open state.

[0044] Fig.15 It is a top view of the main part of the nozzle management device according to Embodiment 2 of the present invention.

[0045] Fig.16 It is a side view of the changer supported on the loading and unloading workbench.

[0046] Fig.17This is a front view of the changer supported on the loading and unloading workbench. DETAILED DESCRIPTION

[0047] According to a first scheme of the present invention, a nozzle management device is provided, which manages nozzles for holding components used in an assembly device for assembling components on a substrate, wherein the nozzle management device comprises: a changer storage warehouse, which has a changer storage container for storing a changer, and the changer can be freely loaded and unloaded on the assembly device and store a plurality of the nozzles; and a changer transfer unit, which takes the changer out from a transportation device for transporting the changer removed from the assembly device and transports it to the changer storage container, and transfers the changer storing the nozzles from the changer storage container to the transportation device.

[0048] According to a second aspect of the present invention, there is provided the nozzle management device according to the first aspect, wherein the transport device is a trolley that can be attached to and detached from the assembly device, and the nozzle management device includes a connection portion connected to the trolley.

[0049] According to a third aspect of the present invention, there is provided the nozzle management device according to the second aspect, wherein the carriage includes a support platform to which the changer can be attached and detached, and the connecting portion includes a releasing portion to which the changer can be detached from the support platform.

[0050] According to a fourth aspect of the present invention, there is provided the nozzle management device according to any one of the second aspect or the third aspect, wherein the connection portion has a rail for guiding the carriage.

[0051] According to the fifth aspect of the present invention, a nozzle management device as described in any one of the first to fourth aspects is provided, wherein the trolley is provided with a trash box for storing trash generated in the assembly device, and the nozzle management device is provided with a recycling mechanism for recycling the trash in the trash box.

[0052] According to a sixth aspect of the present invention, there is provided the nozzle management device described in any one of the first to fifth aspects, wherein the changer storage container stores a plurality of changers.

[0053] According to the seventh aspect of the present invention, a nozzle management device as described in any one of the first to sixth aspects is provided, wherein the changer storage warehouse comprises: a changer storage bin which stores a plurality of the changer storage containers; and a changer storage container transport mechanism which moves the changer storage container into the changer storage bin and moves the changer storage container out of the changer storage bin.

[0054] According to the eighth scheme of the present invention, a nozzle management device described in any one of the first scheme to the seventh scheme is provided, wherein the nozzle management device comprises: a nozzle storage warehouse, which has a nozzle storage container for storing a plurality of the nozzles; a workbench, which supports the changer and can load and unload the nozzles relative to the supported changer; and a nozzle transfer unit, which moves the nozzles between the changer supported on the workbench and the nozzle storage container, the changer transfer unit takes the changer out of the transport device and transports it to the workbench, and transfers the changer storing the nozzles from the workbench to the transport device.

[0055] According to the ninth scheme of the present invention, a nozzle management device as described in the eighth scheme is provided, wherein the nozzle storage warehouse comprises: a nozzle storage bin, which stores the nozzle storage container; and a nozzle storage container conveying mechanism, which moves the nozzle storage container into the nozzle storage bin and moves the nozzle storage container out of the nozzle storage bin, and the nozzle transferring unit performs nozzle transfer operations on the nozzle storage device moved out of the nozzle storage bin.

[0056] According to the tenth scheme of the present invention, a nozzle management device as described in the eighth scheme or the ninth scheme is provided, wherein the nozzle has a separate identifier, the identifier is associated with nozzle management information, and the nozzle management device comprises: an identifier detection unit, which reads the information of the identifier; and a transfer control unit, which indicates the moving destination of the nozzle in the nozzle storage container to the transfer unit based on the nozzle management information.

[0057] According to the eleventh scheme of the present invention, a nozzle management device as described in the tenth scheme is provided, wherein the nozzle management information includes nozzle status information, and the nozzle status information has at least one of information related to whether maintenance is required, information related to whether inspection is required, and information related to whether the nozzle can be used, and the transfer control unit stores the nozzle in the nozzle storage position designated according to the content of the nozzle status information in the nozzle storage container through the nozzle transfer unit.

[0058] According to the twelfth scheme of the present invention, a nozzle management device as described in the tenth scheme or the eleventh scheme is provided, wherein, when the workbench supports a changer for storing nozzles requiring maintenance or inspection, the transfer control unit takes out the nozzles requiring maintenance or inspection from the nozzle storage container and transfers them to the changer through the nozzle transfer unit based on the nozzle status information.

[0059] Hereinafter, exemplary embodiments of the nozzle management device of the present invention will be described with reference to the drawings. The present invention is not limited to the specific configurations of the following embodiments, and configurations based on the same technical concept are included in the present invention.

[0060] (Implementation method 1)

[0061] First, refer to Figure 1 as well as Figure 2 A description will be given of suction nozzles managed by the nozzle management device according to Embodiment 1 of the present invention and an assembly device 1 using the suction nozzles. Figure 1 It is a top view of the main part of the assembling device 1 using a suction nozzle. Figure 2 is a three-dimensional diagram of the nozzle. Figure 1 Attachment device 1 is shown in FIG. 1 , and assembly device 1 attaches component 4 to substrate 3 .

[0062] Two rows of substrate transport conveyors, each consisting of a pair of belt conveyors 1B extending in the X-axis direction, are arranged on a base 1A of the assembly device 1. The substrate transport conveyors extend in the X-direction (in Figure 1 The substrate 3 is transported by the substrate 3 (in the direction from the left side to the right side of the paper), and the substrate 3 is stopped at two working positions 1C. The assembly device 1 of this embodiment has a total of four working positions 1C on the base 1A. A carriage 21 with a component feeder 25 arranged on the upper surface is installed at a position adjacent to the four working positions 1C of the base 1A.

[0063] The carriages 21 are detachably connected to the connection section 15 provided on the base 1A. The connection section 15 is provided with a mechanism (not shown) for mechanically connecting the carriage 21 and a connector (not shown) for electrically connecting the carriage 21, in addition to the guide 15a for guiding the carriage 21. The assembly device 1 has an assembly head 5 for assembling the component 4.

[0064] The assembly head 5 is supported by a beam 8 (X-axis table) extending in the X-axis direction so as to be movable in the X-axis direction, and is moved in the X-axis direction by driving the beam 8. In addition, the beam 8 is mounted in a manner movable in the Y-direction by the Y-axis table 7 extending in the Y-axis direction, and is moved in the Y-direction by driving the Y-axis table 7. Therefore, the beam 8 and the Y-axis table 7 constitute an assembly head moving mechanism 5A for moving the assembly head 5 in the XY directions, and when the assembly head moving mechanism 5A is driven, the assembly head 5 moves in the XY directions above the substrate 3 or the component feeder 25.

