Tape supply system, component mounting device, tape supply method, and robot hand

Abstract

To provide a tape supply system that can properly supply an end part of a carrier tape to a tape supply port of a feeder, using a robot hand.SOLUTION: In a tape supply system, a robot hand has a first fitting part, and a plurality of feeders respectively have a plurality of second fitting parts which are formed to fit to each other while corresponding to the first fitting part. At least either of the first fitting part and each of the plurality of second fitting parts has an inclined surface inclined with respect to a second direction. A control part of a robot makes the robot hand hold an end part of a carrier tape pulled out from a component reel; moves the robot hand along the second direction so that the first fitting part fits to the second fitting part which a target feeder has; makes a robot arm adjust a position of the robot hand, on the basis of a load detected by a detecting part when the first fitting part contacts the second fitting part of the target feeder; and makes the robot hand supply the carrier tape to the target feeder.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] The present disclosure relates to a tape supply system, a component mounting device, a tape supply method, and a robot hand.

Background Art

[0002] Patent Document 1 discloses that a robot on an automatic transport vehicle executes a tape reel replacement operation using a vision sensor.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure provides a tape supply system and the like that can correctly supply the end of a carrier tape to a tape supply port of a feeder using a robot hand.

Means for Solving the Problems

[0005] A tape supply system according to one aspect of the present disclosure is a tape supply system that can hold a component reel for storing a carrier tape, and includes a movable robot and a plurality of feeders arranged in a first direction. The robot includes a robot hand capable of holding the carrier tape and the component reel, a robot arm for moving the robot hand, a detection unit for detecting a load on the robot hand, and a control unit. The robot hand has a first fitting portion that protrudes or recesses in a second direction intersecting the first direction. Each of the plurality of feeders has a second fitting portion having a shape that fits corresponding to at least a part of the first fitting portion. The plurality of second fitting portions are arranged in the first direction, and at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction. The control unit of the robot causes the robot hand to hold an end portion of the carrier tape pulled out from the component reel, and moves the robot hand along the second direction by the robot arm so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits into the second fitting portion of a target feeder among the plurality of feeders. After the movement, based on the load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, the position of the robot hand is adjusted by the robot arm. After the adjustment, the carrier tape is supplied from the robot hand to the target feeder.

[0006] A component mounting device according to one aspect of the present disclosure is a component mounting device connected to a carriage of the tape supply system according to the above aspect, and mounts components in a carrier tape supplied from the target feeder onto a substrate.

[0007] A tape supply method according to one aspect of the present disclosure is a tape supply method for a tape supply system including a robot capable of holding a component reel that stores a carrier tape, and a plurality of feeders arranged in a first direction, wherein the robot includes a robot hand capable of holding the carrier tape and the component reel, a robot arm that moves the robot hand, and a detection unit that detects a load on the robot hand, the robot hand includes a first fitting portion that protrudes or recesses in a second direction intersecting the first direction, each of the plurality of feeders includes a second fitting portion having a shape that fits corresponding to at least a part of the first fitting portion, the plurality of second fitting portions are arranged in the first direction, and at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction. The tape supply method includes causing the robot hand to hold an end portion of the carrier tape pulled out from the component reel, moving the robot hand along the second direction by the robot arm so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits into the second fitting portion of a target feeder among the plurality of feeders, after the movement, adjusting the position of the robot hand by the robot arm based on a load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, and after the adjustment, causing the robot hand to supply the carrier tape to the target feeder.

[0008] A robot hand according to one aspect of the present disclosure is a robot hand connected to a robot arm and capable of supplying a carrier tape pulled out from a component reel to one of a plurality of feeders arranged in a first direction, the robot hand including a reel holding portion that holds the component reel, a tape holding portion having a first tape holding mechanism that holds the carrier tape, a moving portion provided movably in a second direction intersecting the first direction with respect to the tape holding portion and biased toward the second direction side from the tape holding portion, and a first fitting portion provided on the moving portion and having a shape that fits corresponding to at least a part of a second fitting portion of a target feeder among the plurality of feeders.

[0009] Note that these general or specific aspects may be implemented in a system, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM, or may be implemented in any combination of a system, method, integrated circuit, computer program, and recording medium. The recording medium may also be a non-transitory recording medium.

Advantages of the Invention

[0010] The tape supply system of the present disclosure and the like can correctly supply the end of the carrier tape to the tape supply port of the feeder using a robot hand.

[0011] Note that further advantages and effects in one aspect of the present disclosure will be apparent from the specification and drawings. Such advantages and / or effects are provided by several embodiments and the features described in the specification and drawings respectively, but it is not necessarily required that all are provided in order to obtain one or more of the same features.

Brief Description of the Drawings

[0012]

Figure 1

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Figure 15

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Figure 17

Figure 18

Figure 19

Figure 20

DETAILED DESCRIPTION OF THE INVENTION

[0013] (Knowledge underlying the present disclosure) It is difficult for the robot on the transport vehicle to insert the end of the carrier tape into the tape supply port of the feeder using the robot hand. Since the robot is a general-purpose robot equipped with a robot hand rather than a dedicated robot specialized for the operation of supplying the end of the carrier tape, a deviation is likely to occur between the tape supply port and the end of the carrier tape held by the robot hand. In addition, the narrower the width of the carrier tape, the higher the accuracy required for alignment with the tape supply port.

[0014] The inventors have come to find a tape supply system or the like that can easily eliminate the deviation even if a deviation occurs between the tape supply port and the end of the carrier tape held by the robot hand.

[0015] The tape supply system according to the first aspect of the present disclosure is a tape supply system including a robot capable of holding a component reel storing a carrier tape, and a plurality of feeders arranged in a first direction, wherein the robot includes a robot hand capable of holding the carrier tape and the component reel, a robot arm for moving the robot hand, a detection unit for detecting a load applied to the robot hand, and a control unit; the robot hand has a first fitting portion protruding or recessing in a second direction intersecting the first direction; each of the plurality of feeders has a second fitting portion having a shape that fits with at least a part of the first fitting portion; the plurality of second fitting portions are arranged in the first direction; at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction; the control unit of the robot causes the robot hand to hold an end portion of the carrier tape pulled out from the component reel, and moves the robot hand along the second direction by the robot arm so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits with the second fitting portion of a target feeder among the plurality of feeders; after the movement, based on the load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, the robot arm adjusts the position of the robot hand; and after the adjustment, the robot hand supplies the carrier tape to the target feeder.

[0016] According to this, the first fitting portion of the robot hand and the second fitting portion of each of the plurality of feeders are fitted to each other, and at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction. For this reason, even if the robot hand is displaced from the target feeder by the width of the inclined surface, by applying the inclined surface to the first fitting portion or the second fitting portion, based on the direction of the force received from the inclined surface, the position of the robot hand is adjusted so that the magnitude of the force received from the inclined surface becomes smaller, and the robot hand can be moved to a position where the displacement is smaller. That is, the displacement can be easily eliminated, and the end portion of the carrier tape can be correctly supplied to the tape supply port of the feeder using the robot hand.

[0017] The tape supply system according to the second aspect of the present disclosure is the tape supply system according to the first aspect, wherein the detection unit detects a first load on the robot hand in a direction orthogonal to the second direction, and the control unit of the robot adjusts the position of the robot hand on the robot arm so that the first load becomes smaller after the movement.

[0018] For this reason, by adjusting the position of the robot hand so that the magnitude of the first load becomes smaller, the robot hand can be moved to a position with less displacement.

[0019] The tape supply system according to the third aspect of the present disclosure is the tape supply system according to the first aspect or the second aspect, wherein the detection unit further detects a second load on the robot hand in the second direction, and the control unit of the robot further moves the robot hand in the second direction on the robot arm after the adjustment, and stops the movement of the robot hand in the second direction when the second load exceeds a predetermined value.

[0020] For this reason, the robot hand can be moved to an appropriate position with respect to the second direction.

[0021] The tape supply system according to the fourth aspect of the present disclosure is a tape supply system according to any one of the first to third aspects, wherein the first fitting portion is a convex portion protruding in the second direction, and the second fitting portion is a concave portion recessed in the second direction.