[0065] The assembly head 5 is provided with a plurality of suction nozzles 6 that can move in the Z-axis direction. The suction nozzle 6 uses negative pressure to suck and hold the component supplied by the component feeder 25, and transports the component to the assembly position of the substrate 3 and assembles it. The assembly head 5 holds the suction nozzle 6 so that it can be loaded and unloaded, replaces it with a suction nozzle 6 suitable for the component, and performs the operation of assembling the component 4 on the substrate 3. In addition, the assembly device 1 is provided with a camera 11 for photographing the component sucked by the suction nozzle 6 and a control unit 13.

[0066] exist Figure 5 In the embodiment, the control unit 13 is connected to the mounting head 5, the mounting head moving mechanism 5A, the camera 11, and the feeder 25 in a communicable manner, controls their actions according to a predetermined program, and acquires data to be acquired when there is data to be acquired.

[0067] The control unit 13 includes an image recognition unit 13a, a shot count unit 13b, and a storage unit 13d. The image recognition unit 13a uses the image obtained by the camera 11 to recognize the position of the component 4 held by the suction nozzle 6 (component recognition). The control unit 13 uses the result of component recognition to control the assembly head moving mechanism 5A, thereby positioning the component 4 held by the suction nozzle 6 at the assembly position of the substrate 3. In addition, if the image recognition unit 13a determines that the result of component recognition is that the component 4 held by the suction nozzle 6 cannot be assembled on the substrate 3 due to adsorption errors, poor posture, etc., the control unit 13 controls the assembly head moving mechanism 5A to discard the component 4 held by the suction nozzle 6 as a waste component to the garbage bin 27 for recycling.

[0068] The storage unit 13d stores, in addition to programs and data required for the operation of the assembly device 1, nozzle management information of the nozzles 6 stored in the changer 9 provided in the assembly device 1. The control unit 13 downloads the nozzle management information of the nozzles 6 used in the assembly device 1 from the host computer 19 and stores it in the storage unit 13d.

[0069] The suction nozzles 6 are stored in the changer 9 according to the type (model) of the substrate 3 to be mounted. The changer 9 is detachably supported by a support table 23 of a carriage 21 that can be connected to the mounting apparatus 1 .

[0070] like Figure 2 As shown, the suction nozzle 6 includes a barrel 6a, a suction tube 6b extending downward from the barrel 6a, and a flange 6c extending around the barrel 6a. In addition, each suction nozzle 6 has a separate identifier 6d indicating the nozzle ID number. The identifier 6d is marked on the flange 6c as, for example, a two-dimensional barcode, a QR code (registered trademark), or an RFID tag. The barrel 6a is held by a nozzle holder provided at the lower end of the lifting shaft (not shown) of the assembly head 5, thereby being held on the assembly head 5.

[0071] Reference Figure 1 The carriage 21 is equipped with various component feeders 25 for supplying components to the assembly device 1 and a waste box 27 for collecting discarded components that are determined to be unassemblyable by component recognition.

[0072] Below, refer to Figures 3 to 5 Embodiment 1 of the present invention will be described. Figure 3 It is a plan view of the main part of the nozzle management device 31. Figure 4 It is a top view of the main part of the nozzle management device 31 connected to the carriage 21. Figure 5 : is a block diagram showing the structure of the control system of the nozzle management device 31 and related devices. Hereinafter, in the nozzle management device 31, the conveying direction of the changer 9 is set as the Y-axis direction (front-back direction), the X-axis direction (left-right direction) is set, and the up-down direction is set as the Z-axis direction. The Y-axis direction, the X-axis direction, and the Z-axis direction are orthogonal to each other.

[0073] The nozzle management device 31 includes a main body 31a, a changer storage warehouse 50 having a changer tray 35 as a changer storage container, a nozzle storage warehouse 54 having a nozzle tray 39 as a nozzle storage container, a workbench 37, a transfer unit 41 and a control unit 42.

[0074] The main body 31a has a connecting portion 32 for connecting to the trolley 21. The connecting portion 32 is a structure that is basically the same as the connecting portion 15 of the assembly device 1. The connecting portion 32 has a pair of rails 32a, which extend outward from the main body 31a and guide the trolley 21 to the main body 31a. In addition, the connecting portion 32 has a mechanism (not shown) for mechanically connecting the trolley 21, a connector for electrically connecting the trolley 21, etc. (not shown). In addition, the main body 31a has a storage workbench 81. The nozzle management device 31 performs a storage operation of receiving a changer 9 containing used nozzles 6 from the trolley 21 and a storage operation of sending the changer 9 containing usable nozzles 6 to the trolley 21 at the storage workbench 81. A holding portion 33 is provided on the storage workbench 81. The function of the holding portion 33 will be described later.

[0075] The changer tray 35 is a changer storage container that stores a plurality of changers 9. The changer tray 35 is, for example, a tray made of metal or resin, and a plurality of storage spaces 35a for storing the changers 9 one by one are formed in one changer tray 35.

[0076] The main body 31a has a workbench 37 on its front surface. The workbench 37 is an area for taking out the suction nozzle 6 from the supported changer 9 or storing it. The workbench 37 supports the changer 9 so that it can be loaded and unloaded, and the suction nozzle 6 can be loaded and unloaded relative to the supported changer 9. An identifier 35b including a separate changer tray ID number is marked on each changer tray 35. The identifier 35b is marked, for example, as a two-dimensional barcode, a QR code (registered trademark), or an RFID tag.

[0077] The nozzle tray 39 is a storage container for the nozzles 6 for storing a plurality of nozzles 6. The nozzle tray 39 is, for example, a tray made of metal or resin. The nozzle tray 39 has a plurality of nozzle storage holes 39b corresponding to the sizes of the nozzles 6. An identifier 39a including a nozzle tray ID number is marked on each nozzle tray 39. The identifier 39a is marked as, for example, a two-dimensional barcode, a QR code (registered trademark), or an RFID tag.

[0078] The transfer unit 41 moves the changer 9 between the changer tray 35 and the loading and unloading workbench 81 and between the changer tray 35 and the workbench 37. In addition, the transfer unit 41 can also move the changer 9 between the loading and unloading workbench 81 and the workbench 37. The transfer unit 41 also moves the suction nozzle 6 between the workbench 37 and the suction nozzle tray 39. The transfer unit 41 includes a transfer head 43 and a transfer head driving mechanism 44 that drives the transfer head 43. The transfer head driving mechanism 44 includes a pair of rails 44a extending parallel to the Y-axis direction, a movable beam 44b that can move along the rails 44a, and a driving motor (not shown) that drives the transfer head 43 to move along the movable beam 44b and the movable beam 44b, respectively.

[0079] The transfer head 43 includes two types of clamping devices 45 and 46 for suction nozzles, two clamping devices 47 for changers, and a camera 48 for capturing images of the suction nozzles 6 and the changer 9 .

[0080] The clamping devices 45 and 46 are devices for holding the suction nozzle 6, respectively, and hold the suction nozzles 6 of different sizes. The clamping device 45 includes a chuck 45a and a cylinder 45b for lifting the chuck 45a in the up-down direction. The chuck 45a has, for example, two clamping claws 45c, and the clamping claws 45c hold the suction nozzle 6. The clamping device 46 also includes a chuck 46a and a cylinder 46b, and the chuck 46a has, for example, three clamping claws 46c. Among them, the chuck 45a can be replaced relative to the cylinder 45b in order to cope with the transfer of more types of suction nozzles 6.

[0081] The clamping device 47 is a device for holding the changer 9. The clamping device 47 includes a clamp 47a and a cylinder 47b for lifting the clamp 47a in the up-down direction. The clamp 47a has, for example, two gripping arms 47c, and grips the bottom or side of the changer 9. The clamping device 47 can be replaced with respect to the cylinder 47b in order to cope with the transfer of more types of changers 9.

[0082] In addition, the nozzle management device 31 includes a nozzle holding changer 59 and a chuck changer 65. The nozzle holding changer 59 stores a chuck 45a for replacement. By lifting the cylinder 45b of the clamping device 45 above the nozzle holding changer 59, the chuck 45a is removed from the cylinder 45b and the chuck 45a for replacement is mounted on the cylinder 45b.

[0083] The changer storage cabinet 50 further includes a changer storage bin 51 and a changer tray transfer mechanism 53. The nozzle storage cabinet 54 further includes a nozzle tray 39, a nozzle storage bin 55, and a nozzle tray transfer mechanism 57.

[0084] The changer storage bin 51 stores a plurality of changer pallets 35. In the changer storage bin 51, the changer pallets 35 are stored in an arrangement in the up-down direction. For the changer storage bin 51, its position is fixed inside the nozzle management device 31, and it does not move in the up-down direction. The changer storage bin 51 has a box-like shape that is open front and back (the conveying direction of the changer pallets 35), and inside it, a plurality of changer pallets 35 are stored in a horizontal posture at intervals in the up-down direction so as to be able to slide in the up-down direction. A changer pallet conveying mechanism 53 is arranged at the open front of the changer storage bin 51. In addition, the operator can approach the stored changer pallets 35 from the rear. Since the changer storage bin 51 does not move, the operator can safely take and place the changer pallets 35 from the changer storage bin 51 by manual operation.

[0085] The changer pallet transport mechanism 53 carries the changer pallet 35 into the changer storage bin 51 and carries the changer pallet 35 out of the changer storage bin 51. The changer pallet transport mechanism 53 includes a gripping portion 61 that grips the changer pallet 35 and an elevator 63 that moves up and down in the vertical direction (Z-axis direction). The gripping portion 61 includes two arms 61 a that can move in the vertical direction, and the two arms 61 a grip the front edge of the changer pallet 35 in the vertical direction. In addition, the gripping portion 61 can move in the Y-axis direction on the elevator 63, and the elevator 63 has a driving device (not shown) inside thereof that moves the gripping portion 61 in the Y-axis direction. The elevator 63 moves up and down in the vertical direction, so that the height of the elevator 63 is located at a height at which the gripping portion 61 can grip the desired changer pallet 35 from the changer storage bin 51. Then, the gripping portion 61 is moved close to the changer pallet 35 by the driving device, and the gripping portion 61 is moved to a position where the changer pallet 35 can be gripped. When the gripping portion 61 grips the changer pallet 35, the driving device in the elevator 63 is driven to move the gripping portion 61 in a direction away from the changer storage compartment 51. As a result, the changer pallet 35 can be pulled out of the storage compartment and carried out onto the elevator 63. If the opposite operation is performed, the changer pallet 35 on the elevator 63 can be carried into the changer storage compartment 51.

[0086] The nozzle storage bin 55 is a storage warehouse for storing a plurality of nozzle trays 39. In the nozzle storage bin 55, the nozzle trays 39 are stored in an arrangement in the up-down direction. The position of the nozzle storage bin 55 is fixed inside the nozzle management device 31, and does not move in the up-down direction. The nozzle storage bin 55 has a box-like shape that is open front and back (the conveying direction of the nozzle trays 39), and a plurality of nozzle trays 39 are stored in a horizontal posture at intervals in the up-down direction inside the nozzle storage bin 55 so as to be able to slide in the up-down direction. A nozzle tray conveying mechanism 57 is arranged in the open front of the nozzle storage bin 55. In addition, the operator can approach the stored nozzle trays 39 from the rear. Therefore, the operator can safely take and place the nozzle trays 39 from the nozzle storage bin 55 by manual operation.

[0087] The nozzle tray conveying mechanism 57 moves the nozzle tray 39 into the nozzle storage bin 55 and moves the nozzle tray 39 out of the nozzle storage bin 55. The nozzle tray conveying mechanism 57 includes a gripping portion 62 that grips the nozzle tray 39 and an elevator 64 that rises and falls in the up-down direction (Z-axis direction). The gripping portion 62 has two arms 62a that can move in the up-down direction, and the two arms 62a grip the front edge of the nozzle tray 39 in the up-down direction. In addition, the gripping portion 62 can move in the Y-axis direction on the elevator 64, and the elevator 64 has a driving device (not shown) inside the gripping portion 62 that moves the gripping portion 62 in the Y-axis direction. The elevator 64 rises and falls in the up-down direction, so that the height of the elevator 64 is located at a height at which the gripping portion 62 can grip the desired nozzle tray 39 in the nozzle storage bin 55. Then, the gripping portion 62 is moved close to the nozzle tray 39 by the driving device, and the gripping portion 62 is moved to a position where the nozzle tray 39 can be gripped. When the gripping portion 62 grips the nozzle tray 39, the driving device in the lift 64 is driven to move the gripping portion 62 in a direction away from the nozzle storage bin 55. Thus, the nozzle tray 39 can be pulled out of the nozzle storage bin 55 and carried out onto the lift 64. If the reverse operation is performed, the nozzle tray 39 on the lift 64 can be carried into the nozzle storage bin 55.

[0088] Figure 5 This is a block diagram of a mounting system including the mounting device 1. The mounting device 1, the host computer 19, and the nozzle management device 31 are connected to a communication network 100 formed by wire or wireless communication and can communicate with each other.

[0089] The host computer 19 includes an information processing unit 19a and a storage unit 19b. The information processing unit 19a determines whether each nozzle 6 needs maintenance based on usage information of each nozzle 6. In addition, the information processing unit 19a instructs the nozzle management device 31 to collect nozzles required in the production process in the changer 9.