[0022] The tape supply system according to the fifth aspect of the present disclosure is a tape supply system according to the fourth aspect, wherein a first portion on the inlet side of the concave portion has the inclined surface, and a width of the first portion becomes narrower as it goes in the second direction.

[0023] The tape supply system according to the sixth aspect of the present disclosure is a tape supply system according to the fifth aspect, wherein a width of a second portion on the back side of the concave portion is constant in the second direction.

[0024] Therefore, it is possible to easily adjust the posture of the robot hand so that the first fitting portion is along the second direction with respect to the second fitting portion. Thus, the carrier tape can be supplied to the feeder at an appropriate angle.

[0025] The tape supply system according to the seventh aspect of the present disclosure is a tape supply system according to any one of the first to sixth aspects, further including a cart having a reel holder capable of accommodating the component reel, the robot further having a reel rack capable of accommodating the component reel, and the robot hand and the robot arm being capable of moving the component reel from the reel rack to the reel holder.

[0026] Therefore, the robot hand can move the component reel to the reel holder and supply the end portion of the carrier tape to the tape supply port of the feeder.

[0027] The tape supply system according to the eighth aspect of the present disclosure is the tape supply system according to the seventh aspect, wherein the reel rack corresponds to a plurality of feed holes of the carrier tape, and includes a tape fixing portion having a pin that fixes an end portion of the carrier tape drawn from the component reel by passing through a feed hole at the end portion of the carrier tape, and the robot hand removes the end portion of the carrier tape fixed to the tape fixing portion from the tape fixing portion.

[0028] Therefore, the robot hand can easily hold the end portion of the carrier tape.

[0029] The tape supply system according to the ninth aspect of the present disclosure is the tape supply system according to any one of the first to eighth aspects, wherein the robot further has a camera that photographs the plurality of feeders to generate a photographed image, and the control unit of the robot moves the robot hand to the robot arm so that the first fitting portion of the robot hand fits into the second fitting portion of the target feeder based on the photographed image.

[0030] Therefore, it is easy to move the first fitting portion of the robot hand so that the deviation amount from the second fitting portion of the feeder is less than a predetermined deviation amount.

[0031] The tape supply system according to the tenth aspect of the present disclosure is the tape supply system according to any one of the first to ninth aspects, wherein the control unit of the robot releases the holding of the carrier tape by the robot hand after the supply.

[0032] Therefore, the robot hand can be made to execute the next operation.

[0033] The tape supply system according to the 11th aspect of the present disclosure is a tape supply system according to any one of the 1st to 10th aspects, wherein the robot hand has a reel holding portion that holds the component reel, a tape holding portion having a first tape holding mechanism that holds the carrier tape, and a moving portion that is movably provided in the second direction with respect to the tape holding portion and is biased so as to protrude from the tape holding portion toward the second direction side, and the first fitting portion is provided on the moving portion.

[0034] According to this, since the moving portion provided with the first fitting portion is movable in the second direction with respect to the tape holding portion and is biased toward the second direction side, by pressing the first fitting portion of the robot hand against the second fitting portion of the feeder, the end portion of the carrier tape held by the tape holding portion can be brought closer to the feeder in the second direction. Therefore, even if an actuator for moving the end portion of the carrier tape in the second direction is not provided in the robot hand, it is possible to easily bring the end portion of the carrier tape closer to the feeder in the second direction by the operation of the robot arm.

[0035] The tape supply system according to the 12th aspect of the present disclosure is a tape supply system according to the 11th aspect, wherein the moving portion has a second tape holding mechanism that movably holds the carrier tape in the second direction.

[0036] The component mounting device according to the 13th aspect of the present disclosure is a component mounting device connected to the carriage of the tape supply system according to any one of the 1st to 12th aspects, and mounts the components in the carrier tape supplied from the target feeder on a substrate.

[0037] The tape supply method according to the 14th aspect of the present disclosure is a tape supply method for a tape supply system including a robot capable of holding a component reel storing a carrier tape and a plurality of feeders arranged in a first direction, wherein the robot includes a robot hand capable of holding the carrier tape and the component reel, a robot arm for moving the robot hand, and a detection unit for detecting a load on the robot hand, the robot hand includes a first fitting portion protruding or recessing in a second direction intersecting the first direction, each of the plurality of feeders includes a second fitting portion having a shape that fits corresponding to at least a part of the first fitting portion, the plurality of second fitting portions are arranged in the first direction, and at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction. The tape supply method includes causing the robot hand to hold an end portion of the carrier tape pulled out from the component reel, moving the robot arm along the second direction so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits into the second fitting portion of a target feeder among the plurality of feeders, after the movement, adjusting the position of the robot hand by the robot arm based on the load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, and after the adjustment, causing the robot hand to supply the carrier tape to the target feeder.

[0038] According to this, the first fitting portion of the robot hand and the second fitting portion of each of the plurality of feeders are fitted to each other, and at least one of each of the first fitting portion and the plurality of second fitting portions has an inclined surface inclined with respect to the second direction. For this reason, even if the robot hand is displaced from the target feeder by the width of the inclined surface, by applying the inclined surface to the first fitting portion or the second fitting portion, based on the direction of the force received from the inclined surface, the position of the robot hand is adjusted so that the magnitude of the force received from the inclined surface becomes smaller, and the robot hand can be moved to a position where the displacement is smaller. That is, the displacement can be easily eliminated, and the end portion of the carrier tape can be correctly supplied to the tape supply port of the feeder using the robot hand.

[0039] The robot hand according to the 15th aspect of the present disclosure is a robot hand that is connected to a robot arm and can supply a carrier tape pulled out from a component reel to one of a plurality of feeders arranged in the first direction, and includes a reel holding portion that holds the component reel, a tape holding portion having a first tape holding mechanism that holds the carrier tape, a moving portion that is provided so as to be movable in a second direction intersecting the first direction with respect to the tape holding portion, and is biased toward the second direction side from the tape holding portion, and a first fitting portion that is provided on the moving portion and has a shape that fits corresponding to at least a part of a second fitting portion of a target feeder among the plurality of feeders.

[0040] According to this, the moving portion provided with the first fitting portion is movable in the second direction with respect to the tape holding portion and is biased toward the second direction side. Therefore, by pressing the first fitting portion of the robot hand against the second fitting portion of the feeder, the end portion of the carrier tape held by the tape holding portion can be brought closer to the feeder in the second direction. Thus, even without providing an actuator for moving the end portion of the carrier tape in the second direction in the robot hand, it is easy to bring the end portion of the carrier tape closer to the feeder in the second direction by the operation of the robot arm.

[0041] The robot hand according to the 16th aspect of the present disclosure is the robot hand according to the 15th aspect, wherein the moving part has a second tape holding mechanism that holds the carrier tape movably in the second direction.

[0042] Hereinafter, embodiments will be specifically described with reference to the drawings.

[0043] Note that each of the embodiments described below shows comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components not described in the independent claims indicating the most general concept are described as optional components.

[0044] Also, each figure is a schematic diagram and is not necessarily drawn precisely. In each figure, the same reference numerals are given to the same components.

[0045] (Embodiment) FIG. 1 is a diagram showing an example of the configuration of a mounting substrate manufacturing system including a component mounting line.

[0046] This mounting substrate manufacturing system 1 includes a component mounting line L1, a robot 200, and an information processing terminal 300.

[0047] The component mounting line L1 is an example of production equipment for a mounting substrate. It produces a mounting substrate by mounting at least one component P on a substrate B carried in from the upstream side, and conveys the produced mounting substrate to the downstream side. In the present embodiment, the conveyance direction of the substrate is referred to as the X-axis direction, and the direction perpendicular to the X-axis direction is referred to as the Y-axis direction. The X-axis direction and the Y-axis direction are directions along a horizontal plane. Further, the direction perpendicular to the X-axis direction and the Y-axis direction is referred to as the Z-axis direction. The plus side and the minus side in the X-axis direction are the downstream side and the upstream side in the conveyance direction of the substrate B, respectively, and the plus side and the minus side in the Y-axis direction are the rear side (or the back side) and the front side (or the front side) in the front-rear direction, respectively. The plus side and the minus side in the Z-axis direction are the upper side and the lower side in the vertical direction, respectively. The X-axis direction is an example of the first direction, and the Y-axis direction is an example of the second direction. In FIG. 1, the upper surface of the component mounting line L1 is shown.