[0090] The host computer 19 includes a processor, FPGA or other computing device as the information processing unit 19a and a storage device including at least one of a memory, a hard disk, and an SSD as the storage unit 19b to store the processing program of the information processing unit 19a.

[0091] When the nozzle 6 has an RFID tag as the identifier 6d, the placement head 43 includes an RFID tag reader in addition to the camera 48. The storage unit 19d of the host computer 19 stores nozzle management information associated with each nozzle ID number.

[0092] The nozzle management information is associated with the identifier 6 d of the nozzle 6 . The nozzle management information is stored in the storage unit 19 b of the host computer 19 .

[0093] The nozzle management information includes basic nozzle information, nozzle status information, and nozzle positioning information. The basic nozzle information includes nozzle ID (identification information), nozzle type, name, and start date of use. The assembly device 1 and the nozzle management device 31 can obtain the nozzle management information associated with the nozzle ID obtained from the identifier 6d from the host computer 19 by reading the identifier 6d.

[0094] The nozzle status information includes the number of shots that have sucked the component in the assembly device 1, information on whether maintenance is required, information on whether inspection is required, information on whether it can be used, and the date and time of maintenance (the date and time of inspection and cleaning). The number of shots refers to the number of times the nozzle 6 has performed the action of holding the component in the assembly device 1. The number of shots includes all the historical numbers of shots sucked from the state of a new product to the present and the number of shots after maintenance. The nozzle status information is updated by an attached maintenance device (not shown), and the information of the update result is sent to the host computer 19.

[0095] The maintenance information is information that the information processing unit 19a determines whether each suction nozzle 6 needs maintenance based on the determination criteria specified by the number of shots, the use time, etc. Here, maintenance includes at least the cleaning of the suction nozzle 6. The inspection information is information that the information processing unit 19a determines whether each suction nozzle 6 needs inspection based on the determination criteria specified by the number of shots, the use time, etc. Here, the inspection of the suction nozzle is, for example, the inspection of the air flow rate flowing in the suction nozzle, the shape of the front end of the suction nozzle, etc. The usability information is the result of the determination of whether the suction nozzle can be used during the completion inspection after maintenance and the inspection of the suction nozzle. The maintenance information and the inspection information are recorded based on the determination results of the information processing unit 19a as described above, but it can also be that regardless of the number of shots or the use time, the maintenance information of the suction nozzle 6 stored in the changer 9 removed from the assembly device 1 and returned to the suction nozzle management device 31 is set to "needed", and the inspection information is set to "needed". That is, it can also be an operation that the suction nozzle 6 stored in the changer 9 returned to the suction nozzle management device 31 must be maintained and inspected.

[0096] The nozzle positioning information is information that can determine the storage position of the nozzle 6. When the nozzle 6 is stored in the nozzle tray 39, it includes the ID information of the stored nozzle tray 39 and information related to the storage position. When the nozzle 6 is stored in the changer 9, it includes the ID information of the stored changer 9 and the storage position. It is possible to manage which part of the changer 9 and the nozzle tray 39 is stored according to the movement amount of the transfer head 43, and the storage position in the changer 9 and the nozzle tray 39 can be determined.

[0097] In addition, the information processing unit 19a of the main computer 19 also associates the nozzle ID with the changer management information and stores it in the storage unit 19b. The changer management information includes the changer ID and the changer positioning information. The changer ID is marked as an identifier 9e on each changer 9. The identifier 9e is marked as a two-dimensional barcode, a QR code (registered trademark) or an RFID tag, for example. The changer positioning information is information that can determine the storage location of the nozzles 6 in the changer tray 35. In addition, management is performed in a manner that can determine not only the position of the changer in the nozzle management device 31, but also the position of the changer in the assembly device 1 and the trolley 21 in the external production change adjustment.

[0098] The control unit 42 of the nozzle management device 31 includes an image recognition unit 42a, a mechanism control unit 42b, a transfer control unit 42c, and a storage unit 42d. The control unit 42 includes, for example, a processor, an FPGA or other computing device as the image recognition unit 42a, the mechanism control unit 42b, and the transfer control unit 42c. In addition, the control unit 42 includes a storage device composed of at least one of a memory, a hard disk, an SSD, etc. as the storage unit 42d, and stores the processing programs of the image recognition unit 42a, the mechanism control unit 42b, and the transfer control unit 42c. The control unit 42 is connected to the host computer 19 by wired or wireless communication.

[0099] The nozzle management device 31 acquires nozzle management information about the stored nozzles 6 from the host computer 19 and stores it in the storage unit 42d. The transfer control unit 42c instructs the transfer unit 41 on the transfer destination of the nozzles 6 in the nozzle tray 39 based on the nozzle management information.

[0100] For example, the transfer control unit 42c instructs the transfer unit 41 to store other suction nozzles 6 of the same type near or adjacent to a certain type of suction nozzle 6 in the suction nozzle tray 39. As a result, the suction nozzles 6 of the same type are collected in close or adjacent locations in the suction nozzle tray 39, thereby shortening the transportation time of the suction nozzles 6 of the same type to the workbench 37. For example, a suction nozzle tray 39 dedicated to specific suction nozzles may be provided, and the suction nozzles 6 may be stored in the suction nozzle tray 39 according to their types. In addition, a suction nozzle tray may be divided into a plurality of sections, and the suction nozzles 6 may be stored in corresponding sections according to their types. For example, large suction nozzles 6 may be stored in the area Na on the workbench 37 side of the suction nozzle tray 39, and small suction nozzles 6 may be stored in the area Nf on the nozzle storage bin 55 side of the suction nozzle tray 39.

[0101] In addition, the nozzle tray 39 may be differentiated or the storage section of the nozzle tray 39 may be differentiated according to the state of the nozzle 6. For example, a nozzle tray 39 dedicated to unusable nozzles may be prepared, or a section of the nozzle tray 39 may be set as a storage section for unusable nozzles 6. For example, unusable nozzles 6 may be stored in the nozzle tray 39 in the area Nf on the nozzle storage bin 55 side away from the workbench.

[0102] For example, the transfer control unit 42c may also instruct the transfer unit 41 to store the suction nozzle 6 that needs to be cleaned in the suction nozzle tray 39. By storing other suction nozzles 6 that need to be cleaned near the suction nozzle 6 that needs to be cleaned, the suction nozzles 6 that need to be cleaned are collected in locations close to each other. As a result, when the suction nozzles 6 that need to be cleaned are sent to the changer 9 of the workbench 37, the transportation time can be shortened. For example, by storing the suction nozzles 6 that need to be cleaned in the area Na on the side of the workbench 37 in the suction nozzle tray 39, the transportation time can be further shortened.

[0103] The changer 9 has a separate changer ID information, and a plurality of changers 9 are prepared according to the size of the suction nozzle 6 and the type of the assembly device 1. This can improve the efficiency of accommodating the suction nozzle 6. In addition, a cleaning changer for accommodating the suction nozzle 6 that needs to be cleaned can also be prepared. By accommodating the suction nozzle 6 that needs to be cleaned in the cleaning changer, the suction nozzles that need to be cleaned can be transported together.

[0104] Furthermore, the transfer control unit 42c sends an instruction to the transfer unit 41 to transfer the suction nozzle 6 that needs to be cleaned to the cleaning changer during the standby time, thereby improving the work efficiency.

[0105] Next, refer to Fig. 8A as well as Figure 8B The nozzle management device 31 has a connection portion 32 connected to the trolley 21. The connection portion 32 includes a pair of rails 32a for guiding the trolley 21, a holding portion 33, and a release portion 73 for releasing the fixation between the support platform 23 of the trolley 21 supporting the changer 9 and the changer 9. Between the pair of rails 32a, a garbage collection mechanism 71 connected to the garbage box 27 of the trolley 21, the holding portion 33, and the release portion 73 are arranged on the main body 31a side.

[0106] The garbage collection mechanism 71 stores garbage (waste parts) in the garbage box 27 of the trolley 21 connected to the nozzle management device 31. The garbage collection mechanism 71 includes a rod 71a for opening and closing the bottom of the garbage box 27 of the trolley 21, a rod driving unit 71b for rotating the rod 71a, and a garbage discharge pipe 71c for discharging garbage from the garbage box 27. The rod driving unit 71b is, for example, an actuator.

[0107] Next, refer to Fig.9A , Fig. 9B . Fig.9A It is a side view of the support platform 23 of the carriage 21 and the holding unit 33 of the nozzle management device 31 . Fig. 9B It is a longitudinal sectional view of the holding part 33 and its surroundings of the nozzle management device 31 .

[0108] The support platform 23 of the carriage 21 connected to the nozzle management device 31 is described. The support platform 23 installed at the front end of the carriage 21 includes a first base portion 23a, a second base portion 23b, a column portion 23c, a roller 23d, a workbench 23e, and a changer loading and unloading mechanism 23f. A positioning pin 23h for limiting the position of the changer 9 is arranged on the workbench 23e. The positioning pin 23h limits the position of the changer 9 on the workbench 23e by contacting the changer 9.

[0109] The first base portion 23a of the support stand 23 is a substantially U-shaped plate-like member fixed to the main body 21a of the carriage 21. The second base portion 23b is a plate-like member positioned by a pin 23g protruding upward from the first base portion 23a and detachably mounted on the first base portion 23a.

[0110] The column 23c extends upward from the second base 23b. Rollers 23d are mounted on each side surface of the column 23c in the X-axis direction, with the X-axis direction as the rotation axis. A workbench 23e is fixed on the upper surface of the column 23c. The changer 9 is placed on the upper surface of the rectangular workbench 23e. A changer loading and unloading mechanism 23f is arranged on the lower surface of the workbench 23e.

[0111] Next, the holding part 33 of the nozzle management device 31 connected to the support platform 23 of the carriage 21 is described. The holding part 33 includes a base accommodating part 33a fitted with the second base part 23b of the support platform 23, a lifting part 33b that lifts and lowers the base accommodating part 33a, and a groove cam 33c that guides and positions the roller 23d.

[0112] The base housing portion 33a includes a rectangular first plate 33aa connected to the lifting portion 33b, a second plate 33ab arranged above and parallel to the first plate 33aa, and a third plate 33ac connecting the first plate 33aa and the second plate 33ab on the main body 31a side.

[0113] The lifting unit 33b moves the base housing portion 33a upward to lift the support platform 23 from the carriage 21. The lifting unit 33b is, for example, an actuator.

[0114] The groove cam 33c has a recessed portion 33ca opened downward and a cam wall 33cb formed by extending downward from a wall of the recessed portion 33ca on the main body 31a side.

[0115] Next, refer to Fig. 10A , Fig. 10B . Fig. 10A It is a side view in a state where the support platform 23 of the carriage 21 is connected to the holding portion 33 of the nozzle management device 31 . Fig. 10B It is a longitudinal sectional view in a state where the support platform 23 of the carriage 21 is connected to the holding portion 33 of the nozzle management device 31 .

[0116] The carriage 21 is guided by the rail 32a and approaches the nozzle management device 31. Finally, the roller 23d of the support table 23 of the carriage 21 abuts against the cam wall 33cb of the groove cam 33c of the holding portion 33 and stops. In this state, the second base portion 23b of the carriage 21 is inserted between the first plate 33aa and the second plate 33ab of the holding portion 33 of the nozzle management device 31. That is, the second base portion 23b is embedded in the base receiving portion 33a.

[0117] When the contact sensor or the like detects that the carriage 21 is connected to the nozzle management device 31, the mechanism control unit 42b operates the lifting unit 33b, for example, by pulling the cylinder of the actuator to lift the first plate 33aa. Figures 11A to 11C As shown, the first plate 33aa contacts the lower surface of the second base portion 23b of the support platform 23 of the carriage 21 to lift the second base portion 23b upward. As a result, the second base portion 23b is separated from the first base portion 23a, and the support platform 23 is separated from the carriage 21.

[0118] When the support table 23 moves upward, the roller 23d of the support table 23 is guided by the upward recessed portion 33ca while rotating on the cam wall 33cb of the groove cam 33c of the holding portion 33. Finally, when the roller 23d contacts the upper surface of the recessed portion 33ca, the roller 23d is restricted by the recessed portion 33ca from moving in the advancing direction (Y-axis direction) of the support table 23 and upward, and the support table 23 is positioned.

[0119] While the support table 23 is mounted on the carriage 21, the height of the changer 9 supported on the support table 23 of the carriage 21 is lower than the height of the changer 9 supported on the workbench 37. When the carriage 21 is connected to the nozzle management device 31 and the support table 23 is lifted by the holding portion 33, the height of the changer 9 supported on the support table 23 becomes the same height as the height of the changer 9 supported on the workbench 37. In the state of this height, the transfer portion 41 can transfer the changer 9 supported on the support table 23.

[0120] It should be noted that the flow of the operation from the state where the support platform 23 is lifted up by the holding unit 33 to the state where the carriage 21 leaves the nozzle management device 31 is opposite to the above-mentioned operation.

[0121] Next, refer to FIG. 12A to FIG. 12C Next, an operation of transferring the changer 9 held on the support table 23 to the changer tray 35 will be described.