[0048] The component mounting line L1 includes a solder printing device M1, a printing inspection device M2, component mounting devices M3 to M6, a mounting inspection device M7, and a reflow device M8. These devices are arranged in the order of the solder printing device M1, the printing inspection device M2, the component mounting devices M3 to M6, the mounting inspection device M7, and the reflow device M8 from the upstream side in the conveyance direction to the downstream side, and are connected in series.

[0049] The solder printing device M1, the printing inspection device M2, the component mounting devices M3 to M6, the mounting inspection device M7, and the reflow device M8 are connected to an information processing terminal 300 via a communication network 2. The solder printing device M1 prints solder on a substrate B carried in from the upstream side. The printing inspection device M2 inspects the state of the solder printed on the substrate B by a solder inspection camera.

[0050] The component mounting devices M3 to M6 execute a component mounting operation for mounting the component P on the substrate B. The component mounting line L1 includes four component mounting devices M3 to M6, but the number thereof is not limited to four, and may be 1 to 3, or may be 5 or more.

[0051] The implementation inspection device M7 inspects the state of the component P mounted on the substrate B by means of a component inspection camera. The reflow device M8 heats the substrate B carried into this device, cures the solder on the substrate B, and joins the electrode portion of the substrate B and the component P.

[0052] The robot 200 is a device that supplies component reels to the component mounting devices M3 to M6. Further, the robot 200 is a device that supplies the end portion of the carrier tape accommodated in the component reel to the component mounting devices M3 to M6. The robot 200 is connected to the information processing terminal 300 via the communication network 2, and based on the information received from the information processing terminal 300, supplies the component reel to be arranged at the position where the components of the component reel in the component mounting devices M3 to M6 have been consumed.

[0053] The information processing terminal 300 is arranged, for example, in the same building as the component mounting line L1, and communicates with the solder printing device M1, the printing inspection device M2, the component mounting devices M3 to M6, the implementation inspection device M7, and the reflow device M8 included in the component mounting line L1. Further, the information processing terminal 300 communicates with the robot 200. Thereby, the information processing terminal 300 determines, for example, whether there are components in the component reels arranged in the component mounting devices M3 to M6, and causes the robot 200 to supply the component reel corresponding to the location to the location where the component reel with no components is arranged.

[0054] Note that the information processing terminal 300 may communicate with those devices via wireless or wired. The wireless may be Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or specific low-power wireless. Further, the information processing terminal 300 may acquire information indicating the operating rate etc. of each device from each device included in the component mounting line L1, and manage each of those devices based on that information. Further, such an information processing terminal 300 may be configured as a personal computer, a tablet terminal, or a smartphone etc.

[0055] FIG. 2 is an external perspective view of the robot and the component mounting apparatus. The component mounting apparatuses M4 to M6 may also have the same appearance as the component mounting apparatus M3.

[0056] The robot 200 is an autonomous mobile robot (AMR: Autonomous Mobile Robot) having a robot arm 210. The robot 200 further has a reel rack 220 for accommodating the component reel C. The robot arm 210 is a manipulator provided at its tip with a robot hand 211 as an end effector and cameras 218 and 219 for detecting the movement destination of the robot hand 211. The robot 200 uses the result of recognizing an object using the images taken by the cameras 218 and 219 to move the robot hand 211, hold the component reel C by the robot hand 211, or release the component reel C held by the robot hand 211 at the moved destination, thereby arranging the component reel C at a predetermined position of the reel holder of the component mounting apparatus M3. Also, the robot 200 uses the result of recognizing an object using the images taken by the cameras 218 and 219 to hold the end of the carrier tape by the robot hand 211 or supply the end of the carrier tape held by the robot hand 211 to the feeder 7 of the component mounting apparatus M3. Note that the object to be recognized using the images taken by the cameras 218 and 219 may be the shape of the object or a predetermined marker (for example, a two-dimensional code, a checker mark).

[0057] Note that the robot 200 includes a main body having a robot arm 210 and a transport unit for moving the main body. The main body and the transport unit may be integrated or separate. For example, the transport unit may transport the main body by holding and moving the main body in a lifted state with the main body as the object to be transported. Also, the transport unit may transport the main body by towing the main body provided with wheels or pushing the main body provided with wheels from behind in a state where the main body is held (or connected) by a holding unit that grips a part of the object to be transported.

[0058] The component mounting device M3 includes, for example, two component supply units 6, a presentation unit 17, and two opening / closing covers 16. In FIG. 2, one of the two component supply units 6 is shown, and the other one is hidden on the back side (i.e., the plus side in the Y-axis direction).

[0059] In the component supply unit 6, a plurality of feeders 7 are arranged in parallel along the X-axis direction. The feeder 7 supplies the component P by pitch-feeding the carrier tape storing the component P in the tape feeding direction. The component supply unit 6 is provided with markers 18 and 19. The marker 18 is arranged on the minus-side surface of the component supply unit 6 in the Y-axis direction, and is a marker for allowing the robot 200 to recognize the position of the component supply unit 6. The marker 18 is, for example, a two-dimensional code. A plurality of markers 19 are provided on the plus-side surface of the component supply unit 6 in the Z-axis direction corresponding to the storage parts of the plurality of carrier tapes. The marker 19 is a marker for allowing the robot 200 to recognize the position of the storage part of the carrier tape.

[0060] The presentation unit 17 presents information to the operator of the component mounting device M3. For example, the presentation unit 17 presents information by displaying the presentation content. As a specific example, the presentation unit 17 is configured as a liquid crystal display or an organic EL (electro-luminescence) display, etc.

[0061] Each of the two opening / closing covers 16 is provided so as to be openable and closable, and covers the mounting head described later when closed. That is, each of the two opening / closing covers 16 covers the inside of the component mounting device M3 when closed. Therefore, when each of the two opening / closing covers 16 is closed, the operator cannot put his hand into the inside of the component mounting device M3 and cannot touch the mounting head.

[0062] Note that the robot 200, the reel holder 15 of the component mounting device M3, and the plurality of feeders 7 constitute a tape supply system. Also, the robot 200 and the component mounting device M3 constitute a component mounting system.

[0063] FIG. 3 is a diagram showing an example of the internal configuration of the component mounting apparatus M3. Note that the component mounting apparatuses M4 to M6 may also have the same internal configuration as the component mounting apparatus M3. Further, the configuration of the component mounting apparatus M3 shown in FIG. 3 is a configuration seen from the plus side in the Z-axis direction of the inside of the component mounting apparatus M3, and the two opening / closing covers 16 are not shown.

[0064] In addition to the two component supply units 6 described above, the component mounting apparatus M3 includes a base 4, a substrate transfer mechanism 5, two X-axis beams 9, a Y-axis beam 8, two mounting heads 10, two cameras 12, and a stage 11.

[0065] The two component supply units 6 are arranged so as to sandwich the substrate transfer mechanism 5 in the Y-axis direction.

[0066] The substrate transfer mechanism 5 includes two rails along the X-axis direction and is disposed at the center of the base 4. The substrate transfer mechanism 5 transfers the substrate B carried in from the upstream side and positions and holds the substrate B at a position for performing the component mounting operation.

[0067] The Y-axis beam 8 is disposed along the Y-axis direction at one end (the right side in the example shown in FIG. 3) in the X-axis direction on the upper surface of the base 4.

[0068] The two X-axis beams 9 are coupled to the Y-axis beam 8 so as to be movable in the Y-axis direction in a state along the X-axis direction.

[0069] The mounting head 10 is movably mounted on each of the two X-axis beams 9 in the X-axis direction. The mounting head 10 includes a plurality of suction units 10a that can suck and hold the component P and move up and down. A nozzle 10b is detachably mounted at the tip of each of the suction units 10a (see FIG. 4).

[0070] Each of the two mounting heads 10 is moved in the X-axis direction and the Y-axis direction by a drive mechanism including a Y-axis beam 8 and an X-axis beam 9. As a result, each of the two mounting heads 10 sucks and removes the component P from the component take-out position of the feeder 7 arranged in the component supply unit 6 corresponding to the mounting head 10 by the nozzle 10b, and mounts it on the mounting point of the substrate B positioned by the substrate transfer mechanism 5.

[0071] Each of the two cameras 12 images from below to above so that the range including the nozzle 10b of the mounting head 10 corresponding to the camera 12 is included in the field of view. The two cameras 12 are fixed, for example, to the base 4 of the component mounting apparatus M3 or below the component mounting apparatus M3. As a result, the component mounting apparatus M3 detects the position of the nozzle 10b with respect to the reference position of the base 4 by imaging with this camera 12. For this reason, the component mounting apparatus M3 can detect the suction position where the nozzle 10b stops when the component P is sucked. In addition, this camera 12 images the substrate B in order to recognize the position and type of the substrate B positioned by the substrate transfer mechanism 5. Further, the camera 12 images the nozzle 10b in order to read information from the nozzle 10b.

[0072] The stage 11 is also called a nozzle changer, and at least one nozzle 10b is placed on the stage 11. At least one nozzle 10b placed on this stage 11 is used for exchange with the nozzle 10b mounted on the suction unit 10a of the mounting head 10. For example, each of at least one nozzle 10b placed on the stage 11 has an attribute different from that of the nozzle 10b mounted on the suction unit 10a of the mounting head 10. Also, each of at least one nozzle 10b placed on the stage 11 has different attributes from each other. Therefore, for the production of the mounting substrate, a nozzle 10b having an attribute suitable for the component P to be mounted on the substrate B is selected and mounted on the suction unit 10a of the mounting head 10.

[0073] FIG. 4 is a diagram partially showing an example of the A-A cross section in FIG. 3.

[0074] As shown in FIG. 4, the component supply unit 6 includes a feeder base 13a, a plurality of feeders 7 attached to the feeder base 13a, and a carriage 13 that supports the feeder base 13a.

[0075] The carriage 13 is configured to be detachable from the base 4 and further includes a reel holder 15. The reel holder 15 is configured to be able to accommodate a plurality of (four in this embodiment) component reels C. The component reel C stores the carrier tape 14 in a wound state. Each of the plurality of component reels C is held at an upper holding position Hu or a lower holding position Hd at a front holding position Hf and a rear holding position Hr of the reel holder 15, respectively. The carrier tape 14 drawn out from the component reel C held by the reel holder 15 is attached to the feeder 7.

[0076] The camera 12 captures an image obliquely so that the range including the side surface of the nozzle 10b is included in the field of view. Thereby, the camera 12 can capture not only the nozzle 10b attached to the mounting head 10 corresponding to the camera 12, but also, for example, the component P adsorbed to the nozzle 10b and the substrate mark of the substrate B positioned by the substrate transfer mechanism 5. The component mounting apparatus M3 detects the relative position of the component P with respect to the nozzle 10b when the nozzle 10b adsorbs the component P by imaging with this camera 12.

[0077] FIG. 5 is a schematic diagram showing the positional relationship between the mounting head 10 and the feeder 7. FIG. 6 is an external view showing the appearance of the component P to be mounted. FIG. 7 is a top view showing an example of the carrier tape 14. FIG. 8 is a side view showing the configuration of the feeder 7.

[0078] For example, as shown in FIG. 5, up to 10 nozzles 10b can be attached to the mounting head 10. The mounting head 10 to which 10 nozzles 10b are attached can simultaneously (in one up-and-down movement) adsorb the component P from each of up to 10 feeders 7.

[0079] Feeder 7 pitch-feeds such a carrier tape 14 in the tape feed direction, thereby sequentially supplying a plurality of components P stored in the carrier tape 14 to the component take-out position 7a. The mounting head 10 sucks the component P supplied to the component take-out position 7a with the nozzle 10b and moves it to mount the component P at the mounting point on the substrate B. Note that the supply method of the component P is not limited to the method using the carrier tape 14, and other supply methods may be used. For example, the supply method may be a method of supplying the component P in a stick-shaped case, a tray case, or a bulk component cassette, etc. In that case, the component P is supplied by a feeder 7 suitable for those supply methods. The feeder 7 is an example of a component supply device.

[0080] The components P are chip-shaped electronic components P1 to P4, and there are components as shown in FIGS. 6(a) to 6(d), for example. Such components P are continuously stored in a plurality of carrier tapes 14 at regular intervals as shown in FIG. 7. The carrier tape 14 has a plurality of pockets 14a in which the components P are respectively stored, and a plurality of feed holes 14b that engage with the carrier tape 14 for the sprocket of the feeder 7 to send out the carrier tape 14. The pocket 14a is an example of a container for storing the component P, and the size of the pocket 14a is larger than the size of the component P. The feeder 7 pitch-feeds the carrier tape 14 in the tape feed direction by rotating the sprocket in a predetermined rotation angle unit. Note that the carrier tape 14 further has a cover tape that covers the opening of the pocket 14a in which the component P is stored, but it is omitted in FIG. 7.

[0081] A component reel C is mounted on the feeder 7, and the carrier tape 14 shown in FIG. 8 in which components are stored at equal pitches is wound. The feeder 7 has a function of performing a feeding operation of the carrier tape 14 inside the housing 71 shown in FIG. 8 to pitch-feed the components P stored at equal pitches in the carrier tape 14 to the supply port 72 (tape supply port).

[0082] A tape feeding mechanism 73 is disposed at the tip inside the housing 71. The tape feeding mechanism 73 includes a sprocket 74 having pins formed on its outer periphery that engage with feeding holes 14b formed at equal pitches in the feeding direction of the carrier tape 14. Further, the tape feeding mechanism 73 includes a drive motor 75 that is a rotation driving means for the sprocket 74, a transmission mechanism that transmits the rotational drive of the drive motor 75 to the sprocket 74, and a feeder control unit 78 that is a control means for controlling the rotational drive of the drive motor 75.

[0083] When the drive motor 75 is controlled to rotate intermittently corresponding to the storage pitch of the component P, the sprocket 74 performs index rotation, and the carrier tape 14 wound around the component reel C is drawn into the housing 71 from the rear end and pitch-fed to the front end. Thereby, the components P stored in the carrier tape 14 are sequentially supplied to the supply port 72 which is the position where the component is to be adsorbed.

[0084] The supply port 72 is formed by being opened in a part of a tape guide 76 that is attached to the upper part of the housing 71 and guides the feeding of the carrier tape 14. A part of the tape guide 76 serves as a folded-back part of the cover tape 14c peeled off from the surface of the carrier tape 14, and the cover tape 14c is peeled off from the surface of the carrier tape 14 by a cover tape peeling mechanism 77. Thereby, the carrier tape 14 is supplied to the supply port 72 in a state where the component P is exposed, and is picked up by a nozzle 10b positioned above the supply port 72.

[0085] The gear unit 80 is composed of a gear train including a drive gear 81, a first transmission gear 82, a second transmission gear 83, a third transmission gear 84, and a final gear 85. The drive gear 81 is attached to the output shaft of the drive motor 75. The first transmission gear 82 meshes with the drive gear 81. The second transmission gear 83 is coaxially fixed to the first transmission gear 82, and this second transmission gear 83 meshes with the third transmission gear 84. The third transmission gear 84 meshing with the second transmission gear 83 also meshes with the final gear 85 fixed to the rotating shaft of the sprocket 74. Note that the configuration of the transmission mechanism such as the gear unit 80 is not limited to this, and the number of gears included in the gear unit 80 is not limited to five, and may be less than five or more than five. Also, the sprocket 74 is arranged below the carrier tape 14 and penetrates the feed hole 14b of the carrier tape 14 from below, but it is not limited to this, and it may be arranged above the carrier tape 14 and penetrate the feed hole 14b of the carrier tape 14 from above.

[0086] FIG. 9 is a diagram for explaining the details of the robot hand.

[0087] As shown in FIG. 9, the robot hand 211 has a reel holding portion 212, a tape holding portion 213, and a moving portion 214. The reel holding portion 212, the tape holding portion 213, and the moving portion 214 may be made of, for example, metal or resin.

[0088] The reel holding portion 212 holds the component reel C by sandwiching it from both axial sides of the component reel C. In the reel holding portion 212, the clamping operation is realized by an actuator (not shown) provided on the robot hand 211.