[0122] The changer loading and unloading mechanism 23f includes an arm 23fa, a pressing portion 23fb, and a spring 23fc. The arm 23fa extends in the up-down direction and can rotate at the center with the fulcrum 23fd installed on the workbench 23e as the center. The pressing portion 23fb is installed at the upper end of the arm 23fa, and the pressing portion 23fb presses the protrusion 9c formed on the side of the changer 9. One end of the spring 23fc is connected to the protrusion 23k protruding downward from the lower surface of the workbench 23e of the support table 23, and the other end of the spring 23fc is connected to the center of the arm 23fa. As a result, the pressing portion 23fb of the arm 23fa is applied to the side of the changer 9 held on the workbench 23e, and the changer 9 is fixed to the support table 23 by clamping the protrusion 9c with the pressing portion 23fb and the workbench 23e.

[0123] When the control unit 42 detects that the support table 23 is lifted by the lifting unit 33b, the mechanism control unit 42b operates the release unit 73, for example, by using the front end of the cylinder to push the lower end of the arm 23fa toward the support table 23. As a result, the arm 23fa rotates around the fulcrum 23fd, the pressing portion 23fb moves outward, and the fixing of the changer 9 is released.

[0124] When the transfer control unit 42c detects the driving of the release unit 73, it drives the transfer unit 41 to move the transfer head 43 toward the support table 23. The clamp device 47 grips the changer 9 and transfers it from the support table 23 to the changer pallet 35 according to the instruction from the transfer control unit 42c.

[0125] Next, refer to FIG. 13A to FIG. 13C , the operation of transferring the suction nozzle 6 from the changer 9 held on the workbench 37 will be described. Fig.13A It is a top view of the changer 9 with the gate 9b in a closed state. Fig. 13B It is a side view of the changer 9 with the shutter 9b in a closed state. Fig. 13C FIG. 1 is a top view of the changer 9 with the shutter 9b in an open state. The changer 9 includes a base 9a, a shutter 9b that can slide on the surface of the base 9a in the longitudinal direction, and a sliding mechanism 37b (see FIG. 14 ) that slides the shutter 9b. Fig. 8A ).

[0126] A gap is provided between the base 9a and the gate 9b in the vertical direction. The flange 6c of the suction nozzle 6 placed on the base 9a is located in the gap. In the gate 9b, a large hole 9ba having a larger diameter than the flange 6c of the suction nozzle 6 and a slit 9bb having a narrower diameter than the flange 6c and a wider diameter than the cylinder 6a are alternately formed along the arrangement direction of the suction nozzles 6.

[0127] When the gate 9b is in a closed state with the slit portion 9bb located on the flange 6c of the suction nozzle 6, the suction nozzle 6 is fixed to the changer 9. In addition, when the gate 9b is in an open state with the large hole portion 9ba located on the flange 6c of the suction nozzle 6, the suction nozzle 6 can be removed from the changer 9.

[0128] The workbench 37 includes a workbench 37a for supporting the changer 9, a sliding mechanism 37b for sliding the shutter 9b, and a release portion 37c for releasing the fixation between the workbench 37a and the changer 9 (see Fig. 8A The sliding mechanism 37b includes an arm 37ba that fits into the recess 9d and a cylinder 37bb that reciprocates the arm 37ba in the sliding direction of the shutter 9b. The structure and operation of the release portion 37c are the same as those of the release portion 73, and thus description thereof will be omitted.

[0129] When the changer 9 is set on the workbench 37, the arm 37ba is inserted into the recess 9d. When the transfer operation of the suction nozzle 6 is performed, the arm 37ba is moved from the closed position to the open position according to the instruction from the mechanism control unit 42b to the sliding mechanism 37b. As a result, the gate 9b slides from the closed position to the open position, and the suction nozzle 6 becomes a state that can be removed. In this state, the transfer head 43 takes out the required suction nozzle 6 from the changer 9 on the workbench 37 and moves it to the suction nozzle tray 39. In addition, conversely, the transfer head 43 moves the suction nozzle 6 from the suction nozzle tray 39 to the changer 9 on the workbench 37. When the transfer operation of the suction nozzle is completed, the arm 37ba is moved from the open position to the closed position according to the instruction from the mechanism control unit 42b to the sliding mechanism 37b. As a result, the gate 9b slides from the open position to the closed position, and the suction nozzle 6 becomes a state that cannot be removed.

[0130] Next, refer to Fig.14A , 14B , the collection of garbage in the garbage box 27 of the trolley 21 is described.

[0131] The trash box 27 includes a main body 27a in a downwardly protruding trapezoidal shape, a bottom plate 27b rotatably mounted on a portion of the main body 27a, a force applying portion 27c for applying force to the bottom plate 27b toward the main body 27a, and a plate 27d extending downward from the force applying portion 27c. When the trolley 21 is connected to the nozzle management device 31, the rod 71a of the trash collection mechanism 71 and the plate 27d are located at opposing positions. The force applying portion 27c is, for example, a coil spring.

[0132] When the connection between the cart 21 and the connection part 32 is detected, the mechanism control part 42b instructs the rod driving part 71b of the garbage collection mechanism 71 to press the rod 71a against the plate 27d. The plate 27d is moved to the release position against the force of the force applying part 27c, so that the bottom plate 27b rotates downward and the lower part of the garbage box 27 is opened. The garbage in the garbage box 27 is discharged to the garbage discharge pipe 71c arranged below the garbage box 27.

[0133] (Implementation method 2)

[0134] Next, refer to Figure 15 to Figure 17 A nozzle management device 31A according to a second embodiment of the present invention will be described. Fig.15 It is a plan view of the main part of the nozzle management device 31A according to the second embodiment. Fig.16 It is a side view of the changer 9 supported by the loading and unloading table 81A. Fig.17 It is a front view of the changer 9 supported on the loading and unloading workbench 81A. In the first embodiment, the nozzle management device 31 has a connection portion 32 connected to the trolley 21. The nozzle management device 31A of the second embodiment is not connected to the trolley 21, and therefore does not have the connection portion 32 but has the loading and unloading workbench 81A for transferring the changer 9. Regarding this point and the structure and operation of the device other than the points described below, the nozzle management devices 31 and 31A are common, so the detailed description is omitted.

[0135] The loading and unloading workbench 81A of the second embodiment is a workbench for waiting for the changer 9 to be loaded and unloaded to the nozzle management device 31A. The loading and unloading workbench 81A includes a holding portion 33A, a support table 23A for supporting the changer 9, and a release portion 73 for releasing the fixation with the changer 9. In the second embodiment, an operator or a transfer robot transports the changer 9 to the loading and unloading workbench 81A. The support table 23A includes a column portion 23c, a workbench 23e, and a changer loading and unloading mechanism 23f.

[0136] The holding part 33A is a columnar support member extending outward from the main body 31a. The column part 23c extends upward from the front of the holding part 33A and supports the table 23e. The attachment and detachment operation of the changer 9 to the table 23e is the same as that of the first embodiment.