[0089] The tape holding part 213 is provided on the side opposite to the reel holding part 212 of the robot hand 211, and has a first tape holding mechanism 213a for holding the carrier tape 14 accommodated in the component reel C. The first tape holding mechanism 213a has a pin 213b that penetrates one of a plurality of feed holes 14b provided in the carrier tape 14. The pin 213b protrudes toward the minus side in the Z-axis direction, and holds the carrier tape 14 by penetrating through one feed hole 14b of the carrier tape 14.

[0090] The moving part 214 is provided so as to be movable in the Y-axis direction with respect to the tape holding part 213, and is biased so as to protrude from the tape holding part 213 in the Y-axis direction. The moving part 214 has a portion that overlaps the tape holding part 213 in the X-axis direction, and is configured to slide in the Y-axis direction at the overlapping portion. The moving part 214 may be restricted from sliding in a direction other than the Y-axis direction with respect to the tape holding part 213. The moving part 214 has a second tape holding mechanism 214a for holding the end of the carrier tape 14 at the ends on the plus side in the Y-axis direction and the minus side in the Z-axis direction. The second tape holding mechanism 214a is a part that supports the lower surface of the carrier tape 14, and the carrier tape 14 is movably held with respect to the second tape holding mechanism 214a along the Y-axis direction.

[0091] The moving part 214 has a first fitting part 215. The moving part 214 is movable in the Y-axis direction with respect to the tape holding part 213 together with the first fitting part 215. The first fitting part 215 is a convex part that protrudes in the Y-axis direction. The specific configuration of the first fitting part 215 will be described later.

[0092] The tape holding part 213 and the moving part 214 are biased by a spring 217 such that the moving part 214 protrudes in the positive Y-axis direction. The spring 217 may be, for example, a tension spring. Note that the tape holding part 213 and the moving part 214 may be any spring as long as they are biased by a spring, and may be biased by a compression spring. Also, they may be biased not only by a spring but also by other elastic bodies. For example, one end 217a of the spring 217 is fixed to the tape holding part 213, and the other end 217b of the spring 217 is fixed to the moving part 214.

[0093] The robot hand 211 may further include cameras 218 and 219. The camera 218 is a camera for recognizing the markers 18 and 19, and the camera 218 is a camera for recognizing the second fitting part of the feeder 7 described later.

[0094] FIG. 10 is a diagram for explaining the configuration of the reel rack of the robot. FIG. 11 is a cross-sectional view taken along line XI-XI of FIG. 10.

[0095] As shown in FIGS. 10 and 11, the reel rack 220 constitutes a space for accommodating the component reel C, and has a tape fixing part 221 for fixing the end of the carrier tape 14 stored in the component reel C. The tape fixing part 221 is arranged along the direction (X-axis direction) in which a plurality of component reels C are arranged side by side on the positive Y-axis side and the positive Z-axis side of the reel rack 220.

[0096] The tape fixing portion 221 has a wall portion 222 and a pin 223. The wall portion 222 is a portion that restricts the movement of the carrier tape 14 in the X-axis direction, and two wall portions 222 are provided so as to sandwich the carrier tape 14. The interval between the two wall portions 222 is larger than the width of the carrier tape 14. The pin 223 is provided between the two wall portions 222, and fixes the end portion of the carrier tape 14 by passing through the feed hole 14b at the end portion of the carrier tape 14. In this way, the end portion of the carrier tape 14 is fixed to the tape fixing portion 221 by being penetrated by the pin 223. Therefore, when the end portion of the carrier tape 14 is lifted in the plus direction of the Z-axis, the fixing of the end portion of the carrier tape 14 is released.

[0097] Figs. 12 to 14 are diagrams showing an example of the configuration of the moving portion of the robot hand.

[0098] The moving portion 214 of the robot hand 211 has a first portion 214b and a second portion 214c that are divided on both sides in the X-axis direction when viewed from the Y-axis direction. The first portion 214b and the second portion 214c have a second tape holding mechanism 214a and are rotatable at the hinge 214d. Therefore, as shown in Fig. 13, the first portion 214b and the second portion 214c rotate so as to open around the hinge 214d. The robot hand 211 is moved in the open state until it reaches below the carrier tape 14 where the second tape holding mechanism 214a is fixed to the tape fixing portion 221, and by closing the first portion 214b and the second portion 214c, the end portion of the carrier tape 14 can be held as shown in Fig. 14. Thereby, the robot hand 211 can easily release the fixing of the end portion of the carrier tape 14.

[0099] Before releasing the fixing of the end portion of the carrier tape 14, the robot hand 211 holds the component reel C using the reel holding portion 212. Then, the robot hand 211 holds the end portion of the carrier tape 14 using the moving portion 214 while holding the component reel C. Thereby, the robot hand 211 can easily hold the end portion of the carrier tape 14 while holding the component reel C.

[0100] FIG. 15 is a diagram for explaining the relationship between the robot hand and the feeder.

[0101] Each of the plurality of feeders 7 has a second fitting portion 701 having a shape that fits corresponding to at least a part of the first fitting portion 215 of the robot hand 211. That is, the plurality of second fitting portions 701 are respectively provided corresponding to the plurality of feeders 7 and are arranged on the minus side in the Y-axis direction of the plurality of feeders 7.

[0102] FIG. 16 is a diagram for explaining the shapes of the first fitting portion and the second fitting portion.

[0103] As shown in FIG. 16, the first fitting portion 215 protrudes toward the plus side in the Y-axis direction and has a cylindrical first portion 215a and a second portion 215b that is arranged on the plus side in the Y-axis direction with respect to the first portion 215a and has an inclined surface. The inclined surface is a surface inclined with respect to the Y-axis direction. The first portion 215a is not limited to a cylindrical shape and may be a prismatic shape. The first portion 215a is a portion having a constant width in a direction intersecting the Y-axis direction regardless of the position in the Y-axis direction.

[0104] The second fitting portion 701 has a shape corresponding to the first fitting portion 215. The second fitting portion 701 has, for example, a first portion 701a that forms a cylindrical space and a second portion 701b that is provided on the plus side in the Y-axis direction with respect to the first portion 701a and has an inclined surface. The first portion 701a forms a space having a shape that coincides with the first portion 215a, and the second portion 701b forms a space having a shape that coincides with the second portion 215b.

[0105] FIG. 17 is a block diagram showing an example of the functional configurations of the component mounting apparatus, the robot, and the information processing terminal.

[0106] In addition to the mounting head 10, the camera 12, the Y-axis beam 8, the X-axis beam 9, the substrate transfer mechanism 5, the stage 11, and the component supply unit 6 described above, the component mounting apparatus M3 includes a control unit 100.

[0107] The control unit 100 is a processing unit that controls the operation of the component mounting device M3. The control unit 100 includes a component mounting operation processing unit 101, a screen display I / F processing unit 102, and a main memory unit 103.

[0108] The component mounting operation processing unit 101 is a processing unit that controls the operations of the respective components of the mounting head 10, the camera 12, the Y-axis beam 8, the X-axis beam 9, the substrate transfer mechanism 5, the stage 11, and the component supply unit 6. The component mounting operation processing unit 101 executes a program stored in the main memory unit 103, acquires the operation states of the respective components of the component mounting device M3, and controls the operations of the respective components of the component mounting device M3 according to the operation states. For example, every time the mounting head 10 sucks the component P from the feeder 7, the component mounting operation processing unit 101 outputs a transfer instruction to the feeder 7 to supply the next component P. That is, the component mounting operation processing unit 101 outputs transfer instructions at a plurality of different timings.

[0109] The screen display I / F processing unit 102 displays the state of control by the component mounting operation processing unit 101. In addition, the screen display I / F processing unit 102 receives an input from the operator to change the type of control of the component mounting device M3 or to change the setting of the control (for example, the setting of control parameters).

[0110] The main memory unit 103 stores programs and control parameters for controlling the component mounting device M3, operation information of the component mounting device M3, and the like.

[0111] The processing unit included in the control unit 100 is realized by, for example, a processor such as a DSP, but may be realized by a microcomputer or a dedicated circuit, or may be realized by a combination of two or more of a processor, a microcomputer, and a dedicated circuit. Further, the main memory unit 103 may be realized by a non-volatile memory or a storage.

[0112] In addition to the above-described robot arm 210, the robot 200 includes a control unit 230.

[0113] The control unit 230 is a processing unit that controls the operation of the robot 200. The control unit 230 detects the positions of the markers 18 and 19 provided in the component supply unit 6 by performing image recognition processing on the image captured by the camera 218. The control unit 230 detects the position of the marker 18 to detect the position of the component supply unit 6 of the component mounting device M3. Further, the control unit 230 detects the positions of the corresponding plurality of feeders 7 by detecting the positions of the plurality of markers 19. The control unit 230 detects the positions of the plurality of second fitting portions 701 provided corresponding to the plurality of feeders 7 by performing image recognition processing on the image captured by the camera 219.

[0114] When the control unit 230 obtains a detection result indicating that the carrier tape has run out in the reel holder 15 and the feeder 7 of the component mounting device M3 from the component mounting device M3 or the information processing terminal 300, the control unit 230 identifies the position of the reel holder 15 where the carrier tape has run out based on the detection result, and controls the robot arm 210 to supply a new component reel C to the identified position of the reel holder 15. That is, the control unit 230 causes the robot arm 210 to hold the component reel C and arranges the held component reel C at the empty position of the reel holder 15. Further, the control unit 230 identifies the position of the feeder 7 where the carrier tape has run out, and controls the robot arm 210 to supply the end portion of the carrier tape 14 of the component reel C to the supply port of the identified feeder 7.

[0115] The detection unit 231 detects the load on the robot hand 211. The detection unit 231 may, for example, acquire the current value of the motor that drives the joint of the robot arm 210, and detect the load on the robot hand 211 in each of the X-axis direction, Y-axis direction, and Z-axis direction by calculating the load based on the acquired current value. Note that the detection unit 231 is not limited to calculating based on the current value of the motor that drives the joint of the robot arm 210, and may be a force sensor that detects the load. In this case, the force sensor may be disposed on the robot hand 211 or between the robot hand 211 and the robot arm 210. By disposing the force sensor on the robot hand 211, the load acting on the first fitting portion 215 can be accurately detected.

[0116] [Operation] Next, the operation of the control unit 230 of the robot 200 for supplying the end of the carrier tape 14 to the supply port of the feeder 7 will be described. FIG. 18 is a flowchart showing an example of the operation of supplying the end of the carrier tape to the supply port of the feeder. The operation of supplying the end of the carrier tape to the supply port of the feeder is executed when the carrier tape 14 supplied to at least one of the plurality of feeders 7 of the component mounting apparatus M3 runs out.

[0117] The control unit 230 causes the robot hand 211 to hold the end of the carrier tape 14 pulled out from the component reel C (S1). Specifically, the control unit 230 controls the robot arm 210 to cause the reel holding portion 212 of the robot hand 211 to hold the component reel C accommodated in the reel rack 220, and causes the moving portion 214 to hold the end of the carrier tape 14 fixed to the tape fixing portion 221 from the component reel C.

[0118] Next, the control unit 230 moves the robot hand 211 along the Y-axis direction on the robot arm 210 so that the first fitting portion 215 of the robot hand 211 holding the end of the carrier tape 14 fits into the second fitting portion 701 of the target feeder among the plurality of feeders 7 (S2). Specifically, the control unit 230 uses the image in which the plurality of markers 19 are photographed to identify the position of the reel holder corresponding to the target feeder among the plurality of feeders 7, and moves the robot hand 211 to the identified position of the reel holder to arrange the component reel C. Then, the control unit 230 uses the image in which the plurality of second fitting portions 701 are photographed to identify the position of the second fitting portion 701 corresponding to the target feeder among the plurality of feeders 7, and moves the robot hand 211 in the Y-axis direction so that the first fitting portion 215 of the robot hand 211 fits into the identified position of the second fitting portion 701.

[0119] Next, the control unit 230 adjusts the position of the robot hand 211 on the robot arm 210 based on the load detected by the detection unit 231 when the first fitting portion 215 of the robot hand 211 contacts the second fitting portion 701 of the target feeder (S3). Specifically, when the detection unit 231 detects the first load on the robot hand 211 in the direction orthogonal to the Y-axis direction, the control unit 230 adjusts the position of the robot hand 211 on the robot arm 210 so that the first load becomes smaller. For example, the control unit 230 moves the robot hand 211 by a predetermined distance in the same direction as the direction in which the first load is detected. The predetermined distance is smaller than the width of the inclined surface of the first fitting portion 215. Here, the width of the inclined surface refers to the width of one-sided inclined surface.

[0120] Here, the direction orthogonal to the Y-axis direction, which is the direction of the first load detected by the detection unit 231, may be the X-axis direction or the Z-axis direction. The direction of the first load is not limited to the X-axis direction and the Z-axis direction, and may be any direction as long as it is parallel to the X-Z plane. The first load detected by the detection unit 231 may be a load on the robot hand 211 in the X-axis direction, a load on the robot hand 211 in the Z-axis direction, a load on the robot hand 211 in a direction parallel to the X-Z plane, or loads on the robot hand 211 in each of a plurality of different directions parallel to the X-Z plane (that is, a plurality of loads). When the first load is a plurality of loads, the control unit 230 adjusts the position of the robot hand 211 on the robot arm 210 so that each of the plurality of loads becomes smaller.

[0121] Note that steps S2 and S3 may be repeated until the first load is no longer detected. Thereby, the control unit 230 can supply the end of the carrier tape 14 held by the robot hand 211 from the correct position of the supply port of the target feeder.

[0122] Next, the control unit 230 moves the robot hand 211 in the Y-axis direction until the second load on the robot hand 211 in the Y-axis direction exceeds a predetermined value (S4). That is, when the second load exceeds the predetermined value, the control unit 230 stops the movement of the robot hand 211 in the Y-axis direction.

[0123] Next, the control unit 230 causes the robot hand 211 to supply the carrier tape 14 to the target feeder (S5). Specifically, the control unit 230 moves the robot hand 211 in the positive Y-axis direction, so that the moving unit 214 moves relatively in the negative Y-axis direction with respect to the tape holding unit 213. Thereby, the carrier tape 14 fixed by the first tape holding mechanism 213a is fed out in the Y-axis direction, and the end of the carrier tape 14 is supplied to the target feeder.

[0124] Note that after the control unit 230 supplies the end of the carrier tape 14 to the target feeder, the control unit 230 causes the robot hand 211 to release the holding of the carrier tape 14.

[0125] [Effect] According to the tape supply system according to the present embodiment, the first fitting portion 215 of the robot hand 211 and the second fitting portion 701 of each of the plurality of feeders 7 are fitted to each other, and at least one of the first fitting portion 215 and each of the plurality of second fitting portions 701 has an inclined surface inclined with respect to the Y-axis direction. Therefore, even if the robot hand 211 is displaced from the target feeder by the width of the inclined surface, by applying the inclined surface to the first fitting portion 215 or the second fitting portion 701, based on the direction of the force received from the inclined surface, the position of the robot hand 211 is adjusted so that the magnitude of the force received from the inclined surface becomes smaller, and the robot hand 211 can be moved to a position where the displacement is smaller. That is, the displacement can be easily eliminated, and the end of the carrier tape 14 can be correctly supplied to the tape supply port of the target feeder 7 using the robot hand 211.

[0126] Also, in the tape supply system according to the present embodiment, the position of the robot hand 211 is adjusted on the robot arm 210 so that the first load on the robot hand 211 in the direction orthogonal to the Y-axis direction becomes smaller.

[0127] Therefore, by adjusting the position of the robot hand 211 so that the magnitude of the first load becomes smaller, the robot hand 211 can be moved to a position with less displacement.

[0128] Also, in the tape supply system according to the present embodiment, when the second load exceeds a predetermined value, the control unit 230 can move the robot hand to an appropriate position with respect to the second direction in order to stop the movement of the robot hand 211 in the Y-axis direction.

[0129] In the tape supply system according to the present embodiment, the robot hand 211 and the robot arm 210 are capable of moving the component reel C from the reel rack 220 to the reel holder. Therefore, the robot hand 211 can move the component reel C to the reel holder and supply the end of the carrier tape 14 to the tape supply port of the feeder 7.