[0137] The transfer unit 41 takes out the changer 9 from the loading and unloading table 81A and transports it to the changer tray 35 or the work table 37, and transfers the changer 9 storing the suction nozzles 6 from the changer tray 35 or the work table 37 to the loading and unloading table 81. These transfer operations are the same as those in the first embodiment.

[0138] In the nozzle management device 31A of the second embodiment, the nozzle 6 can also be managed in combination with the changer 9. This makes it possible to efficiently perform production changeover adjustment accompanying a change in the model of the substrate being produced.

[0139] According to the nozzle management device 31 of the present embodiment, the nozzle 6 for holding the component used in the assembly device 1 for assembling the component on the substrate 3 is managed, wherein the nozzle management device 31 comprises: a changer storage bin 51, which has a changer tray 35 for storing a changer 9, and the changer 9 can be freely installed on the assembly device 1 and store a plurality of nozzles 6; and a transfer unit 41, which takes out the changer 9 from the trolley 21 for transporting the changer 9 removed from the assembly device 1 and transports it to the changer tray 35, and transfers the changer 9 storing the nozzle 6 from the changer tray 35 to the trolley 21. Since the changer 9 supported by the trolley 21 is directly transferred to the changer tray 35 of the nozzle management device 31, the nozzle 6 can be stored in units of the changer, and the storage time of the nozzle can be shortened. In addition, since the changer 9 storing the nozzle 6 can be stored in the changer tray 35 together with the changer 9 storing the nozzle 6, the nozzle 6 can be combined with the changer 9 and managed.

[0140] The trolley 21 is a trolley that can be loaded and unloaded from the assembly device 1, and the nozzle management device 31 includes a connection portion 32 connected to the trolley 21. By connecting the nozzle management device 31 to the trolley 21, the changer 9 on the trolley 21 can be positioned relative to the nozzle management device 31.

[0141] Furthermore, the carriage 21 may include a support platform 23 to which the changer 9 can be attached and detached, and the coupling portion 32 may include a release portion to which the changer 9 can be detached from the support platform 23 .

[0142] In addition, the connection portion 32 may include a rail 32 a for guiding the vehicle 21 .

[0143] Furthermore, the cart 21 may include a waste box 27 for storing waste generated in the assembly device 1 , and the nozzle management device 31 may include a waste collection mechanism 71 for collecting the waste in the waste box 27 .

[0144] Alternatively, the changer tray 35 may accommodate a plurality of changers 9. Since the changer tray 35 accommodates a plurality of changers 9, even when the trolley 21 carrying the changers 9 continuously arrives at the nozzle management device 31 from the mounting device 1, the nozzles 6 can be successively transferred to the changer tray 35 in units of changers. In this way, the changers 9 can be successively recovered from the trolley 21, so that the waiting time of the trolley 21 for transferring the nozzles 6 can be greatly shortened.

[0145] In addition, the changer storage warehouse may also include: a changer storage chamber 51 that stores a plurality of changer pallets 35 ; and a changer pallet transport mechanism 53 that carries the changer pallet 35 into the changer storage chamber 51 and carries the changer pallet 35 out of the changer storage chamber 51 .

[0146] Alternatively, the nozzle management device 31 includes: a nozzle storage warehouse having a nozzle tray 39 for storing a plurality of nozzles 6; a workbench 37 that supports the changer 9 and can load and unload the nozzles 6 relative to the supported changer 9; and a transfer unit 41 that moves the nozzles 6 between the changer 9 supported on the workbench 37 and the nozzle tray 39, and the transfer unit 41 takes the changer 9 out of the trolley 21 and transports it to the workbench 37, and transfers the changer 9 storing the nozzles 6 from the workbench 37 to the trolley 21. Thus, the nozzles 6 required for the changer 9 placed on the workbench 37 can be prepared in advance by collecting from the nozzle tray 39, so that even if the trolley 21 stores the used nozzles in the nozzle management device 31 and transports the new nozzles 6 to other installation devices 1, the nozzles 6 can be replaced in a short time.

[0147] Alternatively, the nozzle storage warehouse may include: a nozzle storage bin 55 for storing nozzle trays 39; and a nozzle tray conveying mechanism 57 for moving the nozzle trays 39 into the nozzle storage bin 55 and moving the nozzle trays 39 out of the nozzle storage bin 55, and the transfer unit 41 may transfer the nozzles 6 on the nozzle trays 39 moved out of the nozzle storage bin 55.

[0148] Alternatively, the nozzle 6 has a separate identifier 6d, which is associated with the nozzle management information. The nozzle management device 31 includes: a camera 48 and an image recognition unit, which reads the information of the identifier 6d; and a transfer control unit 42c, which indicates the moving destination of the nozzle 6 in the nozzle tray 39 to the transfer unit 41 based on the nozzle management information.

[0149] Alternatively, the nozzle management information includes nozzle status information, which has at least one of information related to whether maintenance is required, information related to whether inspection is required, and information related to whether the nozzle can be used, and the transfer control unit 42c stores the nozzle 6 in the nozzle storage position designated in the nozzle tray 39 according to the content of the nozzle status information.

[0150] Alternatively, when the workbench 37 supports a changer 9 for storing suction nozzles 6 requiring maintenance or inspection, the transfer control unit 42c may remove the suction nozzles 6 requiring maintenance or inspection from the suction nozzle tray 39 and transfer them to the changer 9 via the transfer unit 41 based on the suction nozzle status information.

[0151] The nozzle management device 31 may also include: an entry and exit workbench 81, which makes the changer 9 to be taken in and placed in the nozzle management device 31 stand by; and a transfer unit 41, which takes the changer 9 out of the entry and exit workbench 81 and transports it to the changer tray 35 or the workbench 37, and transfers the changer 9 containing the nozzles 6 from the changer tray 35 or the workbench 37 to the entry and exit workbench 81.

[0152] Alternatively, the nozzle storage bin is a box-type bin open at the front and back, in which a plurality of nozzle storage containers are stored horizontally at intervals in the up and down directions so as to be able to slide in the front and back directions, and the nozzle storage device transport mechanism is raised and lowered in front of the nozzle storage bin to pick up and place the desired nozzle storage container forward.

[0153] Alternatively, the nozzle storage bin 55 may be opened from the rear to enable an operator to take in and put in the nozzle storage container.

[0154] It should be noted that in the above-mentioned first embodiment, the trolley 21 may be a hand-pushed trolley pushed by an operator, or may be a trolley attached to the assembly device 1 , an automatic transport vehicle, or a transport shuttle moving on rails.

[0155] Although the present invention is fully described with reference to the accompanying drawings and in association with preferred embodiments, various deformations and modifications are obvious to those skilled in the art. It should be understood that such deformations and modifications are included therein as long as they do not depart from the scope of the present invention obtained based on the attached technical solutions. In addition, the combination of elements in each embodiment and the change of order can be realized without departing from the scope and concept of the present invention.

[0156] It should be noted that by appropriately combining any of the various embodiments and modifications described above, the effects possessed by each can be achieved.

[0157] Industrial Applicability

[0158] The nozzle management device of the present invention can be applied to a nozzle management device that manages component holding nozzles used in a mounting device that mounts components on a substrate.

[0159] Description of Reference Numerals

[0160] 1: Assembly device, 1A: Base, 1B: Belt conveyor, 1C: Work position, 3: Substrate, 4: Component, 5: Assembly head, 5A: Assembly head moving mechanism, 6: Suction nozzle, 6a: Cylinder, 6b: Adsorption tube, 6c: Flange, 6d: Identifier, 7: Y-axis table, 8: Movable beam, 9: Changer, 9a: Base, 9b: Gate, 9ba: Large hole, 9bb: Slit, 9c: Protrusion, 9d: Recess, 11: Camera, 13: Control unit, 13a: Image recognition unit, 13b: Number of hits counting unit, 13d: Storage unit, 15: Connection unit, 15a: Guide, 19: Main computer, 19a: Information processing unit, 19b: Storage unit, 21: Carriage, 21 a: main body, 23, 23A: support platform, 23a: first base portion, 23b: second base portion, 23c: column portion, 23d: roller, 23e: workbench, 23f: changer loading and unloading mechanism, 23fa: arm, 23fb: pressing portion, 23fc: spring, 23g: pin, 23h: pin, 23k: protrusion, 25: component feeder, 27: trash box, 27a: main body, 27b: bottom plate, 27c: force application portion, 27d: plate, 31, 31A: nozzle management device, 31a: main body, 32: connecting portion, 32a: rail, 33, 33A: holding portion, 33a: base storage portion, 33aa: first plate, 33ab: second plate, 33ac: third plate, 3 3b: lifting part, 33c: groove cam, 33ca: recessed part, 33cb: cam wall, 35: changer tray, 35a: storage space, 35b: identifier, 37: workbench, 37a: workbench, 37b: sliding mechanism, 37ba: arm, 37c: release part, 39: nozzle tray, 39a: identifier, 39b: nozzle storage hole, 41: transfer part, 42: control part, 42a: image recognition part, 42b: mechanism control part, 42c: transfer control part, 42d: storage part, 43: transfer head, 44: transfer head driving mechanism, 44a: rail, 44b: movable beam, 45: clamping device, 45a: clamping head, 45b: working cylinder, 45c: clamping claw, 4 6: Clamping device, 46a: Chuck, 46b: Working cylinder, 46c: Clamping claw, 47: Clamping device, 47a: Chuck, 47b: Working cylinder, 47c: Holding arm, 48: Camera, 50: Changer storage warehouse, 51: Changer storage bin, 53: Changer pallet transport mechanism, 54: Nozzle storage warehouse, 55: Nozzle storage bin, 57: Nozzle pallet transport mechanism, 59: Nozzle holding changer, 61: Holding part, 61a: Arm, 62: Holding part, 63: Lift, 64: Lift, 65: Chuck changer, 71: Garbage collection mechanism, 71a: Rod, 71b: Rod driving part, 71c: Garbage discharge pipe, 73: Release part, 81, 81A: In and out of storage workbench.

Claims

1. A nozzle management device for managing a nozzle for holding a component used in an assembly device for assembling a component on a substrate, wherein: The nozzle management device comprises: a changer storage warehouse having a changer storage container for storing a changer, wherein the changer can be detachably mounted on the assembly device and stores a plurality of the suction nozzles; and a changer transfer unit, which takes the changer out of the transport device that transports the changer removed from the assembly device and transports it to the changer storage container, and transfers the changer storing the suction nozzle from the changer storage container to the transport device, One of the changer storage containers stores a plurality of the changers. The changer storage warehouse stores a plurality of the changer storage containers.

2. The nozzle management device according to claim 1, wherein: The transport device is a trolley capable of loading and unloading relative to the assembly device. The nozzle management device includes a connection portion connected to the carriage.

3. The nozzle management device according to claim 2, wherein: The trolley has a support platform capable of loading and unloading the changer. The connecting portion includes a releasing portion capable of removing the changer from the support stand.

4. The nozzle management device according to claim 2, wherein: The connection portion has a rail for guiding the vehicle.

5. The nozzle management device according to any one of claims 2 to 4, wherein: The trolley includes a trash box for storing trash generated in the assembly device. The nozzle management device includes a collection mechanism for collecting the garbage in the garbage box.

6. The nozzle management device according to any one of claims 1 to 4, wherein: The changer storage warehouse has: a changer storage bin for storing a plurality of the changer storage containers; and A changer storage container transport mechanism is used to move the changer storage container into the changer storage bin and to move the changer storage container out of the changer storage bin.

7. The nozzle management device according to any one of claims 1 to 4, wherein: The nozzle management device comprises: A nozzle storage warehouse, which has a nozzle storage container for storing a plurality of the nozzles; a workbench that supports the changer and enables attachment and detachment of the suction nozzle relative to the supported changer; and a nozzle transfer unit that moves the nozzle between the changer supported on the workbench and the nozzle storage container, The changer transfer unit takes out the changer from the transport device and transports it to the workbench, and transfers the changer storing the suction nozzle from the workbench to the transport device.

8. The nozzle management device according to claim 7, wherein: The nozzle storage warehouse has: A nozzle storage bin for storing the nozzle storage container; and a nozzle storage container transport mechanism, which transports the nozzle storage container into the nozzle storage bin and transports the nozzle storage container out of the nozzle storage bin, The nozzle transfer unit performs a nozzle transfer operation on the nozzle storage container moved out from the nozzle storage bin.

9. The nozzle management device according to claim 7, wherein: The nozzle has an individual identifier, The identifier is associated with the nozzle management information. The nozzle management device comprises: an identifier detection unit that reads information of the identifier; and A transfer control unit instructs the nozzle transfer unit on a movement destination of the nozzle in the nozzle storage container based on the nozzle management information.

10. The nozzle management device according to claim 9, wherein: The nozzle management information includes nozzle status information, and the nozzle status information includes at least one of information related to whether maintenance is required, information related to whether inspection is required, and information related to whether the nozzle can be used. The transfer control unit stores the nozzles in the nozzle storage position specified according to the content of the nozzle state information in the nozzle storage container through the nozzle transfer unit.

11. The nozzle management device according to claim 10, wherein: When the workbench supports a changer for storing nozzles requiring maintenance or inspection, the transfer control unit takes out the nozzles requiring maintenance or inspection from the nozzle storage container and transfers them to the changer through the nozzle transfer unit based on the nozzle status information.

Images