[0130] In the tape supply system according to the present embodiment, in order to remove the end of the carrier tape 14 fixed to the tape fixing portion 221 from the tape fixing portion 221, the robot hand 211 can easily hold the end of the carrier tape 14.

[0131] In the tape supply system according to the present embodiment, the control unit 230 moves the robot hand 211 to the robot arm 210 based on the captured image so that the first fitting portion 215 of the robot hand 211 fits into the second fitting portion 701 of the target feeder. Therefore, it is possible to easily move the first fitting portion 215 of the robot hand 211 so that the deviation amount from the second fitting portion 701 of the feeder 7 is less than a predetermined deviation amount.

[0132] According to the tape supply system according to the present embodiment, the moving portion 214 provided with the first fitting portion 215 is movable in the Y-axis direction with respect to the tape holding portion 213 and is biased toward the Y-axis direction side. Therefore, by pressing the first fitting portion 215 of the robot hand 211 against the second fitting portion 701 of the feeder 7, the end of the carrier tape 14 held by the tape holding portion 213 can be brought closer to the feeder 7 in the Y-axis direction. Therefore, even if an actuator for moving the end of the carrier tape 14 in the Y-axis direction is not provided in the robot hand 211, it is possible to easily bring the end of the carrier tape 14 closer to the feeder 7 in the Y-axis direction by the operation of the robot arm 210.

[0133] [Modification Example] (1) In the above-described embodiment, the robot 200 is assumed to have the reel rack 220. However, the present invention is not limited to this, and the robot 200 may not have the reel rack 220. The reel rack 220 may be separate from the robot 200. The reel rack 220 may be fixedly arranged in a region near the component mounting device M3, or may be provided on an autonomous traveling transport robot separate from the robot 200.

[0134] (2) In the above-described embodiment, the first fitting portion 215 of the robot hand 211 is assumed to have an inclined surface. However, the present invention is not limited to this, and the second fitting portion may have an inclined surface. FIG. 19 is a diagram for explaining the shapes of the first fitting portion and the second fitting portion according to the modification (2).

[0135] As shown in FIG. 19, the first fitting portion 215A protrudes in the positive Y-axis direction and has a cylindrical shape in all parts.

[0136] The second fitting portion 711 has a shape corresponding to at least a part of the first fitting portion 215A. The second fitting portion 711 has, for example, a first portion 711a whose width becomes narrower as it goes in the positive Y-axis direction, and a second portion 711b provided on the positive Y-axis side (the back side) of the first portion 711a and forming a cylindrical space. The width of the second portion 711b is constant in the Y-axis direction.

[0137] In this way, the first fitting portion 215A has a cylindrical shape, the second fitting portion 711 has a second portion 711b forming a cylindrical space, and these cylindrical shapes match. Therefore, when the first fitting portion 215A is fitted into the second fitting portion 711, the direction in which the first fitting portion 215A protrudes and the direction in which the second fitting portion 711 is recessed can be aligned. Thus, the posture of the robot hand 211 can be easily adjusted. Thus, the carrier tape 14 can be supplied to the feeder 7 at an appropriate angle.

[0138] (3) In the above embodiment, the first fitting portion 215 of the robot hand 211 is a convex portion protruding in the Y-axis direction, and the second fitting portion 701 of the feeder 7 is a concave portion recessed in the Y-axis direction. However, the present invention is not limited to this. The first fitting portion may be a concave portion, and the second fitting portion may be a convex portion that fits into the first fitting portion. That is, the first fitting portion of the robot hand 211 may have the same shape as the second fitting portion 701 in the embodiment, and the second fitting portion of the feeder 7 may have the same shape as the first fitting portion 215 in the embodiment. Further, the first fitting portion of the robot hand 211 may have the same shape as the second fitting portion 711 in the modification (2), and the second fitting portion of the feeder 7 may have the same shape as the first fitting portion 215A in the embodiment.

[0139] Further, the first fitting portion and the second fitting portion may have the shapes as shown in FIG. 20. FIG. 20 is a diagram for explaining the shapes of the first fitting portion and the second fitting portion according to the modification (3).

[0140] As shown in FIG. 20, the first fitting portion 215B has concave portions 215Ba and 215Bb that are recessed on the minus side in the Y-axis direction. The concave portion 215Ba has a shape in which the cross section is recessed in a V shape when the first fitting portion 215B is viewed from the Z-axis direction. The concave portion 215Ba has a shape in which the width becomes narrower as it goes toward the minus side in the Y-axis direction when viewed from the Z-axis direction. The concave portion 215Bb has a shape in which the cross section is recessed in a V shape when the first fitting portion 215B is viewed from the X-axis direction. The concave portion 215Bb has a shape in which the width becomes narrower as it goes toward the minus side in the Y-axis direction when viewed from the X-axis direction. That is, the first fitting portion 215B has a shape that is recessed in a cross shape.

[0141] The second fitting portion 721 has a shape corresponding to the first fitting portion 215B. The second fitting portion 721 has convex portions 721a and 721b that protrude in the minus Y-axis direction. The convex portion 721a has a shape in which the cross-section protrudes in a V shape when the second fitting portion 721 is viewed from the Z-axis direction. The convex portion 721a has a shape in which the width becomes narrower as it goes toward the minus Y-axis direction when viewed from the Z-axis direction. The convex portion 721b has a shape in which the cross-section protrudes in a V shape when the second fitting portion 721 is viewed from the X-axis direction. The convex portion 721b has a shape in which the width becomes narrower as it goes toward the minus Y-axis direction when viewed from the X-axis direction. That is, the second fitting portion 721 has a shape that protrudes in a cross shape.

[0142] The first fitting portion 215B and the second fitting portion 721 have a shape in which the width becomes narrower toward the minus Y-axis direction when viewed from the Z-axis direction, and a shape in which the width becomes narrower toward the minus Y-axis direction when viewed from the X-axis direction. For this reason, the detection unit 231 can detect the load in the Z-axis direction due to the displacement of the first fitting portion 215B and the second fitting portion 721 in the Z-axis direction as the first load, and can also detect the load in the X-axis direction due to the displacement of the first fitting portion 215B and the second fitting portion 721 in the X-axis direction as the first load. Therefore, the control unit 230 can adjust the displacement of the first fitting portion 215B and the second fitting portion 721 in the Z-axis direction and the displacement in the X-axis direction.

[0143] In addition, the concave portion 215Ba of the first fitting portion 215B and the convex portion 721a of the second fitting portion 721 have a shape in which the cross-section is V-shaped over the width in the Z-axis direction, and the concave portion 215Bb of the first fitting portion 215B and the convex portion 721b of the second fitting portion 721 have a shape in which the cross-section is V-shaped over the width in the Y-axis direction. For this reason, the detection unit 231 can detect the load around the Y-axis due to the displacement around the Y-axis of the first fitting portion 251B and the second fitting portion 721. Therefore, the control unit 230 can adjust the displacement around the Y-axis of the first fitting portion 215B and the second fitting portion 721.

[0144] Note that the first fitting portion of the robot hand 211 may have the same shape as the second fitting portion 721 in the modification example (3), and the second fitting portion of the feeder 7 may have the same shape as the first fitting portion 215B in the embodiment.

[0145] [Others] In the above embodiment, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. Here, the software for realizing the component mounting apparatus M3 and the like in the above embodiment is a program that causes a computer to execute each step included in the flowchart shown in the figure.

[0146] Note that the following cases are also included in the present disclosure.

[0147] (1) Each of the above devices is specifically a computer system including a microprocessor, a ROM, a RAM, a hard disk unit, a display unit, a keyboard, a mouse, and the like. A computer program is stored in the RAM or the hard disk unit. By the microprocessor operating according to the computer program, each device achieves its function. Here, the computer program is composed of a combination of a plurality of instruction codes indicating instructions to the computer in order to achieve a predetermined function.

[0148] (2) Some or all of the components constituting each of the above devices may be configured from a single system LSI (Large Scale Integration). A system LSI is a super multifunctional LSI manufactured by integrating a plurality of components on a single chip, and specifically, is a computer system including a microprocessor, ROM, RAM, etc. A computer program is stored in the RAM. When the microprocessor operates according to the computer program, the system LSI achieves its functions.

[0149] (3) Some or all of the components constituting each of the above devices may be configured from an IC card or a single module detachable from each device. The IC card or the module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or the module may include the above super multifunctional LSI. When the microprocessor operates according to the computer program, the IC card or the module achieves its functions. This IC card or this module may have tamper resistance.

[0150] (4) The present disclosure may be the method shown above. It may also be a computer program for realizing these methods by a computer, or a digital signal composed of the computer program.

[0151] In addition, the present disclosure may be recorded on a computer-readable recording medium such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, etc. of the computer program or the digital signal. It may also be the digital signal recorded on these recording media.

[0152] Further, the present disclosure may transmit the computer program or the digital signal via a telecommunication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like.

[0153] Further, the present disclosure may be a computer system including a microprocessor and a memory, where the memory stores the computer program, and the microprocessor operates according to the computer program.

[0154] Further, it may be implemented by another independent computer system by recording and transferring the program or the digital signal to the recording medium, or by transferring the program or the digital signal via the network or the like.

[0155] (5) It may be possible to combine the above embodiments and the above modifications respectively.

Industrial Applicability

[0156] The present disclosure is useful as a tape supply system or the like that can correctly supply the end of a carrier tape to the tape supply port of a feeder using a robot hand.

Explanation of Signs

[0157] 1 Mounting Substrate Manufacturing System 2 Communication Network 4 Base 5 Substrate Transfer Mechanism 6 Component Supply Unit 7 Feeder 8 Y-Axis Beam 9 X-Axis Beam 10 Mounting Head 10a Suction Unit 10b Nozzle 11 Stage 12 Camera 13 Cart 13a Feeder Base 14 Carrier tape 14a Pocket 14b Feeding hole 15 Reel holder 16 Opening / closing cover 17 Presentation part 18, 19 Marker 100 Control unit 101 Component mounting operation processing unit 102 Screen display I / F processing unit 103 Main memory unit 200 Robot 210 Robot arm 211 Robot hand 212 Reel holding part 213 Tape holding part 213a First tape holding mechanism 214 Moving part 214a Second tape holding mechanism 214b, 215a First part 214c, 215b Second part 215, 215A, 215B First fitting part 215Ba, 215Bb Concave part 217 Spring 218, 219 Camera 220 Reel rack 230 Control unit 231 Detection part 300 Information processing terminal 701, 711, 721 Second fitting part 701a, 711a First part 701b, 711b Second part 721a, 721b Convex part B Substrate C Component reel L1 Component mounting line M1 Printing device M2 Printing inspection device M3~M6 Component mounting devices M7 Mounting inspection device M8 Reflow device P Component

Claims

1. A tape supply system comprising a robot capable of holding a component reel for storing a carrier tape and being movable, and a plurality of feeders arranged in a first direction, wherein the robot has a robot hand capable of holding the carrier tape and the component reel, a robot arm for moving the robot hand, a detection unit for detecting a load on the robot hand, and a control unit, and the robot hand has a first fitting portion that protrudes or recesses in a second direction intersecting the first direction, each of the plurality of feeders has a second fitting portion having a shape that fits corresponding to at least a part of the first fitting portion, the plurality of second fitting portions are arranged in the first direction, at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction, the control unit of the robot causes the robot hand to hold an end portion of the carrier tape pulled out from the component reel, moves the robot hand along the second direction by the robot arm so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits into the second fitting portion of a target feeder among the plurality of feeders, after the movement, adjusts the position of the robot hand by the robot arm based on the load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, after the adjustment, causes the robot hand to supply the carrier tape to the target feeder, a tape supply system.

2. The detection unit detects a first load on the robot hand in a direction orthogonal to the second direction, and the control unit of the robot after the movement, adjusts the position of the robot hand by the robot arm so that the first load becomes smaller, The tape supply system according to Claim 1.

3. The detection unit further detects a second load on the robot hand in the second direction, and the control unit of the robot after the adjustment, further moves the robot hand by the robot arm in the second direction, and when the second load exceeds a predetermined value, stops the movement of the robot hand in the second direction, The tape supply system according to Claim 2.

4. The first fitting portion is a convex portion protruding in the second direction, The second fitting portion is a concave portion that is recessed in the second direction. The tape supply system according to any one of claims 1 to 3.

5. The first portion on the entrance side of the concave portion has the inclined surface. The width of the first portion becomes narrower as it goes in the second direction. The tape supply system according to claim 4.

6. The width of the second portion on the inner side of the concave portion is constant in the second direction. The tape supply system according to claim 5.

7. The tape supply system further includes a cart having a reel holder capable of accommodating the component reel. The robot further has a reel rack capable of accommodating the component reel. The robot hand and the robot arm are capable of moving the component reel from the reel rack to the reel holder. The tape supply system according to any one of claims 1 to 3.

8. The reel rack corresponds to a plurality of feed holes of the carrier tape, and has a tape fixing portion including pins that pass through the feed holes at the end of the carrier tape drawn out from the component reel to fix the end of the carrier tape. The robot hand removes the end of the carrier tape fixed to the tape fixing portion from the tape fixing portion. The tape supply system according to claim 7.

9. The robot further has a camera that photographs the plurality of feeders to generate a photographed image. The control unit of the robot moves the robot hand to the robot arm so that the first fitting portion of the robot hand fits into the second fitting portion of the target feeder based on the photographed image. The tape supply system according to any one of claims 1 to 3.

10. After the supply, the control unit of the robot releases the holding of the carrier tape by the robot hand. The tape supply system according to any one of claims 1 to 3.

11. The robot hand has a reel holding portion that holds the component reel, a tape holding portion having a first tape holding mechanism that holds the carrier tape, and a moving portion that is movably provided in the second direction with respect to the tape holding portion and is biased so as to protrude from the tape holding portion toward the second direction side. The first fitting portion is provided on the moving portion. The tape supply system according to any one of claims 1 to 3.

12. The moving part has a second tape holding mechanism that holds the carrier tape so as to be movable in the second direction. The tape supply system according to claim 11.

13. A component mounting device connected to a plurality of feeders of the tape supply system according to any one of claims 1 to 3, mounting components in the carrier tape supplied from the target feeder on a substrate. Component mounting device.

14. A tape supply method for a tape supply system including a robot capable of holding a component reel for storing a carrier tape and being movable, and a plurality of feeders arranged in a first direction, the method comprising: The robot includes a robot hand capable of holding the carrier tape and the component reel, a robot arm for moving the robot hand, and a detection unit for detecting a load on the robot hand, the robot hand includes a first fitting portion that protrudes or recesses in a second direction intersecting the first direction, each of the plurality of feeders includes a second fitting portion having a shape that fits with at least a part of the first fitting portion, the plurality of second fitting portions are arranged in the first direction, at least one of the first fitting portion and each of the plurality of second fitting portions has an inclined surface inclined with respect to the second direction, the tape supply method includes causing the robot hand to hold an end portion of the carrier tape pulled out from the component reel, moving the robot hand along the second direction by the robot arm so that the first fitting portion of the robot hand holding the end portion of the carrier tape fits into the second fitting portion of a target feeder among the plurality of feeders, after the movement, adjusting the position of the robot hand by the robot arm based on the load detected by the detection unit when the first fitting portion contacts the second fitting portion of the target feeder, after the adjustment, causing the robot hand to supply the carrier tape to the target feeder. Tape supply method.

15. A robot hand connected to a robot arm and capable of supplying a carrier tape pulled out from a component reel to one of a plurality of feeders arranged in a first direction, the robot hand including a reel holding portion for holding the component reel, and a tape holding portion having a first tape holding mechanism for holding the carrier tape. A moving part that is provided so as to be movable in a second direction intersecting the first direction with respect to the tape holding part and is biased toward the second direction side from the tape holding part; A first fitting part that is provided on the moving part and has a shape that fits at least a part of a second fitting part of a target feeder among the plurality of feeders; A robot hand.

16. The moving part has a second tape holding mechanism that holds the carrier tape so as to be movable in the second direction. The robot hand according to claim 15.

Images